Transmission method, positioning reference signal configuration method, device, equipment and medium

Abstract

The invention discloses a transmission method, a positioning reference signal configuration method and device, equipment and a medium, and belongs to the field of mobile communication. The method comprises the following steps: determining first PRS configuration according to first information; and sending the PRS to the second terminal equipment or receiving the PRS sent by the second terminal equipment based on the first PRS configuration. The first terminal device determines the first PRS configuration according to the first information, so that the first terminal device can transmit the PRS with the second terminal device based on the first PRS configuration, thereby realizing the PRS transmission between the terminal devices, and realizing the positioning of the terminal devices through the PRS on the basis of realizing the transmission of the PRS.

Description

Transmission method, configuration method, device, equipment and medium of positioning reference signal Technical Field

[0001] The present application relates to the field of mobile communications, and in particular to a transmission method, a configuration method, an apparatus, a device, and a medium for positioning reference signals. Background Art

[0002] In a mobile communication network, messages can be directly transmitted between terminal devices via a sidelink (SL).

[0003] Sidelink-based positioning technology is one of the enhancements to positioning technology for mobile communication networks. Different devices can transmit Positioning Reference Signals (PRS) via sidelinks. By measuring these signals, the devices can be located. The specific implementation of PRS transmission between devices requires further discussion and research.

[0004] Summary of the Invention

[0005] This application provides a transmission method, a positioning reference signal configuration method, an apparatus, a device, and a medium. The technical solution is as follows:

[0006] According to one aspect of the present application, a sidelink-based transmission method is provided, the method being performed by a first terminal device, the method comprising:

[0007] determining a first PRS configuration according to the first information;

[0008] Send a PRS to a second terminal device based on the first PRS configuration or receive the PRS sent by the second terminal device.

[0009] According to another aspect of the present application, a method for configuring a positioning reference signal based on a sidelink is provided, the method being performed by a first terminal device, the method comprising:

[0010] Acquire configuration information of a PRS, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0011] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0012] According to another aspect of the present application, a method for configuring a positioning reference signal based on a sidelink is provided, the method being performed by a network device, the method comprising:

[0013] Sending PRS configuration information to the first terminal device, where the PRS configuration information includes at least one PRS configuration;

[0014] The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to first information, and the first PRS configuration is used by the first terminal device to send a PRS to a second terminal device or receive the PRS sent by the second terminal device according to the first PRS configuration.

[0015] According to another aspect of the present application, a method for configuring a positioning reference signal based on a sidelink is provided, the method being performed by a first terminal device, the method comprising:

[0016] Sending configuration information of a PRS to the first terminal device, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0017] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0018] According to another aspect of the present application, a sidelink-based transmission device is provided, the device comprising:

[0019] a determining module, configured to determine a first PRS configuration according to the first information;

[0020] A transceiver module is used to send a PRS to a second terminal device based on the first PRS configuration or receive the PRS sent by the second terminal device.

[0021] According to another aspect of the present application, a device for configuring a positioning reference signal based on a sidelink is provided, the device comprising:

[0022] an acquisition module, configured to acquire configuration information of a PRS, wherein the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0023] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0024] According to another aspect of the present application, a device for configuring a positioning reference signal based on a sidelink is provided, the device comprising:

[0025] A sending module, configured to send PRS configuration information to the first terminal device, where the PRS configuration information includes at least one PRS configuration;

[0026] The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to first information, and the first PRS configuration is used by the first terminal device to send a PRS to a second terminal device or receive the PRS sent by the second terminal device according to the first PRS configuration.

[0027] According to another aspect of the present application, a device for configuring a positioning reference signal based on a sidelink is provided, the device comprising:

[0028] A sending module, configured to send configuration information of a PRS to a first terminal device, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0029] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0030] According to another aspect of the present application, a terminal device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the sidelink-based transmission method or the sidelink-based positioning reference signal configuration method as described in the above aspects.

[0031] According to another aspect of the present application, a network device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the method for configuring a positioning reference signal based on a side link as described in the above aspects.

[0032] According to another aspect of the present application, a computer-readable storage medium is provided, in which executable instructions are stored. The executable instructions are loaded and executed by a processor to implement the sidelink-based transmission method or the sidelink-based positioning reference signal configuration method as described in the above aspects.

[0033] According to another aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running on a computer device, it is used to implement the side link-based transmission method or the side link-based positioning reference signal configuration method described in the above aspects based on the programmable logic circuit and / or program.

[0034] According to another aspect of the present application, a computer program product or a computer program is provided, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium, so that the computer device executes the sidelink-based transmission method or the sidelink-based positioning reference signal configuration method described in the above aspects.

[0035] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0036] By having the first terminal device determine the first PRS configuration based on the first information, the first terminal device can transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] FIG1 is a schematic diagram of network coverage inner line communication provided by an exemplary embodiment of the present application;

[0039] FIG2 is a schematic diagram of partial network coverage sideline communication provided by an exemplary embodiment of the present application;

[0040] FIG3 is a schematic diagram of network coverage outer line communication provided by an exemplary embodiment of the present application;

[0041] FIG4 is a schematic diagram of unicast transmission provided by an exemplary embodiment of the present application;

[0042] FIG5 is a schematic diagram of a multicast transmission provided by an exemplary embodiment of the present application;

[0043] FIG6 is a schematic diagram of another multicast transmission provided by an exemplary embodiment of the present application;

[0044] FIG7 is a schematic diagram of transmission resources of PSSCH and PSCCH provided by an exemplary embodiment of the present application;

[0045] FIG8 is a schematic diagram of a sideline timeslot with a PSFCH provided by an exemplary embodiment of the present application;

[0046] FIG9 is a schematic diagram of the time domain positions of 4 DMRS time domain symbols when the number of PSSCH time domain symbols is 13, provided by an exemplary embodiment of the present application;

[0047] FIG10 is a schematic diagram of a DMRS frequency domain position provided by an exemplary embodiment of the present application;

[0048] FIG11 is a schematic diagram of resource mapping of a PRS for downlink positioning provided by an exemplary embodiment of the present application;

[0049] FIG12 is a schematic diagram of a system architecture of a communication system provided by an exemplary embodiment of the present application;

[0050] FIG13 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application;

[0051] FIG14 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application;

[0052] FIG15 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application;

[0053] FIG16 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application;

[0054] FIG17 is a schematic diagram of time-frequency resources of a PRS with PRB as the frequency domain granularity provided by an exemplary embodiment of the present application;

[0055] FIG18 is a schematic diagram of time-frequency resources of a PRS with a subchannel as a frequency domain granularity provided by an exemplary embodiment of the present application;

[0056] FIG19 is a schematic diagram of time-frequency resources of a PRS with REG as the frequency domain granularity provided by an exemplary embodiment of the present application;

[0057] FIG20 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 1 provided by an exemplary embodiment of the present application;

[0058] FIG21 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 2 provided by an exemplary embodiment of the present application;

[0059] FIG22 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 4 provided by an exemplary embodiment of the present application;

[0060] FIG23 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 12 provided by an exemplary embodiment of the present application;

[0061] FIG24 is a schematic diagram of time-frequency resources carrying PSCCH provided by an exemplary embodiment of the present application;

[0062] FIG25 is a schematic diagram of time-frequency resources carrying PSCCH and PSFCH provided by an exemplary embodiment of the present application;

[0063] FIG26 is a schematic diagram of frequency resources of different time slots provided by an exemplary embodiment of the present application;

[0064] FIG27 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application;

[0065] FIG28 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application;

[0066] FIG29 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application;

[0067] FIG30 is a block diagram of a sidelink-based transmission device provided by an exemplary embodiment of the present application;

[0068] FIG31 is a block diagram of a sidelink-based positioning reference signal configuration apparatus provided by an exemplary embodiment of the present application;

[0069] FIG32 is a block diagram of a sidelink-based transmission device provided by an exemplary embodiment of the present application;

[0070] FIG33 is a block diagram of a sidelink-based transmission device provided by an exemplary embodiment of the present application;

[0071] FIG34 is a schematic structural diagram of a communication device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0072] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0073] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0074] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0075] First, some terms involved in the embodiments of this application are introduced as follows:

[0076] Introduction to sideline communication:

[0077] In sideline communication (communication based on sideline links), according to the network coverage of the communicating terminal devices, it can be divided into three situations: sideline communication within network coverage, sideline communication with partial network coverage, and sideline communication outside network coverage.

[0078] For example, Figure 1 is a schematic diagram of network coverage inner row communication provided by an exemplary embodiment of the present application, Figure 2 is a schematic diagram of partial network coverage side row communication provided by an exemplary embodiment of the present application, and Figure 3 is a schematic diagram of network coverage outer row communication provided by an exemplary embodiment of the present application.

[0079] As shown in Figure 1, in the case of sideline communication within network coverage, all terminal devices performing sideline communication are within the coverage of the same base station. Therefore, the above terminal devices can all perform sideline communication based on the same sideline configuration by receiving configuration signaling from the base station, and the sideline configuration includes the time and frequency resources for sideline communication.

[0080] As shown in Figure 2, in the case of partial network coverage for sidelink communication, the first part of the terminal devices performing sidelink communication is located within the coverage of the base station. The terminal devices in the first part can receive the configuration signaling of the base station, thereby performing sidelink communication according to the configuration of the base station. However, the second part of the terminal devices performing sidelink communication is located outside the network coverage, and the terminal devices in the second part cannot receive the configuration signaling of the base station. In this case, the terminal devices outside the network coverage will determine the sidelink configuration based on the pre-configuration information and the information carried in the Physical Sidelink Broadcast Channel (PSBCH) sent by the terminal devices within the network coverage, thereby performing sidelink communication.

[0081] As shown in Figure 3, in the case of sideline communication outside the network coverage, all terminal devices performing sideline communication are located outside the network coverage. All terminal devices performing sideline communication determine the sideline configuration according to the pre-configuration information to perform sideline communication.

[0082] Introduction to Device to Device (D2D) and Vehicle to Everything (V2X):

[0083] Device-to-device communication (D2D) is a sidelink transmission technology based on D2D. Unlike traditional cellular systems, where communication data is received or sent via base stations, it offers higher spectrum efficiency and lower transmission latency. The IoV system utilizes direct device-to-device communication. The 3rd Generation Partnership Project (3GPP) defines two sidelink communication transmission modes: Mode 1 and Mode 2.

[0084] Mode 1: The base station allocates transmission resources to the terminal device, and the terminal device transmits data on the sidelink based on the allocated resources. The base station can allocate resources for single transmissions or semi-static transmissions. As shown in Figure 1, the terminal device is within the network coverage area, and the network allocates transmission resources for sidelink transmissions.

[0085] Mode 2: The terminal device selects a resource from the resource pool for data transmission. As shown in Figure 3, if the terminal device is outside the cell coverage area, it autonomously selects a transmission resource from the pre-configured resource pool for sideline transmission. Alternatively, as shown in Figure 1, the terminal device autonomously selects a transmission resource from the network-configured resource pool for sideline transmission.

[0086] The resource selection of the terminal device in the second mode is performed in the following two steps:

[0087] Step 1: The terminal device takes all available resources in the resource selection window as resource set A.

[0088] If a terminal device sends data in certain time slots within the listening window, it will not listen to those time slots, resulting in the terminal device excluding all resources in the corresponding time slots in the selection window. The terminal device uses the value set of the resource reservation period field in the resource pool configuration to determine the time slot in the selection window that corresponds to the listening window.

[0089] If the terminal device detects the Physical Sidelink Control Channel (PSCCH) within the listening window, the terminal device will measure the Reference Signal Received Power (RSRP) of the PSCCH, or measure the RSRP of the Physical Sidelink Shared Channel (PSSCH) scheduled by the PSCCH. If the measured RSRP is greater than the SL-RSRP threshold, and the reserved resources are determined to be within the resource selection window based on the resource reservation information in the sidelink control information transmitted in the PSCCH, the terminal device will exclude the corresponding resources from set A. If the remaining resources in resource set A are less than X% of all resources before resource set A excludes resources, the terminal device will raise the SL-RSRP threshold by 3dB and re-execute step 1. The possible values ​​of X are {20, 35, 50}. The terminal device determines the parameter X from the value set according to the priority of the data to be sent. At the same time, the SL-RSRP threshold is also related to the priority carried in the PSCCH detected by the terminal device and the priority of the data to be sent by the terminal device. The terminal device will use the remaining resources in resource set A after resource exclusion as the candidate resource set.

[0090] Step 2: The terminal device randomly selects several resources from the candidate resource set as its transmission resources for initial transmission and retransmission.

[0091] This section introduces the New Radio (NR) sidelink (SL):

[0092] In NRSL, autonomous driving needs to be supported, which places higher requirements on data interaction between vehicles, such as higher throughput, lower latency, higher reliability, larger coverage, and more flexible resource allocation.

[0093] NRSL supports unicast, multicast, and broadcast transmission modes. For unicast transmission, the receiving end is only one terminal device; for multicast transmission, the receiving end is all terminal devices in a communication group, or all terminal devices within a certain transmission distance.

[0094] For example, Figure 4 is a schematic diagram of unicast transmission provided by an exemplary embodiment of the present application, Figure 5 is a schematic diagram of a multicast transmission provided by an exemplary embodiment of the present application, and Figure 6 is a schematic diagram of another multicast transmission provided by an exemplary embodiment of the present application.

