Lateral positioning method and device

Abstract

The invention provides a lateral positioning method and device. The method may comprise: a first terminal device receiving a first sidewalk positioning configuration sent by a network device; the first terminal device sends a first side positioning reference signal to the second terminal device according to the first side positioning configuration, the position of the first terminal device is determined according to a first measurement value and the position of the second terminal device, and the first measurement value comprises a measurement value of the first side positioning reference signal by the second terminal device. According to the method for positioning between the terminal devices by using the sideline reference signal, the relative position or absolute position between the terminal devices can be obtained.

Description

[0001] This application is a divisional application. The application number of the original application is 201980102247.5, and the original application date is November 18, 2019. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of communications, and in particular to a side-travel positioning method and device. Background Art

[0003] Some existing positioning technologies are based on the measurement of reference signals between network devices and terminal devices to determine the location information of terminal devices. These positioning technologies need to be controlled by the core network, and the positioning error of terminal devices will increase as the distance between network devices and terminal devices increases. In some scenarios with high positioning accuracy requirements, the positioning method based on the network device and the terminal device has a large error and cannot accurately measure the location information of the terminal device.

[0004] Therefore, how to use these positioning technologies in scenarios that require high positioning accuracy becomes an urgent problem to be solved. Summary of the invention

[0005] The present application provides a side-by-side positioning method and device, by which terminal devices can use side-by-side signals to determine positioning, obtain relative positions or absolute positions, and improve positioning accuracy.

[0006] In a first aspect, a side-line positioning method is provided, comprising: a first terminal device receives a first side-line positioning configuration sent by a network device; the first terminal device sends a first side-line positioning reference signal to a second terminal device according to the first side-line positioning configuration, the first side-line positioning reference signal is used to determine a first measurement value, wherein the first measurement value includes a measurement value of the first side-line positioning reference signal by the second terminal device, and the position of the first terminal device is determined based on the first measurement value and the position of the second terminal device.

[0007] In the above technical solution, the second terminal device measures the first side positioning reference signal sent by the first terminal device to obtain a first measurement value, so as to determine the position relationship of the first terminal device relative to the second terminal device. The location information of the first terminal device can be determined by the first terminal device or the network device based on the first measurement value and the location information of the second terminal device, and the first measurement value does not need to pass through the core network, thereby reducing the positioning delay. In addition, the technical solution is also suitable for a first terminal device that does not support the measurement of the side reference signal, and the measurement is performed by a second terminal device that supports the side reference signal.

[0008] In combination with the first aspect, in some implementations of the first aspect, the first terminal device receives a first measurement value from a second terminal device or a network device, and the first terminal device determines the location of the first terminal device based on the first measurement value and the location of the second terminal device.

[0009] In the above technical solution, the first terminal device can calculate its own location information based on the first measurement value.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the first terminal device receives a second sideline positioning reference signal sent by a second terminal device according to the first sideline positioning configuration; the first terminal device measures the second sideline positioning reference signal to determine a second measurement value; the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device, including: the first terminal device determines the position of the first terminal device according to the first measurement value, the second measurement value, and the position of the second terminal device.

[0011] In the above technical solution, the first terminal device determines the position relationship of the first terminal device relative to the second terminal device based on the first measurement value measured by the second terminal device for the first side positioning reference signal and the second measurement value measured by the first terminal device for the second side positioning reference signal. Then, on the basis of determining the relative position relationship between the first terminal device and the second terminal device, the position of the first terminal device is finally determined based on the position of the second terminal device, and the first measurement value and the second measurement value do not need to pass through the core network, thereby reducing the positioning delay.

[0012] In combination with the first aspect, in some implementations of the first aspect, before the first terminal device receives the first side positioning configuration sent by the network device, the method also includes: the first terminal device sends a location information request to the network device.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the first sideline positioning configuration information includes at least one or more of the following information configurations: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

[0014] In combination with the first aspect, in some implementations of the first aspect, the first measurement value includes: a time difference between sending and receiving of the second terminal device, and a measurement value of an arrival angle of the first sidelink positioning reference signal of the second terminal device.

[0015] In combination with the first aspect, in some implementations of the first aspect, the second measurement value includes: a time difference between sending and receiving of the first terminal device, and a measurement value of an arrival angle of the second sidelink positioning reference signal of the first terminal device.

[0016] In a second aspect, a side-row positioning method is provided, including: a second terminal device receives a second side-row positioning configuration sent by a network device; the second terminal device receives a first side-row positioning reference signal sent by a first terminal device according to the second side-row positioning configuration; the second terminal device determines to obtain a first measurement value according to the first side-row positioning reference signal; the second terminal device sends the first measurement value to the network device, so that the network device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device; or the second terminal device sends the first measurement value to the first terminal device, so that the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device.

[0017] In the above technical solution, the second terminal device measures the first measurement value sent by the first terminal device to obtain the first measurement value, thereby determining the position relationship of the first terminal device relative to the second terminal device. Both the first terminal device and the network device can determine the location information of the first terminal device based on the first measurement value and the location information of the second terminal device. The measurement value does not need to pass through the core network, reducing the positioning delay. At the same time, the technical solution is also suitable for the first terminal device that does not support the side reference signal measurement, and the second terminal device that supports the side reference signal implements the measurement.

[0018] In combination with the second aspect, in some implementations of the second aspect, the second terminal device sends a second sideline positioning reference signal to the first terminal device according to the second sideline positioning configuration.

[0019] In combination with the second aspect, in certain implementations of the second aspect, the second sideline positioning configuration includes one or more of the following information: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

[0020] In combination with the second aspect, in some implementations of the second aspect, the first measurement value includes: a time difference between sending and receiving of the second terminal device, and a measurement value of an arrival angle of the first sidelink positioning reference signal of the second terminal device.

[0021] In combination with the second aspect, in some implementations of the second aspect, the second terminal device sends the location information of the second terminal device to the network device or the first terminal device.

[0022] According to a third aspect, a side-line positioning method is provided, including: a network device sends a first side-line positioning configuration to a first terminal device; the network device sends a second side-line positioning configuration to a second terminal device; the network device receives a first measurement value sent by the second terminal device, the first measurement value including a measurement value of a first side-line positioning reference signal by the second terminal device; the network device determines the position of the first terminal device based on the first measurement value and the position of the second terminal device.

[0023] In the above technical solution, the second terminal device measures the first measurement value sent by the first terminal device to obtain the first measurement value, thereby determining the position relationship of the first terminal device relative to the second terminal device. The network device can determine the location information of the first terminal device based on the first measurement value and the location information of the second terminal device. The measurement value does not need to pass through the core network, which reduces the positioning delay.

[0024] In combination with the third aspect, in certain implementations of the third aspect, a network device receives a second measurement value sent by a first terminal device, the second measurement value including a measurement value of a second sideline positioning reference signal sent by the first terminal device to the second terminal device; the network device determines the position of the first terminal device based on the first measurement value and the position of the second terminal device, including: the network device determines the position of the first terminal device based on the first measurement value, the second measurement value, and the position of the second terminal device.

[0025] In the above technical solution, the positional relationship of the first terminal device relative to the second terminal device can be jointly determined based on the first measurement value and the second measurement value. Then, based on the determination of the relative positional relationship between the first terminal device and the second terminal device, the position of the first terminal device is finally determined based on the position of the second terminal device, and the first measurement value and the second measurement value do not need to pass through the core network, thereby reducing the positioning delay.

[0026] In combination with the third aspect, in certain implementations of the third aspect, before the network device sends a first side positioning configuration to the first terminal device and the network device sends a second side positioning configuration to the second terminal device, the method also includes: the network device receives a location information request from the first terminal device.

[0027] In combination with the third aspect, in certain implementations of the third aspect, the first sideline positioning configuration information includes one or more of the following configurations: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

[0028] In combination with the third aspect, in certain implementations of the third aspect, the second sideline positioning configuration information includes one or more of the following configurations: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

[0029] In combination with the third aspect, in some implementations of the third aspect, the first measurement value includes: a time difference between sending and receiving of the second terminal device, and a measurement value of an arrival angle of the first sidelink positioning reference signal of the second terminal device.

[0030] In combination with the third aspect, in some implementations of the third aspect, the second measurement value includes: a time difference between sending and receiving of the first terminal device, and a measurement value of an arrival angle of the second sidelink positioning reference signal of the first terminal device.

[0031] In combination with the third aspect, in some implementations of the third aspect, the method further includes: the network device receives location information of the second terminal device sent by the second terminal device.

[0032] In a fourth aspect, a lateral positioning device is provided, comprising modules or units for executing the method in the first aspect or the second aspect and possible implementations of the first aspect or the second aspect.

[0033] In a fifth aspect, a side-travel positioning device is provided, comprising a processor. The processor is coupled to a memory and can be used to execute the method in the first aspect or the second aspect and the possible implementation of the first aspect or the second aspect. Optionally, the side-travel positioning device also includes a memory. Optionally, the side-travel positioning device also includes a communication interface, and the processor is coupled to the communication interface.

[0034] In one implementation, the side-travel positioning device is a terminal device. When the side-travel positioning device is a terminal device, the communication interface may be a transceiver, or an input / output interface.

[0035] In another implementation, the lateral positioning device is a chip or a chip system. When the lateral positioning device is a chip or a chip system, the communication interface may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip or the chip system. The processor may also be embodied as a processing circuit or a logic circuit.

[0036] In a sixth aspect, a lateral positioning device is provided, comprising modules or units for executing the method in the third aspect and possible implementations of the third aspect.

[0037] In a seventh aspect, a side-travel positioning device is provided, comprising a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the method in the third aspect and the possible implementation of the third aspect. Optionally, the side-travel positioning device also includes a memory. Optionally, the side-travel positioning device also includes a communication interface, and the processor is coupled to the communication interface. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0038] In one implementation, the side positioning device is a network device. When the side positioning device is a network device, the communication interface may be a transceiver, or an input / output interface. Optionally, the transceiver may be a transceiver circuit. Optionally, the input / output interface may be an input / output circuit.

[0039] In another implementation, the lateral positioning device is a chip or a chip system. When the lateral positioning device is a chip or a chip system, the communication interface may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip or the chip system. The processor may also be embodied as a processing circuit or a logic circuit.

[0040] In an eighth aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive a signal through the input circuit and transmit a signal through the output circuit, so that any aspect of the first to third aspects, and any possible implementation of the first to third aspects is implemented.

[0041] In the specific implementation process, the processor can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, a gate circuit, a trigger, and various logic circuits. The input signal received by the input circuit can be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter, and the input circuit and the output circuit can be the same circuit, which is used as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation methods of the processor and various circuits.

