Method and apparatus for positioning

Abstract

The invention provides a positioning method and device, and the method comprises the steps: a first terminal device receives first indication information from a network device, and when the first terminal device needs to report a first measurement quantity, the first indication information is sent to the network device; the first terminal device can determine a positioning reference signal associated with the first measurement quantity according to the first indication information, so that the first terminal device can measure and obtain the first measurement quantity based on the determined positioning reference signal associated with the first measurement quantity and report the first measurement quantity. The first measurement quantity is used for determining an example between the first terminal equipment and the second terminal equipment so as to assist in realizing positioning of the terminal equipment. The terminal device can determine the positioning reference signal associated with the measurement quantity according to the first indication information, thereby avoiding measurement quantity reporting redundancy caused by the fact that the terminal device determines reporting of the measurement quantity by itself.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of communications, and more specifically, to a method and device for positioning. Background Art

[0002] The fifth generation of mobile communication technology (5G) is standardizing sidelink (SL) positioning. Currently, the standard has decided to introduce a round-trip time (RTT) solution to achieve positioning in the SL scenario.

[0003] The measurement quantity during the execution of the RTT positioning solution in the SL communication scenario is different from the measurement quantity defined in the current 3rd Generation Partnership Project (3GPP) air interface communication scenario. Specifically, the measurement quantity of the RTT positioning method defined in the 3GPP air interface communication scenario is the Rx-Tx time difference, for example, the receiving time (TUE-RX) - the sending time (TUE-TX).

[0004] Specifically, in order to achieve bilateral RTT, network devices can request terminal devices to report multiple transmit and receive time differences through high-level signaling. However, since the positioning reference signals (PRS) associated with different transmit and receive time differences are determined by the terminal devices themselves, redundant measurement quantity reports may be caused. Therefore, how to reduce the redundancy of measurement quantity reporting has become an urgent problem to be solved. Summary of the invention

[0005] The present application provides a method for positioning, in order to reduce the redundancy of measurement quantity reporting.

[0006] In a first aspect, a method for positioning is provided. The method may be executed by a first terminal device, or may be executed by a component (eg, a chip or a circuit) of the first terminal device. This application does not limit this.

[0007] The method for positioning includes: receiving first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; determining the positioning reference signal associated with the first measurement quantity according to the first indication information, and measuring the positioning reference signal associated with the measurement quantity to obtain the first measurement quantity, wherein the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0008] Based on the above technical solution, before measuring and reporting the first measurement quantity, the first terminal device receives the first indication information, and the first indication information is used to determine the positioning reference signal associated with the first measurement quantity, so that the first terminal device can determine the positioning reference signal associated with the first measurement quantity according to the first indication information, and then measure the positioning reference signal associated with the first measurement quantity to obtain the first measurement quantity and report it, thereby avoiding the terminal device determining the positioning reference signal associated with the measurement quantity on its own when it is unable to know the positioning reference signal associated with the measurement quantity, resulting in redundancy in measuring quantity reporting.

[0009] For example, if the first terminal device does not receive the first indication information, the first terminal device may determine and report the measurement quantities corresponding to different received positioning reference signals and sent positioning reference signals based on the received positioning reference signal and the sent positioning reference signal in the process of obtaining the measurement quantity. In this technical solution, the first terminal device refers to the indication of the first indication information in the process of obtaining the measurement quantity. The positioning reference signal associated with the measurement quantity obtained by the first terminal device needs to meet the regulations indicated by the first indication information, thereby reducing the redundancy of the measurement quantity reporting to a certain extent.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is used to indicate the number N of sent positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal; or, the first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal, wherein N is a positive integer.

[0011] Based on the above technical solution, the first indication information can be implemented by indicating the number N of sent positioning reference signals associated with the received positioning reference signal, or by indicating the number N of received positioning reference signals associated with the sent positioning reference signal, so as to stipulate that the received positioning reference signals and the sent positioning reference signals associated with different measurement quantities need to meet the provisions indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signals and the sent positioning reference signals associated with the measurement quantity in the process of obtaining the measurement quantity.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the sent positioning reference signal associated with the first positioning reference signal is the positioning reference signals that are most recently sent by the first terminal device to receive the first positioning reference signal; the received positioning reference signal associated with the second positioning reference signal is the positioning reference signals that are most recently received by the first terminal device to send the second positioning reference signal.

[0013] Based on the above technical solution, the sent positioning reference signal associated with the received positioning reference signal indicated by the first indication information may be the positioning reference signal most recently sent by the received positioning reference signal, that is, in addition to indicating the number of sent positioning reference signals associated with the received positioning reference signal, the first indication information may also specify the position of the sent positioning reference signal associated with the received positioning reference signal.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the N1 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N1 transmitted positioning reference signals before the first terminal device receives the first positioning reference signal, and the N2 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N2 transmitted positioning reference signals after the first terminal device receives the first positioning reference signal.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the N1 received positioning reference signals associated with the second positioning reference signal are the most recently N1 received positioning reference signals before the first terminal device sends the second positioning reference signal, and the N2 received positioning reference signals associated with the second positioning reference signal are the most recently N2 received positioning reference signals after the first terminal device sends the second positioning reference signal.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the first indication information includes a bit map, the bit map includes Q bits, the Q bits correspond to Q positioning reference signals, and the bit map is used to indicate the sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals; or, the bit map is used to indicate the received positioning reference signal associated with the second positioning reference signal, and the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

[0019] Based on the above technical solution, the first indication information can be a bit map, which indicates the association relationship between the positioning reference signals in the form of a bit map, indicating that the form of the first indication information can be indicated by multiple quantities not limited to the above (such as N, N1 and N2, etc.), and can also be in the form of a bit map, thereby improving the flexibility of the solution.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

[0021] Based on the above technical solution, the first indication information can satisfy the requirement that the number of positioning reference signals spaced between the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity is less than or equal to the first threshold, thereby stipulating that the received positioning reference signal and the sent positioning reference signal associated with different measurement quantities need to meet the requirement indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0022] In combination with the first aspect, in some implementations of the first aspect, the first indication information is used to indicate that the time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

[0023] Based on the above technical solution, the first indication information can be implemented by indicating that the duration of the interval between the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity is less than or equal to the second threshold requirement, thereby stipulating that the received positioning reference signal and the sent positioning reference signal associated with different measurement quantities need to meet the requirements indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is also used to determine a first time window, the positioning reference signal associated with the first measurement quantity belongs to the first time window, the first time window is one of M time windows, and M is a positive integer, wherein the first indication information is also used to indicate at least one of the following information: the window length of the first time window, the total number of time windows M, or the starting time of the first time window.

[0025] Based on the above technical solution, the first indication information can also indicate the interval of the first time window to implement the provision that the positioning reference signal associated with the first measurement quantity belongs to the first time window, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device associating positioning reference signals in different time windows to determine the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the starting time of the M time windows is the time when the first terminal device receives the first indication information; the ending time of the M time windows is the time when the first terminal device reports the first measurement value.

[0027] In combination with the first aspect, in some implementations of the first aspect, the method further includes: receiving a request message, the request message being used to request reporting of the first measurement quantity, the request message including response duration information, the response duration information indicating reporting of the first measurement quantity within the response duration after receiving the request message. The starting time of the above-mentioned M time windows is the time when the request message is received; and the ending time of the M time windows is the time of the response duration after the time when the request message is received.

[0028] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message, or a sidelink positioning protocol SLPP message.

[0029] In a second aspect, a method for positioning is provided. The method can be executed by a network device or by a component of the network device (such as a chip or circuit), and the present application does not limit this.

