Lateral link positioning measurement method, communication device and storage medium

Abstract

The invention discloses a sidelink positioning measurement method, a communication device and a storage medium. The method comprises the steps that a server terminal sends a positioning measurement request to a target terminal, the positioning measurement request comprises a positioning measurement requirement, and the positioning measurement requirement is used for indicating the target terminal to complete one-time measurement based on the positioning measurement requirement; the target terminal sends a positioning measurement report to the server terminal according to the positioning measurement request, the positioning measurement report comprises a measurement result of one measurement, and the measurement result is obtained by the target terminal based on at least one sidelink-positioning reference signal received from at least one anchoring terminal. By adopting the scheme, the server terminal indicates the target terminal to complete one-time measurement based on the positioning measurement requirement by sending the positioning measurement requirement to the target terminal, so that the target terminal can report the positioning measurement result in time, and the timeliness of completing the side link positioning measurement process is improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a sidelink (SL) positioning measurement method, a communication device and a storage medium. Background Art

[0002] Positioning can be achieved between terminal devices by sending sidelink-positioning reference signals (SL-PRS). However, when sending SL-PRS, the anchor terminal (anchor UE) first performs resource perception, and sends out the SL-PRS when it senses that the current channel is available or idle. Therefore, the target terminal (target UE) is not sure when the anchor terminal sends the SL-PRS, and thus does not know in which time slot the SL-PRS arrives. There may be a situation where the anchor UE cannot find a suitable opportunity to send the SL-PRS, resulting in the target UE not being able to detect the SL-PRS, and the server terminal (server UE) cannot receive feedback on the measurement results. In this way, the entire positioning delay will be very large, and the entire positioning process may not even be completed.

[0003] In view of this, there is a need to improve the timeliness of completing the sidelink positioning measurement process. Summary of the invention

[0004] The present application provides a side link positioning measurement method, a communication device and a storage medium to improve the timeliness of completing a side link positioning measurement process.

[0005] In a first aspect, a sidelink positioning measurement method is provided, which can be executed by a target terminal, or by a chip or circuit configured in the target terminal, or by a logic module or software that can implement all or part of the functions of the target terminal. This application is not limited to this. The method includes: receiving a positioning measurement request, the positioning measurement request includes a positioning measurement requirement, and the positioning measurement requirement is used to indicate that the target terminal completes a measurement based on the positioning measurement requirement; and sending a positioning measurement report according to the positioning measurement request, the positioning measurement report includes a measurement result of the measurement, and the measurement result is obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0006] By adopting this method, the target terminal receives a positioning measurement request sent by the server terminal, and the positioning measurement request instructs the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in time, thereby improving the timeliness of the side link positioning measurement process.

[0007] In a second aspect, a sidelink positioning measurement method is provided, which can be executed by a server terminal, or by a chip or circuit configured in the server terminal, or by a logic module or software that can implement all or part of the server terminal functions. This application is not limited to this. The method includes: sending a positioning measurement request, the positioning measurement request includes a positioning measurement requirement, and the positioning measurement requirement is used to indicate that the target terminal completes a measurement based on the positioning measurement requirement; and receiving a positioning measurement report according to the positioning measurement request, the positioning measurement report includes a measurement result of the measurement, and the measurement result is obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0008] By adopting this method, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in time, thereby improving the timeliness of the sidelink positioning measurement process.

[0009] In combination with the second aspect, in a possible implementation, the method also includes: sending a positioning request to the at least one anchor terminal, the positioning request being used to request the at least one anchor terminal to send at least one SL-PRS; and in response to the positioning request, receiving configuration information from the at least one anchor terminal respectively, the configuration information including at least one of the following information of the SL-PRS: the number of symbols occupied by the SL-PRS, the bandwidth corresponding to the SL-PRS, the comb tooth size of the SL-PRS, the frequency domain starting position of the SL-PRS, the time domain starting position of the SL-PRS, the sequence initialization identifier of the SL-PRS, and the resource identifier corresponding to the SL-PRS.

[0010] In combination with the second aspect, in yet another possible implementation, the method further includes: sending auxiliary data to the target terminal, where the auxiliary data includes configuration information of the at least one anchor terminal.

[0011] With this implementation, after receiving the configuration information sent by the anchor terminal, the server terminal sends auxiliary data to the target terminal so that the target terminal can accurately receive the SL-PRS sent by the anchor terminal based on the time-frequency position information of the SL-PRS to be sent by the anchor terminal.

[0012] In combination with the second aspect, in yet another possible implementation, the method further includes: locating the target terminal according to the measurement result.

[0013] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of SL-PRSs of the first anchor terminal measured in the measurement, or the number of SL-PRSs of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal.

[0014] Further, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRSs for the first anchor terminal, or completing the measurement of the number of SL-PRSs for the first anchor terminal.

[0015] With this implementation, the server terminal can limit the measurement process and reporting time of the target UE by indicating the number of SL-PRSs of the first anchor terminal measured in a measurement, or including the number of SL-PRSs of the first anchor terminal measured in a measurement, so that the side link positioning measurement process can be completed in a timely manner.

[0016] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in yet another possible implementation, the positioning measurement requirement includes measuring SL-PRS of all anchor terminals in the one measurement.

[0017] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of anchor terminals measured in the measurement, or the positioning measurement requirement includes the percentage of anchor terminals measured in the measurement to the total number of anchor terminals.

[0018] Further, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by the number of anchor terminals in the measurement, or completing the measurement of SL-PRS sent by the percentage of anchor terminals in the measurement.

[0019] With this implementation, by stipulating or configuring the number of anchor terminals measured in one measurement, or requiring the positioning measurement to include the percentage of anchor terminals measured in one measurement to the total number of anchor terminals, the measurement process and reporting time of the target UE can be limited, so that the sidelink positioning measurement process can be completed in time. With this implementation, the target terminal may not measure the SL-PRS of all anchor terminals, because it is possible that some anchor terminals cannot perceive the available resources to send SL-PRS, and the target terminal cannot detect the SL-PRS of these anchor terminals, which not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0020] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of anchor terminals measured at least in the one measurement process, or the positioning measurement requirement includes the percentage of anchor terminals measured at least in the one measurement process to the total number of anchor terminals; wherein, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by at least the measured number of anchor terminals in the one measurement, or completing the measurement of SL-PRS sent by at least the measured percentage of anchor terminals in the one measurement.

[0021] With this implementation, by stipulating or configuring the number of anchor terminals measured at least in one measurement, or the positioning measurement requirement including the percentage of anchor terminals measured at least in one measurement to the total number of anchor terminals, the measurement process and reporting time of the target UE can be limited, so that the sidelink positioning measurement process can be completed in time;

[0022] And the target terminal does not need to measure the SL-PRS of all anchor terminals, because some anchor terminals may not be able to sense the available resources to send SL-PRS, and the target terminal cannot detect the SL-PRS of these anchor terminals, which not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0023] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals corresponds to the measurement positioning technology.

[0024] With this implementation, since different measurement and positioning technologies correspond to different measurement quantities, the number of anchor terminals required to be measured in one measurement or the percentage of anchor terminals required to be measured in one measurement to the total number of anchor terminals may be different.

[0025] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes time window information; wherein the time window information is used to indicate that the measurement is completed within the time window and the positioning measurement report is reported; or the time window information is used to indicate that the measurement is completed within the time window and the positioning measurement report is reported after the time window ends.

[0026] With this implementation, the server terminal can enable the target terminal to complete the measurement and / or reporting within the specified time by indicating the time for completing a measurement and reporting of the positioning measurement report, or the time for completing a measurement, thereby enabling the sidelink positioning measurement process to be completed in a timely manner; and further simplifying the measurement process of the target terminal, avoiding an increase in the delay of the entire positioning process.