[0042] In a ninth aspect, a processing device is provided, comprising a processor and a memory. The processor is used to read instructions stored in the memory, and can receive signals through a receiver and transmit signals through a transmitter to execute the method in any possible implementation of the first to third aspects and the first to third aspects.

[0043] Optionally, the processor is one or more and the memory is one or more.

[0044] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0045] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips respectively. The embodiments of the present application do not limit the type of memory and the setting method of the memory and the processor.

[0046] It should be understood that the relevant data interaction process, such as sending indication information, can be a process of outputting indication information from a processor, and receiving capability information can be a process of receiving input capability information from a processor. Specifically, the processed output data can be output to a transmitter, and the input data received by the processor can come from a receiver. Among them, the transmitter and the receiver can be collectively referred to as a transceiver.

[0047] The processor in the ninth aspect mentioned above can be a chip. The processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading the software code stored in the memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0048] In the tenth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instruction), which, when executed, enables a computer to execute the method in any possible implementation of the first to third aspects and the first to third aspects.

[0049] In the eleventh aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions). When the computer-readable storage medium is run on a computer, the computer executes the method in the above-mentioned first to third aspects and any possible implementation of the first to third aspects.

[0050] In a twelfth aspect, a communication system is provided, comprising the aforementioned network device and terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of a network architecture applicable to an embodiment of the present application.

[0052] Figure 2 It is a schematic diagram of the relationship between the antenna array and the arrival angle in the downlink arrival angle positioning technology.

[0053] Figure 3 It is a schematic diagram of the azimuth angle and elevation angle in the downlink arrival angle positioning technology.

[0054] Figure 4 It is a schematic diagram of a two-dimensional antenna array in the downlink arrival angle positioning technology.

[0055] Figure 5 It is a schematic interactive diagram of a side-by-side positioning method provided in an embodiment of the present application.

[0056] Figure 6 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0057] Figure 7 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0058] Figure 8 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0059] Fig. 9 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0060] Fig.10 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0061] Fig.11 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0062] Fig.12 A schematic block diagram of a lateral positioning device provided in an embodiment of the present application.

[0063] Fig.13 A schematic block diagram of another side row positioning device provided in an embodiment of the present application.

[0064] Fig.14 A schematic block diagram of a terminal device provided in an embodiment of the present application.

[0065] Fig.15 A schematic block diagram of a network device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0067] The technical solution of the embodiment of the present application can be applied to various communication systems, such as: long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), fifth generation (5G) system or new radio (NR), vehicle-to-X V2X or next generation communication technology, such as 6G. V2X may include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2P), etc., long term evolution-vehicle (LTE-V), Internet of Vehicles, machine type communication (MTC), Internet of Things (IoT), long term evolution-machine (LTE-M), machine to machine (M2M), etc.

[0068] Figure 1 FIG. 1 is a schematic diagram of a network architecture provided by an embodiment of the present application. Figure 1 As shown, the communication system of the embodiment of the present application may include a network device and multiple terminal devices. The network device may include one antenna or multiple antennas. In addition, the network device may additionally include a transmitter chain and a receiver chain, and those skilled in the art will understand that they may include multiple components related to signal transmission and reception (such as processors, modulators, multiplexers, demodulators, demultiplexers or antennas, etc.).

[0069] The network device can communicate with multiple terminal devices. The terminal device in the embodiment of the present application can also be called: user equipment (UE), mobile station (MS), mobile terminal (MT), 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.

[0070] The terminal device may be a device that provides voice / data connectivity to users, such as a handheld device or vehicle-mounted device with wireless connection function. At present, some examples of terminal devices are: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MID), 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 functions, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in future 5G networks or future evolved public land mobile communication networks (public land mobile The present invention relates to a terminal device in a wireless communication system (PLMN) and / or any other suitable device for communicating on a wireless communication system, which is not limited in the embodiments of the present application.

[0071] Among them, wearable devices can also be called wearable smart devices, which are a general term for the intelligent design and development of wearable devices for daily wear using wearable technology, such as glasses, gloves, watches, clothing and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also realize powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include full-featured, large-sized, and independent of smartphones to achieve complete or partial functions, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0072] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an Internet of Things system. IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network that interconnects people and machines and things.

[0073] In addition, in an embodiment of the present application, the terminal device may also include sensors such as smart printers, train detectors, and gas stations. Its main functions include collecting data (partial terminal devices), receiving control information and downlink data from network devices, and sending electromagnetic waves to transmit uplink data to network devices.

[0074] The network device in the embodiment of the present application may be a device for communicating with a terminal device, and the network device may be an evolved node B (eNB or eNodeB) in an LTE system, or a wireless controller in a cloud radio access network (CRAN) scenario, or a radio network controller (RNC), a base station controller (BSC), a home base station (e.g., home evolved nodeB, or home nodeB, HNB), a baseband unit (BBU), or the network device may be a relay station, an access point, an on-board device, a wearable device, a network device in a future 5G network, or a network device in a future evolved PLMN network, etc., and may be an access point (AP) in a wireless local area network (WLAN), a wireless relay node, a wireless backhaul node, a transmission point (TP) or a transmission and reception point (TRP), etc., and may be a new wireless system (new The invention relates to a gNB or a transmission point (TRP or TP) in a new wireless radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit (BBU), or a distributed unit (DU), etc., which is not limited in the embodiments of the present application.

[0075] In some deployments, the gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some functions of the gNB, and the DU implements some functions of the gNB, for example, the CU is responsible for processing non-real-time protocols and services, and implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, and implementing the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. The AAU implements some physical layer processing functions, radio frequency processing, and related functions of active antennas. Since the information of the RRC layer will eventually become the information of the PHY layer, or be converted from the information of the PHY layer, therefore, under this architecture, high-level signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or, sent by the DU+AAU. It can be understood that the network device can be a device including one or more of a CU node, a DU node, and an AAU node. In addition, the CU may be divided into a network device in an access network (radio access network, RAN), or the CU may be divided into a network device in a core network (core network, CN), and this application does not limit this.

[0076] In addition, in an embodiment of the present application, the network device provides services for the cell, and the terminal device communicates with the cell through the transmission resources (for example, frequency domain resources, or spectrum resources) allocated by the network device. The cell may belong to a macro base station (for example, a macro eNB or a macro gNB, etc.), or may belong to a base station corresponding to a small cell. The small cell here may include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0077] It should be noted that a cell can be understood as an area within the coverage range of wireless signals of network equipment.

[0078] In addition, in an embodiment of the present application, the network device may include a base station (gNB), such as a macro base station, a micro base station, an indoor hotspot, and a relay node, etc., whose function is to send radio waves to the terminal device to realize downlink data transmission on the one hand, and to send scheduling information to control uplink transmission on the other hand, and to receive the radio waves sent by the terminal device and receive uplink data transmission.

[0079] In an embodiment of the present application, a terminal device or a network device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. The application layer includes applications such as a browser, an address book, a word processing software, and an instant messaging software. In addition, the embodiment of the present application does not specifically limit the specific structure of the execution subject of the method provided in the embodiment of the present application, as long as it can communicate according to the method provided in the embodiment of the present application by running a program that records the code of the method provided in the embodiment of the present application, for example, the execution subject of the method provided in the embodiment of the present application can be a terminal device or a network device, or a functional module in a terminal device or a network device that can call a program and execute a program.

[0080] In addition, various aspects or features of the embodiments of the present application can be implemented as methods, devices or products using standard programming and / or engineering techniques. The term "product" used in the embodiments of the present application covers computer programs that can be accessed from any computer-readable device, carrier or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks or tapes, etc.), optical disks (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards and flash memory devices (e.g., erasable programmable read-only memory (EPROM), cards, sticks or key drives, etc.). In addition, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and / or carrying instructions and / or data.

[0081] It should be noted that in the embodiment of the present application, multiple applications can be run at the application layer. In this case, the application that executes the communication method of the embodiment of the present application and the application used to control the receiving device to complete the action corresponding to the received data may be different applications.

[0082] The terminal device communicates with the network device, where the network device can send information to the terminal device via a forward link (also called a downlink) and receive information from the terminal device via a reverse link (also called an uplink).

[0083] For example, in a frequency division duplex (FDD) system, the forward link may use a different frequency band than the reverse link.

[0084] As another example, in a time division duplex (TDD) system and a full duplex system, the forward link and the reverse link may use a common frequency band.

[0085] At a given time, the network device and the terminal device may be a wireless communication transmitting device and / or a wireless communication receiving device. When sending data, the wireless communication transmitting device may encode the data for transmission. Specifically, the wireless communication transmitting device may obtain (e.g., generate, receive from other communication devices, or store in a memory, etc.) a certain number of data bits to be sent to the wireless communication receiving device through a channel. Such data bits may be included in a transmission block (or multiple transmission blocks) of data, and the transmission block may be segmented to generate multiple code blocks.

[0086] In addition, the communication system may be a PLMN network, a device-to-device (D2D) network, a machine-to-machine (M2M) network, an IoT network or other networks. Figure 1 This is just a simplified diagram for example. The network may also include other network devices. Figure 1 Not drawn in.

[0087] Currently, the positioning of LTE and NR Rel-16 is based on the architecture controlled by the core network location management function (LMF) and assisted by the access network and the terminal.

[0088] In this positioning architecture, taking the following line positioning as an example, LMF mainly completes the following operations:

[0089] (1) Cell information interaction with ng-eNB / gNB, such as obtaining positioning reference signal (PRS), sounding reference signal (SRS) configuration information, cell timing, cell location information, etc.

[0090] (2) Complete UE capability information transmission, auxiliary information transmission, measurement information transmission, etc. between UE.

[0091] (3) Complete measurement information transmission between gNB, etc.

[0092] Based on the cell information, the UE's measurement report of the downlink signal of each cell, and the measurement report of the uplink signal of the UE by each cell, for example, in the following positioning technologies, the LMF can determine the location information of the UE:

[0093] Downlink-time difference of arrival (DL-TDOA) positioning technology: The UE measures the reference signal time difference (RSTD) of the PRS signal of each cell and reports the measurement result to the LMF.

[0094] Uplink-time difference of arrival (UP-TDOA) positioning technology: Each cell measures the uplink relative time of arrival (UL-RTOA) of the UE's SRS signal and reports the measurement result to the LMF.

[0095] Downlink-angle of departure (DL-AoD) positioning technology: The UE measures the positioning reference signal-reference signal received power (PRS-RSRP) of each cell PRS signal and reports the measurement result to the LMF.

[0096] Uplink-azimuth angle of arrival (UL-AoA) positioning technology: Each cell measures the AoA / Zenith angle of arrival (ZoA) of the UE's SRS signal and reports the measurement results to the LMF.