[0030] The method for positioning includes: generating first indication information, the first indication information being used to determine a positioning reference signal associated with a first measurement quantity, the first measurement quantity being used to determine a distance between a first terminal device and a second terminal device; sending the first indication information, wherein the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0031] Specifically, the description related to the first indication information can refer to the description on the first indication information in the first aspect above, which will not be repeated here. In addition, the description related to the request information can also refer to the description on the indication information in the first aspect above, which will not be repeated here.

[0032] The technical effects of the method shown in the above second aspect and its possible design can refer to the technical effects in the first aspect and its possible design.

[0033] In a third aspect, a terminal device is provided. A first device is used to execute the first aspect and any one of its implementation modes. Specifically, the terminal device includes a processor and a memory, the memory is used to store a computer program; the processor is used to call and run the computer program from the memory, so that the terminal device executes the first aspect and any one of its implementation modes.

[0034] In a fourth aspect, a network device is provided. The network device is used to execute the second aspect and any one of its implementation modes. Specifically, the network device includes a processor and a memory, the memory is used to store a computer program; the processor is used to call and run the computer program from the memory, so that the network device executes the second aspect and any one of its implementation modes.

[0035] In a fifth aspect, a communication device is provided. The communication device is used to execute the method provided in the first aspect and the second aspect and any one of the embodiments thereof. Specifically, the communication device may include a unit and / or module (e.g., a processing unit, a transceiver unit) for executing the method provided in the first aspect and the second aspect and any one of the embodiments thereof.

[0036] In one implementation, the communication device is a terminal device. When the communication device is a terminal device, the transceiver unit may be a transceiver, or an input / output interface. The processing unit may be at least one processor. Optionally, the transceiver may be a transceiver circuit. Optionally, the input / output interface may be an input / output circuit.

[0037] In another implementation, the communication device may be a chip, a chip system or a circuit in a terminal device. In this case, the transceiver unit may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip, the chip system or the circuit; the processing unit may be at least one processor, a processing circuit or a logic circuit.

[0038] In a sixth aspect, the present application provides a processor for executing the methods provided in the first and second aspects above.

[0039] For the operations such as sending and acquiring / receiving involved in the processor, unless otherwise specified, or unless they conflict with their actual function or internal logic in the relevant description, they can be understood as operations such as processor output, reception, input, etc., or as sending and receiving operations performed by the radio frequency circuit and antenna, and this application does not limit this.

[0040] In a seventh aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed on a communication device, the communication device executes a method in any one of the implementation modes of the first and second aspects.

[0041] In an eighth aspect, a computer program product comprising instructions is provided. When the computer program product is run on a computer, the computer is caused to execute the method provided in any one of the implementations of the first and second aspects.

[0042] In a ninth aspect, a chip is provided, the chip comprising a processor and a communication interface, the processor reads instructions through the communication interface and executes the method provided by any one of the implementation modes of the first and second aspects.

[0043] Optionally, as an implementation method, the chip also includes a memory, the memory stores a computer program or instructions, and the processor is used to execute the computer program or instructions stored in the memory. When the computer program or instructions are executed, the processor is used to execute the method provided by any implementation method of the first and second aspects above.

[0044] In a tenth aspect, a communication system is provided, comprising the terminal device of the third aspect and the network device of the fourth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a scenario of an embodiment of the present application.

[0046] Figure 2 A schematic diagram of the RTT positioning method.

[0047] Figure 3A schematic diagram of the DS-RTT positioning method.

[0048] Figure 4 A schematic diagram of PRS transmission in a general form of a DS-RTT positioning method provided in an embodiment of the present application.

[0049] Figure 5 A schematic diagram of the measurement quantities provided in the embodiments of the present application.

[0050] Figure 6 A schematic diagram of a terminal device reporting measurement quantities provided in an embodiment of the present application.

[0051] Figure 7 A schematic flowchart of a positioning method provided in an embodiment of the present application.

[0052] Figure 8 A configuration diagram provided for an embodiment of the present application.

[0053] Fig. 9 Another configuration diagram provided for an embodiment of the present application.

[0054] Fig.10 Another configuration diagram provided for an embodiment of the present application.

[0055] Fig.11 Another configuration diagram provided for an embodiment of the present application.

[0056] Fig.12 Another configuration diagram provided for an embodiment of the present application.

[0057] Fig.13 Another configuration diagram provided for an embodiment of the present application.

[0058] Fig.14 A schematic block diagram of a communication device provided in an embodiment of the present application.

[0059] Fig.15 A schematic diagram of another communication device is provided for an embodiment of the present application.

[0060] Fig.16 A schematic diagram of a chip system is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to facilitate understanding of the embodiments of the present application, the following points are first explained.

[0062] First, in this application, "used for indication" may include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used for indicating A, it may include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A.

[0063] The information indicated by the indication information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each piece of information agreed in advance (for example, stipulated by the protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each piece of information can also be identified and indicated uniformly to reduce the indication overhead caused by indicating the same information separately.

[0064] Second, "at least one" shown in the present application refers to one or more, and "multiple" refers to two or more. In addition, in the embodiments of the present application, "first", "second" and various digital numbers (for example, "#1", "#2", etc.) are only for the convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of each process below does not mean the order of execution. The execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. It should be understood that the objects described in this way can be interchanged in appropriate circumstances, so as to be able to describe the schemes other than the embodiments of the present application. In addition, in the embodiments of the present application, words such as "S710" are only marks made for the convenience of description, and the order of execution steps is not limited.

[0065] Third, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0066] Fourth, the "storage" involved in the embodiments of the present application may refer to storage in one or more memories. The one or more memories may be separately set or integrated in an encoder or decoder, a processor, or a communication device. The one or more memories may also be partially separately set and partially integrated in a decoder, a processor, or a communication device. The type of memory may be any form of storage medium, which is not limited by the present application.

[0067] Fifth, in the implementation of this application, "protocol" may refer to a standard protocol in the communication field, for example, it may include the NR protocol and related protocols used in future communication systems, and this application does not limit this.

[0068] Sixth, in the embodiments of the present application, the terms “of”, “corresponding, relevant”, “corresponding” and “associate” can sometimes be used interchangeably. It should be pointed out that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0069] Seventh, in the embodiments of the present application, "under the circumstances", "when", and "if" can sometimes be used interchangeably. It should be pointed out that when the distinction between them is not emphasized, the meanings they intend to express are the same.

[0070] Eighth, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0071] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0072] The technical solutions of the embodiments of the present application can be applied to various communication systems, for example: global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, 5G mobile communication system or new radio access technology (NR). The technical solutions provided in the present application can also be applied to future communication systems, such as the sixth generation mobile communication system.

[0073] Embodiments of the present application may be applied to terminal devices. A terminal device may be a device that provides voice / data connectivity to a user, such as a handheld device with wireless connection function, a vehicle-mounted device, etc.; it may be a device in vehicle networking communication, such as a communication terminal loaded on a vehicle, a road side unit (RSU); it may be a communication terminal loaded on a drone; it may also be a terminal device in an Internet of Things (IoT) system. A terminal device may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0074] Exemplary, terminal devices include, but are not limited to: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (public land mobile The embodiment of the present application does not limit the specific form of the terminal device.

[0075] The technical solution in the embodiment of the present application can also be applied to an access network device. The access network device can be a device that can access a terminal device to a wireless network. The access network device can also be called a radio access network (RAN) node, a radio access network device, or a network device. Exemplarily, the access network device can be a base station.