[0095] As shown in Figure 4, unicast transmission is performed between terminal device 1 and terminal device 2. As shown in Figure 5, terminal devices 1, 2, 3, and 4 form a communication group. Terminal device 1 transmits data, and the other terminal devices in the group are receiving terminal devices. As shown in Figure 6, in a broadcast transmission mode, the receiving end is any terminal device surrounding the transmitting terminal device. For example, terminal device 1 is the transmitting terminal device, and the other terminal devices surrounding it, namely terminal devices 2 through 6, are all receiving terminal devices.

[0096] Introduce the time slot structure in NR SL:

[0097] In NRSL, PSSCH and its associated PSCCH are transmitted in the same time slot, and PSCCH occupies 2 or 3 time domain symbols. The time domain resource allocation of NR SL is based on the time slot as the allocation granularity. A time slot includes multiple time domain symbols, for example, 14 time domain symbols. The starting point and length of the time domain symbols used for sidelink transmission in a time slot are configured by the parameters sidelink start symbol (sl-startSLsymbols) and sidelink length symbol (sl-lengthSLsymbols). The last symbol in the time domain symbols of a time slot is used as a guard period (GP), and PSSCH and PSCCH can only use the remaining time domain symbols. However, if the physical sidelink feedback channel (PSFCH) transmission resources are configured in a time slot, PSSCH and PSCCH cannot occupy the time domain symbols used for PSFCH transmission, as well as the automatic gain control (AGC) and GP symbols before the symbol.

[0098] FIG7 is a schematic diagram of PSSCH and PSCCH transmission resources provided by an exemplary embodiment of the present application. As shown in FIG7, the network configuration sl-StartSymbol (sl-startSLsymbols) = 3, sl-LengthSymbols (sl-lengthSLsymbols) = 11, that is, the 11 time domain symbols starting from time domain symbol index 3 in a time slot can be used for sideline transmission, and there is PSFCH transmission resource in the time slot. The PSFCH occupies time domain symbols 11 and 12, where time domain symbol 11 is used as the AGC symbol of the PSFCH, and time domain symbols 10 and 13 are used as GPs respectively. The time domain symbols that can be used for PSSCH transmission are time domain symbols 3 to 9, and the PSCCH occupies 3 time domain symbols, that is, time domain symbols 3, 4, and 5, and time domain symbol 3 is usually used as an AGC symbol.

[0099] In addition to PSCCH and PSSCH, PSFCH may also exist in a side slot in NRSL. Figure 8 is a schematic diagram of a side slot with PSFCH provided by an exemplary embodiment of the present application. As shown in Figure 8, in a time slot, the first Orthogonal Frequency Division Multiplexing (OFDM) symbol (time domain symbol) is fixed for AGC, and on the AGC symbol, the terminal device copies the information sent on the second OFDM symbol. At the end of the time slot, an OFDM symbol is reserved for transceiver conversion, which can be used for the terminal device to switch from the sending (or receiving) state to the receiving (or sending) state. In the remaining OFDM symbols, PSCCH can occupy two or three OFDM symbols starting from the second OFDM symbol. In the frequency domain, the number of physical resource blocks (PRBs) occupied by the PSCCH is within the sub-band range of a PSSCH. If the number of PRBs occupied by the PSCCH is smaller than the size of a sub-channel of the PSSCH, or the frequency domain resources of the PSSCH include multiple sub-channels, then the PSCCH can be frequency-division multiplexed with the PSSCH on the OFDM symbol where the PSCCH is located.

[0100] The demodulation reference signal (DMRS) of PSSCH in NRSL draws on the design in the NR Uu interface and adopts multiple time-domain PSSCH DMRS patterns. In a resource pool, the number of available DMRS patterns is related to the number of time-domain symbols of PSSCH in the resource pool. For a specific number of PSSCH time-domain symbols (including the first AGC symbol) and the number of PSCCH time-domain symbols, the available DMRS patterns and the position of each DMRS time-domain symbol in the pattern are shown in Table 1. In addition, Figure 9 is a schematic diagram of the time-domain positions of 4 DMRS time-domain symbols when the number of PSSCH time-domain symbols is 13, provided in an exemplary embodiment of the present application.

[0101] Table 1

[0102]

[0103] If multiple time-domain DMRS patterns are configured in the resource pool, the specific time-domain DMRS pattern to be used is selected by the transmitting terminal device and indicated in the first-order Sidelink Control Information (SCI). This design allows high-speed terminal devices to select a high-density DMRS pattern, thereby ensuring the accuracy of channel estimation. For low-speed terminal devices, a low-density DMRS pattern can be used to improve spectrum efficiency.

[0104] The generation method of the PSSCH DMRS sequence is almost identical to that of the PSCCH DMRS sequence. The only difference is in the initialization formula cinit of the pseudo-random sequence c(m). pi is the i-th cyclic redundancy check (CRC) of the PSCCH that schedules the PSSCH, and L=24 is the number of bits of the PSCCH CRC.

[0105] Two frequency domain DMRS patterns are supported in NR PDSCH and PUSCH, including DMRS frequency domain type 1 and DMRS frequency domain type 2, and for each frequency domain type, there are two different types: single DMRS time domain symbol and dual DMRS time domain symbol. Single time domain symbol DMRS frequency domain type 1 supports 4 DMRS ports, single time domain symbol DMRS frequency domain type 2 can support 6 DMRS ports, and in the case of dual DMRS time domain symbols, the number of supported ports is doubled. However, in NRSL, since PSSCH only needs to support two DMRS ports at most, only DMRS frequency domain type 1 with a single time domain symbol is supported. Figure 10 is a schematic diagram of the DMRS frequency domain position provided by an exemplary embodiment of the present application. The RE in Figure 10 refers to a resource element (RE).

[0106] Introduction to sidelink-based positioning:

[0107] Sidelink-based positioning is one of the enhancements to Release 18 (R18) positioning technology. Sidelink-based positioning needs to consider supporting scenarios and requirements for NR positioning use cases within, partially within, and outside of cellular network coverage. It will also consider positioning requirements for V2X, public safety, commercial, and Industrial Internet of Things (IIOT) use cases, as well as support for the following features:

[0108] Absolute positioning, distance / direction finding, and relative positioning;

[0109] Study the positioning method combining side-line measurements and Uu interface measurements;

[0110] Research on sideline positioning reference signals, including signal design, physical layer control signaling, resource allocation, physical layer measurements, and related physical layer processes;

[0111] Study positioning system architecture and signaling processes, such as configuration and measurement reporting.

[0112] For absolute positioning, a terminal device can directly determine its absolute geographic location based on measurement results. This method is called terminal-based absolute positioning. Alternatively, the terminal device can report the measurement results to a positioning server, such as a Location Management Function (LMF). The LMF then calculates the terminal device's absolute location and notifies the terminal device. This method is called terminal-assisted absolute positioning.

[0113] For ranging, direction finding or relative positioning, the terminal device can estimate the round trip time (RTT), arrival angle, signal reception strength and other information of the signal based on the received positioning reference signal, and estimate the relative distance and relative direction.

[0114] This section describes the resource configuration method for PRS in downlink positioning:

[0115] In the network-based downlink positioning method, the positioning reference signal pattern is usually a comb structure with sub-carriers or REs as the comb granularity. That is, on an OFDM symbol, a comb structure is used to map the PRS to the frequency domain. The comb structure can support PRSs from different transmission reception points (TRPs) to be frequency-division multiplexed on the same OFDM symbol. PRSs of different TRPs can be configured with different frequency offset values. Within a time slot, a PRS resource can occupy multiple consecutive OFDM symbols, and the PRS is mapped to these multiple OFDM symbols using a staggered structure.

[0116] For example, FIG11 is a schematic diagram of resource mapping of PRS for downlink positioning provided by an exemplary embodiment of the present application. As shown in FIG11 , in the time domain with an OFMD symbol as the granularity and the frequency domain with a subcarrier (or RE) as the granularity, two PRSs are configured, including PRS#1 and PRS#2. The time-frequency resource is a resource within a time slot. By using the parameter L and The time-frequency resources of PRS can be configured, including:

[0117] The comb tooth size is shown in Figure 11. subcarriers;

[0118] L is the number of OFDM symbols occupied by PRS in a time slot, and L = 6 as shown in Figure 11;

[0119] It is the frequency domain resource unit offset value on the first OFDM symbol used to transmit PRS in a time slot, which is configured by the network and has a value range of As shown in Figure 11, two PRS resources are configured, namely PRS#1 and PRS#2. Indicates that the frequency domain resource unit index of the first OFDM symbol used to transmit PRS in a time slot of PRS#1 is 0. It indicates that the frequency domain resource unit index of the first OFDM symbol used to transmit PRS in a time slot of PRS#2 is 2.

[0120] It should be noted that the time-frequency resources occupied by PRS#1 shown in Figure 11 can be referred to as the PRS pattern of PRS#1. The time-frequency resources occupied by PRS#2 shown in Figure 11 can be referred to as the PRS pattern of PRS#2. In other words, the parameters used to configure the PRS can be used to characterize the PRS pattern of the PRS.

[0121] PRS can be sent between different terminal devices via the sidelink, and the terminal device can be positioned by measuring the PRS. For sidelink positioning (positioning based on the sidelink), if the same PRS pattern configuration method as that used in downlink positioning is adopted, that is, PRS resources are mapped based on a comb structure with subcarriers or REs as the comb granularity, severe in-band leakage (IBE) will result, affecting positioning performance. The specific implementation of PRS transmission between terminal devices, such as how to design the mapping method of time-frequency resources of PRS in sidelink positioning, requires further discussion and research.

[0122] The method provided in the embodiment of the present application, by having the first terminal device determine the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration. Thereby, PRS transmission between terminal devices is realized, and the positioning of the terminal device through PRS can be realized on the basis of realizing the transmission of PRS. In addition, the method provided in the embodiment of the present application also configures a PRS with a comb-like structure with a first frequency domain unit as the comb tooth granularity for the first terminal device, and the first frequency domain unit includes n REs that are continuous in the frequency domain. Since the size of the first frequency domain unit in the frequency domain is greater than 1 RE, more effective utilization of frequency resources can be achieved compared to the method of resource mapping of PRS in downlink positioning. The positioning of the terminal device using the PRS with the above-mentioned resource mapping method reduces the impact of in-band leakage on the performance of the positioning terminal device.

[0123] 12 shows a schematic diagram of a system architecture of a communication system 1200 provided in one embodiment of the present application. The system architecture may include: a terminal device 10, an access network device 20, and a core network device 30.

[0124] The terminal device 10 may refer to a UE (User Equipment), an access terminal device, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal device, a mobile device, a wireless communication device, a user agent, or a user apparatus. Optionally, the terminal device may also be a cellular phone, a cordless phone, a SIP (Session Initiation Protocol) phone, a WLL (Wireless Local Loop) station, a PDA (Personal Digital Assistant), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5GS (5th Generation System) or a terminal device in a future evolved PLMN (Public Land Mobile Network), etc., and the embodiments of the present application are not limited thereto. For the convenience of description, the above-mentioned devices are collectively referred to as terminal devices.

[0125] It should be noted that there are typically multiple terminal devices 10, and one or more terminal devices 10 may be distributed within each cell managed by an access network device 20. Furthermore, one or more terminal devices 10 may also be distributed outside the cell managed by the access network device 20. Different terminal devices 10 may communicate with each other based on sidelinks. Communication between terminal devices 10 via sidelinks can be categorized into three scenarios, as shown in Figures 1 to 3.

[0126] Access network equipment 20 is a device deployed in an access network to provide wireless communication capabilities for terminal devices 10. Access network equipment 20 may include various forms of macro base stations, micro base stations, relay stations, access points, and the like. In systems employing different wireless access technologies, the names of devices that provide access network equipment functions may vary. For example, in 5G NR systems, they are referred to as gNodeBs or gNBs. As communication technologies evolve, the term "access network equipment" may change. For ease of description, in the embodiments of this application, the aforementioned devices that provide wireless communication capabilities for terminal devices 10 are collectively referred to as access network equipment. Optionally, a communication relationship can be established between terminal devices 10 and core network equipment 30 through access network equipment 20. For example, in a Long Term Evolution (LTE) system, access network equipment 20 may be an Evolved Universal Terrestrial Radio Access Network (EUTRAN) or one or more eNodeBs in EUTRAN; in a 5G NR system, access network equipment 20 may be a RAN or one or more gNBs in the RAN.

[0127] The core network equipment 30 primarily provides user connectivity, user management, and service bearering, serving as a bearer network interface to external networks. For example, the core network equipment in a 5G NR system may include devices such as an AMF (Access and Mobility Management Function) entity, a UPF (User Plane Function) entity, and an SMF (Session Management Function) entity. The access network equipment 20 and the core network equipment 30 may be collectively referred to as network equipment.

[0128] In one example, the access network device 20 and the core network device 30 communicate with each other via an air technology, such as the NG interface in a 5G NR system. The access network device 20 and the terminal device 10 communicate with each other via an air technology, such as the Uu interface. The terminal devices 10 communicate with each other via an air technology, such as the PC5 interface.

[0129] FIG13 is a flow chart of a sidelink-based transmission method provided by an exemplary embodiment of the present application. The method may be executed by a first terminal device, and the method includes:

[0130] Step 1302: Determine a first PRS configuration according to the first information.

[0131] The first terminal device obtains at least one PRS configuration, and the first terminal device can determine a first PRS configuration in the at least one PRS configuration according to the first information.