[0097] Enhanced cell identity (E-CID) positioning technology: The UE measures the synchronization signal reference signal received power (synchronization signal-reference signal received power, SS-RSRP) / synchronization signal reference signal received quality (synchronization signal-reference signal received quality, SS-RSRQ) / synchronization signal reference signal to interference plus noise ratio (synchronization signal-signal to interference plus noise ratio, SS-SINR) of each cell synchronization signal block (synchronization signal and physical broadcast channel block, SSB), and reports the measurement results to the LMF.

[0098] Multi-round trip time (Multi-RTT) positioning technology: The UE measures the Rx-Tx time difference of each cell’s PRS signal and reports the measurement result to the LMF; each cell measures the gNB Rx-Tx time difference of the UE’s SRS signal and reports the measurement result to the LMF.

[0099] The following takes UL-AoA positioning technology as an example to introduce this positioning technology in detail.

[0100] The specific method of UL-AoA positioning technology is that the terminal device sends SRS, and the serving cell base station and the neighboring cell base station receive SRS. When the base station receiving antenna is in an array form, when the transmitted signal passes through the antenna array, due to the different distances between each antenna in the array and the transmitting device, the receiving device will have a signal phase difference. The base station can estimate the relative signal direction based on the phase shift caused by the wave path difference between multiple antenna array elements, thereby determining the relative direction of the terminal.

[0101] like Figure 2 As shown, for example, assuming that the base station antenna spacing is dλ, where λ is the carrier wavelength, the angle between the direction of the SRS sent by the terminal device and the antenna array when the base station receives it is The path difference between adjacent antenna elements is kλ, where Therefore, the arrival time difference of signals on adjacent antenna elements is kλ / c=k / f c , where c is the speed of light, f cis the carrier frequency. For wireless RF signals

[0102]

[0103] Among them, x BB (t) is the baseband signal. On this basis, the delay k / f of the RF signal c This is equivalent to introducing an extra phase as shown below.

[0104]

[0105] here Because the delay k / f c The impact on the baseband signal can be ignored. Therefore, the signal phase difference between different antenna array elements can be determined as

[0106] The principle of angle positioning is to obtain the phase difference between different antenna elements at the uplink receiving end of the base station, and in turn estimate the direction of the outgoing wave.

[0107] In order to describe the spatial angle, the 3rd Generation Partnership Project (3GPP) defines the azimuth and elevation angles. The azimuth angle (AoA) is defined as the angle between the terminal device in the horizontal plane and the geographic north direction, with counterclockwise rotation as positive, such as Figure 3 The elevation angle (ZoA) is defined as the angle between the terminal device and the dome direction, as shown in Figure 3 As shown in θ.

[0108] Figure 2 The antenna shown is a one-dimensional array. When it is actually a two-dimensional array, without loss of generality, it is assumed that the two-dimensional antenna array is located in a plane determined by the geographic north and the dome direction, such as Figure 4 The horizontal dimension antenna array element spacing is d1λ, and the vertical dimension antenna array element spacing is d2λ. It is easy to obtain the horizontal / vertical array element spacing based on Figure 3 Determine the pitch angle and azimuth angle, Figure 4 The relationship between d1 and d2 is

[0109]

[0110]

[0111] By measuring k1 and k2, we can inversely solve θ and φ. When the base station has other orientations, we also need to consider the orientation of the base station and the Figure 4 Rotation between the orientations shown.

[0112] The existing angle-based positioning solution is that the base station estimates the angle of the terminal, and based on the absolute coordinates of the base station, multiple base stations jointly determine the terminal position.

[0113] Since there is a certain error in angle positioning, and the error will increase as the distance between the terminal device and the base station increases, the error is large when used in scenarios such as the Internet of Vehicles that require high positioning accuracy, and the relative position relationship between the two vehicles cannot be accurately determined.

[0114] In view of this, the present application proposes a method for optimizing the positioning method of a terminal device, which can more accurately locate the position of the terminal device.

[0115] The various embodiments provided in the present application will be described in detail below with reference to the accompanying drawings.

[0116] As an example but not limitation, the network device in all embodiments of the present application may be a RAN, such as a next-generation radio access network (NG-RAN).

[0117] Figure 5 It is a schematic interactive diagram of a side-by-side positioning method provided in an embodiment of the present application.

[0118] S510, the first terminal device sends a location information request to the network device.

[0119] Correspondingly, the network device receives the location information request sent by the first terminal device.

[0120] Optionally, the location information request also includes a zone ID, where the zone ID is used to indicate the approximate GPS coordinates of the first terminal device or the zone of the current cell in which the first terminal device is approximately located.

[0121] The network device may forward the location request to the core network, and with authorization from the core network, the network device may host the positioning process of the first terminal device.

[0122] Optionally, after being pre-authorized by the core network, the network device may decide on its own to host the positioning process of the first terminal device without going through the core network.

[0123] S520: The network device sends a first side positioning configuration to the first terminal device.

[0124] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0125] Optionally, the first side positioning configuration may also be configured by the core network.

[0126] The first side positioning configuration information includes one or more of the following configurations:

[0127] (1) First side positioning reference signal configuration.

[0128] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0129] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied resource block (resource block, RB) and the resource element (Resource Element, RE) index within the RB; the sequence information of the first sideline positioning reference signal.

[0130] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0131] (2) Second side positioning reference signal configuration.

[0132] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0133] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0134] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0135] (3) Measurement and reporting configuration of the second sidelink positioning reference signal by the first terminal device, where the measurement and reporting configuration includes:

[0136] ① Measurement values, including Rx–Tx time difference of the first terminal device and / or a measurement value of a sidelink (SL) AoA of the first terminal device to a second sidelink positioning reference signal;

[0137] ②Uu port measurement value reporting method, the first terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through radio resource control (RRC) / MAC control element (CE) (MAC CE) / uplink control information (UCI), where RRC / MAC CE can only be reported through the physical uplink shared channel (PUSCH), and UCI can be reported through the physical uplink control channel (PUCCH) or PUSCH.

[0138] (4) Information about the second terminal device, including at least one of the following information:

[0139] The location information of the second terminal device, the orientation information of the second terminal device, and the speed information of the second terminal device.

[0140] S530: The network device sends second sideline positioning configuration information to the second terminal device.

[0141] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0142] Optionally, the second side positioning configuration may also be configured by the core network.

[0143] The second side positioning configuration information includes one or more of the following configurations:

[0144] (1) First side positioning reference signal configuration.

[0145] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0146] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0147] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0148] (2) Second side positioning reference signal configuration.

[0149] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0150] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0151] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0152] (3) Measurement and reporting configuration of the first sidelink positioning reference signal by the second terminal device, where the measurement and reporting configuration includes:

[0153] ① Measurement value, including Rx-Tx time difference of the second terminal device or the measurement value of the second terminal device for the first side positioning reference signal SL AoA;

[0154] ②Uu port measurement value reporting method, the second terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through RRC / MAC CE / UCI, where RRC / MAC CE can only be reported through PUSCH, and UCI can be reported through PUCCH or PUSCH.

[0155] ③ PC5 port measurement reporting method, the first terminal device and the second terminal device are connected via a PC5 interface, and the first terminal device and the second terminal device can send information to each other via the PC5 interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, the second terminal device can send information to the first terminal device via PC5 RRC / PC5 MAC CE / sidelink control information (SCI), where PC5 RRC / PC5 MAC CE can only be reported via the physical sidelink shared channel (PSSCH), and SCI can be reported via the physical sidelink control channel (PSCCH) or PSSCH.

[0156] S540: The first terminal device sends a first sideways positioning reference signal to the second terminal device.

[0157] The first terminal device sends the first sideline positioning reference signal to the second terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the first sideline positioning configuration.

[0158] Correspondingly, the second terminal device receives the first sideline positioning reference signal sent by the first terminal device in the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the second sideline positioning configuration.

[0159] S550: The second terminal device sends a second sidelink positioning reference signal to the first terminal device.

[0160] The second terminal device sends a second sideline positioning reference signal to the first terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the second sideline positioning configuration.

[0161] Correspondingly, the first terminal device receives the second sideline positioning reference signal sent by the second terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the first sideline positioning configuration.

[0162] The second terminal device determines the Rx-Tx time difference of the second terminal device based on the time of receiving the first sideline positioning reference signal and the time of sending the second sideline positioning reference signal. In addition, the second terminal device can also measure the arrival angle AoA of the reference signal based on the first sideline positioning reference signal sent by the first terminal device.

[0163] The first measurement value includes an Rx-Tx time difference of the second terminal device and / or an SL AoA of the first sideline positioning reference signal measured by the second terminal device.

[0164] Similarly, the first terminal device determines the Rx-Tx time difference of the first terminal device based on the time of receiving the second side positioning reference signal and the time of sending the first side positioning reference signal. In addition, the first terminal device can also measure the arrival angle AoA of the reference signal based on the second side positioning reference signal sent by the second terminal device.

[0165] The second measurement value includes an Rx-Tx time difference of the first terminal device and / or an SL AoA of the second sideline positioning reference signal measured by the first terminal device.

[0166] S560: The second terminal device sends the first measurement value to the first terminal device.

[0167] In S530, the network device configures a PC5 interface for the second terminal device, and the second terminal device sends the first measurement value to the first terminal device through the PC5 interface.

[0168] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, direction information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device.

[0169] S570: The first terminal device sends a second measurement value to the network device.

[0170] In S520, the network device configures a Uu interface for the first terminal device, and the first terminal device sends the second measurement value to the network device through the Uu interface.

[0171] Optionally, the second measurement value may further include at least one of the following information: direction information of the first terminal device, speed information of the first terminal device, and measurement time information of the first terminal device.

[0172] S580: The second terminal device sends the first measurement value to the network device.

[0173] In S530, the network device configures a Uu interface for the second terminal device, and the second terminal device sends the first measurement value to the network device through the Uu interface.

[0174] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, direction information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device.

[0175] S590, the network device sends the measurement value or the location information of the first terminal device to the first terminal device.

[0176] In S520, the network device configures a Uu interface for the first terminal device, and the network device sends measurement values ​​to the first terminal device through the Uu interface. The measurement values ​​include first measurement values ​​and / or second measurement values. The first terminal device calculates its own position based on the received measurement values ​​and the position information of the second terminal device.

[0177] Optionally, the network device may calculate the location information of the first terminal device according to the first measurement value and / or the second measurement value and based on the location information of the second terminal device, and then send the location information to the first terminal device via the Uu interface.