[0076] The base station in the embodiment of the present application can broadly cover various names as follows, or be replaced with the following names. For example: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmission point (TP), master eNodeB (MeNB), secondary eNodeB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. A base station may also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. A base station may also be a network-side device in a 6G network, a device that performs base station functions in a future communication system, etc. A base station may support networks with the same or different access technologies.

[0077] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0078] The embodiments of the present application do not limit the specific technology and specific device form adopted by the access network device.

[0079] To facilitate understanding of the embodiments of the present application, first, Figure 1 Taking the example, the application scenarios to which the embodiments of the present application are applicable are described.

[0080] Figure 1 1 is a schematic diagram of an application scenario 100 involved in the present application. Figure 1 As shown, the application scenario 100 mainly involves a sidelink positioning scenario. Figure 1The terminal devices 110 and 120 in the positioning are terminal devices participating in positioning. For example, one of the terminal devices 110 and 120 is the terminal device to be positioned, and the other terminal device is the anchor terminal device. The terminal devices 110 and 120 can be ordinary mobile phones or other terminal devices, or they can be RSUs, etc. Signals can be sent and received between the terminal device to be positioned and the anchor terminal device, as well as between the anchor terminal devices. The positioning measurement information can be reported to the location management function (LMF) (if any), a base station, or other devices.

[0081] Specifically, the method for implementing positioning between the terminal device 110 and the terminal device 120 will be described below in conjunction with a specific embodiment and will not be repeated here.

[0082] It should be understood that Figure 1 The present invention is merely an example of a scenario in which the positioning method provided in the present invention can be applied, and does not constitute any limitation on the scope of protection of the present invention. Figure 1 The number of terminal devices included in the illustrated scenario may be more than two, and any at least two terminal devices may be terminal devices participating in positioning. Figure 1 The scenario shown may also include a base station (e.g., gNB). Figure 1 The scenario shown may also include a positioning management device. Specifically, the positioning management device is a device on the network side used to determine the positioning information of the terminal device. The positioning management device may be an LMF entity, an evolved serving mobile location center (E-SMLC), or other device that can be used to determine the positioning information of the terminal device.

[0083] Furthermore, to facilitate understanding of the embodiments of the present application, several basic concepts involved in the embodiments of the present application are briefly explained.

[0084] 1. Round-trip time (RTT) positioning.

[0085] The RTT positioning method obtains the round-trip transmission time by sending positioning reference signals (PRS) back and forth to achieve positioning, without the need for clock synchronization. Specifically, by sending reference signals back and forth between two devices, the time of flight (TOF) between the two devices can be obtained as:

[0086]

[0087] Among them, tround Indicates the interval between the time when a device involved in positioning sends a positioning reference signal and the time when it receives the positioning reference signal; t reply Indicates the interval between the time when another device participating in positioning sends a positioning reference signal and the time when it receives the positioning reference signal.

[0088] Furthermore, by multiplying TOF by the speed of light, we can get the distance between the two devices. Figure 2 As shown, Figure 2 This is a schematic diagram of the RTT positioning method.

[0089] from Figure 2 It can be seen that the devices involved in positioning (such as Figure 2 By sending PRS back and forth between device #A and device #B) as shown in the figure, the distance between device #A and device #B can be obtained.

[0090] 2. Triangulation positioning.

[0091] It refers to a mathematical principle that uses two or more detectors to detect the target's direction at different locations, and then uses the principles of trigonometric geometry to determine the target's position and distance.

[0092] Using the above RTT positioning principle, the device to be positioned performs RTT process with three base stations respectively to obtain the distance with the three base stations, and then triangulation positioning can be performed. For example, the mobile device to be positioned performs RTT process with three base stations respectively: PRS#1 is sent back and forth between base station #1 and the mobile device to obtain the distance #1 between base station #1 and the mobile device; PRS#2 is sent back and forth between base station #2 and the mobile device to obtain the distance #2 between base station #2 and the mobile device; PRS#3 is sent back and forth between base station #3 and the mobile device to obtain the distance #3 between base station #3 and the mobile device. After obtaining the distance with the three base stations, triangulation positioning can be performed.

[0093] 3. Clock drift phenomenon.

[0094] Clock drift refers to the phenomenon that when the actual frequency of the clock crystal oscillator deviates from the nominal frequency, there will also be a deviation between the time recorded by the device and the actual time, and the deviation will increase with time. When the clock crystal oscillator has an error e1, if the actual time t has passed, the time recorded by the device is t(1+e1), that is, the deviation will increase with the increase of time t.

[0095] Although the RTT solution does not require strict synchronization between devices, different devices may have different clock drifts. Figure 2 Device #A has a clock crystal error e A , device #B has a clock crystal error eB . Then the actual estimated TOF is:

[0096]

[0097] Among them, the upper horizontal line in formula (1-2) represents the true value.

[0098] Therefore, the estimated TOF is much smaller than the actual There is an error Due to e A Usually 10 -6 Scale, and in SL scenario is also usually in nanoseconds, so The error is very small and can be ignored. Usually in milliseconds, so Nanosecond errors may be introduced (a 1 nanosecond wireless signal can be transmitted 30 centimeters), so the RTT positioning solution generally requires the response time to be as short as possible to reduce positioning errors. For example, in order to reduce the impact of clock drift, the current standard uses the Double Sided RTT (DS-RTT) method to achieve positioning. The following introduces the Double Sided RTT positioning method.

[0099] 4. DS-RTT positioning method.

[0100] Double Sided RTT (DS-RTT) is an extension of the RTT positioning method. The DS-TWR positioning method uses two round-trip time measurements and combines the two round-trip times to get TOF (such as Figure 3 T shown in prop ), which can maintain high positioning accuracy even with long response times.

[0101] For ease of understanding, the following is a detailed description of how the DS-TWR positioning method maintains high positioning accuracy:

[0102] from Figure 3 As can be seen from the figure, the DS-TWR positioning method transmits a total of three messages between device #A and device #B (such as Figure 3 The first message and the second message can be regarded as the RTT positioning measurement initiated by device #A, and the second message and the third message can be regarded as the RTT positioning measurement initiated by device #B.

[0103] This results in two RTT equations:

[0104]

[0105] Specifically, equation (1-3) is derived as follows to obtain the expression of TOF:

[0106] T round1 ×T round2 =(2TOF+T reply1 )(2TOF+T reply2 ) (1-4)

[0107]

[0108] Therefore, combining equations (1-4) and (1-5), we can get TOF:

[0109]

[0110] Consider that device #A and device #B have different clock crystal errors e A and e B , then the actual measured flight time is:

[0111]

[0112] Due to T round1 +T reply2 =T round2 +T reply1 , so there is

[0113]

[0114] Therefore, the error introduced by clock drift is:

[0115]

[0116] Because e A +e B Much smaller than 2,2e a e b Much smaller than e A +e B , so we can have this approximation. From equation (1-9), we can see that the error has nothing to do with the response time, but only with e A 、e B Related to TOF. A and e B Usually 10 -6 The error is almost negligible because the TOF is in the order of nanoseconds, which shows that the DS-TWR positioning method can maintain a high positioning accuracy.

[0117] 5. General form of DS-RTT.

[0118] Specifically, the above DS-RTT positioning can be extended to a more general form, and the order of the three PRSs can be flexibly adjusted. For example, device #A sends two PRSs to device #B, and device #B sends one PRS to device #A. Figure 4 shown.