[0027] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

[0028] In a third aspect, a communication device is provided for implementing the sidelink positioning measurement method in the first aspect or any one of the implementations of the first aspect. The device may be a target terminal, or a module (such as a processor, a chip, or a chip system) applied to the target terminal, or a logical node, a logical module, or software that can implement all or part of the functions of the target terminal.

[0029] In one possible implementation, the device includes: a transceiver unit and a processing unit; wherein the transceiver unit is used to receive a positioning measurement request, the positioning measurement request includes a positioning measurement requirement, and the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; the processing unit is used to generate a positioning measurement report according to the positioning measurement request; and the transceiver unit is also used to send a positioning measurement report according to the positioning measurement request, the positioning measurement report includes a measurement result of the measurement, and the measurement result is obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0030] In a fourth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the second aspect or any one of the implementations of the second aspect. The device may be a target terminal, or a module (such as a processor, a chip, or a chip system) applied to the target terminal, or a logical node, a logical module, or software that can implement all or part of the functions of the target terminal.

[0031] In one possible implementation, the device includes: a transceiver unit and a processing unit; wherein the processing unit is used to generate a positioning measurement request, the positioning measurement request includes a positioning measurement requirement, and the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; the transceiver unit is used to send the positioning measurement request; and the transceiver unit is also used to receive a positioning measurement report according to the positioning measurement request, the positioning measurement report includes a measurement result of the measurement, and the measurement result is obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0032] In combination with the fourth aspect, optionally, the processing unit is also used to generate a positioning request, the positioning request is used to request the at least one anchor terminal to send at least one SL-PRS; the transceiver unit is also used to send the positioning request to the at least one anchor terminal; and the transceiver unit is also used to receive configuration information from the at least one anchor terminal in response to the positioning request, respectively, and the configuration information includes at least one of the following information of the SL-PRS: the number of symbols occupied by the SL-PRS, the bandwidth corresponding to the SL-PRS, the comb tooth size of the SL-PRS, the frequency domain starting position of the SL-PRS, the time domain starting position of the SL-PRS, the sequence initialization identifier of the SL-PRS, and the resource identifier corresponding to the SL-PRS.

[0033] In combination with the fourth aspect, optionally, the transceiver unit is further used to send auxiliary data to the target terminal, where the auxiliary data includes configuration information of the at least one anchor terminal.

[0034] In combination with the fourth aspect, optionally, the processing unit is further used to locate the target terminal according to the measurement result.

[0035] In combination with the third aspect, the fourth aspect, or any possible implementation of the fourth aspect, the positioning measurement requirements and further details can refer to the description of the first aspect and the second aspect, and will not be repeated here. When the communication device described in the third aspect, the fourth aspect, or any implementation of the third aspect and the fourth aspect is a chip, the sending unit may be an output unit, such as an output circuit or a communication interface; the receiving unit may be an input unit, such as an input circuit or a communication interface. When the communication device is a terminal, the sending unit may be a transmitter or a transmitter; the receiving unit may be a receiver or a receiver.

[0036] In a fifth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned first aspect or any one of the implementations of the first aspect.

[0037] In a sixth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned second aspect or any one of the implementations of the second aspect.

[0038] Among them, the communication device in the fifth aspect and the sixth aspect includes a processor; the processor is configured to implement the corresponding functions in the above-mentioned sidelink positioning measurement method. Optionally, it also includes a memory, which is used to couple with the processor and store the necessary programs (instructions) and / or data of the device. Optionally, the communication device may also include a communication interface for realizing communication between the device and other network elements. Optionally, the memory may be located inside the communication device or outside the communication device.

[0039] In a seventh aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned first aspect or any one of the implementations of the first aspect.

[0040] In an eighth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned second aspect or any one of the implementations of the second aspect.

[0041] Wherein, the communication device in the seventh aspect and the eighth aspect includes a processor and a transceiver, the processor is coupled to the transceiver, and the processor is used to execute a computer program or instruction to control the transceiver to receive and send information; when the processor executes the computer program or instruction, the processor is also used to implement the above method through a logic circuit or execute code instructions. Wherein, the transceiver can be a transceiver, a transceiver circuit or an input-output interface, which is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device. When the communication device is a chip, the transceiver is a transceiver circuit or an input-output interface.

[0042] In a ninth aspect, a communication system is provided, comprising a communication device for implementing the first aspect or any one of the implementations of the first aspect, and a communication device for implementing the second aspect or any one of the implementations of the second aspect.

[0043] In the tenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the first aspect, the second aspect, or any one of the first aspect and the second aspect is implemented.

[0044] In the eleventh aspect, a computer program product comprising instructions is provided. When the instructions are executed on a communication device, the communication device executes the method described in the first aspect, the second aspect, or any one of the first aspect and the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A simplified schematic diagram of a wireless communication system provided by an embodiment of the present application;

[0046] Figure 2a-2c A schematic diagram of the network coverage of the terminal device;

[0047] Figure 3 A schematic diagram of trilateral positioning based on a sidelink provided in an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of SL-PRS reception in an example;

[0049] Figure 5 A schematic diagram of a flow chart of a sidelink positioning measurement method provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a flow chart of another sidelink positioning measurement method provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of SL-PRS reception in an example provided in this application;

[0052] Figure 8 A schematic diagram of SL-PRS reception in yet another example provided by the present application;

[0053] Fig. 9 A schematic diagram of SL-PRS reception in yet another example provided by the present application;

[0054] Fig.10 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0055] Fig.11 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0057] The at least one (item) involved in the present application as follows indicates one (item) or more (items). More than one (item) refers to two (items) or more than two (items). "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In addition, it should be understood that although the terms first, second, etc. may be used to describe each object in the present application, these objects should not be limited to these terms. These terms are only used to distinguish each object from each other.

[0058] The terms "including" and "having" and any variations thereof mentioned in the following description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes other steps or units that are not listed, or optionally includes other steps or units that are inherent to these processes, methods, products or devices. It should be noted that in the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any method or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other methods or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0059] It should be understood that in the present application, indication includes direct indication (also called explicit indication) and implicit indication. Wherein, direct indication of information A means including the information A; implicit indication of information A means indicating information A through the correspondence between information A and information B and direct indication of information B. Wherein, the correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured.

[0060] It should be understood that in the present application, information C is used to determine information D, which includes information D being determined based only on information C, and information D being determined based on information C and other information. In addition, information C is used to determine information D, and it can also be indirectly determined, for example, information D is determined based on information E, and information E is determined based on information C.

[0061] In addition, "device A sends information A to device B" in each embodiment of the present application can be understood as the destination of the information A or the intermediate device in the transmission path between the destination and the device B, which may include directly or indirectly sending information to device B. "Device B receives information A from device A" can be understood as the source of the information A or the intermediate device in the transmission path between the source and the device A, which may include directly or indirectly receiving information from device A. The information may be processed as necessary between the source and the destination of the information transmission, such as format changes, but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly and will not be repeated here.

[0062] The technology provided by the present application can be applied to various communication systems. For example, the communication system can be a fourth generation (4 th generation, 4G) communication systems (such as long term evolution (LTE) systems), fifth generation (5 th The 5G generation communication system, the worldwide interoperability for microwave access (WiMAX) or wireless local area network (WLAN) system, or a fusion system of multiple systems, or future communication systems, such as the sixth generation (6 th generation, 6G) communication system, etc. Among them, the 5G communication system can also be called a new radio (NR) system.

[0063] A device in a communication system can send a signal to another device or receive a signal from another device. The signal may include information, signaling, or data, etc. The device may also be replaced by an entity, a network entity, a network element, a mobile node, a terminal device, a communication module, a node, a communication node, etc. The device is used as an example for description in this application. For example, a communication system may include at least one terminal device and at least one access network device. The access network device may send a downlink signal to the terminal device, and / or the terminal device may send an uplink signal to the access network device. In addition, it can be understood that if the communication system includes multiple terminal devices, multiple terminal devices can also send signals to each other, that is, the signal sending device and the signal receiving device can both be terminal devices.