[0132] Optionally, the at least one PRS configuration acquired by the first terminal device is acquired by the first terminal device according to pre-configuration information, network configuration information, or first signaling. Pre-configuration information is information pre-configured in the first terminal device, network configuration information is information configured by a network device and sent to the first terminal device, and first signaling is sent to the first terminal device by a terminal device other than the first terminal device, for example, by a second terminal device.

[0133] The first PRS configuration is a PRS configuration used by the terminal device when receiving or sending a PRS. The first PRS configuration is used to configure or determine the time-frequency resources of the PRS sent or received by the first terminal device, that is, the PRS pattern of the PRS. Optionally, the first information includes at least one of the following:

[0134] Identification information of the first terminal device;

[0135] PRS time domain resource information;

[0136] PRS frequency domain resource information;

[0137] PRS Positioning Frequency Layer information;

[0138] Resource pool information;

[0139] The number of first time domain units used for sideline transmission in the second time domain unit;

[0140] The number of first time domain units used for transmitting PRS in the second time domain unit;

[0141] Whether the second time domain unit includes PSFCH resources;

[0142] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0143] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0144] Protocol predefined information;

[0145] Pre-configuration information;

[0146] Network configuration information.

[0147] The identification information of the first terminal device is information used to identify the first terminal device. The time domain resource information of the PRS is information used to reflect the resources occupied by the PRS in the time domain. The frequency domain resource information of the PRS is information used to reflect the resources occupied by the PRS in the frequency domain.

[0148] The positioning frequency layer is a concept introduced by NR based on PRS. When the terminal device is positioned through PRS, it needs to measure the PRS sent by multiple transmitting and receiving points TRP. The positioning frequency layer refers to a set of PRSs under a group of TRPs. These PRSs have the same subcarrier spacing, cyclic prefix (CP) type, reference point A (pointA), bandwidth, and comb tooth size. A positioning frequency layer can contain multiple TRPs, each TRP can contain multiple PRS resource sets, and each PRS resource set can contain multiple PRS time-frequency resources. The above-mentioned PRS positioning frequency layer information refers to the information of the positioning frequency layer to which the TRP corresponding to the PRS belongs.

[0149] The resource pool information is information used to reflect the resource pool where the time-frequency resources of the PRS are located.

[0150] Each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. Optionally, the first time domain unit is a basic unit of the time domain that constitutes the time-frequency resource, and the granularity of the second time domain unit in the time domain is greater than that of the first time domain unit, that is, the second time domain unit is composed of the first time domain unit. For example, the first time domain unit refers to a time domain symbol, such as an OFDM symbol, and the second time domain unit refers to a time slot (slot) or a mini-slot (mini-slot).

[0151] Optionally, all or part of the first time domain units in the second time domain unit may be used for sideline transmission. Therefore, when determining the first PRS configuration, the first terminal device may consider the number of first time domain units in the second time domain unit used for sideline transmission.

[0152] Optionally, all or part of the first time domain units in the second time domain units may be used to transmit PRS. Therefore, when determining the first PRS configuration, the first terminal device may consider the number of first time domain units in the second time domain units used to transmit PRS.

[0153] Optionally, in the second time domain unit, the first time domain unit used to transmit PSFCH cannot be used to transmit PRS. Therefore, when determining the first PRS configuration, the first terminal device may consider whether the second time domain unit includes PSFCH resources.

[0154] Optionally, in the second time domain unit, if the PRS does not support mapping to the first time domain unit carrying the PSCCH, the number of first time domain units available for mapping the PRS in the second time domain unit will be reduced. Therefore, when determining the first PRS configuration, the first terminal device may consider whether it supports mapping the PRS to the first time domain unit carrying the PSCCH.

[0155] When multiple terminal devices collaborate for positioning, they form a terminal device group. The first terminal device group is the terminal device group in which the first terminal device participates in collaborative positioning. Because terminal devices need to transmit PRSs to and from other terminal devices in their terminal device group during collaborative positioning, the first terminal device may consider the PRS configurations of other terminal devices in the first terminal device group with which the first terminal device is collaborating for positioning when determining the first PRS configuration.

[0156] The protocol predefined information refers to information predefined in the first terminal device based on the mobile communication network protocol supported by the first terminal device. The preconfigured information refers to information preconfigured in the first terminal device. The network configuration information refers to information configured by the network device for the first terminal device.

[0157] Optionally, the first information is sent to the first terminal device by a terminal device other than the first terminal device, for example, by a second terminal device; or is sent to the first terminal device by a network device; or is preconfigured information in the first terminal device. The first terminal device can determine the first PRS configuration based on one or a combination of multiple pieces of the above-mentioned first information.

[0158] Step 1304: Send a PRS to the second terminal device based on the first PRS configuration or receive a PRS sent by the second terminal device.

[0159] The first terminal device may send a PRS to the second terminal device based on the time-frequency resources of the PRS configured by the first PRS. Alternatively, the first terminal device may receive the PRS sent by the second terminal device in the time-frequency resources configured by the first PRS. By measuring the PRS sent between terminal devices, the terminal device (the first terminal device or the second terminal device) can be positioned using the PRS.

[0160] It should be noted that the second terminal device generally refers to a terminal device different from the first terminal device, and does not specifically refer to a specific terminal device. In addition, the second terminal device may include one or more terminal devices.

[0161] To sum up, the method provided in this embodiment, by having the first terminal device determine the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS.

[0162] Figure 14 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application. The method can be executed by a first terminal device, and the method includes:

[0163] Step 1402: Acquire configuration information of a PRS, where the PRS has a comb structure with a first frequency domain unit as the comb tooth granularity.

[0164] The first frequency domain unit includes frequency domain resources of n consecutive REs in the frequency domain, where n is a positive integer greater than 1. REs that are consecutive in the frequency domain refer to n REs that are adjacent to each other in the frequency domain on the same first time domain unit. Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit refers to a time domain symbol, such as an OFDM symbol, and the second time domain unit refers to a time slot or a mini-time slot.

[0165] Exemplarily, RE is the minimum granularity of the physical layer resource of NR, which corresponds to a time domain symbol (OFDM symbol) in the time domain and a subcarrier in the frequency domain, that is, the first frequency domain unit includes n consecutive subcarriers in the frequency domain. It should be noted that in the embodiment of the present application, unless otherwise specified, when describing the frequency domain resources, subcarriers and REs can be interchanged.

[0166] The comb structure refers to the arrangement of two adjacent first frequency domain units configuring PRS on the same first time domain unit at a fixed interval. The comb tooth granularity refers to the granularity of the frequency resource occupied by each comb tooth in the frequency domain in the comb structure.

[0167] Optionally, the first frequency domain unit includes frequency domain resources of any one of the following resources:

[0168] ·PRB;

[0169] Subchannel;

[0170] Resource Element Group (REG);

[0171] A PRB includes multiple consecutive REs in the frequency domain, for example, 12 REs. A subchannel includes multiple consecutive PRBs in the frequency domain. An REG includes multiple consecutive subcarriers in the frequency domain. Therefore, the size of a first frequency domain unit in the frequency domain is larger than one subcarrier or one RE.

[0172] Optionally, the first terminal device can obtain the PRS configuration information based on pre-configuration information or network configuration information. Pre-configuration information is information pre-configured in the first terminal device, and network configuration information is information configured by a network device and sent to the first terminal device. Alternatively, the first terminal device can also receive first signaling sent by a second terminal device, where the first signaling includes the PRS configuration information, thereby enabling the first terminal device to obtain the PRS configuration information. The second terminal device is different from the first terminal device and includes one or more terminal devices other than the first terminal device.

[0173] Optionally, the PRS configuration information includes one or more PRS configurations, and the PRS configuration is used to configure or determine the time-frequency resources of the PRS. The first terminal device may determine the first PRS configuration it uses in the PRS configuration information, for example, determining the first PRS configuration according to the first information.

[0174] After obtaining the configuration information of PRS, the first terminal device can send PRS to terminal devices other than the first terminal device according to the time-frequency resources of PRS configured by the information, or receive PRS sent to the first terminal device by terminal devices other than the first terminal device according to the time-frequency resources of PRS configured by the information, thereby realizing the positioning of the terminal device through PRS.

[0175] In summary, the method provided in this embodiment configures a PRS having a comb-like structure with a first frequency domain unit as the comb tooth granularity for the first terminal device, where the first frequency domain unit includes n consecutive REs in the frequency domain. Because the size of the first frequency domain unit in the frequency domain is greater than one RE, more efficient utilization of frequency resources can be achieved compared to the resource mapping method of the PRS in downlink positioning. Using the PRS with the above resource mapping method to locate the terminal device reduces the impact of in-band leakage on the performance of the positioning terminal device.

[0176] FIG15 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application. The method may be executed by a network device and includes:

[0177] Step 1502: Send PRS configuration information to the first terminal device, where the PRS configuration information includes at least one PRS configuration.

[0178] The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to the first information. The first PRS configuration is used by the first terminal device to send a PRS to the second terminal device according to the first PRS configuration, or to receive a PRS sent by the second terminal device based on the first PRS configuration.

[0179] Optionally, the PRS configuration information is carried in at least one of the following information:

[0180] Resource pool configuration information;

[0181] Sideline (SL) bandwidth part (Bandwidth Part, BWP) configuration information.

[0182] The first PRS configuration is a PRS configuration used by the terminal device when receiving or sending a PRS. The first PRS configuration is used to configure or determine the time-frequency resources of the PRS sent or received by the first terminal device, that is, the PRS pattern of the PRS. Optionally, the first information includes at least one of the following:

[0183] Identification information of the first terminal device;

[0184] PRS time domain resource information;

[0185] PRS frequency domain resource information;

[0186] PRS positioning frequency layer information;

[0187] Resource pool information;

[0188] The number of first time domain units used for sideline transmission in the second time domain unit;

[0189] The number of first time domain units used for transmitting PRS in the second time domain unit;

[0190] Whether the second time domain unit includes PSFCH resources;

[0191] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0192] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0193] Protocol predefined information;

[0194] Pre-configuration information;

[0195] Network configuration information.

[0196] Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit refers to a time domain symbol, such as an OFDM symbol, and the second time domain unit refers to a time slot or a mini-time slot.

[0197] Optionally, the first information is sent to the first terminal device by a terminal device other than the first terminal device, for example, by a second terminal device; or is sent to the first terminal device by a network device; or is preconfigured information in the first terminal device. The first terminal device can determine the first PRS configuration based on one or a combination of multiple pieces of the above-mentioned first information.

[0198] After determining the first PRS configuration, the first terminal device may send a PRS to the second terminal device based on the time-frequency resources of the PRS configured in the first PRS. Alternatively, the first terminal device receives the PRS sent by the second terminal device in the time-frequency resources configured in the first PRS. By measuring the PRS sent between terminal devices, the terminal device (the first terminal device or the second terminal device) can be positioned using the PRS.

[0199] To sum up, the method provided in this embodiment, by sending PRS configuration information to the first terminal device and the first terminal device determining the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS.

[0200] FIG16 is a flowchart of a method for configuring a positioning reference signal based on a sidelink provided by an exemplary embodiment of the present application. The method may be executed by a network device and includes:

[0201] Step 1602: Send configuration information of the PRS to the first terminal device, where the PRS has a comb structure with the first frequency domain unit as the comb tooth granularity.

[0202] The first frequency domain unit includes frequency domain resources of n consecutive REs in the frequency domain, where n is a positive integer greater than 1. REs that are consecutive in the frequency domain refer to n REs that are adjacent to each other in the frequency domain on the same first time domain unit. Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit refers to a time domain symbol, such as an OFDM symbol, and the second time domain unit refers to a time slot or a mini-time slot.

[0203] Exemplarily, RE is the minimum granularity of the physical layer resources of NR, which corresponds to a time domain symbol (OFDM symbol) in the time domain and a subcarrier in the frequency domain, that is, the first frequency domain unit includes n consecutive subcarriers in the frequency domain.

[0204] The comb structure refers to the arrangement of two adjacent first frequency domain units configuring PRS on the same first time domain unit at a fixed interval. The comb tooth granularity refers to the granularity of the frequency resource occupied by each comb tooth in the frequency domain in the comb structure.

[0205] Optionally, the first frequency domain unit includes frequency domain resources of any one of the following resources:

[0206] ·PRB;

[0207] Subchannel;

[0208] ·REG;

[0209] A PRB includes multiple consecutive REs in the frequency domain, for example, 12 REs. A subchannel includes multiple consecutive PRBs in the frequency domain. An REG includes multiple consecutive subcarriers in the frequency domain. Therefore, the size of a first frequency domain unit in the frequency domain is larger than one subcarrier or one RE.

[0210] Optionally, the PRS configuration information is carried in at least one of the following information:

[0211] Resource pool configuration information;

[0212] Side BWP configuration information.

[0213] Optionally, the PRS configuration information includes one or more PRS configurations, and the PRS configuration is used to configure or determine the time-frequency resources of the PRS. The first terminal device may determine the first PRS configuration it uses in the PRS configuration information, for example, determining the first PRS configuration according to the first information.

[0214] After obtaining the configuration information of PRS, the first terminal device can send PRS to terminal devices other than the first terminal device according to the time-frequency resources of PRS configured by the information, or receive PRS sent to the first terminal device by terminal devices other than the first terminal device according to the time-frequency resources of PRS configured by the information, thereby realizing the positioning of the terminal device through PRS.