[0178] The above technical solution measures the relative position relationship of the terminals based on the side reference signal, and the first terminal device and the second terminal device measure the reference signal with each other, and determine the position information of the first terminal device according to the first measurement value and / or the second measurement value. When selecting the measurement object, the distance between the terminal devices is much smaller than the distance between the terminal devices and the network device, thereby improving the positioning accuracy. At the same time, the positioning process is dominated by the network device and does not go through the core network, which relatively reduces the positioning delay of the first terminal device.

[0179] Figure 6 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0180] S610 is similar to S510, and the specific description refers to S510, which will not be repeated here for the sake of brevity.

[0181] S620: The network device sends first sideline positioning configuration information to the first terminal device.

[0182] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0183] Optionally, the first side positioning configuration may also be configured by the core network.

[0184] The first side positioning configuration information includes:

[0185] (1) Second side positioning reference signal configuration.

[0186] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0187] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0188] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0189] (2) Information about the second terminal device, including at least one of the following information:

[0190] The location information of the second terminal device, the orientation information of the second terminal device, and the speed information of the second terminal device.

[0191] S630: The network device sends second sideline positioning configuration information to the second terminal device.

[0192] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0193] Optionally, the second side positioning configuration may also be configured by the core network.

[0194] The second side positioning configuration information includes:

[0195] (1) Second side positioning reference signal configuration.

[0196] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0197] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0198] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0199] S640: The second terminal device sends a second side positioning signal to the first terminal device.

[0200] The second terminal device sends a second sideline positioning reference signal to the first terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the second sideline positioning configuration.

[0201] Correspondingly, the first terminal device receives the second sideline positioning reference signal sent by the second terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the first sideline positioning configuration, and measures the AoA of the second sideline positioning reference signal sent by the second terminal device, and the second measurement value includes the SL AoA.

[0202] S650, the first terminal device calculates location information.

[0203] The first terminal device calculates its own location information according to the measured second measurement value and based on the location information of the second terminal device.

[0204] In the above technical solution, the relative position relationship of the terminals is measured based on the side reference signal. The first terminal device measures the AoA of the second side positioning signal sent by the second terminal device, and the first terminal device calculates its own position information. The terminal device is used as a measurement reference object, which improves the positioning accuracy. At the same time, the positioning process does not pass through the core network, which reduces the positioning delay.

[0205] Figure 7 It is a schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0206] S710 is similar to S510, and the specific description refers to S510, which will not be repeated here for the sake of brevity.

[0207] S720, the network device sends first sideline positioning configuration information to the first terminal device.

[0208] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0209] Optionally, the first side positioning configuration may also be configured by the core network.

[0210] The first side positioning configuration information includes:

[0211] (1) First side positioning reference signal configuration.

[0212] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0213] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied resource block (resource block, RB) and the resource element (Resource Element, RE) index within the RB; the sequence information of the first sideline positioning reference signal.

[0214] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0215] (2) Measurement and reporting configuration of the second sidelink positioning reference signal by the first terminal device, the measurement and reporting configuration including:

[0216] ① Measurement value, including the measurement value of the SL AoA of the second side positioning reference signal by the first terminal device;

[0217] ②Uu port measurement value reporting method, the first terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through RRC / MAC CE / UCI, where RRC / MAC CE can only be reported through PUSCH, and UCI can be reported through PUCCH or PUSCH.

[0218] S730: The network device sends second sideline positioning configuration information to the second terminal device.

[0219] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0220] Optionally, the second side positioning configuration may also be configured by the core network.

[0221] The second side positioning configuration information includes:

[0222] (1) Second side positioning reference signal configuration.

[0223] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0224] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0225] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0226] S740: The second terminal device sends a second side positioning signal to the first terminal device.

[0227] The second terminal device sends a second sideline positioning reference signal to the first terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the second sideline positioning configuration sent by the network device.

[0228] Correspondingly, the first terminal device receives the second sideline positioning reference signal sent by the second terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the first sideline positioning configuration, and measures the AoA of the second sideline positioning reference signal sent by the second terminal device, and the second measurement value includes the SL AoA.

[0229] S750: The first terminal device sends a second measurement value to the network device.

[0230] In S720, the network device configures a Uu interface for the first terminal device, and the first terminal device sends the second measurement value to the network device through the Uu interface.

[0231] Optionally, the second measurement value may further include at least one of the following information: direction information of the first terminal device, speed information of the first terminal device, and measurement time information of the first terminal device.

[0232] S760, the network device sends the measurement value or the location information of the first terminal device to the first terminal device.

[0233] In S720, the network device configures a Uu interface for the first terminal device, and the network device sends measurement values ​​to the first terminal device through the Uu interface, the measurement values ​​including the second measurement values, and the first terminal device calculates its own position according to the measurement values ​​sent by the network device and based on the position information of the second terminal device.

[0234] Optionally, the network device may calculate the location information of the first terminal device according to the second measurement value reported by the first terminal device and based on the location information of the second terminal device, and then send the location information to the first terminal device through the Uu interface.

[0235] In the above technical solution, the relative position relationship of the terminals is measured based on the side reference signal. The first terminal device measures the AoA of the second side positioning signal sent by the second terminal device, and the network device assists in determining the location information of the first terminal device. The terminal device is used as a measurement reference object, which improves the positioning accuracy. At the same time, the positioning process does not pass through the core network, which reduces the positioning delay.

[0236] Figure 8 A schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0237] S810 is similar to S510, and the specific description refers to S510, which will not be repeated here for the sake of brevity.

[0238] S820, the network device sends first sideline positioning configuration information to the first terminal device.

[0239] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0240] Optionally, the first side positioning configuration may also be configured by the core network.

[0241] The first side positioning configuration information includes:

[0242] (1) First side positioning reference signal configuration.

[0243] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0244] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0245] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0246] S830: The network device sends second sideline positioning configuration information to the second terminal device.

[0247] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0248] Optionally, the second side positioning configuration may also be configured by the core network.

[0249] The second side positioning configuration information includes:

[0250] (1) First side positioning reference signal configuration.

[0251] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0252] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0253] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0254] (2) Measurement and reporting configuration of the first sidelink positioning reference signal by the second terminal device, the measurement and reporting configuration including:

[0255] ① Measurement value, including the measurement value of the first side positioning reference signal AoA by the second terminal device;

[0256] ②Uu port measurement value reporting method, the second terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through RRC / MAC CE / UCI, where RRC / MAC CE can only be reported through PUSCH, and UCI can be reported through PUCCH or PUSCH.

[0257] S840, the first terminal device sends a first sideways positioning reference signal to the second terminal device.

[0258] The first terminal device sends the first sideline positioning reference signal to the second terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the first sideline positioning configuration.

[0259] Correspondingly, the second terminal device receives the first sideline positioning reference signal sent by the first terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the second sideline positioning configuration, and measures the AoA of the first sideline positioning reference signal, and the first measurement value includes the SL AoA.

[0260] S850: The second terminal device sends a first measurement value to the network device.

[0261] In S830, the network device configures a Uu interface for the second terminal device, and the second terminal device sends the first measurement value to the network device through the Uu interface.

[0262] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, direction information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device.

[0263] S860, the network device sends the measurement value or the location information of the first terminal device to the first terminal device.

[0264] In S830, the network device configures a Uu interface for the second terminal device, and sends measurement values ​​to the first terminal device through the Uu interface, the measurement values ​​including the first measurement values. The first terminal device calculates its own position according to the measurement values ​​sent by the network device and based on the position information of the second terminal device.

[0265] Optionally, the network device may calculate the location information of the first terminal device according to the first measurement value reported by the second terminal device and based on the location information of the second terminal device, and then send the location information to the first terminal device through the Uu interface.

[0266] The above technical solution is based on the relative position relationship of the side reference signal measurement terminal, and is suitable for terminal devices that do not support the side reference signal measurement. For example, when the first terminal device does not support the side reference signal measurement, the second terminal device assists the first terminal device in performing SL AoA, and the second terminal device performs the specific measurement. In this way, even if the terminal device to be located does not support the measurement of the side reference signal, other terminal devices can also replace the terminal device to be located to perform the measurement.

[0267] Fig. 9 A schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0268] S910 is similar to S510, and the specific description refers to S510, which will not be repeated here for brevity.

[0269] S920, the network device sends first sideline positioning configuration information to the first terminal device.

[0270] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0271] Optionally, the first side positioning configuration may also be configured by the core network.

[0272] The first side positioning configuration information includes:

[0273] (1) First side positioning reference signal configuration.

[0274] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0275] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0276] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0277] (2) Information about the second terminal device, including at least one of the following information:

[0278] The location information of the second terminal device, the orientation information of the second terminal device, and the speed information of the second terminal device.

[0279] S930, the network device sends second sideline positioning configuration information to the second terminal device.

[0280] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0281] Optionally, the second side positioning configuration may also be configured by the core network.

[0282] The second side positioning configuration information includes:

[0283] (1) First side positioning reference signal configuration.

[0284] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0285] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0286] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0287] (2) Measurement and reporting configuration of the first sidelink positioning reference signal by the second terminal device, the measurement and reporting configuration including:

[0288] ① Measurement value, including the measurement value of the first side positioning reference signal AoA by the second terminal device;

[0289] ② PC5 port measurement reporting method, the first terminal device and the second terminal device are connected via a PC5 interface, and the first terminal device and the second terminal device can send information to each other via the PC5 interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, the second terminal device can send information to the first terminal device via PC5 RRC / PC5 MAC CE / SCI, where PC5 RRC / PC5MAC CE can only be reported via PSSCH, and SCI can be reported via PSCCH or PSSCH.

[0290] S940, the first terminal device sends a first sideways positioning reference signal to the second terminal device.

[0291] The first terminal device sends a first sideline positioning reference signal to the second terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the first sideline positioning configuration sent by the network device.

[0292] Correspondingly, the second terminal device receives the first sideline positioning reference signal sent by the first terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the second sideline positioning configuration, and measures the AoA of the first sideline positioning reference signal, and the first measurement value includes the SL AoA.

[0293] S950: The second terminal device sends a first measurement value to the first terminal device.

[0294] In S930, the network device configures a PC5 interface for the second terminal device, and the second terminal device sends the first measurement value to the first terminal device through the PC5 interface.

[0295] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, direction information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device.

[0296] S960, the first terminal device calculates location information.

[0297] The first terminal device calculates its own location information according to the first measurement value sent by the second terminal device and based on the location information of the second terminal device.

[0298] The above technical solution is based on the relative position relationship of the side reference signal measurement terminal, and is suitable for terminal devices that do not support the side reference signal measurement. For example, when the first terminal device does not support the side reference signal measurement, the second terminal device assists the first terminal device in performing SL AoA, and the second terminal device performs the specific measurement. In this way, even if the terminal device to be located does not support the measurement of the side reference signal, other terminal devices can also replace the terminal device to be located to perform the measurement.