[0119]

[0120] first, Should be equal to Therefore, there can be

[0121]

[0122] The above equation expresses that by measuring the quantity t 14 and t 23 , the relationship between the two clock crystal errors can be obtained.

[0123] Next, using this relationship, TOF can be calculated according to the new method:

[0124]

[0125] or

[0126]

[0127] It can be seen that the errors obtained by the two calculation formulas (such as formulas (1-12) and (1-13)) are also independent of the response time and can effectively overcome the influence of clock drift.

[0128] 6. Measure quantity.

[0129] The measurement quantity of the RTT method defined in the current 3GPP air interface communication scenario is the UE Rx-Tx time difference, that is, the receive-send time difference is: T UE-RX –T UE-TX , where T UE-RX is obtained by measuring PRS, and T UE-TX The transmission subframe boundary closest to the measured PRS is used (that is, the terminal device does not need to actually send PRS to report the UE Rx-Tx time difference).

[0130] However, since timing synchronization may be adjusted in SL communication scenarios, the use of subframe boundaries may introduce synchronization errors. Therefore, it is considered to modify the UE Rx-Tx time difference measurement quantity and change T UE-TX Adjust to the time when the PRS is actually sent, such as Figure 5The time when device #B actually sends SL-PRS #1 or SL-PRS #3, or Figure 5 The time when device #A actually sends SL-PRS #2 is shown.

[0131] Combination of the above Figure 1 The present invention briefly introduces the scenarios in which the positioning method provided in the embodiments of the present application can be applied, and introduces the basic concepts that may be involved in the embodiments of the present application. The concepts of DS-RTT positioning method and measurement quantity are introduced in the basic concepts. In order to indicate the use of DS-RTT method, one positioning method is: a terminal device can be requested to report multiple receive-send time differences through high-level signaling.

[0132] It should be understood that when the network device requests the terminal device to report multiple receive-send time differences through high-level signaling, since the different receive-send time differences reported by the terminal device are specifically associated with which receive and send PRSs are determined by the terminal device itself, the above-mentioned method of requesting the terminal device to report multiple receive-send time differences through high-level signaling to implement positioning using the DS-RTT method may have the following problems:

[0133] 1) The PRS composition in DS-RTT is very flexible, which may cause redundant measurement quantity reporting. Figure 6 As shown, a total of 6 SL-PRS (such as Figure 6 SL-PRS#1, SL-PRS#2, SL-PRS#3, SL-PRS#4, SL-PRS#5, SL-PRS#6) shown in the figure, where two PRSs sent by device #A to device #B and one PRS sent by device #B to device #A can constitute a DS-RTT.

[0134] like Figure 6 The SL-PRS#1, SL-PRS#2, and SL-PRS#3 shown in the figure can form DS-RTT, and SL-PRS#1, SL-PRS#2, and SL-PRS#6 can also form DS-RTT. There are many similar combinations. Therefore, when the terminal device reports the measurement quantity, redundant reporting may occur.

[0135] 2) Since the terminal device autonomously chooses to report the measurement quantity, the final measurement report may not match. Figure 6 As shown, Figure 6The measurement report of device #A carries the measurement quantities of {SL-PRS#2, SL-PRS#3} and {SL-PRS#3, SL-PRS#4}, while the measurement report of device #B carries the measurement quantities of {SL-PRS#1, SL-PRS#2} and {SL-PRS#1, SL-PRS#4}, which makes it impossible to correctly implement DS-RTT.

[0136] In order to solve the problems existing in the above positioning methods, the present application provides a method for positioning, so as to achieve positioning measurement under the premise of avoiding redundant measurement quantity reporting.

[0137] The technical solution provided by the present application will be described in detail below with reference to the accompanying drawings. The embodiments of the present application can be applied to a variety of different scenarios, including Figure 1 The scenario shown is not limited to this scenario. For example, it can also be applied to uplink or downlink positioning scenarios in a cellular network.

[0138] It should be understood that the embodiments shown below do not particularly limit the specific structure of the execution subject of the method provided by the embodiments of the present application. As long as it is possible to communicate according to the method provided by the embodiments of the present application by running a program that records the code of the method provided by the embodiments of the present application, for example, the execution subject of the method provided by the embodiments of the present application may be a network device and a terminal device, or a functional module, chip, etc. in the network device and the terminal device that can call and execute the program.

[0139] In the following, without loss of generality, the method for positioning provided by the embodiment of the present application is described in detail by taking the interaction between the network device and the terminal device as an example. In the following embodiments, the specific device types of the network device and the terminal device are not limited, and the functions of the network device and the terminal device can be performed.

[0140] Figure 7 This is a schematic flowchart of a method for positioning provided in an embodiment of the present application, which is applied to a scenario of positioning between a first terminal device and a second terminal device, and includes the following steps:

[0141] S710, the network device sends first indication information to the first terminal device, and correspondingly, the first terminal device receives the first indication information from the network device.

[0142] In this embodiment, the network device may be the LMF implementing the location management function as shown above, or other network elements or devices capable of implementing the functions of the network device in this embodiment. The specific form of the network device is not limited in this embodiment and will not be described here.

[0143] In this embodiment, the terminal device (such as the first terminal device and the second terminal device mentioned above) can be any terminal device that has positioning requirements or participates in the positioning process. In this embodiment, no limitation is imposed on the specific form of the terminal device.

[0144] Specifically, the first indication information is used to determine a positioning reference signal associated with a first measurement quantity. The first measurement quantity is a parameter measured by the first terminal device and used to determine the distance between the first terminal device and the second terminal device.

[0145] Exemplarily, the positioning reference signal associated with the first measurement amount includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device. The first terminal device can obtain the first measurement amount by measuring the first positioning reference signal and the second positioning reference signal.

[0146] For example, the first measurement quantity is the UE Rx-Tx time difference measured by the first terminal device, such as the first measurement quantity is the difference between the time when the first terminal device receives the first positioning reference signal and the time when the first terminal device sends the second positioning reference signal.

[0147] For another example, the first measurement quantity is the UE Rx-Tx phase difference measured by the first terminal device, for example, the first measurement quantity is the difference between the phase of the first positioning reference signal received by the first terminal device and the phase of the second positioning reference signal sent by the first terminal device.

[0148] It should be noted that this embodiment does not impose any limitation on the specific form of the measurement quantity, and any information that can be used to determine the distance between the first terminal device and the second terminal device can be understood as the measurement quantity involved in this embodiment.

[0149] In this embodiment, the distance information between the first terminal device and the second terminal device can be used to implement positioning measurement. For example, if the first terminal device knows its own position, the position of the second terminal device can be obtained based on the distance between the first terminal device and the second terminal device. Also, LMF can obtain the position of the second terminal device based on the position of the first terminal device and the distance between the first terminal device and the second terminal device.

[0150] It should be understood that this embodiment does not limit the specific use process of the measurement amount. You can refer to the description of the use of the measurement amount in the current related technology, and will not go into details here. This embodiment mainly introduces how the terminal device determines the positioning reference signal associated with the measurement amount, and does not provide detailed description of the reporting and use of the measurement amount.

[0151] Exemplarily, the first indication information may be carried in a message such as a Radio Resource Control (RRC) message, an LTE Positioning Protocol (LPP) message, or a SideLink Positioning Protocol (SLPP) message.

[0152] Further, after receiving the first indication information, the first terminal device may determine the positioning reference signal associated with the first measurement amount according to the first indication information. Figure 7 The method flow shown also includes:

[0153] S720: The first terminal device determines a positioning reference signal associated with a first measurement quantity.