[0215] In summary, the method provided in this embodiment configures a PRS having a comb-like structure with a first frequency domain unit as the comb tooth granularity for the first terminal device, where the first frequency domain unit includes n continuous REs in the frequency domain. Since the size of the first frequency domain unit in the frequency domain is greater than 1 RE, more effective utilization of frequency resources can be achieved compared to the resource mapping method of PRS in downlink positioning. Using the PRS with the above resource mapping method to locate the terminal device reduces the impact of in-band leakage on the performance of the positioning terminal device.

[0216] The method provided in the embodiments of the present application configures a PRS with a comb-like structure in the frequency domain having a granularity greater than that of REs (subcarriers) for the first terminal device. This allows for more efficient utilization of frequency resources compared to resource mapping of PRSs in downlink positioning. Using PRSs with this resource mapping approach for positioning the terminal device reduces the impact of in-band leakage on the performance of the positioning terminal device.

[0217] Introducing the resource mapping method of PRS:

[0218] In the PRS resource mapping method provided in the embodiment of the present application, the PRS has a comb structure with a first frequency domain unit as the comb tooth granularity, wherein the first frequency domain unit includes frequency domain resources of n consecutive REs in the frequency domain, where n is a positive integer greater than 1.

[0219] Consecutive REs in the frequency domain refer to n REs that are adjacent to each other in the frequency domain in the same first time domain unit. Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit refers to a time domain symbol, such as an OFDM symbol, and the second time domain unit refers to a time slot or a mini-slot.

[0220] Exemplarily, RE is the minimum granularity of the physical layer resources of NR, which corresponds to a time domain symbol (OFDM symbol) in the time domain and a subcarrier in the frequency domain, that is, the first frequency domain unit includes n consecutive subcarriers in the frequency domain.

[0221] Optionally, the first frequency domain unit includes frequency domain resources of any one of the following resources:

[0222] ·PRB;

[0223] Subchannel;

[0224] ·REG;

[0225] A PRB includes multiple consecutive REs in the frequency domain, for example, 12 REs. A subchannel includes multiple consecutive PRBs in the frequency domain. An REG includes multiple consecutive subcarriers in the frequency domain. Therefore, the size of a first frequency domain unit in the frequency domain is larger than one subcarrier or one RE.

[0226] Configuring the PRS is achieved through PRS configuration information. Optionally, the PRS configuration information includes at least one of a comb tooth size, a time domain length, and a signal offset value, wherein:

[0227] The comb tooth size includes the interval between two adjacent first frequency domain units of the PRS in the same first time domain unit. For example, the comb tooth size is The interval between two adjacent first frequency domain units of PRS is

[0228] The time domain length includes the number of first time domain units occupied by the PRS within one second time domain unit. For example, a time domain length of L indicates that within one second time domain unit (time slot), the number of first time domain units (OFDM symbols) occupied by the PRS is L. Optionally, the L first time domain units are consecutive time domain units in the second time domain unit.

[0229] The signal offset value includes an offset value of a first frequency domain unit of the PRS in a first time domain unit for transmitting the PRS in a second time domain unit, and each second time domain unit includes at least one first time domain unit. For example, the signal offset value is Indicates that in a first time domain unit carrying PRS in a second time domain unit, the offset value of the first first frequency domain unit of PRS compared to the first first frequency domain unit on the first time domain unit is It can also be regarded as the position of the first frequency domain unit of PRS in the frequency domain is Optionally, the signal offset value uses a first frequency domain unit as a granularity or unit.

[0230] In some embodiments, the first frequency domain unit includes a PRB, and the offset value indicated by the signal offset value is an offset value relative to the first frequency domain position, wherein the first frequency domain position is determined according to any one of the following: the frequency domain position corresponding to the first PRB of the resource pool, the frequency domain position corresponding to the first PRB of the sidelink BWP, the frequency domain position corresponding to the first PRB of the subchannel, the frequency domain position corresponding to the first PRB of the resource block set (RBset), and pointA.

[0231] In some embodiments, the first frequency domain unit includes a subchannel, and the offset value indicated by the signal offset value is an offset value relative to a second frequency domain position, wherein the second frequency domain position is determined according to any one of the following: the frequency domain starting position of the resource pool, the frequency domain starting position of the sidelink BWP, the frequency domain starting position of the resource block set (RBset), and pointA.

[0232] In some embodiments, the first frequency domain unit includes REG, and the offset value indicated by the signal offset value is an offset value relative to a third frequency domain position, wherein the third frequency domain position is determined according to any one of the following: the starting position of the PRB, the starting position of the first PRB of the resource pool, the starting position of the first PRB of the side BWP, the starting position of the first PRB of the subchannel, the starting position of the first PRB of the resource block set (RBset), and pointA.

[0233] For example, Figure 17 is a schematic diagram of the time-frequency resources of a PRS with PRB as the frequency domain granularity (first frequency domain unit) provided by an exemplary embodiment of the present application. As shown in Figure 17, the granularity of the frequency domain is PRB, and the granularity of the time domain is OFDM symbol. The frequency domain mapping of PRS adopts a comb structure, which uses PRB as the granularity, that is, PRS is mapped to all subcarriers of a PRB, and the comb structure is used to map PRS between PRBs. = L = 6, which means that the interval between two adjacent PRBs of PRS in one OFDM symbol is 6-1=5. L = 6 means that PRS occupies 6 consecutive OFDM symbols in one time slot. Between multiple OFDM symbols, PRS is mapped to the PRBs corresponding to these multiple OFDM symbols using a staggered structure, so that one PRS can be mapped to all subcarriers within the frequency domain occupied by the PRS in the frequency domain. Figure 17 shows the resources of two PRSs, where PRS#1 has a 0 PRB, that is, in the first OFDM symbol carrying PRS#1 in a time slot, the frequency domain offset of the first PRB of PRS#1 is 0 PRB. It is 2 PRBs, that is, in the first OFDM symbol carrying PRS#2 in a time slot, the frequency domain offset of the first PRB of PRS#1 is 2 PRBs.

[0234] For example, Figure 18 is a schematic diagram of the time-frequency resources of the PRS with the subchannel as the frequency domain granularity (first frequency domain unit) provided by an exemplary embodiment of the present application. As shown in Figure 18, the granularity of the frequency domain is the subchannel, and the granularity of the time domain is the OFDM symbol. The frequency domain mapping of the PRS adopts a comb structure, which uses the subchannel as the granularity. A subchannel includes 4 consecutive PRBs, that is, the PRS is mapped to all PRBs included in a subchannel, and is also mapped to all subcarriers of each PRB included in the subchannel. The comb structure is used to map the PRS between subchannels. = L = 6, which means that the interval between two adjacent sub-channels of PRS in one OFDM symbol is 6-1=5. L = 6 means that PRS occupies 6 consecutive OFDM symbols in one time slot. Between multiple OFDM symbols, PRS is mapped to the sub-channels corresponding to these multiple OFDM symbols using a staggered structure, so that one PRS can be mapped to all sub-carriers within the frequency domain occupied by the PRS in the frequency domain. Figure 18 shows the resources of two PRSs, where PRS#1 has a The frequency domain offset of the first subchannel of PRS#1 is 0. The frequency domain offset of the first subchannel of PRS#1 in the first OFDM symbol carrying PRS#2 in a time slot is 2 subchannels. In some embodiments, the subchannel may also be referred to as a resource block group (RBG).

[0235] For example, Figure 19 is a schematic diagram of the time-frequency resources of PRS with REG as the frequency domain granularity (first frequency domain unit) provided by an exemplary embodiment of the present application. As shown in Figure 19, the granularity of the frequency domain is a plurality of continuous subcarriers, and the granularity of the time domain is an OFDM symbol. Optionally, the granularity of a plurality of continuous subcarriers can be regarded as the granularity of REG, and one REG includes M continuous subcarriers or REs, where M is a positive integer greater than 1. The frequency domain mapping of PRS adopts a comb structure, which uses REG as the granularity, and one REG includes 4 continuous subcarriers, that is, PRS is mapped to all (4) subcarriers of one REG, and the comb structure is used to map PRS between REGs. Indicates that in one OFDM symbol, the interval between two adjacent REGs of PRS is 6-1=5. L=6 means that PRS occupies 6 consecutive OFDM symbols in one time slot, and PRS is mapped to the REGs corresponding to these multiple OFDM symbols using a staggered structure between multiple OFDM symbols, so that one PRS can be mapped to all subcarriers within the frequency domain occupied by the PRS in the frequency domain. Figure 19 shows the resources of two PRSs, where PRS#1 0 REG, that is, in the first OFDM symbol carrying PRS#1 in a time slot, the frequency domain offset of the first REG of PRS#1 is 0 REG. It is 2 REGs, that is, in the first OFDM symbol carrying PRS#2 in a time slot, the frequency domain offset of the first REG of PRS#1 is 2 REGs.

[0236] In the above Figures 17 to 19, the mapping pattern of the sideline PRS in the frequency domain is respectively described by taking PRB, subchannel and REG as examples, and the description is made with a comb tooth size of 6. The above description of the pattern of the sideline PRS using the first frequency domain unit as PRB, subchannel and REG as an example is also applicable to the cases of other comb tooth sizes, time domain lengths and signal offset values, such as Where S is an integer greater than or equal to 1. The following takes the first frequency domain unit as PRB and performs the following operations on PRS in different frequency domains: The mapping pattern in the frequency domain under the following circumstances is given as an example:

[0237] For example, Figure 20 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 1, provided by an exemplary embodiment of the present application. As shown in Figure 20 , the granularity in the frequency domain is PRB, and the granularity in the time domain is OFDM symbol. = L = 1 means that the interval between two adjacent PRBs of PRS in one OFDM symbol is 1-1 = 0, that is, the PRBs are mapped to all PRBs in one OFDM symbol. L = 1 means that PRS occupies one OFDM symbol in one time slot. Figure 20 shows the resources of a PRS, where the PRS 0 PRB, that is, in an OFDM symbol carrying PRS in a time slot, the frequency domain offset of the first PRB of PRS is 0 PRB. In the case of

[0238] For example, Figure 21 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 2, provided by an exemplary embodiment of the present application. As shown in Figure 21 , the granularity in the frequency domain is PRB, and the granularity in the time domain is OFDM symbol. = L = 2, which means that the interval between two adjacent PRBs of PRS in one OFDM symbol is 2-1 = 1. L = 2 means that PRS occupies 2 OFDM symbols in one time slot. Figure 21 shows the resources of two PRSs, where PRS#1 has 0 PRB, that is, in the first OFDM symbol carrying PRS#1 in a time slot, the frequency domain offset of the first PRB of PRS#1 is 0 PRB. It is 1 PRB, that is, in the first OFDM symbol carrying PRS#2 in a time slot, the frequency domain offset of the first PRB of PRS#2 is 1 PRB.

[0239] For example, Figure 22 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 4, provided by an exemplary embodiment of the present application. As shown in Figure 22 , the granularity in the frequency domain is PRB, and the granularity in the time domain is OFDM symbol. =4 means that the interval between two adjacent PRBs of PRS in one OFDM symbol is 4-1=3. L=4 means that PRS occupies 4 OFDM symbols in one time slot. Figure 22 shows the resources of two PRSs, where PRS#1 0 PRB, that is, in the first OFDM symbol carrying PRS#1 in a time slot, the frequency domain offset of the first PRB of PRS#1 is 0 PRB. It is 2 PRBs, that is, in the first OFDM symbol carrying PRS#2 in a time slot, the frequency domain offset of the first PRB of PRS#2 is 2 PRBs.

[0240] For example, Figure 23 is a schematic diagram of time-frequency resources of a PRS with a comb tooth size of 12, provided by an exemplary embodiment of the present application. As shown in Figure 23 , the granularity in the frequency domain is PRB, and the granularity in the time domain is OFDM symbol. = L = 12 means that the interval between two adjacent PRBs of PRS in one OFDM symbol is 12-1 = 11. Since one OFDM symbol only includes 12 PRBs, only one PRB in each OFDM symbol is mapped to PRS. L = 12 means that PRS occupies 12 OFDM symbols in one time slot. Figure 23 shows the resources of two PRSs, where PRS#1 is 1 PRB, that is, in the first OFDM symbol carrying PRS#1 in a time slot, the frequency domain offset of the first PRB of PRS#1 is 1 PRB. It is 0 PRB, that is, in the first OFDM symbol carrying PRS#2 in a time slot, the frequency domain offset of the first PRB of PRS#2 is 0 PRB.

[0241] It should be noted that the PRS pattern in the embodiment of the present application is based on the PRB, subchannel or REG as the first frequency domain unit granularity and is based on the comb structure, and the comb size is Less than or equal to the number of OFDM symbols occupied by the PRS pattern (that is, the time domain length L), so that the PRS on the L OFDM symbols can occupy all subcarriers. However, the embodiment of the present application does not limit the mapping method of PRS on each OFDM symbol. For example, in Figure 22, the PRBs mapped to PRS#1 on the four OFDM symbols are the first PRB, the third PRB, the second PRB, and the fourth PRB. In another embodiment, the PRBs mapped to PRS#1 on the four OFDM symbols are the first PRB, the second PRB, the third PRB, and the fourth PRB; that is, the embodiment of the present application does not limit the mapping method of PRS on each OFDM symbol.