[0064] The sidelink positioning measurement method provided in the embodiment of the present application can be applied to wireless communication systems such as 5G, 6G, and satellite communication. Figure 1 , Figure 1 A simplified schematic diagram of a wireless communication system provided in an embodiment of the present application. Figure 1 As shown, the wireless communication system includes a wireless access network 100. The wireless access network 100 may be a next generation (e.g., 6G or higher) wireless access network, or a traditional (e.g., 5G, 4G) wireless access network. One or more terminal devices (120a-120j, collectively referred to as 120) may be connected to each other, or to one or more network devices (110a, 110b, collectively referred to as 110) in the wireless access network 100. Optionally, Figure 1 This is just a schematic diagram. The wireless communication system may also include other devices, such as core network devices, wireless relay devices and / or wireless backhaul devices. Figure 1 Not drawn in.

[0065] Optionally, in practical applications, the wireless communication system may include multiple network devices (also referred to as access network devices) at the same time, and may also include multiple terminal devices at the same time. A network device may serve one or more terminal devices at the same time. A terminal device may also access one or more network devices at the same time. The embodiment of the present application does not limit the number of terminal devices and network devices included in the wireless communication system.

[0066] The network device may be an entity on the network side for transmitting or receiving signals. The network device may be an access device for a terminal device to access the wireless communication system in a wireless manner, such as a base station. Base station can broadly cover various names as follows, or be replaced with the following names, such as: radio access network (RAN) node, NodeB, evolved NodeB (eNB), next generation NodeB (gNB), access network equipment in open radio access network (O-RAN), relay station, integrated access and backhaul (IAB) node (such as the base station (BS) functional part in the IAB node), access point, transmission point (transmitting and receiving point, TRP), transmitting point (transmitting point, TP), master eNB (MeNB), secondary eNB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (building baseband unit, BBU), remote radio unit (remote The term "base station" refers to a network device, such as a remote radio head (RRH), a centralized unit (CU), a distributed unit (DU), a radio unit (RU), a centralized unit control plane (CU-CP) node, a centralized unit user plane (CU-UP) node, a positioning node, etc. The base station may be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. The network device may also refer to a communication module, a modem, or a chip used to be set in the aforementioned device or apparatus.The network device may also be a mobile switching center and a device that performs base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, a network-side device in a 6G network, and a device that performs base station functions in future communication systems. The network device may support networks with the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form used by the network device.

[0067] The network equipment may be fixed or mobile. For example, the base stations 110 a and 110 b are stationary and are responsible for wireless transmission and reception in one or more cells from the terminal equipment 120 . Figure 1 The helicopter or drone 120i shown in the figure can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station 120i. In other examples, the helicopter or drone (120i) can be configured to act as a terminal device communicating with the base station 110b.

[0068] In the present application, the communication device used to implement the above access network function can be an access network device, or a network device with some functions of accessing the network, or a device capable of supporting the implementation of the access network function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module, which can be installed in the access network device or used in combination with the access network device. In the method of the present application, the communication device used to implement the access network device function is an access network device for example.

[0069] The terminal device can be an entity on the user side for receiving or transmitting signals, such as a mobile phone. The terminal device can be used to connect people, objects and machines. The terminal device can communicate with one or more core networks through a network device. The terminal device includes a handheld device with a wireless connection function, other processing devices connected to a wireless modem, or a vehicle-mounted device. The terminal device can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device. The terminal device 120 can be widely used in various scenarios, such as cellular communication, D2D, V2X, point-to-point (P2P), machine-to-machine (M2M), machine type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, drone, robot, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and mobility, etc.Some examples of terminal devices 120 are: user equipment (UE), fixed equipment, mobile equipment, handheld equipment, wearable equipment, cellular phones, smart phones, session initiated protocol (SIP) phones, laptops, personal computers, smart books, vehicles, satellites, global positioning system (GPS) equipment, target tracking equipment, drones, helicopters, aircraft, ships, remote control equipment, smart home equipment, industrial equipment, personal communication service (PCS) phones, wireless local loop (WLL) stations, personal digital assistants (PDA), wireless network cameras, tablet computers, PDAs, mobile internet devices (MID), wearable devices such as smart watches, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, terminals in vehicle networking systems, wireless terminals in self-driving, wireless terminals in smart grids, transportation security (transportation) The terminal device 120 may be a wireless terminal in the above-mentioned various scenarios or a device for being set in a wireless device, for example, a communication module, a modem or a chip in the above-mentioned device. The terminal device may also be referred to as a terminal, a terminal device, a UE, a mobile station (MS), a mobile terminal (MT), etc. The terminal device may also be a terminal device in a future wireless communication system. The terminal device may be used in a dedicated network device or a general-purpose device. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0070] As an example but not limitation, in the embodiment of the present application, the terminal device may also be a part of the network device for implementing the terminal device function, for example, the network device may be an IAB node, the IAB node integrates a mobile terminal (mobiletermination, MT) and a distributed unit (distributed unit, DU) two parts, or, MT and BS parts, wherein the BS includes a centralized unit (central unit, CU) and DU. When the IAB node faces its parent node, it can be regarded as a terminal, at which time, the IAB node plays the role of the MT.

[0071] Optionally, the terminal device may be used to act as a base station. For example, the UE may act as a scheduling entity that provides sidelink signals between UEs in V2X, D2D, or P2P, etc. Figure 1 As shown, the cell phone 120a and the car 120b communicate with each other using a sidelink signal. The cell phone 120a and the smart home device 120e communicate with each other without relaying the communication signal through the base station 110b.

[0072] In the present application, the communication device for realizing the functions of the terminal device may be a terminal device, or a terminal device having some functions of the above terminal devices, or a device capable of supporting the functions of the above terminal devices, such as a chip system, which may be installed in the terminal device or used in combination with the terminal device. In the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. In the technical solution provided in the present application, the communication device is described as a terminal device or UE as an example.

[0073] Optionally, a wireless communication system is usually composed of cells, and the base station provides management of the cell. The base station provides communication services to multiple mobile stations (MS) in the cell. The base station includes a baseband unit (BBU) and a remote radio unit (RRU). The BBU and RRU can be placed in different places, for example: the RRU is remote and placed in an area with high traffic volume, and the BBU is placed in a central computer room. The BBU and RRU can also be placed in the same computer room. The BBU and RRU can also be different components under one rack. Optionally, a cell can correspond to a carrier or a component carrier.

[0074] In some deployments, the network device mentioned in the embodiments of the present application may be a device including a CU, or a DU, or a device including a CU and a DU, or a control plane CU node (central unit control plane (central unit-control plane, CU-CP)) and a user plane CU node (central unit user plane (central unit-user plane, CU-UP)) and a DU node. For example, the network device may include a gNB-CU-CP, a gNB-CU-UP, and a gNB-DU.

[0075] In some deployments, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes implement part of the functions of the base station. For example, the RAN node can be a CU, DU, CU-CP, CU-UP, or RU. The CU and DU can be set separately, or they can also be included in the same network element, such as a BBU. The RU can be included in a radio frequency device or a radio frequency unit, such as an RRU, an active antenna unit (AAU) or a remote radio head (RRH).