[0154] Exemplarily, in this embodiment, the first indication information may assist the first terminal device in determining the positioning reference signal associated with the measurement amount in the process of obtaining the measurement amount in the following indication modes:

[0155] Mode 1: The first indication information is used to indicate the number N of sent positioning reference signals associated with the first positioning reference signal, where N is a positive integer. The second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal.

[0156] or,

[0157] The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, where N is a positive integer. The first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0158] It should be noted that the first indication information is used to indicate the number N of positioning reference signals associated with a certain positioning reference signal (e.g., used to indicate the number N of sent positioning reference signals associated with the first positioning reference signal or used to indicate the number N of received positioning reference signals associated with the second positioning reference signal). The first indication information may indicate the number N, or the first indication information may indicate the maximum number N, that is, the number of associated positioning reference signals may be less than or equal to N. In other words, in this embodiment, the first indication information indicates the number of positioning reference signals associated with a certain positioning reference signal, which may be achieved by indicating the maximum number. For example, if the first indication information indicates the maximum number 3, the number of sent positioning reference signals associated with the first positioning reference signal may be less than or equal to 3.

[0159] In the case shown in the first manner, if the first indication information indicates the number N of sent positioning reference signals associated with the received positioning reference signal (e.g., the first positioning reference signal), the first terminal device determines the positioning reference signal associated with the first measurement amount, including:

[0160] The first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the received first positioning reference signal and the first indication information, and one of the received first positioning reference signal and the sent positioning reference signal associated with the first positioning reference signal can be used as the positioning reference signal associated with the first measurement quantity.

[0161] Alternatively, if the first indication information indicates the number N of received positioning reference signals associated with the sent positioning reference signal (e.g., the second positioning reference signal), the first terminal device determines the positioning reference signal associated with the first measurement amount, including:

[0162] The first terminal device determines the received positioning reference signal associated with the second positioning reference signal based on the sent second positioning reference signal and the first indication information, and one of the sent second positioning reference signal and the received positioning reference signal associated with the second positioning reference signal can be used as the positioning reference signal associated with the first measurement quantity.

[0163] In the case shown in method 1, the number N of sent positioning reference signals associated with the received positioning reference signal can be indicated by the first indication information, or the number N of received positioning reference signals associated with the sent positioning reference signal can be indicated by the first indication information, so as to implement the requirement that the received positioning reference signals and the sent positioning reference signals associated with different measurement quantities need to meet the number indicated by the first indication information.

[0164] Optionally, the sent positioning reference signal associated with the first positioning reference signal is the most recently N sent positioning reference signals received by the first terminal device when the first positioning reference signal is received.

[0165] For example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, it may be that the N sent positioning reference signals before the first terminal device receives the first positioning reference signal are used as the sent positioning reference signal associated with the first positioning reference signal.

[0166] For example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, the N sent positioning reference signals after the first terminal device receives the first positioning reference signal may be used as the sent positioning reference signal associated with the first positioning reference signal.

[0167] For another example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, the N' sent positioning reference signals after the first terminal device receives the first positioning reference signal and the N" sent positioning reference signals before the first positioning reference signal may be used as the sent positioning reference signal associated with the first positioning reference signal, where the sum of N' and N" is N.

[0168] Optionally, the received positioning reference signal associated with the second positioning reference signal is the most recent N received positioning reference signals of the first terminal device sending the second positioning reference signal. The manner in which the first terminal device determines the received positioning reference signal associated with the second positioning reference signal according to the first indication information can refer to the manner in which the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal according to the first indication information, which will not be repeated here.

[0169] For ease of understanding, the following is a specific example illustrating how a network device configures the number of sent positioning reference signals associated with a received positioning reference signal through indication information (such as the first indication information mentioned above) in the case shown in Method 1, or the indication information is used to configure the number of received positioning reference signals associated with a sent positioning reference signal.

[0170] Example 1: Figure 8 As shown, LMF can configure the sent SL-PRS associated with the received SL-PRS to UE#1 and UE#2 through a high-level message (such as the first indication information) as the two sent SL-PRSs closest to the received SL-PRS, and UE#1 and UE#2 can measure and report the measurement quantity according to the rules configured in the high-level message.

[0171] like Figure 8 As shown, for UE#1, the received SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. Then, according to the instruction of the high-level message, the sent SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the sent SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the sent SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0172] For UE#2, the received SL-PRS includes SL-PRS#1, SL-PRS#3 and SL-PRS#5. According to the instruction of the high-level message, the sent SL-PRS associated with SL-PRS#1 includes SL-PRS#2 and SL-PRS#4, the sent SL-PRS associated with SL-PRS#3 includes SL-PRS#2 and SL-PRS#4, and the sent SL-PRS associated with SL-PRS#5 includes SL-PRS#4 and SL-PRS#6.

[0173] Figure 8 In the case shown, for UE#1, the positioning reference signal group that can constitute DS-RTT includes {SL-PRS#1, SL-PRS#2, SL-PRS#3}, {SL-PRS#3, SL-PRS#4, SL-PRS#5} and {SL-PRS#3, SL-PRS#5, SL-PRS#6}; for UE#2, the positioning reference signal group that can constitute DS-RTT includes {SL-PRS#1, SL-PRS#2, SL-PRS#4}, {SL-PRS#2, SL-PRS#3, SL-PRS#4} and {SL-PRS#4, SL-PRS#5, SL-PRS#6}. Compared with the number of transmitted positioning reference signals associated with the received positioning reference signal not configured, the redundancy of the measurement amount reported by the terminal device is reduced. For example, if the number of transmitted positioning reference signals associated with the received positioning reference signal is not configured, possible positioning reference signal groups may include {SL-PRS#1, SL-PRS#2, SL-PRS#6}, {SL-PRS#1, SL-PRS#2, SL-PRS#4} and other combinations.

[0174] In addition, Figure 8 In the case shown, if UE#1 and UE#2 both report the measurement quantities corresponding to their respective DS-RTTs, for UE#1, the reported measurement quantities include:

[0175] T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 .

[0176] For UE#2, the reported measurement quantities include:

[0177] T UE-RX-PRS1–T UE-TX-PRS2 、T UE-RX-PRS1 –T UE-TX-PRS4 、T UE-RX-PRS3 –T UE-TX-PRS2 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 .

[0178] Among them, T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS1 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS2 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS3 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS4 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 It can be used for network equipment to implement DS-RTT. For UE#1 and UE#2, there is only one measurement quantity (e.g., T reported by UE#1). UE-RX-PRS5 –T UE-TX-PRS6 , and T reported by UE#1 UE-RX-PRS1 –T UE-TX-PRS2 ) is not applied to DS-RTT. That is to say, to a certain extent, the redundancy of the measurement quantity reported by the terminal equipment can be reduced under the premise of ensuring the DS-RTT function.

[0179] In addition, in the case shown in method 1, in order to better guarantee the DS-RTT function, different indication information can be used to configure the angles of the terminal device sending the positioning reference signal and the terminal device receiving the positioning reference signal respectively.

[0180] Exemplarily, the network device sends first indication information to the first terminal device, and the first indication information is used to indicate the sent positioning reference signal associated with the received positioning reference signal; the network device sends second indication information to the second terminal device, and the second indication information is used to indicate the received positioning reference signal associated with the sent positioning reference signal.

[0181] It should be understood that if there is no need to configure the terminal device sending the positioning reference signal and the terminal device receiving the positioning reference signal separately, the network device can send the first indication information to multiple terminal devices by broadcasting.