[0242] Introduce the frequency division multiplexing of PRS and PSCCH:

[0243] In the second time domain unit, part of the first time domain unit may carry the PSCCH. For example, in Figure 8, time domain symbols 1 to 3 carry the PSCCH. Optionally, the PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

[0244] For example, Figure 24 is a schematic diagram of time-frequency resources carrying PSCCH provided by an exemplary embodiment of the present application. As shown in (a) of Figure 24, in a time slot (including time domain symbols 0 to 13), time domain symbols 1 to 3 carry PSCCH, and time domain symbol 0 is used as AGC, and time domain symbol 13 is used as GP. If the sideline PRS sent by the first terminal device can be frequency-division multiplexed with the PSCCH sent by the first terminal device, since time domain symbol 0 and time domain symbol 13 are not used to carry PRS, the time domain symbols that can be used to transmit PRS are time domain symbols 1 to 12. As shown in (b) of Figure 24, if the sideline PRS sent by the first terminal device cannot be frequency-division multiplexed with the PSCCH sent by the first terminal device, since time domain symbol 0 and time domain symbol 13 are not used to carry PRS, the time domain symbols that can be used to transmit PRS are time domain symbols 4 to 12.

[0245] The case where the second time domain unit (time slot) carries both PRS and PSFCH is introduced:

[0246] In the second time domain unit, part of the first time domain unit may carry PSFCH. For example, in Figure 7, time domain symbols 11 and 12 carry PSFCH. Optionally, in a second time domain unit, the first time domain unit used to transmit PSFCH is not used to transmit PRS.

[0247] For example, Figure 25 is a schematic diagram of time-frequency resources carrying PSCCH and PSFCH provided by an exemplary embodiment of the present application. As shown in (a) of Figure 25, in a time slot (including time domain symbols 0 to 13), time domain symbols 1 to 3 carry PSCCH, time domain symbols 11 and 12 carry PSFCH, and time domain symbol 0 is used as AGC, and time domain symbol 10 and time domain symbol 13 are used as GP. If the sidelink PRS sent by the first terminal device can be frequency-division multiplexed with the PSCCH sent by the first terminal device, and the time domain symbol used to transmit PSFCH is not used to transmit PRS, since time domain symbol 0 and time domain symbols 10 and 13 are not used to carry PRS, the time domain symbols that can be used to transmit PRS are time domain symbols 1 to 9. As shown in (b) of Figure 25, if the sidelink PRS sent by the first terminal device cannot be frequency-division multiplexed with the PSCCH sent by the first terminal device, and the time domain symbols used to transmit PSFCH are not used to transmit PRS, since time domain symbols 0 and time domain symbols 10 and 13 are not used to carry PRS, the time domain symbols that can be used to transmit PRS are time domain symbols 4 to 9.

[0248] In a second time domain unit, under the premise that the first time domain unit used for transmitting the PSFCH is not used for transmitting the PRS, optionally, the repetition period of the PRS is an integer multiple of the PSFCH period, that is, P1 = L*P2, where P1 is the repetition period of the PRS, P2 is the PSFCH period, and L is a positive integer greater than or equal to 1.

[0249] If the resource pool includes PSFCH resources and its period value is P2, that is, there is a time slot including PSFCH resources in every P2 time slots. Since the number of time domain symbols that can be used to transmit PRS in the time slot including PSFCH is different from that in the time slot not including PSFCH (the time domain symbols used to transmit PSFCH are not used to transmit PRS), in order to ensure that the time slots where the repeatedly transmitted PRS are located have the same number of time domain symbols that can be used to transmit PRS, that is, the time slots where the PRS are located all include PSFCH resources or do not include PSFCH resources, therefore, if the period of PRS is P1, then P1 is an integer multiple of P2.

[0250] For example, Figure 26 is a schematic diagram of frequency resources of different time slots provided by an exemplary embodiment of the present application. As shown in Figure 26, time slot x is used to send PRS, and the period of PRS is P1. Therefore, time slot x+P1 is also used to send PRS, and the period of PSFCH is P2. If P1 is not an integer multiple of P2, it is possible that time slot x does not include PSFCH resources, while time slot x+P1 includes PSFCH resources. In this case, the number of time domain symbols that can be used to transmit PRS in these two time slots is different. If the comb tooth size of the PRS transmitted in time slot x is 8, since the number of time domain symbols that can be used to transmit PRS in time slot x+P1 (6) is less than 8 (the comb tooth size of PRS needs to be less than the time domain length of PRS), the PRS cannot be sent in time slot x+P1. Therefore, it is necessary to ensure that the repetition period of PRS is an integer multiple of the period of PSFCH in order to achieve normal repeated transmission of PRS.

[0251] Optionally, the teeth size of the comb structure of the PRS or the number of first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of first time domain units that can be used to transmit the PRS in one second time domain unit. Optionally, when the first terminal device determines the first PRS configuration to be used in the configuration information of the PRS including multiple PRS configurations, the PRS configured by the first PRS configuration must satisfy the above conditions.

[0252] Optionally, the number of first time domain units available for transmitting the PRS in one second time domain unit is determined according to at least one of the following information:

[0253] Whether a second time domain unit includes PSFCH resources;

[0254] Whether the PRS supports mapping to the first time domain unit of the PSCCH;

[0255] PRS configurations of other terminal devices in the first terminal device group performing cooperative positioning with the first terminal device.

[0256] Exemplarily, when the condition that the number of OFDM symbols used for PRS transmission in different time slots of a resource pool is equal is satisfied, the number of OFDM symbols available for PRS transmission in a time slot of the resource pool is determined based on the minimum number of OFDM symbols available for PRS transmission in each time slot included in the resource pool. For example, if PSFCH resources are configured in a time slot, the number of OFDM symbols available for PRS transmission in a time slot that does not include PSFCH resources is greater than the number of OFDM symbols available for PRS transmission in a time slot that includes PSFCH resources. Therefore, the minimum number of OFDM symbols available for PRS transmission in each time slot included in the resource pool can be determined based on the number of OFDM symbols available for PRS transmission in a time slot that includes PSFCH in the resource pool. On this basis, the number of OFDM symbols available for PRS transmission in each time slot included in the resource pool can be determined. For example, as shown in FIG26 , the number of OFDM symbols available for PRS transmission in a time slot excluding the PSFCH (time slot n) is 9, and the number of OFDM symbols available for PRS transmission in a time slot including the PSFCH (time slot n+P1) is 6. Therefore, the minimum number of OFDM symbols available for PRS transmission in each time slot included in the resource pool is 6. When PRS is repeatedly transmitted in the time slots of the resource pool, the number of OFDM symbols used for PRS transmission in each time slot is 6.

[0257] By performing resource mapping on the PRS in the above manner, configuration information of the PRS (including one or more PRS configurations) can be obtained. By obtaining the configuration information of the PRS, the first terminal device can determine the first PRS configuration, for example, based on the first information, so that the first terminal device can send a PRS to the second terminal device based on the first PRS configuration or receive a PRS sent by the second terminal device, and on this basis, positioning of the terminal device based on the PRS can be achieved. The second terminal device generally refers to a terminal device different from the first terminal device, and is not limited to a specific device.

[0258] The method provided in the embodiments of the present application enables a first terminal device to determine a first PRS configuration based on first information, thereby enabling the first terminal device to transmit a PRS to a second terminal device based on the first PRS configuration. This enables PRS transmission between the terminal devices, and based on the PRS transmission, terminal device positioning can be achieved using the PRS.

[0259] The method for the first terminal device to determine the first PRS configuration is introduced:

[0260] (1) The first terminal device determines the first PRS configuration in the pre-configured PRS configuration information according to the first information:

[0261] FIG27 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application, the method comprising:

[0262] Step 2702: The first terminal device obtains the configuration information of the PRS according to the pre-configuration information.

[0263] The pre-configuration information is information pre-configured in the first terminal device. Optionally, the PRS configuration information is obtained by performing resource mapping on the PRS in the manner shown in Figures 17 to 26; or, the PRS configuration information is obtained by performing resource mapping on the PRS in other manners. The PRS configuration information includes at least one PRS configuration.

[0264] Step 2704: The first terminal device determines a first PRS configuration in the PRS configuration information according to the first information.

[0265] When the PRS configuration information includes at least one PRS configuration, the first terminal device determines a first PRS configuration from the at least one PRS configuration according to the first information. The first terminal device determining the first PRS configuration may also be referred to as determining a PRS pattern of the first terminal device.

[0266] Optionally, the first information includes at least one of the following:

[0267] Identification information of the first terminal device;

[0268] PRS time domain resource information;

[0269] PRS frequency domain resource information;

[0270] PRS positioning frequency layer information;

[0271] Resource pool information;

[0272] The number of first time domain units used for sideline transmission in the second time domain unit;

[0273] The number of first time domain units used for transmitting PRS in the second time domain unit;

[0274] Whether the second time domain unit includes PSFCH resources;

[0275] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0276] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0277] Protocol predefined information;

[0278] Pre-configuration information;

[0279] Network configuration information.

[0280] Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit includes an orthogonal frequency division multiplexing OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0281] Optionally, the identification information of the first terminal device includes at least one of the following:

[0282] Cell-Radio Network Temporary Identifier (C-RNTI);

[0283] The group identifier of the communication group to which the first terminal device belongs;

[0284] The member ID of the first terminal device in the communication group;

[0285] Layer 2 source ID

[0286] Layer 2 Destination ID.

[0287] Among them, Layer 2 in NR includes the following sublayers: Medium Access Control (MAC), Radio Link Control (RLC), Packet Data Convergence Protocol (PDCP) and Service Data Adaptation Protocol (SDAP). Using the source target identifier or destination identifier of Layer 2 (MAC layer), different terminal devices can be distinguished. The source target identifier can be understood as a source identifier. Optionally, the identification information of the first terminal device may be all or part of the above-mentioned identification information. For example, the identification information of the first terminal device includes a partial bit sequence of the terminal identifier.

[0288] Optionally, the time domain resource information of the PRS includes at least one of the following:

[0289] Information about the second time domain unit where the PRS is located;

[0290] Position information of the first first time domain unit occupied by the PRS in the second time domain unit;

[0291] The number of first time domain units occupied by the PRS;

[0292] PRS repetition period information;

[0293] PRS repetition number information;

[0294] Time domain interval information between two adjacent repeated PRSs;

[0295] Second time domain unit offset information;

[0296] First time domain unit offset information.

[0297] The repetition period information of the PRS is used to reflect the repetition of the PRS in different second time domain units of the resource pool. The repetition count information of the PRS is used to reflect the number of times the PRS appears repeatedly in different second time domain units of the resource pool. The time domain interval information of two adjacent repeated PRSs is information with the first time domain unit or the second time domain unit as the granularity.

[0298] Optionally, the frequency domain resource information of the PRS includes at least one of the following:

[0299] The frequency domain resource bandwidth of the PRS;

[0300] The starting frequency domain location information of the PRS;

[0301] The starting frequency offset information of the PRS.

[0302] Optionally, the positioning frequency layer information of the PRS includes at least one of the following:

[0303] Information indicating the subcarrier spacing of the PRS;

[0304] Cyclic prefix of PRS;

[0305] The frequency domain resource bandwidth of the PRS;

[0306] The starting frequency domain location information of the PRS;

[0307] The starting frequency offset information of the PRS;

[0308] Frequency domain reference point (pointA) information;

[0309] Comb tooth size;

[0310] RE spacing (resource element spacing).

[0311] Whether the second time domain unit includes PSFCH resources: Since PRS cannot occupy the first time domain unit where PSFCH is located, when the second time domain unit includes PSFCH resources, the number of first time domain units that can be used to transmit PRS is less than the second time domain unit that does not include PSFCH resources.

[0312] Whether PRS supports mapping to the first time domain unit carrying PSCCH: If PRS can be mapped to the first time domain unit where PSCCH is located, the number of first time domain units that can be used to transmit PRS is greater than the case where PRS cannot be mapped to the first time domain unit where PSCCH is located.

[0313] PRS configuration of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device: If a group of terminal devices (including the first terminal device) collaborates for positioning, this group of terminal devices constitutes a first terminal device group, and the first terminal device group that performs collaborative positioning includes: a target terminal device (i.e., the terminal device being positioned), an anchor terminal device or a supporting terminal device (i.e., a terminal device that supports positioning of the target terminal device, which terminal device sends or receives PRS and provides positioning-related information). The first terminal device determines its own PRS pattern (first PRS configuration) based on the PRS patterns (PRS configurations) of other terminal devices in the first terminal device group, such as the first terminal device adopts the same PRS pattern as the other terminal devices.

[0314] Optionally, the first information is sent to the first terminal device by a terminal device other than the first terminal device; or is sent to the first terminal device by a network device; or is information preconfigured in the first terminal device or predefined by a protocol. The first terminal device can determine the first PRS configuration based on one or a combination of multiple pieces of the above first information.

[0315] Optionally, the first terminal device obtains second signaling from the second terminal device, where the second signaling includes the first information, so that the first terminal device obtains the first information. The second signaling includes at least one of the following:

[0316] PC5 - Radio Resource Control (RRC) signaling;

[0317] Media Access Layer Control Element (MAC CE);

[0318] Sidelink Control Information (SCI)

[0319] Step 2706: The first terminal device sends a third signaling to the second terminal device, where the third signaling is used to indicate the first PRS configuration.