[0076] The RAN node may support one or more types of fronthaul interfaces, and different fronthaul interfaces correspond to DUs and remote units (RUs) with different functions. If the fronthaul interface between the DU and the RU is a common public radio interface (CPRI), the DU is configured to implement one or more baseband functions, and the RU is configured to implement one or more radio frequency functions. If the fronthaul interface between the DU and the RU is another interface, relative to the CPRI, part of the downlink and / or uplink baseband functions, such as, for downlink, one or more of precoding, digital beamforming (BF), or inverse fast Fourier transform (IFFT) / adding cyclic prefix (CP), are moved from the DU to the RU for implementation, and for uplink, one or more of digital beamforming (BF), or fast Fourier transform (FFT) / removing cyclic prefix (CP), are moved from the DU to the RU for implementation. In a possible implementation, the interface may be an enhanced common public radio interface (eCPRI). In the eCPRI architecture, the division between DU and RU is different, corresponding to different types (category, Cat) of eCPRI, such as eCPRI Cat A, B, C, D, E, F.

[0077] Taking eCPRI Cat A as an example, for downlink transmission, based on layer mapping, the DU is configured to implement one or more functions before layer mapping (i.e., one or more functions of coding, rate matching, scrambling, modulation, and layer mapping), while other functions after layer mapping (e.g., one or more functions of resource element (RE) mapping, digital beamforming (BF), or inverse fast Fourier transform (IFFT) / adding CP) are moved to the RU for implementation. For uplink transmission, based on de-RE mapping, the DU is configured to implement one or more functions before de-mapping (i.e., one or more functions of decoding, de-rate matching, de-scrambling, demodulation, inverse discrete Fourier transform (IDFT), channel equalization, and de-RE mapping), while other functions after de-mapping (e.g., one or more functions of digital BF or FFT / removing CP) are moved to the RU for implementation. It can be understood that for the functional description of DU and RU corresponding to various types of eCPRI, reference can be made to the eCPRI protocol and will not be repeated here.

[0078] In one possible design, the processing unit for implementing the baseband function in the BBU is called a baseband high layer (BBH) unit, and the processing unit for implementing the baseband function in the RRU / AAU / RRH is called a baseband low layer (BBL) unit.

[0079] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. Any unit in the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0080] In the embodiments of the present application, the device for realizing the function of the network device may be a network device; or it may be a device capable of supporting the network device to realize the function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module. The device may be installed in the network device or used in combination with the network device. In the embodiments of the present application, only the device for realizing the function of the network device is a network device as an example for explanation, and the scheme of the embodiments of the present application is not limited.

[0081] It can be understood that the present application can be applied between network devices and terminal devices.

[0082] The communication between the network device and the terminal device follows a certain protocol layer structure. The protocol layer structure may include a control plane protocol layer structure and a user plane protocol layer structure. For example, the control plane protocol layer structure may include the functions of the protocol layers such as the radio resource control (RRC) layer, the packet data convergence protocol (PDCP) layer, the radio link control (RLC) layer, the medium access control (MAC) layer and the physical layer. For example, the user plane protocol layer structure may include the functions of the protocol layers such as the PDCP layer, the RLC layer, the MAC layer and the physical layer. In a possible implementation, the service data adaptation protocol (SDAP) layer may also be included above the PDCP layer.

[0083] Optionally, the protocol layer structure between the network device and the terminal device may also include an artificial intelligence (AI) layer for transmitting data related to AI functions.

[0084] Taking a possible data transmission between a network device and a terminal device as an example, data transmission can pass through the user plane protocol layer, such as the SDAP layer, PDCP layer, RLC layer, MAC layer, and physical layer. Among them, the SDAP layer, PDCP layer, RLC layer, MAC layer, and physical layer can also be collectively referred to as the access layer. According to the transmission direction of the data, it is divided into sending or receiving, and each of the above layers is divided into a sending part and a receiving part. Taking downlink data transmission as an example, after the PDCP layer obtains data from the upper layer, it transmits the data to the RLC layer and the MAC layer, and then the MAC layer generates a transmission block, and then transmits it wirelessly through the physical layer. The data is encapsulated accordingly in each layer. For example, the data received by a layer from the upper layer of the layer is regarded as the service data unit (SDU) of the layer, which becomes a protocol data unit (PDU) after being encapsulated by the layer, and then passed to the next layer.

[0085] Exemplarily, the terminal device may also have an application layer and a non-access layer. The application layer may be used to provide services to applications installed in the terminal device. For example, downlink data received by the terminal device may be sequentially transmitted from the physical layer to the application layer, and then provided to the application by the application layer; for another example, the application layer may obtain data generated by the application, and sequentially transmit the data to the physical layer and send it to other communication devices. The non-access layer may be used to forward user data, such as forwarding uplink data received from the application layer to the SDAP layer, or forwarding downlink data received from the SDAP layer to the application layer.

[0086] It should be understood that Figure 1 The number and type of each device in the communication system shown are for illustration only, and the present application is not limited thereto. In actual applications, the communication system may also include more terminal devices, more access network devices, and other network elements, such as core network devices, and / or network elements for implementing artificial intelligence functions.

[0087] It is understandable that all or part of the functions implemented by one or more of the terminal equipment, access network equipment, core network equipment, or network elements used to implement artificial intelligence functions can be virtualized, that is, implemented by one or more of the proprietary processors or general-purpose processors and the corresponding software modules. Among them, the terminal equipment and the access network equipment involve interfaces for air interface transmission, and the transceiver functions of the interfaces can be implemented by hardware. Core network equipment, such as operation administration and maintenance (OAM) network elements, can be virtualized. Optionally, one or more functions of the virtualized terminal equipment, access network equipment, core network equipment, or network elements used to implement artificial intelligence functions can be implemented by cloud devices, such as cloud devices in over the top (OTT) systems.

[0088] In addition, due to its mobility, the UE may be sometimes within the network coverage and sometimes outside the network coverage. The at least two UEs performing sidelink communication may both be within the network coverage, partially within the network coverage, or completely outside the network coverage. Figure 2a-2c The following is a schematic diagram illustrating the network coverage of the UE.

[0089] like Figure 2a As shown, each UE can be in the network coverage of the network device (such as the gNB in ​​the figure), that is, each UE can communicate with the network device based on the Uu port. Sidelink communication can be performed between each UE based on the PC5 port.

[0090] Among them, the Uu port, namely the cellular network communication interface, mainly refers to the communication interface between UE and network equipment, including uplink and downlink, and is characterized by achieving reliable communication over long distances and a larger range.

[0091] PC5 port, i.e. direct communication interface, mainly refers to the communication interface between terminals, i.e. the short-distance direct communication interface between vehicles, people and road infrastructure. Its characteristics are: low latency, high capacity and high reliability communication through direct connection, broadcast and network scheduling.

[0092] like Figure 2b The figure shows that some UEs are within the network coverage of the network device (partial coverage). Partial coverage means that one UE can communicate with the gNB through the Uu port, while another UE can only communicate with the UE within the coverage of the network device through the PC5 port.

[0093] like Figure 2c As shown, it is a schematic diagram that all UEs are out of network coverage (out-of-coverage) of the network equipment. Being out of coverage means that both UEs cannot communicate with the gNB and can only communicate with each other through the PC5 port.

[0094] The present application relates to sidelink positioning. Sidelink positioning can be a positioning technology under a newly defined sidelink condition, or it can be a positioning function added on the basis of existing sidelink communication. In the sidelink scenario, the specific positioning method is not essentially different from the Uu port positioning method. The only difference is that the reference signals used by the sender and receiver are different. In sidelink positioning, the positioning function is implemented through SL-PRS. And a resource pool dedicated to positioning (resource pool for positioning) is also defined for sending and receiving SL-PRS. In addition, SL-PRS can also be sent together with data in a shared resource pool. The resource pool here can be understood as a set of (pre-) configured time-frequency resources, and it is a public configuration, that is, all UEs that use the resource pool for data transmission and reception use the same configuration information.