[0299] Fig.10 A schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0300] S1010 is similar to S510, and the specific description refers to S510, which will not be repeated here for the sake of brevity.

[0301] S1020, the network device sends first side positioning configuration information to the first terminal device.

[0302] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0303] Optionally, the first side positioning configuration may also be configured by the core network.

[0304] The first side positioning configuration information includes:

[0305] (1) First side positioning reference signal configuration.

[0306] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0307] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0308] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0309] (2) Second side positioning reference signal configuration.

[0310] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0311] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0312] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0313] (3) Measurement and reporting configuration of the second sidelink positioning reference signal by the first terminal device, where the measurement and reporting configuration includes:

[0314] ①Measurement values, including the Rx–Tx time difference of the first terminal device;

[0315] ②Uu port measurement value reporting method, the first terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through RRC / MAC CE / UCI, where RRC / MAC CE can only be reported through PUSCH, and UCI can be reported through PUCCH or PUSCH.

[0316] S1030: The network device sends second sideline positioning configuration information to the second terminal device.

[0317] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0318] Optionally, the second side positioning configuration may also be configured by the core network.

[0319] The second side positioning configuration information includes:

[0320] (1) First side positioning reference signal configuration.

[0321] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0322] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0323] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0324] (2) Second side positioning reference signal configuration.

[0325] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0326] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0327] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0328] (3) Measurement and reporting configuration of the second terminal device for the sideline positioning reference signal sent by the first terminal device, where the measurement and reporting configuration includes:

[0329] ①Measurement value, including the Rx–Tx time difference of the second terminal device;

[0330] ②Uu port measurement value reporting method, the second terminal device is connected to the network device through the Uu interface, and the terminal device can send information to the network device through the Uu interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, it is sent to the network device through RRC / MAC CE / UCI, where RRC / MAC CE can only be reported through PUSCH, and UCI can be reported through PUCCH or PUSCH.

[0331] ③ PC5 port measurement reporting method, the first terminal device and the second terminal device are connected via a PC5 interface, and the first terminal device and the second terminal device can send information to each other via the PC5 interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, the second terminal device can send information to the first terminal device via PC5 RRC / PC5 MAC CE / SCI, where PC5 RRC / PC5MAC CE can only be reported via PSSCH, and SCI can be reported via PSCCH or PSSCH.

[0332] S1040: The first terminal device sends a first sideways positioning reference signal to the second terminal device.

[0333] The first terminal device sends a first sideline positioning reference signal to the second terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the first sideline positioning configuration sent by the network device.

[0334] Correspondingly, the second terminal device receives the first sideline positioning reference signal sent by the first terminal device on the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the second sideline positioning configuration.

[0335] At the same time, the first terminal device measures the time when it sends the first sideline positioning reference signal as a, and the second terminal device measures the time when it receives the first sideline reference signal as b.

[0336] S1050: The second terminal device sends a second sidelink positioning reference signal to the first terminal device.

[0337] The second terminal device sends a second sideline positioning reference signal to the first terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the second sideline positioning configuration sent by the network device.

[0338] Correspondingly, the first terminal device receives the second sideline positioning reference signal sent by the second terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the first sideline positioning configuration.

[0339] At the same time, the second terminal device measures the time when it sends the second sideline positioning reference signal as c, and the first terminal device measures the time when it receives the second sideline positioning reference signal as d.

[0340] The second terminal device determines the Rx-Tx time difference (the time difference is equal to bc) of the second terminal device according to the time of receiving the first sideline positioning reference signal and the time of sending the second sideline positioning reference signal, and the first measurement value includes the Rx-Tx time difference of the second terminal device.

[0341] Similarly, the first terminal device determines the Rx-Tx time difference (the time difference is equal to da) of the first terminal device based on the time of receiving the second sideline positioning reference signal and the time of sending the first sideline positioning reference signal, and the second measurement value includes the Rx-Tx time difference of the first terminal device.

[0342] It should be understood that a, b, c, and d here can be absolute time or the start time of the subframe including sending the first sideline reference signal, receiving the first sideline reference signal, sending the second sideline reference signal, and receiving the second sideline reference signal.

[0343] It should be understood that the Rx-Tx time difference (bc, da) may also correspond to the time difference of the subframe boundary. For example, the transmit and receive time difference of the second terminal device may be ((bc) mod 1) ms or (((b-c+0.5) mod 1)-0.5) ms. For example, when bc=1.3 ms, the Rx-Tx time difference of the second terminal device is 0.3 ms.

[0344] S1060: The first terminal device sends a second measurement value to the network device.

[0345] In S1020, the network device configures a Uu interface for the first terminal device, and the first terminal device sends the second measurement value to the network device through the Uu interface.

[0346] Optionally, the second measurement value may further include at least one of the following information: direction information of the first terminal device, speed information of the first terminal device, and measurement time information of the first terminal device.

[0347] S1070: The second terminal device sends a first measurement value to the network device.

[0348] In S1030, the network device configures a Uu interface for the second terminal device, and the second terminal device sends the first measurement value to the network device through the Uu interface.

[0349] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, direction information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device.

[0350] S1080, the network device sends the measurement value or the location information of the first terminal device to the first terminal device.

[0351] In S1020, the network device configures a Uu interface for the first terminal device, and the network device sends a measurement value to the first terminal device through the Uu interface, and the measurement value includes a first measurement value and a second measurement value. The first terminal device calculates the RTT between the first terminal device and the second terminal device according to the measurement value sent by the network device, and the distance between the first terminal device and the second terminal device can be determined according to the RTT, wherein RTT = (Rx-Tx time difference of the first terminal device + Rx-Tx time difference of the second terminal device) / 2, and the first terminal device calculates the location information of the first terminal device according to the RTT and the location information of the second terminal device.

[0352] Optionally, the network device can also calculate the RTT between the first terminal device and the second terminal device based on the measurement value, calculate the location of the first terminal device based on the RTT and the location information of the second terminal device, and then send the location information to the first terminal device through the Uu interface.

[0353] The above technical solution measures the relative position relationship of the terminals based on the side reference signal, the first terminal device and the second terminal device mutually measure the Rx-Tx time difference to determine the SL RTT, and the network device assists the first terminal device to determine its position.

[0354] Fig.11 A schematic interactive diagram of another side-by-side positioning method provided in an embodiment of the present application.

[0355] S1110 is similar to S510. For a detailed description, please refer to S510, which will not be repeated here for the sake of brevity.

[0356] S1120, the network device sends first side positioning configuration information to the first terminal device.

[0357] After the network device receives the location information request of the first terminal device, the network device configures a first side positioning configuration and sends the first side positioning configuration to the first terminal device.

[0358] Optionally, the first side positioning configuration may also be configured by the core network.

[0359] The first side positioning configuration information includes:

[0360] (1) First side positioning reference signal configuration.

[0361] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0362] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include the period, the time slot offset, and the symbol index within the time slot, and the frequency domain resources include the occupied RB and the RE index within the RB; the sequence information of the first sideline positioning reference signal.

[0363] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0364] (2) Second side positioning reference signal configuration.

[0365] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0366] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0367] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0368] (3) Measurement and reporting configuration of the second sidelink positioning reference signal by the first terminal device, where the measurement and reporting configuration includes:

[0369] ①Measurement values, including the Rx–Tx time difference of the first terminal device;

[0370] (4) Information about the second terminal device, including at least one of the following information:

[0371] The location information of the second terminal device, the orientation information of the second terminal device, and the speed information of the second terminal device.

[0372] S1130, the network device sends second sideline positioning configuration information to the second terminal device.

[0373] After the network device receives the location information request from the first terminal device, the network device configures a second side positioning configuration and sends the second side positioning configuration to the second terminal device.

[0374] Optionally, the second side positioning configuration may also be configured by the core network.

[0375] The second side positioning configuration information includes:

[0376] (1) First side positioning reference signal configuration.

[0377] The first sideline positioning reference signal is a reference signal sent by the first terminal device to the second terminal device. The first sideline positioning reference signal configuration includes:

[0378] The time-frequency resources occupied by the first sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB and RE within the RB; the sequence information of the first sideline positioning reference signal.

[0379] Optionally, the first sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0380] (2) Second side positioning reference signal configuration.

[0381] The second sideline positioning reference signal is a reference signal sent by the second terminal device to the first terminal device. The second sideline positioning reference signal configuration includes:

[0382] The time-frequency resources occupied by the second sideline positioning reference signal, for example, the time domain resources include period, time slot offset, symbol index within the time slot, and the frequency domain resources include occupied RB, RE index within the RB; sequence information of the second sideline positioning reference signal.

[0383] Optionally, the second sideline positioning reference signal configuration may also include: port number, spatial beam information, and power information.

[0384] (3) Measurement and reporting configuration of the first sidelink positioning reference signal by the second terminal device, where the measurement and reporting configuration includes:

[0385] ①Measurement value, including the Rx–Tx time difference of the second terminal device;

[0386] ② PC5 port measurement reporting method, the first terminal device and the second terminal device are connected via a PC5 interface, and the first terminal device and the second terminal device can send information to each other via the PC5 interface. The embodiment of the present application does not limit the specific form of the measurement value reporting method. For example, the second terminal device can send information to the first terminal device via PC5 RRC / PC5 MAC CE / SCI, where PC5 RRC / PC5MAC CE can only be reported via PSSCH, and SCI can be reported via PSCCH or PSSCH.

[0387] S1140, the first terminal device sends a first sideways positioning reference signal to the second terminal device.

[0388] The first terminal device sends a first sideline positioning reference signal to the second terminal device on corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the first sideline positioning configuration sent by the network device.

[0389] Correspondingly, the second terminal device receives the first sideline positioning reference signal sent by the first terminal device in the corresponding time-frequency resources according to the first sideline positioning reference signal configuration in the second sideline positioning configuration.

[0390] At the same time, the first terminal device measures the time when it sends the first sideline positioning reference signal as a, and the second terminal device measures the time when it receives the first sideline reference signal as b.

[0391] S1150, the second terminal device sends a second sideline positioning reference signal to the first terminal device.

[0392] The second terminal device sends a second sideline positioning reference signal to the first terminal device on the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the second sideline positioning configuration sent by the network device.

[0393] Correspondingly, the first terminal device receives the second sideline positioning reference signal sent by the second terminal device in the corresponding time-frequency resources according to the second sideline positioning reference signal configuration in the first sideline positioning configuration.

[0394] At the same time, the second terminal device measures the time when it sends the second sideline positioning reference signal as c, and the first terminal device measures the time when it receives the second sideline positioning reference signal as d.