[0320] Optionally, if the first terminal device determines the PRS pattern (first PRS configuration), the first terminal device indicates the PRS pattern to the second terminal device via third signaling. Optionally, the third signaling includes at least one of the following:

[0321] PC5-RRC signaling;

[0322] MAC CE;

[0323] ·SCI.

[0324] The second terminal device generally refers to a terminal device different from the first terminal device, and is not limited to a specific terminal device. Optionally, the first terminal device indicates the first PRS configuration to the second terminal device through a third signaling, for example, the first terminal device indicates through a MAC CE and / or SCI.

[0325] Step 2708: The first terminal device sends a PRS to the second terminal device based on the first PRS configuration or receives a PRS sent by the second terminal device.

[0326] The first terminal device may send a PRS to the second terminal device based on the time-frequency resources of the PRS configured by the first PRS. Alternatively, the first terminal device may receive the PRS sent by the second terminal device in the time-frequency resources configured by the first PRS. By measuring the PRS sent between terminal devices, the terminal device (the first terminal device or the second terminal device) can be positioned using the PRS.

[0327] It should be noted that the second terminal device generally refers to a terminal device different from the first terminal device, and does not specifically refer to a specific terminal device. In addition, the second terminal device may include one or more terminal devices.

[0328] To sum up, the method provided in this embodiment, by having the first terminal device determine the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS.

[0329] (2) The first terminal device determines the first PRS configuration in the configuration information of the PRS configured by the network according to the first information:

[0330] FIG28 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application, the method comprising:

[0331] Step 2802: The first terminal device obtains PRS configuration information based on network configuration information.

[0332] The network configuration information is information configured by a network device and sent to the first terminal device. Optionally, the PRS configuration information is obtained by performing resource mapping on the PRS in the manner shown in Figures 17 to 26; or, the PRS configuration information is obtained by performing resource mapping on the PRS in other manners. The PRS configuration information includes at least one PRS configuration.

[0333] Optionally, the network configuration information includes at least one of the following:

[0334] Resource pool configuration information;

[0335] Sideline (SL) BWP configuration information.

[0336] Step 2804: The first terminal device determines a first PRS configuration in the PRS configuration information according to the first information.

[0337] When the PRS configuration information includes at least one PRS configuration, the first terminal device determines a first PRS configuration from the at least one PRS configuration according to the first information. The first terminal device determining the first PRS configuration may also be referred to as determining a PRS pattern of the first terminal device.

[0338] Optionally, the first information includes at least one of the following:

[0339] Identification information of the first terminal device;

[0340] PRS time domain resource information;

[0341] PRS frequency domain resource information;

[0342] PRS positioning frequency layer information;

[0343] Resource pool information;

[0344] The number of first time domain units used for sideline transmission in the second time domain unit;

[0345] The number of first time domain units used for transmitting PRS in the second time domain unit;

[0346] Whether the second time domain unit includes PSFCH resources;

[0347] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0348] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0349] Protocol predefined information;

[0350] Pre-configuration information;

[0351] Network configuration information.

[0352] Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit includes an orthogonal frequency division multiplexing OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0353] Optionally, the identification information of the first terminal device includes at least one of the following:

[0354] C-RNTI;

[0355] The group identifier of the communication group to which the first terminal device belongs;

[0356] The group identifier of the first terminal device in the communication group;

[0357] Layer 2 source and target identification;

[0358] Layer 2 destination identification.

[0359] Optionally, the time domain resource information of the PRS includes at least one of the following:

[0360] Information about the second time domain unit where the PRS is located;

[0361] Position information of the first first time domain unit occupied by the PRS in the second time domain unit;

[0362] The number of first time domain units occupied by the PRS;

[0363] PRS repetition period information;

[0364] PRS repetition number information;

[0365] Time domain interval information between two adjacent repeated PRSs;

[0366] Second time domain unit offset information;

[0367] First time domain unit offset information.

[0368] Optionally, the frequency domain resource information of the PRS includes at least one of the following:

[0369] The frequency domain resource bandwidth of the PRS;

[0370] The starting frequency domain location information of the PRS;

[0371] The starting frequency offset information of the PRS.

[0372] Optionally, the positioning frequency layer information of the PRS includes at least one of the following:

[0373] Information indicating the subcarrier spacing of the PRS;

[0374] Cyclic prefix of PRS;

[0375] The frequency domain resource bandwidth of the PRS;

[0376] The starting frequency domain location information of the PRS;

[0377] The starting frequency offset information of the PRS;

[0378] Frequency domain reference point information;

[0379] Comb tooth size;

[0380] RE interval.

[0381] Optionally, the first information is sent to the first terminal device by a terminal device other than the first terminal device; or is sent to the first terminal device by a network device; or is information preconfigured in the first terminal device or predefined by a protocol. The first terminal device can determine the first PRS configuration based on one or a combination of multiple pieces of the above first information.

[0382] Optionally, the first terminal device obtains second signaling from the second terminal device, where the second signaling includes the first information, so that the first terminal device obtains the first information. The second signaling includes at least one of the following:

[0383] PC5-RRC signaling;

[0384] MAC CE;

[0385] ·SCI.

[0386] Step 2806: The first terminal device sends a third signaling to the second terminal device, where the third signaling is used to indicate the first PRS configuration.

[0387] Optionally, if the first terminal device determines the PRS pattern (first PRS configuration), the first terminal device indicates the PRS pattern to the second terminal device via third signaling. Optionally, the third signaling includes at least one of the following:

[0388] PC5-RRC signaling;

[0389] MAC CE;

[0390] ·SCI.

[0391] The second terminal device generally refers to a terminal device different from the first terminal device, and is not limited to a specific terminal device. Optionally, the first terminal device indicates the first PRS configuration to the second terminal device through a third signaling, for example, the first terminal device indicates through a MAC CE and / or SCI.

[0392] Step 2808: The first terminal device sends a PRS to the second terminal device based on the first PRS configuration or receives a PRS sent by the second terminal device.

[0393] The first terminal device may send a PRS to the second terminal device based on the time-frequency resources of the PRS configured by the first PRS. Alternatively, the first terminal device may receive a PRS sent by the second terminal device in the time-frequency resources configured by the first PRS. By measuring the PRS sent between terminal devices, positioning of the terminal device (the first terminal device or the second terminal device) can be achieved using the PRS.

[0394] It should be noted that the second terminal device generally refers to a terminal device different from the first terminal device, and does not specifically refer to a specific terminal device. In addition, the second terminal device may include one or more terminal devices.

[0395] To sum up, the method provided in this embodiment, by having the first terminal device determine the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS.

[0396] (3) For a case where the first terminal device determines the first PRS configuration from the PRS configuration information sent by other terminal devices based on the first information:

[0397] FIG29 is a flowchart of a sidelink-based transmission method provided by an exemplary embodiment of the present application, the method comprising:

[0398] Step 2902: The first terminal device receives the first signaling sent by the second terminal device.

[0399] The first signaling includes configuration information of the PRS. Optionally, the first signaling includes at least one of the following:

[0400] PC5-RRC signaling;

[0401] MAC CE;

[0402] ·SCI.

[0403] Optionally, the configuration information of the PRS is obtained by performing resource mapping on the PRS in the manner shown in Figures 17 to 26; or, the configuration information of the PRS is obtained by performing resource mapping on the PRS in other manners. The configuration information of the PRS includes at least one PRS configuration.

[0404] Step 2904: The first terminal device determines a first PRS configuration in the PRS configuration information based on the first information.

[0405] When the PRS configuration information includes at least one PRS configuration, the first terminal device determines a first PRS configuration from the at least one PRS configuration according to the first information. The first terminal device determining the first PRS configuration may also be referred to as determining a PRS pattern of the first terminal device.

[0406] Optionally, the first information includes at least one of the following:

[0407] Identification information of the first terminal device;

[0408] PRS time domain resource information;

[0409] PRS frequency domain resource information;

[0410] PRS positioning frequency layer information;

[0411] Resource pool information;

[0412] The number of first time domain units used for sideline transmission in the second time domain unit;

[0413] The number of first time domain units used for transmitting PRS in the second time domain unit;

[0414] Whether the second time domain unit includes PSFCH resources;

[0415] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0416] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0417] Protocol predefined information;

[0418] Pre-configuration information;

[0419] Network configuration information.

[0420] Optionally, each second time domain unit includes at least one first time domain unit, and each second time domain unit may also include at least two first time domain units. For example, the first time domain unit includes an orthogonal frequency division multiplexing OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0421] Optionally, the identification information of the first terminal device includes at least one of the following:

[0422] C-RNTI;

[0423] The group identifier of the communication group to which the first terminal device belongs;

[0424] The group identifier of the first terminal device in the communication group;

[0425] Layer 2 source and target identification;

[0426] Layer 2 destination identification.

[0427] Optionally, the time domain resource information of the PRS includes at least one of the following:

[0428] Information about the second time domain unit where the PRS is located;

[0429] Position information of the first first time domain unit occupied by the PRS in the second time domain unit;

[0430] The number of first time domain units occupied by the PRS;

[0431] PRS repetition period information;

[0432] PRS repetition number information;

[0433] Time domain interval information between two adjacent repeated PRSs;

[0434] Second time domain unit offset information;

[0435] First time domain unit offset information.

[0436] Optionally, the frequency domain resource information of the PRS includes at least one of the following:

[0437] The frequency domain resource bandwidth of the PRS;

[0438] The starting frequency domain location information of the PRS;

[0439] The starting frequency offset information of the PRS.

[0440] Optionally, the positioning frequency layer information of the PRS includes at least one of the following:

[0441] Information indicating the subcarrier spacing of the PRS;

[0442] Cyclic prefix of PRS;

[0443] The frequency domain resource bandwidth of the PRS;

[0444] The starting frequency domain location information of the PRS;

[0445] The starting frequency offset information of the PRS;

[0446] Frequency domain reference point information;

[0447] Comb tooth size;

[0448] RE interval.

[0449] Optionally, the first information is sent to the first terminal device by a terminal device other than the first terminal device; or is sent to the first terminal device by a network device; or is information preconfigured in the first terminal device or predefined by a protocol. The first terminal device can determine the first PRS configuration based on one or a combination of multiple pieces of the above first information.

[0450] Optionally, the first terminal device obtains second signaling from the second terminal device, where the second signaling includes the first information, so that the first terminal device obtains the first information. The second signaling includes at least one of the following:

[0451] PC5-RRC signaling;

[0452] MAC CE;

[0453] ·SCI.

[0454] Step 2906: The first terminal device sends a third signaling to the second terminal device, where the third signaling is used to indicate the first PRS configuration.

[0455] Optionally, if the first terminal device determines the PRS pattern (first PRS configuration), the first terminal device indicates the PRS pattern to the second terminal device via third signaling. Optionally, the third signaling includes at least one of the following:

[0456] PC5-RRC signaling;

[0457] MAC CE;

[0458] ·SCI.

[0459] The second terminal device generally refers to a terminal device different from the first terminal device, and is not limited to a specific terminal device. Optionally, the first terminal device indicates the first PRS configuration to the second terminal device through a third signaling, for example, the first terminal device indicates through a MAC CE and / or SCI.

[0460] Step 2908: The first terminal device sends a PRS to the second terminal device or receives a PRS sent by the second terminal device based on the first PRS configuration.

[0461] The first terminal device may send a PRS to the second terminal device based on the time-frequency resources of the PRS configured by the first PRS. Alternatively, the first terminal device may receive the PRS sent by the second terminal device in the time-frequency resources configured by the first PRS. By measuring the PRS sent between terminal devices, the terminal device (the first terminal device or the second terminal device) can be positioned using the PRS.

[0462] It should be noted that the second terminal device generally refers to a terminal device different from the first terminal device, and does not specifically refer to a specific terminal device. In addition, the second terminal device may include one or more terminal devices.

[0463] To sum up, the method provided in this embodiment, by having the first terminal device determine the first PRS configuration according to the first information, can enable the first terminal device to transmit PRS to the second terminal device based on the first PRS configuration, thereby realizing PRS transmission between terminal devices. On the basis of realizing the transmission of PRS, the terminal device can be positioned through PRS.

[0464] It should be noted that the aforementioned second terminal device generally refers to a terminal device different from the first terminal device, and does not specifically refer to a specific terminal device. Furthermore, the second terminal device may include one or more terminal devices. Furthermore, the second terminal device that sends the first signaling to the first terminal device, the second terminal device that sends the second signaling to the first terminal device, the second terminal device that receives the third signaling sent by the first terminal device, and the second terminal device that transmits the PRS to the first terminal device may all be the same, all different, or partially the same.

[0465] It should be noted that in the methods illustrated in Figures 27 to 29 above, the steps executed by the first terminal device and the second terminal device are interchangeable, i.e., the first terminal device executes the steps of the second terminal device, and the second terminal device executes the steps of the first terminal device. The first terminal device and the second terminal device are merely used to distinguish between the two terminal devices and are not used to specify specific terminal devices.

[0466] It should be noted that the order of the method steps provided in the embodiments of the present application can be appropriately adjusted, the steps can also be increased or decreased accordingly according to the circumstances, and different steps can be freely combined to form new embodiments. Any person skilled in the art who is familiar with the present invention can easily think of the method of variation within the technical scope disclosed in this application, and should be included in the protection scope of this application, so it will not be repeated here. In addition, the order of the above-mentioned different situations does not have a preferred meaning, but is only for the convenience of expression.