[0095] The present application can support multiple positioning technologies such as downlink-time difference of arrival (DL-TDOA), downlink-angle of departure (DL-AOD), uplink-time difference of arrival (UL-TDOA), uplink-angle of arrival (UL-AOA), and multi-round trip time (multi-RTT). Among them, DL-TDOA, UL-TDOA and multi-RTT algorithms are positioning technologies based on arrival time, that is, the receiving end is required to measure the arrival time of the signal sent by the sending end, and then convert it into the distance information between the two, and finally obtain the position of the target to be located. DL-AOD and UL-AOA are positioning technologies based on angles, that is, the receiving end measures the arrival angle of the reference signal sent by the sending end, and then infers the position of the receiving end based on the angle information between the receiving end and multiple senders with known positions.

[0096] like Figure 3 As shown in FIG. 1 , a schematic diagram of a three-sided positioning based on a sidelink provided in an embodiment of the present application can estimate the position of the target by calculating the intersection of the hyperbola. First, it is assumed that the position of the anchor UE (UE2, UE3, UE4) is known. Here, the coordinates of the i-th UE are defined as (x i ,y i ), the coordinates of the target to be located are (x UE ,y UE ), and take UE4 as the reference UE, assuming that the arrival time of SL-PRS of UE2 and UE3 measured by UE1 is t i , then the arrival time difference between any UE and the reference UE is Δt i1 According to the definition of the hyperbola (the distance from two fixed points is constant), the target is located on the hyperbola with two UEs as foci, and the following set of equations can be listed:

[0097]

[0098]

[0099] In the above two equations, c is the speed of light, because there are only two unknowns (x UE ,y UE), the position coordinates of the target UE (ie, UE1) can be obtained by combining equations (1) and (2). In fact, due to the existence of measurement errors, the above equations generally have no closed-form solutions. In engineering, classical optimization algorithms such as the least squares algorithm or the particle swarm filter algorithm are used to estimate the optimal solution of the above equations.

[0100] It can be seen that UE1 (target UE) can obtain time information or angle information by receiving and measuring SL-PRS, and send the measurement result to the server UE, so that the server UE can locate the target UE according to the measurement result.

[0101] The reception measurement processing capability of SL-PRS refers to how long the target UE needs to process the SL-PRS after receiving it on the SL-PRS resources for a period of time.

[0102] like Figure 4 As shown in FIG. 1 , it is a schematic diagram of SL-PRS reception in an example. It is assumed that three anchor UEs send SL-PRS to the target UE and occupy different time slots (it is also possible that the SL-PRS sent by multiple anchor UEs are in the same time slot), and it is assumed that the processing capability reported by the target UE is to receive at most 3 SL-PRS resources in 3 time slots, and the minimum number of time slots required to process these SL-PRS is 7. Therefore, in Figure 4 In the following time slots, even if other SL-PRS are sent, the target UE will not receive them.

[0103] The target UE measures the SL-PRS and reports the measurement results. The system or server UE performs positioning solution based on the reported measurement results.

[0104] In fact, especially in out-of-coverage scenarios, each anchor UE needs to perform resource sensing before sending SL-PRS, and can only send SL-PRS when it senses that the current channel is available or idle. The target UE does not know in which time slot the SL-PRS will arrive, so it will always blindly detect the PSCCH. Only after detecting the PSCCH and detecting the SL-PRS request information in the PSCCH will it know whether there is SL-PRS transmission in the time slot, and then detect the SL-PRS. Therefore, there may be a situation where the anchor UE cannot find a suitable transmission opportunity to send SL-PRS, resulting in the target UE not being able to detect the SL-PRS, and the server UE will not receive feedback on the measurement results, so that the entire positioning delay will be very large.

[0105] In the downlink positioning process of the Uu port, the downlink positioning reference signal (DL-PRS) sent by the base station is sent periodically, and the configuration information including the sending period and other information has been told to the UE before sending the DL-PRS. That is to say, the sending time domain position of the DL-PRS is fixed, and both the sender and the receiver know it. Therefore, the receiving UE knows when the DL-PRS can be measured, and also knows the total time expected to measure multiple DL-PRS. The measurement result reporting period can be defined, thereby controlling the receiving UE to report the measurement results. However, in the SL positioning scenario, the anchor UE may not be able to find a suitable sending opportunity to send the SL-PRS, resulting in the target UE not being able to detect enough SL-PRS in the reporting period.

[0106] As mentioned above, for sidelink positioning, the timing of the anchor UE sending the SL-PRS is uncertain, the time when the target UE receives the SL-PRS is also uncertain, and it is uncertain when the target UE can report the measurement result after receiving the positioning measurement request. In addition, the target UE's ability to process the SL-PRS is also limited. When processing a certain SL-PRS, the target UE may miss receiving the SL-PRS of other anchor UEs. In extreme cases, if the server UE cannot receive the measurement results, it will not only affect the positioning accuracy, but also affect the entire positioning process.

[0107] In view of this, the present application provides a side link positioning measurement solution, wherein the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of completing the side link positioning measurement process.

[0108] The following describes the sidelink positioning measurement method provided by the embodiment of the present application in conjunction with the accompanying drawings:

[0109] like Figure 5 As shown, it is a flow chart of a side link positioning measurement method provided in an embodiment of the present application. Exemplarily, the method may include the following steps:

[0110] S501. The server UE sends a positioning measurement request to the target UE. Correspondingly, the target UE receives the positioning measurement request.

[0111] When the server UE needs to locate the target UE, it can determine at least one anchor UE based on the ambiguous position of the target UE, request at least one anchor UE to send at least one SL-PRS to the target UE, and send a positioning measurement request to the target UE. The positioning measurement request is used to request the target UE to perform positioning measurements (i.e., measure at least one SL-PRS received from at least one anchor UE) and report the measurement results. The measurement results include measurement results of measurement quantities such as reference signal time difference (RSTD), angle of arrival (AOA), and receive-transmit time difference (Rx-Tx time difference). The measurement results of these measurement quantities are obtained by the target UE measuring the SL-PRS of different anchor UEs.

[0112] As described in the background technology, since the anchor UE may need to sense whether resources are available before sending SL-PRS, and for some anchor UEs, available resources may not be sensed for a long period of time, and if the target UE keeps waiting to receive the SL-PRS of all anchor UEs, the measurement process and upload time of a measurement will be uncontrollable. Or, the target UE does not know how many SL-PRS of each anchor UE to measure in a measurement, or how many times to measure the SL-PRS of each anchor UE in a measurement, or how many SL-PRS of anchor UEs to measure in a measurement, or how many proportions of SL-PRS of anchor UEs to measure in a measurement, which will cause the measurement process and upload time of a measurement to be uncontrollable. Or, the target UE does not know how long it will take to complete the measurement and / or reporting. Therefore, in this embodiment, the positioning measurement request includes a positioning measurement requirement. The positioning measurement requirement is used to instruct the target UE to complete a measurement based on the positioning measurement requirement so that the target UE can complete the positioning measurement. The positioning measurement requirement may be understood as a measurement requirement of the server UE for the target UE, or may be understood as the target UE being capable of measurement. The target UE may perform measurement according to the description in the embodiment during actual measurement.

[0113] For the server UE, the positioning measurement requirements for completing a measurement are clearly defined to ensure that the target UE can report the measurement results in time, thereby completing the positioning settlement in time. For the target UE, the positioning measurement requirements for completing a measurement are clearly defined to complete the measurement and / or reporting process, avoid long and meaningless waiting for the next SL-PRS to arrive, and save the target UE's energy consumption.

[0114] S502. The target UE reports a positioning measurement report to the server UE according to the positioning measurement request. Correspondingly, the server UE receives the positioning measurement report.

[0115] After receiving the SL-PRS sent by the anchor UE, the target UE measures the SL-PRS to obtain a measurement result. The measurement result is obtained by the target UE based on at least one SL-PRS received from the anchor UE. The measurement result includes the measurement result of at least one measurement quantity required to be measured by the server UE.