[0395] The second terminal device determines the Rx-Tx time difference (the time difference is equal to bc) of the second terminal device according to the time of receiving the first sideline positioning reference signal and the time of sending the second sideline positioning reference signal, and the first measurement value includes the Rx-Tx time difference of the second terminal device.

[0396] Similarly, the first terminal device determines the Rx-Tx time difference (the time difference is equal to da) of the first terminal device based on the time of receiving the second sideline positioning reference signal and the time of sending the first sideline positioning reference signal, and the second measurement value includes the Rx-Tx time difference of the first terminal device.

[0397] It should be understood that a, b, c, and d here can be absolute time or the start time of the subframe including sending the first sideline reference signal, receiving the first sideline reference signal, sending the second sideline reference signal, and receiving the second sideline reference signal.

[0398] It should be understood that the Rx-Tx time difference (bc, da) may also correspond to the time difference of the subframe boundary. For example, the transmit and receive time difference of the second terminal device may be ((bc) mod 1) ms or (((b-c+0.5) mod 1)-0.5) ms. For example, when bc=1.3 ms, the Rx-Tx time difference of the second terminal device is 0.3 ms.

[0399] S1160: The second terminal device sends a first measurement value to the first terminal device.

[0400] In S1130, the network device configures a PC5 interface for the second terminal device, and the second terminal device sends the first measurement value to the first terminal device through the PC5 interface.

[0401] Optionally, the first measurement value may further include at least one of the following information: location information of the second terminal device, orientation information of the second terminal device, speed information of the second terminal device, and measurement time information of the second terminal device S1170.

[0402] S1170, the first terminal device calculates its own location information.

[0403] The first terminal device calculates the RTT between the first terminal device and the second terminal device based on the received first measurement value and the second measurement value measured by itself. The distance between the first terminal device and the second terminal device can be determined based on the RTT, where RTT = (Rx-Tx time difference of the first terminal device + Rx-Tx timedifference of the second terminal device) / 2. The first terminal device calculates the location information of the first terminal device based on the RTT and the location information of the second terminal device.

[0404] The above technical solution measures the relative position relationship of the terminals based on the side reference signal. The first terminal device and the second terminal device mutually measure the Rx-Tx time difference to determine the SL RTT. The first terminal device determines its own position based on the SL RTT and the position of the second terminal device.

[0405] Optional, Fig.10 and Fig.11 The methods in can also be combined Figures 5 to 9 The method in the method measures SL AoA to assist RTT positioning and more accurately locate the location information of the first terminal device.

[0406] It should be understood that the side positioning reference signal in all embodiments of the present application represents a signal used to determine the location information of the first terminal device, and does not represent a specific signal. The present application does not specifically limit the type of the signal.

[0407] It should be understood that the first measurement value and / or the second measurement value reported in the above embodiment may include the location information of the second terminal device, or may not include the location information of the second terminal device. When the location information of the second terminal device is not included, the network device or the first terminal device must first obtain the location information of the second terminal device before calculating the location of the first terminal device. The method for obtaining the location information of the second terminal device is not limited here.

[0408] It should be understood that when there are multiple terminal devices to be located, the network device can configure the PC5 interface measurement and reporting method for multiple terminal devices. Multiple terminal devices to be located can measure the relative position relationship between each other according to the method in the above embodiment, and send measurement information to each other through the PC5 interface. For example, UE1 and UE2 are terminal devices to be located, and UE3 is a terminal device with a known position. UE1 and UE2 can determine the relative position relationship using the method in the above embodiment. UE1 and UE3 determine the position of UE1 according to the method in the above embodiment. Then, based on the relative position relationship between UE1 and UE2, the location information of UE2 can be directly determined without re-measuring the position relationship between UE2 and UE3.

[0409] It should be understood that all location information in this embodiment is not necessarily based on longitude and latitude coordinates, but may be a custom coordinate system, for example, with the first terminal device or the second terminal device as the origin, the north direction as the x-axis, the west direction as the y-axis, and the vertical direction as the z-axis, or with the first terminal device or the second terminal device as the origin, a predetermined direction (such as the direction of travel of the convoy) as the x-axis, another horizontal direction perpendicular to the direction of travel as the y-axis, and the vertical direction as the z-axis.

[0410] It should be understood that all embodiments of the present application may also be combined with other positioning technologies to further improve positioning accuracy.

[0411] The various embodiments described herein may be independent solutions or may be combined according to internal logic, and all of these solutions fall within the protection scope of this application.

[0412] It can be understood that the methods and operations implemented by the terminal device in the above-mentioned method embodiments can also be implemented by components (such as chips or circuits) that can be used for terminal devices, and the methods and operations implemented by the network device in the above-mentioned method embodiments can also be implemented by components (such as chips or circuits) that can be used for network devices.

[0413] The above describes the method embodiment provided by the present application, and the following describes the device embodiment provided by the present application. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the content not described in detail can be referred to the method embodiment above, and for the sake of brevity, it will not be repeated here.

[0414] The above mainly describes the solution provided by the embodiment of the present application from the perspective of the interaction between various network elements. It is understandable that each network element, such as a transmitting end device or a receiving end device, includes a hardware structure and / or software module corresponding to the execution of each function in order to realize the above functions. 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 in this document, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed 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 exceed the scope of protection of this application.

[0415] 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 feasible division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0416] Fig.12 1 is a schematic block diagram of a side-travel positioning device provided in an embodiment of the present application. The side-travel positioning device 1200 includes a transceiver unit 1210 and a processing unit 1220. The transceiver unit 1210 can communicate with the outside, and the processing unit 1220 is used for data processing. The transceiver unit 1210 can also be called a communication interface or a communication unit.

[0417] Optionally, the lateral positioning device 1200 may further include a storage unit, which may be used to store instructions and / or data, and the processing unit 1220 may read the instructions and / or data in the storage unit.

[0418] The side positioning device 1200 can be used to execute the actions performed by the terminal device in the above method embodiment. In this case, the side positioning device 1200 can be a terminal device or a component that can be configured on the terminal device. The transceiver unit 1210 is used to execute the transceiver-related operations on the terminal device side in the above method embodiment, and the processing unit 1220 is used to execute the processing-related operations on the terminal device side in the above method embodiment.

[0419] Alternatively, the side positioning device 1200 can be used to execute the actions performed by the network device in the above method embodiment. In this case, the side positioning device 1200 can be a network device or a component that can be configured on the network device, the transceiver unit 1210 is used to execute the transceiver-related operations on the network device side in the above method embodiment, and the processing unit 1220 is used to execute the processing-related operations on the network device side in the above method embodiment.

[0420] As a design, the side positioning device 1200 is used to perform the above Figures 5 to 11 The actions performed by the first terminal device in the illustrated embodiment are that the transceiver unit 1210 is used to: receive a first side-row positioning configuration sent by a network device; send a first side-row positioning reference signal to a second terminal device according to the first side-row positioning configuration, the first side-row positioning reference signal being used to determine a first measurement value, wherein the first measurement value includes the measurement value of the first side-row positioning reference signal by the second terminal device, and the position of the first terminal device provided with the device is determined based on the first measurement value and the position of the second terminal device, wherein the first measurement value includes the measurement value of the first side-row positioning reference signal by the second terminal device.

[0421] Optionally, the transceiver unit 1210 is used to: receive a first measurement value from a second terminal device or a network device; and the processing unit 1220 is used to: determine the location of the first terminal device based on the first measurement value and the location of the second terminal device.

[0422] Optionally, the transceiver unit 1210 is used to: receive a second sideline positioning reference signal sent by the second terminal device according to the first sideline positioning configuration; the processing unit 1220 is used to: measure the second sideline positioning reference signal to obtain a second measurement value; determine the position of the first terminal device according to the first measurement value, the second measurement value and the position of the second terminal device.

[0423] Optionally, the transceiver unit 1210 is used to: send a location information request to a network device.

[0424] Optionally, the first sideline positioning configuration includes one or more of the following information: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

[0425] Optionally, the first measurement value includes: a time difference between sending and receiving of the second terminal device, and a measurement value of an arrival angle of the first side positioning reference signal of the second terminal device.

[0426] Optionally, the second measurement value includes: a transmission and reception time difference of the transceiver unit, and a measurement value of an arrival angle of the second side positioning reference signal by the processing unit.

[0427] Optionally, the transceiver unit 1210 is used to: receive location information of the second terminal device from the network device or the second terminal device.

[0428] As another design, the side positioning device 1200 is used to perform the above Figures 5 to 11 In the illustrated embodiment, the actions performed by the second terminal device are as follows: the transceiver unit 1210 is used to: receive a second side-row positioning configuration sent by the network device; receive a first side-row positioning reference signal sent by the first terminal device according to the second side-row positioning configuration; the processing unit 1220 is used to: obtain a first measurement value according to the first side-row positioning reference signal; the transceiver unit 1210 is used to: send the first measurement value to the network device, so that the network device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device provided with the device; or send the first measurement value to the first terminal device, so that the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device.

[0429] Optionally, the transceiver unit 1210 is used to: send a second sideline positioning reference signal to the first terminal device according to the second sideline positioning configuration.

[0430] Optionally, the second sideline positioning configuration includes one or more of the following information: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

[0431] Optionally, the first measurement value includes: a transmission and reception time difference of the transceiver unit 1210, and a measurement value of an arrival angle of the first sidelink positioning reference signal by the processing unit 1220.

[0432] Optionally, the transceiver unit 1210 is used to: send location information of the second terminal device to the network device or the first terminal device.

[0433] As another design, the side positioning device 1200 is used to perform the above Figures 5 to 11 The actions performed by the network device in the illustrated embodiment are as follows: the transceiver unit 1210 is used to: send a first side positioning configuration to a first terminal device; send a second side positioning configuration to a second terminal device; receive a first measurement value sent by the second terminal device, the first measurement value including a measurement value of the first side positioning reference signal by the second terminal device; the processing unit 1220 is used to: determine the position of the first terminal device based on the first measurement value and the position of the second terminal device.

[0434] Optionally, the transceiver unit 1210 is used to: receive a second measurement value sent by the first terminal device, the second measurement value including the measurement value of a second sideline positioning reference signal sent by the first terminal device to the second terminal device; the processing unit 1220 is used to: determine the position of the first terminal device based on the first measurement value, the second measurement value and the position of the second terminal device.

[0435] Optionally, the transceiver unit 1210 is used to: receive a location information request from the first terminal device.