[0467] Figure 30 is a block diagram of a sidelink-based transmission device provided by an exemplary embodiment of the present application. As shown in Figure 30, the device includes:

[0468] A determining module 3001 is configured to determine a first PRS configuration according to first information;

[0469] The transceiver module 3002 is configured to send a PRS to a second terminal device based on the first PRS configuration or receive the PRS sent by the second terminal device.

[0470] In an optional design, the first information includes at least one of the following:

[0471] identification information of the device;

[0472] Time domain resource information of the PRS;

[0473] Frequency domain resource information of the PRS;

[0474] Positioning frequency layer information of the PRS;

[0475] Resource pool information;

[0476] the number of first time domain units used for sideline transmission in the second time domain unit;

[0477] the number of the first time domain units in the second time domain unit used for transmitting the PRS;

[0478] Whether the second time domain unit includes a PSFCH resource;

[0479] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0480] PRS configurations of other terminal devices in a device group that performs cooperative positioning with the device;

[0481] Protocol predefined information;

[0482] Preconfiguration information;

[0483] Network configuration information;

[0484] Each of the second time domain units includes at least one of the first time domain units.

[0485] In an optional design, the identification information of the device includes at least one of the following:

[0486] C-RNTI;

[0487] a group identifier of the communication group to which the device belongs;

[0488] The device is identified within the communication group;

[0489] Layer 2 source and target identification;

[0490] Layer 2 destination identifier.

[0491] In an optional design, the time domain resource information of the PRS includes at least one of the following:

[0492] Information about the second time domain unit where the PRS is located;

[0493] Position information of the first of the first time domain units occupied by the PRS in the second time domain unit;

[0494] information about the number of the first time domain units occupied by the PRS;

[0495] repetition period information of the PRS;

[0496] The repetition number information of the PRS;

[0497] Time domain interval information between two adjacent repeated PRSs;

[0498] Second time domain unit offset information;

[0499] First time domain unit offset information.

[0500] In an optional design, the frequency domain resource information of the PRS includes at least one of the following:

[0501] The frequency domain resource bandwidth of the PRS;

[0502] The starting frequency domain position information of the PRS;

[0503] The starting frequency domain offset information of the PRS.

[0504] In an optional design, the positioning frequency layer information of the PRS includes at least one of the following:

[0505] Information used to indicate the subcarrier spacing of the PRS;

[0506] a cyclic prefix of the PRS;

[0507] The frequency domain resource bandwidth of the PRS;

[0508] The starting frequency domain position information of the PRS;

[0509] The starting frequency domain offset information of the PRS;

[0510] Frequency domain reference point information;

[0511] Comb tooth size;

[0512] RE interval.

[0513] In an optional design, the device further includes:

[0514] An acquisition module 3003 is configured to acquire configuration information of a PRS, where the configuration information of the PRS includes at least one PRS configuration;

[0515] The determining module 3001 is configured to:

[0516] The first PRS configuration is determined from the at least one PRS configuration according to the first information.

[0517] In an optional design, the acquisition module 3003 is used to:

[0518] The configuration information of the PRS is acquired according to pre-configuration information or network configuration information.

[0519] In an optional design, the network configuration information includes at least one of the following:

[0520] Resource pool configuration information;

[0521] Side BWP configuration information.

[0522] In an optional design, the transceiver module 3002 is configured to:

[0523] Receive first signaling sent by the second terminal device, where the first signaling includes configuration information of the PRS.

[0524] In an optional design, the first signaling includes at least one of the following:

[0525] PC5-RRC signaling;

[0526] MAC CE;

[0527] SCI.

[0528] In an optional design, the device further includes:

[0529] An acquiring module 3003 is configured to acquire second signaling from the second terminal device, where the second signaling includes the first information;

[0530] The second signaling includes at least one of the following:

[0531] PC5-RRC signaling;

[0532] MAC CE;

[0533] SCI.

[0534] In an optional design, the transceiver module 3002 is configured to:

[0535] Sending third signaling to the second terminal device, where the third signaling is used to indicate the first PRS configuration;

[0536] The third signaling includes at least one of the following:

[0537] PC5-RRC signaling;

[0538] MAC CE;

[0539] SCI.

[0540] In an optional design, the PRS has a comb structure with a first frequency domain unit as the comb tooth granularity, and the first frequency domain unit includes frequency domain resources of n resource units RE that are consecutive in the frequency domain, where n is a positive integer greater than 1.

[0541] In an optional design, the first frequency domain unit includes a frequency domain resource of any one of the following resources:

[0542] PRB;

[0543] subchannel;

[0544] REG;

[0545] The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

[0546] In one optional design, the first PRS configuration includes at least one of a comb size, a time domain length, and a signal offset value;

[0547] The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit;

[0548] The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit;

[0549] The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

[0550] In an optional design, the PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

[0551] In an optional design, in a second time domain unit, the first time domain unit used to transmit the PSFCH is not used to transmit the PRS.

[0552] In an optional design, the repetition period of the PRS is an integer multiple of the period of the PSFCH.

[0553] In an optional design, the comb tooth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units in one second time domain unit that can be used to transmit the PRS.

[0554] In an optional design, the number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined based on at least one of the following information:

[0555] whether the second time domain unit includes a PSFCH resource;

[0556] Whether the PRS supports mapping to the first time domain unit of the PSCCH;

[0557] The PRS configurations of other terminal devices in the device group that performs cooperative positioning with the device.

[0558] In an optional design, the first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0559] Figure 31 is a block diagram of a sidelink-based positioning reference signal configuration device provided by an exemplary embodiment of the present application. As shown in Figure 31, the device includes:

[0560] An acquisition module 3101 is configured to acquire configuration information of a PRS, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0561] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0562] In an optional design, the first frequency domain unit includes a frequency domain resource of any one of the following resources:

[0563] PRB;

[0564] subchannel;

[0565] REG;

[0566] The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

[0567] In an optional design, the PRS configuration information includes at least one of a comb tooth size, a time domain length, and a signal offset value;

[0568] The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit;

[0569] The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit;

[0570] The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

[0571] In an optional design, the PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

[0572] In an optional design, in a second time domain unit, the first time domain unit used to transmit the PSFCH is not used to transmit the PRS.

[0573] In an optional design, the repetition period of the PRS is an integer multiple of the period of the PSFCH.

[0574] In an optional design, the comb tooth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units in one second time domain unit that can be used to transmit the PRS.

[0575] In an optional design, the number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined based on at least one of the following information:

[0576] whether the second time domain unit includes a PSFCH resource;

[0577] Whether the PRS supports mapping to the first time domain unit of the PSCCH;

[0578] The PRS configurations of other terminal devices in the device group that performs cooperative positioning with the device.

[0579] In an optional design, the acquisition module 3101 is used to:

[0580] The configuration information of the PRS is acquired according to pre-configuration information or network configuration information.

[0581] In an optional design, the network configuration information includes at least one of the following:

[0582] Resource pool configuration information;

[0583] Side BWP configuration information.

[0584] In an optional design, the device further includes:

[0585] The receiving module 3102 is used to receive the first signaling sent by the second terminal device, where the first signaling includes the configuration information of the PRS.

[0586] In an optional design, the first signaling includes at least one of the following:

[0587] PC5-RRC signaling;

[0588] MAC CE;

[0589] SCI.

[0590] In an optional design, the first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0591] FIG32 is a block diagram of a transmission device based on a side link provided by an exemplary embodiment of the present application. As shown in FIG32 , the device includes:

[0592] A sending module 3201 is configured to send PRS configuration information to a first terminal device, where the PRS configuration information includes at least one PRS configuration;

[0593] The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to first information, and the first PRS configuration is used by the first terminal device to send a PRS to a second terminal device or receive the PRS sent by the second terminal device according to the first PRS configuration.

[0594] In an optional design, the first information includes at least one of the following:

[0595] identification information of the first terminal device;

[0596] Time domain resource information of the PRS;

[0597] Frequency domain resource information of the PRS;

[0598] Positioning frequency layer information of the PRS;

[0599] Resource pool information;

[0600] the number of first time domain units used for sideline transmission in the second time domain unit;

[0601] the number of the first time domain units in the second time domain unit used for transmitting the PRS;

[0602] Whether the second time domain unit includes a PSFCH resource;

[0603] Whether the PRS supports mapping to the first time domain unit carrying the PSCCH;

[0604] PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device;

[0605] Protocol predefined information;

[0606] Preconfiguration information;

[0607] Network configuration information;

[0608] Each of the second time domain units includes at least one of the first time domain units.

[0609] In an optional design, the PRS configuration information is carried in at least one of the following information:

[0610] Resource pool configuration information;

[0611] Side BWP configuration information.

[0612] In an optional design, the PRS has a comb structure with a first frequency domain unit as the comb tooth granularity, and the first frequency domain unit includes frequency domain resources of n REs that are consecutive in the frequency domain, where n is a positive integer greater than 1.

[0613] In an optional design, the first frequency domain unit includes a frequency domain resource of any one of the following resources:

[0614] PRB;

[0615] subchannel;

[0616] REG;

[0617] The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

[0618] In one optional design, the first PRS configuration includes at least one of a comb size, a time domain length, and a signal offset value;

[0619] The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit;

[0620] The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit;

[0621] The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

[0622] In an optional design, the PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

[0623] In an optional design, in a second time domain unit, the first time domain unit used to transmit the PSFCH is not used to transmit the PRS.

[0624] In an optional design, the repetition period of the PRS is an integer multiple of the period of the PSFCH.

[0625] In an optional design, the comb tooth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units in one second time domain unit that can be used to transmit the PRS.

[0626] In an optional design, the number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined based on at least one of the following information:

[0627] whether the second time domain unit includes a PSFCH resource;

[0628] Whether the PRS supports mapping to the first time domain unit of the PSCCH;

[0629] PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

[0630] In an optional design, the first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0631] FIG33 is a block diagram of a transmission device based on a side link provided by an exemplary embodiment of the present application. As shown in FIG33 , the device includes:

[0632] A sending module 3301 is configured to send configuration information of a PRS to a first terminal device, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity;

[0633] The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

[0634] In an optional design, the first frequency domain unit includes a frequency domain resource of any one of the following resources:

[0635] PRB;

[0636] subchannel;

[0637] REG;

[0638] The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

[0639] In an optional design, the PRS configuration information includes at least one of a comb tooth size, a time domain length, and a signal offset value;

[0640] The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit;

[0641] The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit;

[0642] The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

[0643] In an optional design, the PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

[0644] In an optional design, in a second time domain unit, the first time domain unit used to transmit the PSFCH is not used to transmit the PRS.

[0645] In an optional design, the repetition period of the PRS is an integer multiple of the period of the PSFCH.

[0646] In an optional design, the comb tooth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units in one second time domain unit that can be used to transmit the PRS.

[0647] In an optional design, the number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined based on at least one of the following information:

[0648] whether the second time domain unit includes a PSFCH resource;

[0649] Whether the PRS supports mapping to the first time domain unit of the PSCCH;

[0650] PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

[0651] In an optional design, the PRS configuration information is carried in at least one of the following information:

[0652] Resource pool configuration information;

[0653] Side BWP configuration information.

[0654] In an optional design, the first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

[0655] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0656] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0657] Figure 34 is a structural diagram of a communication device (terminal device and / or network device) provided by an exemplary embodiment of the present application. The communication device 3400 includes: a processor 3401, a receiver 3402, a transmitter 3403, a memory 3404 and a bus 3405.

[0658] The processor 3401 includes one or more processing cores. The processor 3401 executes various functional applications and information processing by running software programs and modules.

[0659] The receiver 3402 and the transmitter 3403 may be implemented as a communication component, which may be a communication chip.

[0660] The memory 3404 is connected to the processor 3401 via a bus 3405. The memory 3404 may be used to store at least one instruction, and the processor 3401 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0661] In addition, the memory 3404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random-access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0662] When the communication device is implemented as a terminal device, the processor and transceiver in the communication device involved in the embodiments of the present application can be implemented together as a communication chip, or the transceiver can form a communication chip alone. The transmitter in the transceiver performs the sending step performed by the terminal device in any of the above-mentioned methods, the receiver in the transceiver performs the receiving step performed by the terminal device in any of the above-mentioned methods, and the processor performs steps other than the sending and receiving steps, which are not further described here.

[0663] When the communication device is implemented as a network device, the processor and transceiver in the communication device involved in the embodiments of the present application can be implemented together as a communication chip, or the transceiver can form a communication chip alone. The transmitter in the transceiver performs the sending step performed by the network device in any of the above-mentioned methods, the receiver in the transceiver performs the receiving step performed by the network device in any of the above-mentioned methods, and the processor performs steps other than the sending and receiving steps, which are not further described here.

[0664] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one instruction, at least one program, code set or instruction set is stored. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the sidelink-based transmission method or the sidelink-based positioning reference signal configuration method provided by the above-mentioned various method embodiments.

[0665] In an exemplary embodiment, a chip is also provided, which includes a programmable logic circuit and / or program instructions. When the chip is running on a communication device, it is used to implement the side link-based transmission method or the side link-based positioning reference signal configuration method provided by the above-mentioned various method embodiments based on the programmable logic circuit and / or program.

[0666] In an exemplary embodiment, a computer program product is also provided. When the computer program product is executed on a processor of a computer device, the computer device executes the above-mentioned sidelink-based transmission method or sidelink-based positioning reference signal configuration method.