[0182] For ease of understanding, the following describes how to configure the terminal device that sends the positioning reference signal and the terminal device that receives the positioning reference signal respectively with reference to specific examples.

[0183] Example 2: If Fig. 9 As shown, LMF can configure the received SL-PRS associated with the sent SL-PRS to UE#1 through a high-level message as the two sent SL-PRSs closest to the received SL-PRS. In addition, LMF can configure the received SL-PRS associated with the sent SL-PRS to UE#2 through a high-level message as the two received SL-PRSs closest to the sent SL-PRS. UE#1 and UE#2 can measure and report the measurement quantity according to the rules configured in the high-level message.

[0184] like Fig. 9 As shown, for UE#1, the received SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. Then, according to the instruction of the high-level message, the sent SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the sent SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the sent SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0185] For UE#2, the sent SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. According to the instruction of the high-level message, the received SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the received SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the received SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0186] Fig. 9 In the case shown, for UE#1 and UE#2, the positioning reference signal group that can constitute DS-RTT includes {SL-PRS#1, SL-PRS#2, SL-PRS#3}, {SL-PRS#3, SL-PRS#4, SL-PRS#5} and {SL-PRS#3, SL-PRS#5, SL-PRS#6}. Compared with the prior art in which the number of transmitted positioning reference signals associated with the received positioning reference signal is not configured, the redundancy of the measurement amount reported by the terminal device is reduced.

[0187] In addition, Fig. 9 In the case shown, if UE#1 and UE#2 both report the measurement quantities corresponding to their respective DS-RTTs, for UE#1, the reported measurement quantities include:

[0188] T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 .

[0189] For UE#2, the reported measurement quantities include:

[0190] T UE-RX-PRS1 –T UE-TX-PRS2 、T UE-RX-PRS3 –T UE-TX-PRS2 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 、T UE-RX-PRS3 –T UE-TX-PRS6 .

[0191] Among them, T UE-RX-PRS2 –TUE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS1 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS2 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS3 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS4 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 Can be used in network devices to implement DS-RTT; similarly, T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 、T UE-RX-PRS5 –T UE-TX-PRS6 、T UE-RX-PRS3 –T UE-TX-PRS6 It can be used for network equipment to implement DS-RTT. For UE#1 and UE#2, all reported measurements can be applied to DS-RTT. In other words, to a certain extent, the redundancy of the measurement reported by the terminal equipment can be reduced under the premise of ensuring the DS-RTT function.

[0192] Method 2: The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

[0193] or,

[0194] The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0195] In the case shown in method 2, the sent positioning reference signal associated with the received positioning reference signal indicated by the first indication information may be a positioning reference signal sent before the received positioning reference signal and a positioning reference signal sent after the received positioning reference signal, which is similar to the case shown in method 1 above, except that in the case shown in method 2, the parameters carried in the first indication information include N1 and N2.

[0196] Optionally, the N1 sent positioning reference signals associated with the first positioning reference signal are the N1 sent positioning reference signals most recently before the first terminal device receives the first positioning reference signal, and the N2 sent positioning reference signals associated with the first positioning reference signal are the N2 sent positioning reference signals most recently after the first terminal device receives the first positioning reference signal.

[0197] Optionally, the N1 received positioning reference signals associated with the second positioning reference signal are the N1 received positioning reference signals most recently before the first terminal device sends the second positioning reference signal, and the N2 received positioning reference signals associated with the second positioning reference signal are the N2 received positioning reference signals most recently after the first terminal device sends the second positioning reference signal.

[0198] Method three: The first indication information includes a bit map, the bit map includes Q bits, the Q bits correspond to Q positioning reference signals, the bit map is used to indicate the sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals with a corresponding bit value of the first value among the Q positioning reference signals; or, the bit map is used to indicate the received positioning reference signal associated with the second positioning reference signal, and the first positioning reference signal is one of the positioning reference signals with a corresponding bit value of the first value among the Q positioning reference signals.

[0199] The first value is 0 or 1.

[0200] For ease of understanding, the following describes, in conjunction with a specific example, how to configure a sent positioning reference signal associated with a received positioning reference signal through a bit map in the case shown in method three, or how the indication information is used to configure a received positioning reference signal associated with a sent positioning reference signal.

[0201] Example 3: Bitmap Fig.10 As shown, the bitmap includes 4 bits, the first bit represents the second SL-PRS sent earlier than the received positioning reference signal, the second bit represents the first SL-PRS sent earlier than the received positioning reference signal, the third bit represents the first SL-PRS sent later than the received positioning reference signal, and the fourth bit represents the second SL-PRS sent later than the received positioning reference signal. Alternatively, the first to fourth bits represent four SL-PRS sent earlier than the received positioning reference signal; or, the first to fourth bits represent four SL-PRS sent later than the received positioning reference signal, etc.

[0202] Optionally, a bit value of 1 indicates association (or binding), that is, it is necessary to obtain the measurement amount of the received positioning reference signal and the sent positioning reference signal corresponding to the bit, and a bit value of 0 indicates no association, that is, it is not necessary to obtain the measurement amount of the received positioning reference signal and the sent positioning reference signal corresponding to the bit.

[0203] Mode 4: The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

[0204] For ease of understanding, the following is a specific example illustrating how a network device configures the condition that the number of positioning reference signals between the transmitted positioning reference signals associated with the received positioning reference signal satisfies through indication information (such as the first indication information mentioned above) in the case shown in method four.

[0205] Example 4: Fig.11 As shown, LMF can configure the number of SL-PRSs between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity to be 1 to UE#1 through a high-level message (the count here does not include the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity). Then UE#1 will not report the measurement quantity of the associated positioning reference signal {SL-PRS#2, SL-PRS#5}, because the number of SL-PRSs between SL-PRS#2 and SL-PRS#5 is 2.

[0206] Mode five: the first indication information is used to indicate that the time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

[0207] For ease of understanding, the following describes, in conjunction with a specific example, how the network device configures the conditions for satisfying the time interval between sending positioning reference signals associated with receiving positioning reference signals through indication information (such as the first indication information mentioned above) in the case shown in method five.

[0208] Example 5: Fig.12 As shown, LMF can configure the time interval between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity to UE#1 through a high-level message (the interval can be converted according to the time slots where the two PRSs are located), for example, the maximum time T. If the maximum interval between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity of UE#1 is configured to be T = 10ms, then UE#1 will not report the measurement quantity of the associated positioning reference signal {SL-PRS#1, SL-PRS#4}, because the interval between SL-PRS#1 and SL-PRS#4 is 20ms.

[0209] Method six: The first indication information can also be used to determine a first time window, the positioning reference signal associated with the first measurement quantity belongs to the first time window, the first time window is one of M time windows, M is a positive integer, wherein the first indication information is used to indicate at least one of the following information: the window length of the first time window, the total number of time windows M, or the starting time of the first time window.

[0210] In the case shown in the sixth mode, the first time window may be determined by the first indication information, and on the premise of determining the first time window, a positioning reference signal associated with the first measurement quantity may be selected in the first time window.

[0211] Exemplarily, the starting time of the above-mentioned M time windows is the time when the first terminal device receives the first indication information, and the ending time of the M time windows is the time when the first terminal device reports the first measurement value.

[0212] Exemplarily, the starting time of the above-mentioned M time windows is the time when the first terminal device receives the request message, and the ending time of the M time windows is the time after the first terminal device receives the request message after the response time. The request message is used to request the first terminal device to report the first measurement quantity, and the request message includes response time information, and the response time information indicates that the first measurement quantity is reported within the response time after receiving the request message. The request message can be sent by the network device and / or the second terminal device.