[0436] Optionally, the first sideline positioning configuration information includes one or more of the following configurations: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

[0437] Optionally, the second sideline positioning configuration information includes one or more of the following configurations: time-frequency resources occupied by the first sideline positioning reference signal, time-frequency resources occupied by the second sideline positioning reference signal, sequence information of the first sideline positioning reference signal, sequence information of the second sideline positioning reference signal, information of the second terminal device, and reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

[0438] Optionally, the first measurement value includes: a time difference between sending and receiving of the second terminal device, and a measurement value of an arrival angle of the first side positioning reference signal of the second terminal device.

[0439] Optionally, the second measurement value includes: a time difference between sending and receiving of the first terminal device, and a measurement value of an arrival angle of a second side positioning reference signal of the first terminal device.

[0440] Optionally, the transceiver unit 1210 is used to: receive location information of the second terminal device sent by the second terminal device.

[0441] Fig.12 The processing unit 1220 in the embodiment may be implemented by a processor or a processor-related circuit. The transceiver unit 1210 may be implemented by a transceiver or a transceiver-related circuit. The transceiver unit 1210 may also be referred to as a communication unit or a communication interface. The storage unit may be implemented by a memory.

[0442] like Fig.13 As shown, the embodiment of the present application further provides a side-travel positioning device 1300. The side-travel positioning device 1300 includes a processor 1310, the processor 1310 is coupled to a memory 1320, the memory 1320 is used to store computer programs or instructions or and / or data, and the processor 1310 is used to execute the computer programs or instructions and / or data stored in the memory 1320, so that the method in the above method embodiment is executed.

[0443] Optionally, the lateral positioning device 1300 includes one or more processors 1310.

[0444] Alternatively, if Fig.13 As shown, the lateral positioning device 1300 may also include a memory 1320 .

[0445] Optionally, the memory 1320 included in the lateral positioning device 1300 may be one or more.

[0446] Optionally, the memory 1320 may be integrated with the processor 1310 or provided separately.

[0447] Alternatively, if Fig.13 As shown, the lateral positioning device 1300 may further include a transceiver 1330, and the transceiver 1330 is used for receiving and / or sending signals. For example, the processor 1310 is used for controlling the transceiver 1330 to receive and / or send signals.

[0448] As a solution, the side-travel positioning device 1300 is used to implement the operations performed by the terminal device in the above method embodiment.

[0449] For example, the processor 1310 is used to implement the processing-related operations performed by the terminal device in the above method embodiment, and the transceiver 1330 is used to implement the sending and receiving-related operations performed by the terminal device in the above method embodiment.

[0450] As another solution, the side positioning device 1300 is used to implement the operations performed by the network device in the above method embodiment.

[0451] For example, the processor 1310 is used to implement the processing-related operations performed by the network device in the above method embodiment, and the transceiver 1330 is used to implement the sending and receiving-related operations performed by the network device in the above method embodiment.

[0452] The present application also provides a side-travel positioning device 1400, which can be a terminal device or a chip. The side-travel positioning device 1400 can be used to perform the operations performed by the terminal device in the above method embodiment. When the side-travel positioning device 1400 is a terminal device, Fig.14 A simplified schematic diagram of the structure of a terminal device is shown. For ease of understanding and illustration, Fig.14 In this article, a mobile phone is used as an example of a terminal device. Fig.14 As shown, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input-output device. The processor is mainly used to process communication protocols and communication data, as well as to control the terminal device, execute software programs, process software program data, etc. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used for conversion between baseband signals and radio frequency signals and processing of radio frequency signals. The antenna is mainly used to send and receive radio frequency signals in the form of electromagnetic waves. Input-output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by users and output data to users. It should be noted that some types of terminal devices may not have input-output devices.

[0453] When data needs to be sent, the processor performs baseband processing on the data to be sent and outputs the baseband signal to the RF circuit. The RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the terminal device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For ease of explanation, Fig.14 Only one memory and processor are shown in the figure. In an actual terminal device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium or a storage device. The memory may be set independently of the processor or integrated with the processor, and the embodiments of the present application do not limit this.

[0454] In the embodiment of the present application, the antenna and the radio frequency circuit with transceiver functions can be regarded as the transceiver unit of the terminal device, and the processor with processing function can be regarded as the processing unit of the terminal device.

[0455] like Fig.14As shown, the terminal device includes a transceiver unit 1410 and a processing unit 1420. The transceiver unit 1410 may also be referred to as a transceiver, a transceiver, a transceiver device, etc. The processing unit 1420 may also be referred to as a processor, a processing board, a processing module, a processing device, etc.

[0456] Optionally, the device used to implement the receiving function in the transceiver unit 1410 may be regarded as a receiving unit, and the device used to implement the sending function in the transceiver unit 1410 may be regarded as a sending unit, that is, the transceiver unit 1410 includes a receiving unit and a sending unit. The transceiver unit may also be sometimes referred to as a transceiver, a transceiver, or a transceiver circuit, etc. The receiving unit may also be sometimes referred to as a receiver, a receiver, or a receiving circuit, etc. The sending unit may also be sometimes referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0457] For example, in one implementation, the transceiver unit 1410 is used to execute Figures 5 to 11 The processing unit 1420 is used to perform the receiving operation of the terminal device in Figures 5 to 11 Processing actions on the terminal device side.

[0458] It should be understood that Fig.14 This is only an example and not a limitation. The terminal device including the transceiver unit and the processing unit may not rely on Fig.14 The structure shown.

[0459] When the side-travel positioning device 1400 is a chip, the chip includes a transceiver unit and a processing unit, wherein the transceiver unit may be an input / output circuit or a communication interface; and the processing unit may be a processor or a microprocessor or an integrated circuit integrated on the chip.

[0460] The embodiment of the present application further provides a side-travel positioning device 1500, which can be a network device or a chip. The side-travel positioning device 1500 can be used to execute the operations executed by the network device in the above method embodiment.

[0461] When the side-by-side positioning device 1500 is a network device, for example, it is a base station. Fig.15 A simplified schematic diagram of the base station structure is shown. The base station includes a portion 1510 and a portion 1520. The portion 1515 is mainly used for receiving and transmitting radio frequency signals and converting radio frequency signals into baseband signals; the portion 1520 is mainly used for baseband processing, controlling the base station, etc. The portion 1510 can generally be referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc. The portion 1520 is generally the control center of the base station, and can generally be referred to as a processing unit, which is used to control the base station to perform the processing operations on the network device side in the above method embodiment.

[0462] The transceiver unit of part 1510 may also be referred to as a transceiver or a transceiver, etc., and includes an antenna and a radio frequency circuit, wherein the radio frequency circuit is mainly used for radio frequency processing. Optionally, the device used to implement the receiving function in part 1510 may be regarded as a receiving unit, and the device used to implement the sending function may be regarded as a sending unit, that is, part 1510 includes a receiving unit and a sending unit. The receiving unit may also be referred to as a receiver, a receiver, or a receiving circuit, etc., and the sending unit may be referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0463] Part 1520 may include one or more boards, each of which may include one or more processors and one or more memories. The processor is used to read and execute programs in the memory to implement baseband processing functions and control of the base station. If there are multiple boards, each board can be interconnected to enhance processing capabilities. As an optional implementation, multiple boards may share one or more processors, or multiple boards may share one or more memories, or multiple boards may share one or more processors at the same time.

[0464] For example, in one implementation, the transceiver unit of part 1510 is used to execute Figures 5 to 11 In the embodiment shown, the steps related to sending and receiving are performed by the network device; part 1520 is used to perform Figures 5 to 11 The illustrated embodiment relates to processing steps performed by a network device.

[0465] It should be understood that Fig.15 This is only an example and not a limitation. The network device including the transceiver unit and the processing unit may not rely on Fig.15 The structure shown.

[0466] When the side-travel positioning device 1500 is a chip, the chip includes a transceiver unit and a processing unit, wherein the transceiver unit may be an input / output circuit or a communication interface; and the processing unit may be a processor or a microprocessor or an integrated circuit integrated on the chip.

[0467] An embodiment of the present application also provides a computer-readable storage medium on which computer instructions for implementing the method executed by a terminal device or a method executed by a network device in the above method embodiment are stored.

[0468] For example, when the computer program is executed by a computer, the computer can implement the method executed by the terminal device or the method executed by the network device in the above method embodiment.

[0469] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to implement the method executed by a terminal device or a method executed by a network device in the above method embodiment.

[0470] An embodiment of the present application also provides a communication system, which includes the network device and the terminal device in the above embodiment.

[0471] As an example, the communication system includes: Figures 5 to 11 The network device and the terminal device in the described embodiments.

[0472] The explanation of the relevant contents and beneficial effects of any of the above-mentioned lateral positioning devices can be referred to the corresponding method embodiments provided above, and will not be repeated here.

[0473] In an embodiment of the present application, a terminal device or a network device may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. Among them, the hardware layer may include hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called main memory). The operating system of the operating system layer may be any one or more computer operating systems that implement business processing through processes, such as Linux operating system, Unix operating system, Android operating system, iOS operating system, or Windows operating system. The application layer may include applications such as browsers, address books, word processing software, and instant messaging software.

[0474] The embodiments of the present application do not specifically limit the specific structure of the execution subject of the method provided in the embodiments of the present application, as long as it is possible to communicate according to the method provided in the embodiments of the present application by running a program that records the code of the method provided in the embodiments of the present application. For example, the execution subject of the method provided in the embodiments of the present application may be a terminal device or a network device, or a functional module in the terminal device or the network device that can call and execute a program.

[0475] Various aspects or features of the present application may be implemented as a method, apparatus, or article of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used herein may encompass a computer program accessible from any computer-readable device, carrier, or medium. For example, a computer-readable medium may include, but is not limited to, a magnetic storage device (e.g., a hard disk, a floppy disk, or a magnetic tape, etc.), an optical disk (e.g., a compact disc (CD), a digital versatile disc (DVD), etc.), a smart card, and a flash memory device (e.g., an erasable programmable read-only memory (EPROM), a card, a stick, or a key drive, etc.).

[0476] The various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and / or carrying instructions and / or data.

[0477] 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.

[0478] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. 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 may include 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).

[0479] 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.

[0480] 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.

[0481] Those of ordinary skill in the art will appreciate that the units and steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software 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 exceed the scope of protection of this application.

[0482] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0483] 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.

[0484] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0485] In addition, each functional unit in each embodiment of the present application may be integrated into one unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0486] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by 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 invention 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 may include, 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.

[0487] 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 side-travel positioning method, characterized in that: include: The first terminal device receives the first side positioning configuration sent by the network device; The first terminal device sends a first sideline positioning reference signal to the second terminal device according to the first sideline positioning configuration, where the first sideline positioning reference signal is used to determine a first measurement value, wherein the first measurement value includes a measurement value of the first sideline positioning reference signal by the second terminal device, and the position of the first terminal device is determined based on the first measurement value and the position of the second terminal device; The first measurement value includes: The time difference between sending and receiving of the second terminal device and the measured value of the arrival angle of the first side positioning reference signal of the second terminal device.