[0667] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0668] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A transmission method based on a side link, characterized in that: The method is performed by a first terminal device, and includes: Determine a first positioning reference signal PRS configuration according to the first information; Send a PRS to a second terminal device based on the first PRS configuration or receive the PRS sent by the second terminal device.

2. The method according to claim 1, characterized in that The first information includes at least one of the following: identification information of the first terminal device; Time domain resource information of the PRS; Frequency domain resource information of the PRS; Positioning frequency layer information of the PRS; Resource pool information; the number of first time domain units used for sideline transmission in the second time domain unit; the number of the first time domain units in the second time domain unit used for transmitting the PRS; Whether the second time domain unit includes a physical sidelink feedback channel PSFCH resource; Whether the PRS supports mapping to the first time domain unit carrying the physical sidelink control channel PSCCH; PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device; Protocol predefined information; Preconfiguration information; Network configuration information; Each of the second time domain units includes at least one of the first time domain units.

3. The method according to claim 2, characterized in that The identification information of the first terminal device includes at least one of the following: Cell Radio Network Temporary Identifier C-RNTI; A group identifier of the communication group to which the first terminal device belongs; The first terminal device is identified within the communication group; Layer 2 source and target identification; Layer 2 destination identifier.

4. The method according to claim 2, characterized in that The time domain resource information of the PRS includes at least one of the following: Information about the second time domain unit where the PRS is located; Position information of the first of the first time domain units occupied by the PRS in the second time domain unit; information about the number of the first time domain units occupied by the PRS; repetition period information of the PRS; The repetition number information of the PRS; Time domain interval information between two adjacent repeated PRSs; Second time domain unit offset information; First time domain unit offset information.

5. The method according to claim 2, characterized in that The frequency domain resource information of the PRS includes at least one of the following: The frequency domain resource bandwidth of the PRS; The starting frequency domain position information of the PRS; The starting frequency domain offset information of the PRS.

6. The method according to claim 2, characterized in that The positioning frequency layer information of the PRS includes at least one of the following: Information used to indicate the subcarrier spacing of the PRS; a cyclic prefix of the PRS; The frequency domain resource bandwidth of the PRS; The starting frequency domain position information of the PRS; The starting frequency domain offset information of the PRS; Frequency domain reference point information; Comb tooth size; Resource unit RE interval.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Acquire configuration information of a PRS, where the configuration information of the PRS includes at least one PRS configuration; The determining the first PRS configuration according to the first information includes: The first PRS configuration is determined from the at least one PRS configuration according to the first information.

8. The method according to claim 7, characterized in that The obtaining of the PRS configuration information includes: The configuration information of the PRS is acquired according to pre-configuration information or network configuration information.

9. The method according to claim 8, characterized in that The network configuration information includes at least one of the following: Resource pool configuration information; Sideband bandwidth (BWP) configuration information.

10. The method according to claim 7, characterized in that The obtaining of the PRS configuration information includes: Receive first signaling sent by the second terminal device, where the first signaling includes configuration information of the PRS.

11. The method according to claim 10, characterized in that The first signaling includes at least one of the following: PC5-Radio Resource Control RRC signaling; Media access layer control unit MAC CE; Sidelink Control Information SCI.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: Acquire second signaling from the second terminal device, where the second signaling includes the first information; The second signaling includes at least one of the following: PC5-RRC signaling; MAC CE; SCI.

13. The method according to any one of claims 1 to 11, characterized in that The method further comprises: Sending third signaling to the second terminal device, where the third signaling is used to indicate the first PRS configuration; The third signaling includes at least one of the following: PC5-RRC signaling; MAC CE; SCI.

14. The method according to any one of claims 1 to 13, characterized in that: The PRS has a comb structure with a first frequency domain unit as the comb tooth granularity, and the first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

15. The method according to claim 14, characterized in that The first frequency domain unit includes frequency domain resources of any one of the following resources: Physical resource block PRB; subchannel; Resource unit group REG; The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

16. The method according to claim 14, characterized in that The first PRS configuration includes at least one of a comb tooth size, a time domain length, and a signal offset value; The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit; The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit; The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

17. The method according to claim 14, characterized in that The PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

18. The method according to claim 14, characterized in that In a second time domain unit, the first time domain unit used for transmitting the PSFCH is not used for transmitting the PRS.

19. The method according to claim 18, characterized in that The repetition period of the PRS is an integer multiple of the period of the PSFCH.

20. The method according to claim 18, wherein The teeth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units available for transmitting the PRS in one second time domain unit.

21. The method according to claim 20, characterized in that The number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined according to at least one of the following information: whether the second time domain unit includes a PSFCH resource; Whether the PRS supports mapping to the first time domain unit of the PSCCH; PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

22. The method according to claim 2, 16 or 18, characterized in that The first time domain unit includes an orthogonal frequency division multiplexing (OFDM) symbol, and the second time domain unit includes a time slot or a mini-time slot.

23. A method for configuring a positioning reference signal based on a sidelink, characterized in that: The method is performed by a first terminal device, and includes: Acquire configuration information of a PRS, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity; The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

24. The method according to claim 23, wherein The first frequency domain unit includes frequency domain resources of any one of the following resources: PRB; subchannel; REG; The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

25. The method according to claim 23, wherein The configuration information of the PRS includes at least one of a comb tooth size, a time domain length, and a signal offset value; The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit; The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit; The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

26. The method according to any one of claims 23 to 25, characterized in that The PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

27. The method according to any one of claims 23 to 25, characterized in that In a second time domain unit, the first time domain unit used for transmitting the PSFCH is not used for transmitting the PRS.

28. The method according to claim 27, characterized in that The repetition period of the PRS is an integer multiple of the period of the PSFCH.

29. The method according to claim 27, characterized in that The teeth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units available for transmitting the PRS in one second time domain unit.

30. The method according to claim 29, wherein The number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined according to at least one of the following information: whether the second time domain unit includes a PSFCH resource; Whether the PRS supports mapping to the first time domain unit of the PSCCH; PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

31. The method according to any one of claims 23 to 30, characterized in that The obtaining of the PRS configuration information includes: The configuration information of the PRS is acquired according to pre-configuration information or network configuration information.

32. The method according to claim 31, characterized in that The network configuration information includes at least one of the following: Resource pool configuration information; Side BWP configuration information.

33. The method according to any one of claims 23 to 30, characterized in that The obtaining of the PRS configuration information includes: Receive first signaling sent by the second terminal device, where the first signaling includes configuration information of the PRS.

34. The method according to claim 33, wherein The first signaling includes at least one of the following: PC5-RRC signaling; MAC CE; SCI.

35. The method according to claim 25 or 27, characterized in that The first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

36. A method for configuring a positioning reference signal based on a sidelink, characterized in that: The method is performed by a network device, and includes: Sending PRS configuration information to the first terminal device, where the PRS configuration information includes at least one PRS configuration; The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to first information, and the first PRS configuration is used by the first terminal device to send a PRS to a second terminal device or receive the PRS sent by the second terminal device according to the first PRS configuration.

37. The method according to claim 36, characterized in that The first information includes at least one of the following: identification information of the first terminal device; Time domain resource information of the PRS; Frequency domain resource information of the PRS; Positioning frequency layer information of the PRS; Resource pool information; the number of first time domain units used for sideline transmission in the second time domain unit; the number of first time domain units used for transmitting the PRS in the second time domain unit; Whether the second time domain unit includes a PSFCH resource; Whether the PRS supports mapping to the first time domain unit carrying the PSCCH; PRS configurations of other terminal devices in the first terminal device group performing collaborative positioning with the first terminal device; Protocol predefined information; Preconfiguration information; Network configuration information; Each of the second time domain units includes at least one of the first time domain units.

38. The method according to claim 36 or 37, characterized in that The PRS configuration information is carried in at least one of the following information: Resource pool configuration information; Side BWP configuration information.

39. The method according to any one of claims 36 to 38, characterized in that The PRS has a comb structure with a first frequency domain unit as the comb tooth granularity, and the first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

40. The method according to claim 39, wherein The first frequency domain unit includes frequency domain resources of any one of the following resources: PRB; subchannel; REG; The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

41. The method according to claim 39, wherein The first PRS configuration includes at least one of a comb tooth size, a time domain length, and a signal offset value; The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit; The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit; The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

42. The method according to claim 39, wherein The PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

43. The method according to claim 39, wherein In a second time domain unit, the first time domain unit used for transmitting the PSFCH is not used for transmitting the PRS.

44. The method according to claim 43, wherein The repetition period of the PRS is an integer multiple of the period of the PSFCH.

45. The method according to claim 43, wherein The teeth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units available for transmitting the PRS in one second time domain unit.

46. ​​The method according to claim 45, characterized in that The number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined according to at least one of the following information: whether the second time domain unit includes a PSFCH resource; Whether the PRS supports mapping to the first time domain unit of the PSCCH; PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

47. The method according to claim 37, 41 or 43, wherein: The first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

48. A method for configuring a positioning reference signal based on a sidelink, characterized in that: The method is performed by a network device, and includes: Sending configuration information of a PRS to the first terminal device, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity; The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

49. The method according to claim 48, characterized in that The first frequency domain unit includes frequency domain resources of any one of the following resources: PRB; subchannel; REG; The subchannel includes a plurality of continuous PRBs in the frequency domain, and the REG includes a plurality of continuous subcarriers in the frequency domain.

50. The method according to claim 48, wherein The configuration information of the PRS includes at least one of a comb tooth size, a time domain length, and a signal offset value; The comb tooth size includes an interval between two adjacent first frequency domain units of the PRS in the same first time domain unit; The time domain length includes the number of the first time domain units occupied by the PRS in one second time domain unit; The signal offset value includes an offset value of a first first frequency domain unit of the PRS at a first first time domain unit in a second time domain unit, and each second time domain unit includes at least one first time domain unit.

51. The method according to any one of claims 48 to 50, characterized in that The PRS is frequency-division multiplexed with the PSCCH; or, the PRS is not frequency-division multiplexed with the PSCCH.

52. The method according to any one of claims 48 to 50, characterized in that In a second time domain unit, the first time domain unit used for transmitting the PSFCH is not used for transmitting the PRS.

53. The method according to claim 52, characterized in that The repetition period of the PRS is an integer multiple of the period of the PSFCH.

54. The method according to claim 52, wherein The teeth size of the comb structure or the number of the first time domain units occupied by the PRS in one second time domain unit is less than or equal to the number of the first time domain units available for transmitting the PRS in one second time domain unit.

55. The method according to claim 54, characterized in that The number of the first time domain units in one second time domain unit that can be used to transmit the PRS is determined according to at least one of the following information: whether the second time domain unit includes a PSFCH resource; Whether the PRS supports mapping to the first time domain unit of the PSCCH; PRS configurations of other terminal devices in the first terminal device group that performs collaborative positioning with the first terminal device.

56. The method according to any one of claims 48 to 55, characterized in that The PRS configuration information is carried in at least one of the following information: Resource pool configuration information; Side BWP configuration information.

57. The method according to claim 50 or 52, characterized in that The first time domain unit includes an OFDM symbol, and the second time domain unit includes a time slot or a mini-time slot.

58. A transmission device based on a side link, characterized in that: The device comprises: a determining module, configured to determine a first PRS configuration according to the first information; A transceiver module is used to send a PRS to a second terminal device based on the first PRS configuration or receive the PRS sent by the second terminal device.

59. A configuration device for a positioning reference signal based on a sidelink, characterized in that: The device comprises: an acquisition module, configured to acquire configuration information of a PRS, wherein the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity; The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

60. A configuration device for a positioning reference signal based on a sidelink, characterized in that: The device comprises: A sending module, configured to send PRS configuration information to the first terminal device, where the PRS configuration information includes at least one PRS configuration; The at least one PRS configuration is used by the first terminal device to determine a first PRS configuration according to first information, and the first PRS configuration is used by the first terminal device to send a PRS to a second terminal device or receive the PRS sent by the second terminal device according to the first PRS configuration.

61. A configuration device for a positioning reference signal based on a sidelink, characterized in that: The device comprises: A sending module, configured to send configuration information of a PRS to a first terminal device, where the PRS has a comb structure with a first frequency domain unit as a comb tooth granularity; The first frequency domain unit includes frequency domain resources of n REs that are continuous in the frequency domain, where n is a positive integer greater than 1.

62. A terminal device, characterized in that: The device comprises: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; In which, the processor is configured to load the executable instructions so that the terminal device implements the sidelink-based transmission method as described in any one of claims 1 to 22, or the sidelink-based positioning reference signal configuration method as described in any one of claims 23 to 35.

63. A network device, characterized in that The device comprises: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load the executable instructions so that the network device implements the sidelink-based positioning reference signal configuration method as described in any one of claims 36 to 57.

64. A computer-readable storage medium, characterized in that The readable storage medium stores executable instructions, which are loaded and executed by a processor to implement the side link-based transmission method as described in any one of claims 1 to 22, or the side link-based positioning reference signal configuration method as described in any one of claims 23 to 57.

65. A chip, characterized in that The chip includes a programmable logic circuit or a program, and the chip is used to implement the side link-based transmission method as described in any one of claims 1 to 22, or the side link-based positioning reference signal configuration method as described in any one of claims 23 to 57 based on the programmable logic circuit or program.

66. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the sidelink-based transmission method as described in any one of claims 1 to 22, or the sidelink-based positioning reference signal configuration method as described in any one of claims 23 to 57.

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