[0213] For example, the first indication information may configure the interval of the Mth time window to be [the time when the first indication information is received + (M-1)*window length, the time when the first indication information is received + M*window length].

[0214] For example, the first indication information can indicate the window length of the first time window by configuring the number of time windows. For example, the first indication information indicates that the number of time windows is N, and the total window length of M time windows is the response time (response time) (such as the response time indicated by the response time information carried in the request message), and the window length of each time window is: response time / N.

[0215] For another example, the first indication information may configure the specific time of the first time window. For example, the first indication information indicates the start and end time of the first time window as T1, and the end time is configured as T2.

[0216] like Fig.13 As shown, two time windows are set to achieve association between the sent and received SL-PRS in the same time window. For example, SL-PRS#1 is associated with SL-PRS#2 and SL-PRS#3 in time window #1; and for another example, SL-PRS#4 is associated with SL-PRS#5 and SL-PRS#6 in time window #2.

[0217] Figure 7 In the method for positioning shown, the first indication information is used to determine the positioning reference signal associated with the first measurement quantity, so that the first terminal device can determine the positioning reference signal associated with the first measurement quantity according to the first indication information, and then measure the positioning reference signal associated with the first measurement quantity to obtain the first measurement quantity and report it, thereby avoiding the terminal device determining the positioning reference signal associated with the measurement quantity on its own when it is unable to know the positioning reference signal associated with the measurement quantity, resulting in redundancy in measuring quantity reporting.

[0218] It should be noted that the above-mentioned methods 1 to 6 are only examples and do not constitute any limitation on the protection scope of the present application. The first indication information can also specify the requirements to be met by the positioning reference signal associated with the measurement amount in other ways, which will not be explained one by one here.

[0219] In addition, the above-mentioned methods 1 to 6 can be used in combination. For example, the network device can indicate both the above-mentioned time window and the time interval between the receiving positioning reference signal and the sending positioning reference signal associated with the above-mentioned measurement quantity through the first indication information; for example, the network device can indicate both the number of positioning reference signals between the above-mentioned positioning reference signal and the sending positioning reference signal and the time interval between the receiving positioning reference signal and the sending positioning reference signal associated with the above-mentioned measurement quantity through the first indication information, and the regular combination that the indication information can indicate is not repeated here. Alternatively, the network device can indicate the above-mentioned methods 1 to 6 respectively through different indication information, which is not repeated here.

[0220] It should be understood that the sequence numbers of the above processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0221] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0222] It should also be understood that in some of the above embodiments, the devices in the existing network architecture are mainly used as examples for exemplary description, and it should be understood that the embodiments of the present application do not limit the specific form of the devices. For example, devices that can achieve the same function in the future are applicable to the embodiments of the present application.

[0223] It can be understood that in the above-mentioned various method embodiments, the methods and operations implemented by devices (such as the first device and the second device) can also be implemented by components that can be used in the devices (such as chips or circuits).

[0224] It can also be understood that in each embodiment of the present application, the interaction between a network device and a terminal device is mainly used as an example for illustrative explanation, and the present application is not limited to this. The terminal device can be replaced by a receiving device, and the network device can be replaced by a sending device; for example, "first terminal device" can be replaced by "first device" and "second terminal device" can be replaced by "second device".

[0225] It can also be understood that some optional features in the embodiments of the present application may not depend on other features in some scenarios, or may be combined with other features in some scenarios, without limitation.

[0226] Above, combined Figure 7The method for positioning provided by the embodiment of the present application is described in detail. The above method for positioning is mainly introduced from the perspective of interaction between the network device and the terminal device. It can be understood that in order to realize the above functions, the network device and the terminal device include hardware structures and / or software modules corresponding to the execution of each function.

[0227] Those skilled in the art should be aware that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0228] The following, combined Figures 14 to 16 The device for positioning provided by the embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the contents not described in detail can be referred to the above method embodiment, and some contents will not be repeated for the sake of brevity.

[0229] The embodiment of the present application can divide the functional modules of the transmitting end device or the receiving end device according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0230] Fig.14 1 is a schematic block diagram of a communication device 10 provided in an embodiment of the present application. The device 10 includes a transceiver module 11 and a processing module 12. The transceiver module 11 can implement corresponding communication functions, and the processing module 12 is used to perform data processing, or in other words, the transceiver module 11 is used to perform operations related to receiving and sending, and the processing module 12 is used to perform other operations besides receiving and sending. The transceiver module 11 can also be called a communication interface or a communication unit.

[0231] Optionally, the device 10 may further include a storage module 13, which may be used to store instructions and / or data. The processing module 12 may read the instructions and / or data in the storage module so that the device implements the actions of the devices in the aforementioned method embodiments.

[0232] In one design, the apparatus 10 may correspond to the first terminal device in the above method embodiment, or a component (such as a chip) of the first terminal device.

[0233] The device 10 can implement the steps or processes executed by the first terminal device in the above method embodiment, wherein the transceiver module 11 can be used to execute the transceiver related operations of the first terminal device in the above method embodiment, and the processing module 12 can be used to execute the processing related operations of the first terminal device in the above method embodiment.

[0234] In one possible implementation, the transceiver module 11 is used to receive first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, and the first measurement quantity is used to determine the distance between a first terminal device and a second terminal device; the processing module 12 is used to determine the positioning reference signal associated with the first measurement quantity according to the first indication information, and measure the positioning reference signal associated with the measurement quantity to obtain the first measurement quantity, wherein the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0235] When the device 10 is used to perform Figure 7 When the method is performed, the transceiver module 11 can be used to execute the steps of sending and receiving information in the method, such as step S710; the processing module 12 can be used to execute the processing steps in the method, such as step S720.

[0236] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0237] In another design, the apparatus 10 may correspond to the network device in the above method embodiment, or a component (such as a chip) of the network device.

[0238] The device 10 can implement the steps or processes executed by the network device in the above method embodiment, wherein the transceiver module 11 can be used to execute the transceiver related operations of the network device in the above method embodiment, and the processing module 12 can be used to execute the processing related operations of the second device in the above method embodiment.

[0239] In one possible implementation, the processing module 12 is used to generate first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; the transceiver module 11 is used to send the first indication information, where the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0240] When the device 10 is used to perform Figure 7 When the method is performed, the transceiver module 11 can be used to execute the steps of sending and receiving information in the method, such as step S710; the processing module 12 can be used to execute the processing steps in the method.

[0241] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0242] It should also be understood that the device 10 here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a merged logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art may understand that the device 10 may be specifically a mobile management network element in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the mobile management network element in the above-mentioned method embodiments; or, the device 10 may be specifically a terminal device in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the terminal device in the above-mentioned method embodiments. To avoid repetition, it will not be repeated here.

[0243] The device 10 of each of the above schemes has the function of implementing the corresponding steps performed by the device (such as terminal device, network device) in the above method. This function can be implemented by hardware, or by hardware executing the corresponding software implementation. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver module can be replaced by a transceiver (for example, the sending unit in the transceiver module can be replaced by a transmitter, and the receiving unit in the transceiver module can be replaced by a receiver), and other units, such as processing modules, can be replaced by processors to respectively perform the transceiver operations and related processing operations in each method embodiment.

[0244] In addition, the transceiver module 11 may also be a transceiver circuit (for example, may include a receiving circuit and a sending circuit), and the processing module may be a processing circuit.