2. The side-travel positioning method according to claim 1, characterized in that: The method further comprises: The first terminal device receives the first measurement value from the second terminal device or the network device, and the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device.

3. The side-travel positioning method according to claim 2, characterized in that: The method further comprises: The first terminal device receives a second sideline positioning reference signal sent by the second terminal device according to the first sideline positioning configuration; The first terminal device measures the second sideline positioning reference signal to obtain a second measurement value; The first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device, including: The first terminal device determines the location of the first terminal device according to the first measurement value, the second measurement value, and the location of the second terminal device.

4. The side-travel positioning method according to any one of claims 1 to 3, characterized in that: Before the first terminal device receives the first sideline positioning configuration sent by the network device, the method further includes: The first terminal device sends a location information request to the network device.

5. The side-travel positioning method according to claim 4, characterized in that: The first side positioning configuration includes one or more of the following information: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the first terminal device, wherein the measurement reporting configuration of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

6. The side-travel positioning method according to claim 5, characterized in that: The second measurement value includes: The time difference between sending and receiving of the first terminal device and the measured value of the arrival angle of the second side positioning reference signal of the first terminal device.

7. The side-travel positioning method according to claim 1, characterized in that: The method further comprises: The first terminal device receives the location information of the second terminal device from the network device or the second terminal device.

8. A side-travel positioning method, characterized in that: include: The second terminal device receives the second side positioning configuration sent by the network device; The second terminal device receives the first sideline positioning reference signal sent by the first terminal device according to the second sideline positioning configuration; The second terminal device obtains a first measurement value according to the first sideline positioning reference signal; The second terminal device sends the first measurement value to a network device, so that the network device determines the location of the first terminal device according to the first measurement value and the location of the second terminal device; or The second terminal device sends the first measurement value to the first terminal device, so that the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device; The first measurement value includes: The time difference between sending and receiving of the second terminal device and the measured value of the arrival angle of the first side positioning reference signal of the second terminal device.

9. The side-travel positioning method according to claim 8, characterized in that: The method further comprises: The second terminal device sends a second sideline positioning reference signal to the first terminal device according to the second sideline positioning configuration.

10. The side-travel positioning method according to claim 9, characterized in that: The second side positioning configuration includes one or more of the following information: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

11. The side-travel positioning method according to any one of claims 8 to 10, characterized in that: The method further comprises: The second terminal device sends the location information of the second terminal device to the network device or the first terminal device.

12. A side-travel positioning method, characterized in that: include: The network device sends a first side positioning configuration to the first terminal device; The network device sends a second side positioning configuration to the second terminal device; The network device receives a first measurement value sent by the second terminal device, where the first measurement value includes a measurement value of the first sideline positioning reference signal by the second terminal device; The network device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device; The first measurement value includes: The time difference between sending and receiving of the second terminal device and the measured value of the arrival angle of the first side positioning reference signal of the second terminal device.

13. The side-travel positioning method according to claim 12, characterized in that: The method further comprises: The network device receives a second measurement value sent by the first terminal device, where the second measurement value includes a measurement value of a second sideline positioning reference signal sent by the first terminal device to the second terminal device; The network device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device, including: The network device determines the location of the first terminal device according to the first measurement value, the second measurement value and the location of the second terminal device.

14. The lateral positioning method according to claim 12 or 13, characterized in that: Before the network device sends the first sideline positioning configuration to the first terminal device and before the network device sends the second sideline positioning configuration to the second terminal device, the method further includes: The network device receives a location information request from the first terminal device.

15. The side-travel positioning method according to claim 14, characterized in that: The first side positioning configuration includes one or more of the following configurations: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

16. The side-travel positioning method according to claim 14, characterized in that: The second side positioning configuration information includes one or more of the following configurations: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

17. The side-travel positioning method according to claim 13, characterized in that: The second measurement value includes: The time difference between sending and receiving of the first terminal device and the measured value of the arrival angle of the second side positioning reference signal of the first terminal device.

18. The side-travel positioning method according to claim 12, characterized in that: The method further comprises: The network device receives the location information of the second terminal device sent by the second terminal device.

19. A lateral positioning device, characterized in that: include: A transceiver unit, configured to receive a first side positioning configuration sent by a network device; The transceiver unit is used to send a first sideline positioning reference signal to a second terminal device according to the first sideline positioning configuration, wherein the first sideline positioning reference signal is used to determine a first measurement value, wherein the first measurement value includes a measurement value of the first sideline positioning reference signal by the second terminal device, and the position of the first terminal device provided with the device is determined based on the first measurement value and the position of the second terminal device, wherein the first measurement value includes a measurement value of the first sideline positioning reference signal by the second terminal device; The first measurement value includes: The time difference between sending and receiving of the second terminal device and the measured value of the arrival angle of the first side positioning reference signal of the second terminal device.

20. The lateral positioning device according to claim 19, characterized in that: The device comprises: The transceiver unit is used to receive the first measurement value from the second terminal device or the network device; A processing unit is used to determine the position of the first terminal device according to the first measurement value and the position of the second terminal device.

21. The lateral positioning device according to claim 20, characterized in that: The device comprises: The transceiver unit is used to receive a second sideline positioning reference signal sent by the second terminal device according to the first sideline positioning configuration; The processing unit is used to measure the second sideways positioning reference signal to obtain a second measurement value; The processing unit is configured to determine the position of the first terminal device according to the first measurement value and the position of the second terminal device, including: The processing unit is used to determine the position of the first terminal device according to the first measurement value, the second measurement value and the position of the second terminal device.

22. The side positioning device according to any one of claims 19 to 21, characterized in that: Before the transceiver unit receives the first side positioning configuration sent by the network device, the device includes: The transceiver unit is used to send a location information request to the network device.

23. The lateral positioning device according to claim 22, characterized in that: The first side positioning configuration includes one or more of the following information: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

24. The lateral positioning device according to claim 23, characterized in that: The second measurement value includes: The time difference between sending and receiving of the transceiver unit and the measurement value of the arrival angle of the second side positioning reference signal by the processing unit.

25. The lateral positioning device according to claim 19, characterized in that: The device also includes: The transceiver unit is used to receive the location information of the second terminal device from the network device or the second terminal device.

26. A lateral positioning device, characterized in that: include: A transceiver unit, used for receiving a second side positioning configuration sent by a network device; The transceiver unit is used to receive a first sideline positioning reference signal sent by a first terminal device according to the second sideline positioning configuration; A processing unit, configured to obtain a first measurement value according to the first sideways positioning reference signal; The transceiver unit is used to send the first measurement value to the network device, so that the network device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device provided with the apparatus; or The transceiver unit is configured to send the first measurement value to the first terminal device, so that the first terminal device determines the position of the first terminal device according to the first measurement value and the position of the second terminal device; The first measurement value includes: The time difference between sending and receiving of the transceiver unit and the measurement value of the arrival angle of the first sideways positioning reference signal by the processing unit.

27. The lateral positioning device according to claim 26, characterized in that: The device also includes: The transceiver unit is used to send a second sideline positioning reference signal to the first terminal device according to the second sideline positioning configuration.

28. The lateral positioning device according to claim 27, characterized in that: The second side positioning configuration includes one or more of the following information: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

29. The lateral positioning device according to any one of claims 26 to 28, characterized in that: The device comprises: The transceiver unit sends the location information of the second terminal device to the network device or the first terminal device.

30. A lateral positioning device, characterized in that: include: A transceiver unit, configured to send a first side positioning configuration to the first terminal device; The transceiver unit is used to send a second side positioning configuration to the second terminal device; The transceiver unit is configured to receive a first measurement value sent by the second terminal device, where the first measurement value includes a measurement value of the first sideline positioning reference signal by the second terminal device; a processing unit, configured to determine a position of the first terminal device according to the first measurement value and a position of the second terminal device; The first measurement value includes: The time difference between sending and receiving of the second terminal device and the measured value of the arrival angle of the first side positioning reference signal of the second terminal device.

31. The lateral positioning device according to claim 30, characterized in that: The device comprises: The transceiver unit is configured to receive a second measurement value sent by the first terminal device, where the second measurement value includes a measurement value of a second sideline positioning reference signal sent by the first terminal device to the second terminal device; The transceiver unit is used to determine the position of the first terminal device according to the first measurement value and the position of the second terminal device, including: The processing unit determines the location of the first terminal device according to the first measurement value, the second measurement value, and the location of the second terminal device.

32. The lateral positioning device according to claim 30 or 31, characterized in that: Before the transceiver unit sends the first side positioning configuration to the first terminal device and the transceiver unit sends the second side positioning configuration to the second terminal device, the apparatus further includes: The transceiver unit is used to receive a location information request of the first terminal device.

33. The lateral positioning device according to claim 32, characterized in that: The first side positioning configuration information includes one or more of the following configurations: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the first terminal device, wherein the reporting configuration information of the first terminal device includes the second measurement value and the Uu interface measurement reporting method.

34. The lateral positioning device according to claim 32, characterized in that: The second side positioning configuration information includes one or more of the following configurations: The time-frequency resources occupied by the first sideline positioning reference signal, the time-frequency resources occupied by the second sideline positioning reference signal, the sequence information of the first sideline positioning reference signal, the sequence information of the second sideline positioning reference signal, the information of the second terminal device, and the reporting configuration information of the second terminal device, wherein the reporting configuration information of the second terminal device includes the first measurement value and the PC5 interface measurement reporting method.

35. The lateral positioning device according to claim 31, characterized in that: The second measurement value includes: The time difference between sending and receiving of the first terminal device and the measured value of the arrival angle of the second side positioning reference signal of the first terminal device.

36. The lateral positioning device according to claim 30, characterized in that: The device comprises: The transceiver unit receives the location information of the second terminal device sent by the second terminal device.

37. A lateral positioning device, characterized in that: The invention comprises a processor, the processor is coupled to a memory, the memory is used to store a computer program or instruction, and the processor is used to execute the computer program or instruction in the memory, so that The method of any one of claims 1 to 7 is performed, or The method of any one of claims 8 to 11 is performed, or The method of any one of claims 12 to 18 is performed.

38. A computer-readable storage medium, characterized in that: A computer program or instruction is stored, the computer program or instruction is used to The method according to any one of claims 1 to 7 or The method according to any one of claims 8 to 11 or The method of any one of claims 12 to 18.

39. A chip system, characterized in that: The processor is used to call and run a computer program from a memory, so that a communication device equipped with the chip system executes The method according to any one of claims 1 to 7 or The method according to any one of claims 8 to 11 or The method of any one of claims 12 to 18.

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