[0116] After completing the measurement of the SL-PRS according to the above positioning measurement requirements, the target UE may determine a reporting time, and report a positioning measurement report to the server UE at the determined reporting time.

[0117] The positioning measurement report includes a measurement result of a measurement.

[0118] According to a sidelink positioning measurement method provided in an embodiment of the present application, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0119] The following is a further description of a relatively complete process of sidelink positioning measurement. Figure 6 The description of positioning measurement request, positioning measurement requirement, etc. in can also be applied to Figure 5 In the method shown:

[0120] like Figure 6 As shown, it is a flow chart of another side link positioning measurement method provided by an embodiment of the present application. Exemplarily, the method may include the following steps:

[0121] S600. The server UE sends a positioning request to the anchor UE. Correspondingly, the anchor UE receives the positioning request.

[0122] The method of this embodiment involves three types of UE: server UE, anchor UE and target UE. Among them, the server UE is responsible for determining at least one anchor UE, and instructing at least one anchor UE to send at least one SL-PRS to the target UE, and receiving the measurement results reported by the target UE to locate the target UE. The anchor UE is generally a UE adjacent to the target UE, and is responsible for sending at least one SL-PRS to the target UE according to the instruction of the server UE. The target UE is responsible for receiving at least one SL-PRS from at least one anchor UE, and measuring at least one SL-PRS, obtaining the measurement results, and reporting them to the server UE. Figure 6 The figure shows an anchor UE. In fact, there can be more anchor UEs. The execution process of other anchor UEs can refer to Figure 6 The execution process of the anchor UE is shown.

[0123] When the server UE needs to locate the target UE, it can determine the anchor UE according to the ambiguous position of the target UE, and send a positioning request to the anchor UE. For any one of the at least one anchor UE, the positioning request is used to request the anchor UE to send the SL-PRS to the target UE.

[0124] S601. In response to the positioning request, the anchor UE sends configuration information of the anchor UE to the server UE. Correspondingly, the server UE receives the configuration information.

[0125] After receiving the above positioning request, the anchor UE may send the configuration information of the anchor UE to the server UE. The configuration information is used to indicate the time-frequency position information of the SL-PRS to be sent by the anchor UE. The time-frequency position information may include multiple candidate positions of the SL-PRS.

[0126] Exemplarily, the configuration information includes at least one of the following information of SL-PRS: the number of symbols occupied by SL-PRS, the bandwidth corresponding to SL-PRS, the comb tooth size of SL-PRS, the frequency domain starting position of SL-PRS, the time domain starting position of SL-PRS, the sequence initialization identifier of SL-PRS, and the resource identifier (resource ID) corresponding to SL-PRS. Each resource identifier is used to uniquely identify each resource in a plurality of SL-PRS resources configured in a resource pool. The resource pool may be a dedicated resource pool for SL-PRS or a resource pool shared with sidelink communication.

[0127] S602. The server UE sends auxiliary data to the target UE. Correspondingly, the target UE receives the auxiliary data.

[0128] After receiving the configuration information sent by the anchor UE, the server UE sends auxiliary data to the target UE so that the target UE can accurately receive the SL-PRS sent by the anchor UE according to the time-frequency position information of the SL-PRS to be sent by the anchor UE. The auxiliary data includes the configuration information of the anchor UE.

[0129] Exemplarily, the server UE sends a sequence initialization identifier of the SL-PRS to be sent by the anchor UE to the target UE. After the target UE locally generates the SL-PRS sequence, it detects whether it is the sequence that the target UE needs to receive based on the received SL-PRS sequence sent by the anchor UE to avoid interference from other signals.

[0130] S603. The server UE sends a positioning measurement request to the target UE. Correspondingly, the target UE receives the positioning measurement request.

[0131] The positioning measurement request is used to request the target UE to perform positioning measurement and report the measurement results, such as the reference signal arrival time difference, arrival angle, receive-send time difference and other measurement results. The measurement results of these measurement quantities are obtained by the target UE measuring the SL-PRS of different anchor UEs.

[0132] In this embodiment, the positioning measurement request includes a positioning measurement requirement. The positioning measurement requirement is used to instruct the target UE to complete a measurement based on the positioning measurement requirement, so that the target UE can complete the positioning measurement.

[0133] Regarding this positioning measurement requirement, there are several implementation methods:

[0134] One implementation method is that the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in a measurement, or the number of SL-PRSs of the first anchor UE measured in a measurement, and the first anchor UE is any one of at least one anchor UE. Or it can be expressed as follows: the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of SL-PRSs of the first anchor UE to be measured in a measurement, and the first anchor UE is any one of at least one anchor UE. The "need to measure" mentioned in the present application can be understood as the measurement requirement of the network side for the terminal, or as the terminal's ability to measure. The terminal may measure according to the description in the embodiment during actual measurement, or may not measure according to the above description. This meaning can be referred to in the following text where "need to measure" is involved.

[0135] like Figure 4 As shown, an anchor UE can send SL-PRS at multiple candidate resource locations. For an anchor UE, one or more reference signal resources can be configured, and one reference signal resource can correspond to a set of configuration information, such as a resource identifier (ID) and / or information related to the reference signal time-frequency resource. The above-mentioned anchor UE can send SL-PRS on the time-frequency resources corresponding to one or more reference signal resources. Furthermore, the anchor UE can repeat the transmission multiple times according to a set of configuration information corresponding to a reference signal resource. In an embodiment of the present application, the reference signal corresponding to the same reference signal resource is referred to as an SL-PRS, the number of SL-PRSs of the anchor UE is the number of reference signals corresponding to different reference signal resources sent by the anchor UE, and the number of SL-PRSs of the anchor UE is the number of repetitions of the reference signal corresponding to the same reference signal resource sent by the anchor UE. In this implementation, the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in one measurement, that is, the number of SL-PRSs sent by the first anchor UE measured in one measurement is limited, and the several SL-PRSs may be sent at one or more candidate resource locations of the anchor UE; or, the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in one measurement, that is, the number of SL-PRSs sent by the first anchor UE measured in one measurement is limited, and the SL-PRS sent by the first anchor UE each time measured is sent at a candidate resource location.

[0136] Among them, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRS for the first anchor UE, or completing the measurement of the number of SL-PRS for the first anchor UE. Or it can be expressed as follows: the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRS included in the positioning measurement requirement for the first anchor UE, or completing the measurement of the number of SL-PRS included in the positioning measurement requirement for the first anchor UE.

[0137] In one example, if Figure 7 As shown, it is a schematic diagram of SL-PRS reception in an example provided by the present application, assuming that the server UE configures 4 anchor UEs and the SL-PRS sent by them for the target UE. Each anchor UE is configured with an SL-PRS resource, and the SL-PRS of anchor UE1 to anchor UE3 are successfully sent in different time slots, and the SL-PRS of anchor UE4 and the SL-PRS of anchor UE3 are sent in the same time slot (time division multiplexing or comb multiplexing within the time slot). If the number of SL-PRSs of the first anchor UE to be measured in one measurement included in the positioning measurement requirement is 1, then the target UE can receive the SL-PRSs sent by the four anchor UEs in the first three time slots, and complete the measurement in the subsequent seven time slots, then the result can be reported at the arrow position. It should be noted that the target UE does not necessarily have to report at the arrow point. If the SL-PRS has been processed before (that is, the measurement of at least one SL-PRS of at least one anchor UE has been completed), then the report can also be made before that.