[0245] Fig.15 2 is a schematic diagram of another communication device 20 provided in an embodiment of the present application. The device 20 includes a processor 21, and the processor 21 is used to execute a computer program or instruction stored in a memory 22, or read data / signaling stored in the memory 22 to execute the method in each method embodiment above. Optionally, there are one or more processors 21.

[0246] Alternatively, if Fig.15 As shown, the device 20 also includes a memory 22, which is used to store computer programs or instructions and / or data. The memory 22 can be integrated with the processor 21, or can also be separately set. Optionally, the memory 22 is one or more.

[0247] Alternatively, if Fig.15 As shown, the device 20 further includes a transceiver 23, and the transceiver 23 is used for receiving and / or sending signals. For example, the processor 21 is used to control the transceiver 23 to receive and / or send signals.

[0248] As a solution, the device 20 is used to implement the operations performed by the terminal device or the network device in the above various method embodiments.

[0249] It should be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0250] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0251] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0252] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0253] Fig.16 Schematic diagram of a chip system 30 provided in an embodiment of the present application. The chip system 30 (or also referred to as a processing system) includes a logic circuit 31 and an input / output interface 32.

[0254] Among them, the logic circuit 31 can be a processing circuit in the chip system 30. The logic circuit 31 can be coupled to the storage unit and call the instructions in the storage unit so that the chip system 30 can implement the methods and functions of each embodiment of the present application. The input / output interface 32 can be an input / output circuit in the chip system 30, outputting information processed by the chip system 30, or inputting data or signaling information to be processed into the chip system 30 for processing.

[0255] As a solution, the chip system 30 is used to implement the operations performed by the terminal device or the network device in the above method embodiments.

[0256] For example, the logic circuit 31 is used to implement the processing-related operations performed by the terminal device in the above method embodiment; the input / output interface 32 is used to implement the sending and / or receiving-related operations performed by the terminal device in the above method embodiment.

[0257] An embodiment of the present application also provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the device in the above-mentioned method embodiments are stored.

[0258] For example, when the computer program is executed by a computer, the computer can implement the method executed by the terminal device or the network device in each embodiment of the above method.

[0259] An embodiment of the present application also provides a computer program product, comprising instructions, which, when executed by a computer, implement the methods performed by a terminal device or a network device in the above-mentioned method embodiments.

[0260] An embodiment of the present application also provides a communication system, including the aforementioned terminal device or network device.

[0261] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0262] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0263] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. For example, the computer can be a personal computer, a server, or a network device, etc. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media integrations. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)). For example, the aforementioned available medium includes, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0264] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for positioning, characterized in that: include: receiving first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; determining a positioning reference signal associated with the first measurement amount according to the first indication information, and measuring the positioning reference signal associated with the measurement amount to obtain the first measurement amount, The positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

2. The method according to claim 1, characterized in that The first indication information is used to indicate the number N of sent positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal; or, The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, the first positioning reference signal being one of the received positioning reference signals associated with the second positioning reference signal, Wherein, N is a positive integer.

3. The method according to claim 2, characterized in that The sent positioning reference signal associated with the first positioning reference signal is the positioning reference signal that is sent most recently by the first terminal device when receiving the first positioning reference signal; The received positioning reference signal associated with the second positioning reference signal is the most recently N received positioning reference signals after the first terminal device sends the second positioning reference signal.

4. The method according to any one of claims 1 to 3, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal. The N1 and N2 are integers, the sum of the N1 and N2 is a positive integer, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal.

5. The method according to any one of claims 1 to 3, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

6. The method according to any one of claims 1 to 5, characterized in that The first indication information includes a bit map, the bit map includes Q bits, and the Q bits correspond to Q positioning reference signals. The bit map is used to indicate a sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is the first value among the Q positioning reference signals; or The bit map is used to indicate a received positioning reference signal associated with the second positioning reference signal, where the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

7. The method according to any one of claims 1 to 6, characterized in that The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

8. The method according to any one of claims 1 to 7, characterized in that The first indication information is used to indicate that a time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

9. The method according to any one of claims 1 to 8, characterized in that The first indication information is further used to determine a first time window, the positioning reference signal associated with the first measurement value belongs to the first time window, the first time window is one of M time windows, and M is a positive integer. The first indication information is also used to indicate at least one of the following information: The window length of the first time window, the total number of time windows M, or the starting time of the first time window.

10. The method according to claim 9, characterized in that The starting time of the M time windows is the time when the first indication information is received; and the ending time of the M time windows is the time when the first measurement value is reported.

11. The method according to any one of claims 1 to 10, characterized in that The first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message or a side link positioning protocol SLPP message.

12. A method for positioning, characterized in that: include: Generate first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement amount, where the first measurement amount is used to determine a distance between the first terminal device and the second terminal device; sending the first indication information, The positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

13. The method according to claim 12, characterized in that The first indication information indicates the number N of sent positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal; or, The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, the first positioning reference signal being one of the received positioning reference signals associated with the second positioning reference signal, Wherein, N is a positive integer.

14. The method according to claim 13, characterized in that The sent positioning reference signal associated with the first positioning reference signal is the positioning reference signal that is sent most recently by the first terminal device when receiving the first positioning reference signal; The received positioning reference signal associated with the second positioning reference signal is the most recently N received positioning reference signals after the first terminal device sends the second positioning reference signal.

15. The method according to any one of claims 12 to 14, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

16. The method according to any one of claims 12 to 14, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

17. The method according to any one of claims 12 to 16, characterized in that The first indication information includes a bit map, the bit map includes Q bits, and the Q bits correspond to Q positioning reference signals. The bit map is used to indicate a sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is the first value among the Q positioning reference signals; or The bit map is used to indicate a received positioning reference signal associated with the second positioning reference signal, where the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

18. The method according to any one of claims 12 to 17, characterized in that The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

19. The method according to any one of claims 12 to 18, characterized in that The first indication information is used to indicate that a time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

20. The method according to any one of claims 12 to 19, characterized in that The first indication information is further used to determine a first time window, the positioning reference signal associated with the first measurement value belongs to the first time window, the first time window is one of M time windows, and M is a positive integer. The first indication information is also used to indicate at least one of the following information: The window length of the first time window, the total number of time windows M, or the starting time of the first time window.

21. The method according to claim 20, characterized in that The starting time of the M time windows is the time when the first terminal device receives the first indication information; The end time of the M time windows is the time when the first terminal device reports the first measurement value.

22. The method according to any one of claims 12 to 21, characterized in that The first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message or a side link positioning protocol SLPP message.

23. A communication device, characterized in that: The terminal device includes a processor and a memory, the processor and the memory are coupled, and the memory is used to store a computer program. When the processor runs the computer program, the communication device executes the method described in any one of claims 1 to 11; or, the communication device executes the method described in any one of claims 12 to 22.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a communication device, the communication device executes the method according to any one of claims 1 to 11; or the communication device executes the method according to any one of claims 12 to 22.

25. A computer program product, characterized in that Contains instructions, when the computer instructions are executed on a communication device, the communication device is caused to execute the method according to any one of claims 1 to 11; or the communication device is caused to execute the method according to any one of claims 12 to 22.

26. A chip, characterized in that: The chip includes a processor and a communication interface, and the processor reads and runs instructions through the communication interface. When the chip is installed in a communication device, the communication device executes the method as described in any one of claims 1-11; or, the communication device executes the method as described in any one of claims 12-22.

27. A communication system, characterized in that: The communication system comprises a terminal device and a network device, wherein the terminal device is used to execute the method according to any one of claims 1 to 11, and the network device is used to execute the method according to any one of claims 12 to 22.

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