[0138] In another example, Figure 8As shown, it is a schematic diagram of SL-PRS reception in another example provided by the present application, assuming that the server UE configures 4 anchor UEs and the SL-PRS sent by them for the target UE. Each anchor UE is configured with an SL-PRS resource, and the SL-PRS of anchor UE1 to anchor UE3 are successfully sent in different time slots, while the SL-PRS of anchor UE4 is sent in the 4th time slot. At this time, since the target UE can only receive the SL-PRS in the first 3 time slots at most, the SL-PRS of anchor UE4 is not received by the target UE until it is received in the next receiving window of the target UE. At this time, the time when the target UE reports the measurement result is shown by the arrow in the figure.

[0139] According to the above two examples, it can be seen that the time for the target UE to report the measurement results is not only related to the configured number of SL-PRS of the first anchor UE to be measured in a measurement, or the number of SL-PRS of the first anchor UE to be measured in a measurement, but also related to the SL-PRS processing capability of the target UE; conversely, the target UE can only correctly determine the reporting time and ensure the completeness of the measurement results if it knows the number of SL-PRS of the first anchor UE to be measured in a measurement, or the number of SL-PRS of the first anchor UE to be measured in a measurement.

[0140] In this implementation, the server UE can limit the measurement process and reporting time of the target UE by indicating the number of SL-PRS of the first anchor UE measured in a measurement, or including the number of SL-PRS of the first anchor UE measured in a measurement, so that the side link positioning measurement process can be completed in time.

[0141] Furthermore, the time for the target UE to report the measurement results may also be related to the number of configured measurement sampling points. The above example is described based on the number of measurement sampling points being 1. Assuming that the number of measurement sampling points is x, the number of SL-PRSs of the first anchor UE to be measured in one measurement is x, or the number of SL-PRSs of the first anchor UE to be measured in one measurement is x, and the entire measurement time of one measurement may need to be expanded by x times. Where x is a positive integer.

[0142] Another implementation is that the positioning measurement requirement includes the number of anchor UEs measured in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured in one measurement to the total number of anchor UEs, or includes the number of at least anchor UEs measured in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured at least in one measurement to the total number of anchor UEs. Alternatively, the positioning measurement requirement includes the number of anchor UEs to be measured in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs to be measured in one measurement to the total number of anchor UEs, or includes the number of anchor UEs to be measured at least in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs to be measured at least in one measurement to the total number of anchor UEs.

[0143] As mentioned above, the server UE can determine at least one anchor UE based on the ambiguous position of the target UE, etc. Since each anchor UE may need to sense whether resources are available before sending SL-PRS, and for some anchor UEs, available resources may not be sensed for a long period of time, and if the target UE keeps waiting to receive the SL-PRS of all anchor UEs, the measurement process and upload time of a measurement will be uncontrollable. Therefore, in this implementation method, the positioning measurement requirement includes the number of anchor UEs measured in a measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured in a measurement to the total number of anchor UEs. That is, the server UE indicates that the target UE measures the SL-PRS of several anchor UEs in a measurement, and then the measurement and reporting can be performed; or, the server UE indicates that the target UE measures the SL-PRS of y% of the total number of anchor UEs in a measurement, and then the measurement and reporting can be performed. Wherein, y is a positive number.

[0144] The measuring of the anchor UE refers to measuring the SL-PRS sent by the anchor UE. The number of anchor UEs measured refers to the number of anchor UEs measuring the SL-PRS sent by different anchor UEs.

[0145] Among them, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by a number of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by a percentage of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by at least a measured number of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by at least a measured percentage of anchor UEs in one measurement.

[0146] Exemplarily, the number of anchor UEs measured (or at least measured) in one measurement, or the percentage of anchor UEs measured (or at least measured) in one measurement to the total number of anchor UEs corresponds to the measurement positioning technology. Since different measurement positioning technologies correspond to different measurement quantities, etc., different measurement positioning technologies may require different numbers of anchor UEs to be measured (or at least measured) in one measurement, or the percentage of anchor UEs to be measured (or at least measured) in one measurement to the total number of anchor UEs.

[0147] The measurement positioning technology includes sidelink-time difference of arrival (SL-TDOA), sidelink-angle of departure (SL-AOD), sidelink-angle of arrival (SL-AOA), sidelink-roundtrip time (SL-RTT), etc. Among them, SL-TDOA and SL-RTT algorithms are positioning technologies based on arrival time, that is, the target UE needs to measure the arrival time of the SL-PRS sent by the anchor UE, and then convert it into the distance information between the two, and finally get the position of the target UE. SL-AOD and SL-AOA are positioning technologies based on angles, that is, the target UE measures the arrival angle of the SL-PRS sent by the anchor UE, and then the server UE infers the position of the target UE based on the angle information between the target UE and multiple anchor UEs with known positions.

[0148] For example, for SL-TDOA positioning technology, the number of anchor UEs measured can be configured as 4; for SL-AOA positioning technology, the number of anchor UEs measured can be configured as 3. Fig. 9As shown in the schematic diagram of SL-PRS reception in another example provided by the present application, assuming that the server UE configures 4 anchor UEs for the target UE, then for the SL-AOA positioning technology, the target UE can prepare for measurement reporting after the 3rd time slot because the SL-PRS of the 3 anchor UEs has been measured; but for the SL-TDOA positioning technology, the target UE needs to wait until the next processing cycle and complete the measurement of the 4 anchor UEs before it can perform measurement reporting.

[0149] In this implementation, by stipulating or configuring the number of anchor UEs measured (or at least measured) in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured (or at least measured) in one measurement to the total number of anchor UEs, the measurement process and reporting time of the target UE can be limited, so that the sidelink positioning measurement process can be completed in time;

[0150] The target UE may not measure the SL-PRS of all anchor UEs, because some anchor UEs may not be able to sense the available resources to send SL-PRS. Then the target UE cannot detect the SL-PRS of these anchor UEs. This not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0151] In another implementation, the positioning measurement request includes information of a time window. The information of the time window includes at least one of the following: a start time of the time window and a length of the time window. The start time of the time window may be, for example, a time when the target UE receives the positioning measurement request. The length of the time window may be, for example, 10 milliseconds, 100 milliseconds, 1 second, etc.

[0152] The information of the time window can have the following two meanings:

[0153] One meaning is that the information of the time window is used to indicate the completion of a measurement and the reporting of the positioning measurement report within the time window. That is, the server UE indicates to the target UE the time to complete a measurement and the reporting of the positioning measurement report. The server UE may not indicate the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of anchor UEs to be measured in a measurement, or the percentage of anchor UEs to be measured in a measurement to the total number of anchor UEs. The target UE may decide how many SL-PRSs of the first anchor UE to measure in a measurement, or how many times the SL-PRS of the first anchor UE to measure in a measurement, or how many anchor UEs to measure in a measurement, or what proportion of anchor UEs to measure in a measurement based on its own capabilities.

[0154] Another meaning is that the time window information is used to indicate that a measurement is completed within the time window, and a positioning measurement report is reported after the time window ends. That is, the server UE indicates the time to complete a measurement to the target UE.

[0155] Exemplarily, the information of the time window is used to indicate that a measurement is completed within the time window, and a positioning measurement report is reported after the end of the time window. The positioning measurement report may be reported in the symbol, time slot, etc. at which the time window ends; or the positioning measurement report may be reported after a certain period of time after the end of the time window; or the positioning measurement report may be reported after the end of the time window and when there is an idle channel.

[0156] In this implementation, the server UE can enable the target UE to complete the measurement and / or reporting within the specified time by indicating the time for completing a measurement and reporting of the positioning measurement report, or the time for completing a measurement, so that the sidelink positioning measurement process can be completed in time; and the measurement process of the target UE is further simplified, avoiding an increase in the delay of the entire positioning process.

[0157] It is understandable that each of the above-mentioned implementation methods for positioning measurement requirements can be implemented independently or in combination with one or more of the implementation methods. For example, the target UE can indicate the number of anchor UEs to be measured in a measurement, or the percentage of anchor UEs to be measured in a measurement to the total number of anchor UEs, and can also indicate the above-mentioned time window information. It is understandable that the server UE can estimate that the target UE can complete the measurement of the number of anchor UEs or the measurement of the proportion of anchor UEs within the time window based on the capabilities reported by the target UE. The target UE completes the measurement of the number of anchor UEs or the measurement of the proportion of anchor UEs within the time window based on the above-mentioned instructions.

[0158] S604. The anchor UE sends the SL-PRS to the target UE. Correspondingly, the target UE receives the SL-PRS.

[0159] The anchor UE sends the SL-PRS to the target UE according to the positioning request of the server UE in step S601.

[0160] Exemplarily, the anchor UE may send the SL-PRS at one or more candidate resource locations, and what is sent at each candidate resource location is the SL-PRS with the same configuration information or the SL-PRS with different configuration information.

[0161] It is understandable that the anchor UE may need to first sense whether resources are available before sending the SL-PRS, so the SL-PRS sent by the anchor UE may be in any candidate resource position.

[0162] S605.target UE measures SL-PRS.

[0163] The target UE receives the SL-PRS sent by the anchor UE according to the SL-PRS configuration information provided by the server UE. In fact, the target UE needs to blindly detect the PSCCH first, detect the SL-PRS indication information in the PSCCH, and then receive the SL-PRS corresponding to the PSCCH.

[0164] After receiving the SL-PRS sent by the anchor UE, the target UE measures the SL-PRS to obtain a measurement result. The measurement result is obtained by the target UE based on at least one SL-PRS received from the anchor UE. The measurement result includes the measurement result of at least one measurement quantity required to be measured by the server UE.

[0165] S606. The target UE reports a positioning measurement report to the server UE. Correspondingly, the server UE receives the positioning measurement report.

[0166] After completing the SL-PRS measurement, the target UE determines the reporting time according to the above positioning measurement requirements, and reports the positioning measurement report to the server UE at the reporting time.

[0167] The positioning measurement report includes a measurement result of a measurement.

[0168] S607. The server UE locates the target UE according to the measurement result.

[0169] After receiving the positioning measurement report reported by the target UE, the server UE parses the measurement result in the positioning measurement report and can locate the target UE based on the measurement result and the position of the anchor UE. Figure 3 The positioning method shown is used to locate the target UE.

[0170] Understandably, Figure 6 The flowchart shown is a possible positioning process diagram, which may include more steps in practice. This diagram includes steps related to the present application scheme, and the order of each step in the actual process is not necessarily the same as the order in this diagram.

[0171] According to a sidelink positioning measurement method provided in an embodiment of the present application, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0172] It is understandable that, in order to implement the functions in the above embodiments, the above terminals include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, 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 scenario and design constraints of the technical solution.

[0173] Fig.10 and Fig.11 The following is a schematic diagram of the structure of possible communication devices provided in the embodiments of the present application. These communication devices can be used to implement the functions of each terminal in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments. In the embodiments of the present application, the communication device can be as follows: Figure 1 One of the terminals 120a-120j shown may also be a module (such as a chip) applied to a terminal.

[0174] like Fig.10 As shown, the communication device 1000 includes a processing unit 1010 and a transceiver unit 1020. The communication device 1000 is used to implement the above Figure 5 , Figure 6 The method embodiment shown in FIG. 1 shows the function of the target UE or the server UE.

[0175] When the communication device 1000 is used to implement Figure 5 In the method embodiment shown in FIG. 1 , the function of the target UE is as follows: the transceiver unit 1020 is used to perform the following steps: Figure 5 The operations performed by the target UE in steps S501 and S502 in the embodiment shown. Alternatively, when the communication device 1000 is used to implement Figure 6 In the method embodiment shown in FIG. 1 , the function of the target UE is as follows: the processing unit 1010 is used to execute the following Figure 6 Step S605 in the embodiment shown; and the transceiver unit 1020 is used to perform the following steps: Figure 6 The operations performed by the target UE in steps S602 to S604 and S606 in the illustrated embodiment.

[0176] When the communication device 1000 is used to implement Figure 5 In the method embodiment shown in FIG. 1 , the function of the server UE is as follows: the transceiver unit 1020 is used to perform the following steps: Figure 5 The operations performed by the server UE in steps S501 and S502 in the embodiment shown. Alternatively, when the communication device 1000 is used to implement Figure 6In the method embodiment shown in FIG. 1 , the function of the server UE is as follows: the processing unit 1010 is used to execute the following Figure 6 Step S607 in the embodiment shown; and the transceiver unit 1020 is used to perform the following steps: Figure 6 The operations performed by the server UE in steps S600 to S603 and S606 in the illustrated embodiment.

[0177] For a more detailed description of the processing unit 1010 and the transceiver unit 1020, please refer to Figure 5 , Figure 6 The relevant description is obtained in the method embodiment shown and will not be repeated here.

[0178] When the above communication device is a chip applied to a target UE, the chip in the target UE implements the function of the target UE in the above method embodiment. The chip in the target UE receives information from other modules (such as a radio frequency module or an antenna) in the target UE, and the information is sent from the server UE or the anchor UE to the target UE; or, the chip in the target UE sends information to other modules (such as a radio frequency module or an antenna) in the target UE, and the information is sent from the target UE to the server UE or the anchor UE.

[0179] When the above communication device is a chip applied to a server UE, the chip in the server UE implements the functions of the server UE in the above method embodiment. The chip in the server UE receives information from other modules (such as a radio frequency module or an antenna) in the server UE, and the information is sent from the target UE to the server UE; or, the chip in the server UE sends information to other modules (such as a radio frequency module or an antenna) in the server UE, and the information is sent from the server UE to the target UE.

[0180] like Fig.11 As shown, the communication device 1100 includes a processor 1110, and optionally, may further include an interface circuit 1120. The processor 1110 and the interface circuit 1120 are coupled to each other. It is understood that the interface circuit 1120 may be a transceiver or an input-output interface. Optionally, the communication device 1100 may further include a memory 1130 for storing instructions executed by the processor 1110 or storing input data required by the processor 1110 to execute instructions or storing data generated after the processor 1110 executes instructions.

[0181] When the communication device 1100 is used to implement Figure 5In the method embodiment shown in FIG. 1 , the function of the target UE is as follows: the processor 1110 is configured to execute Figure 5 The operations performed by the target UE in steps S501 and S502 in the embodiment shown. Alternatively, when the communication device 1000 is used to implement Figure 6 In the method embodiment shown in FIG. 1 , the function of the target UE is as follows: the processor 1110 is configured to execute Figure 6 The operations performed by the target UE in step S605, steps S602 to S604, and S606 in the illustrated embodiment.

[0182] When the communication device 1100 is used to implement Figure 5 In the method embodiment shown in FIG. 1 , the server UE functions as follows: the processor 1110 is configured to execute the following Figure 5 The operations performed by the server UE in steps S501 and S502 in the embodiment shown. Alternatively, when the communication device 1000 is used to implement Figure 6 In the method embodiment shown in FIG. 1 , the server UE functions as follows: the processor 1110 is configured to execute the following Figure 6 The operations performed by the server UE in step S607, steps S600 to S603, and S606 in the illustrated embodiment.

[0183] For a more detailed description of the processor 1110, please refer to Figure 5 , Figure 6 The relevant description is obtained in the method embodiment shown and will not be repeated here.

[0184] It is understood that the processor 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, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0185] An embodiment of the present application also provides a communication system, which includes the above-mentioned target UE and server UE.

[0186] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the above method embodiment is implemented.

[0187] An embodiment of the present application also provides a computer program product including instructions, which, when executed on the above communication device, enables the communication device to execute the method in the above method embodiment.

[0188] The method steps in the embodiments of the present application can be implemented by hardware, or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, register, hard disk, mobile hard disk, compact disc read-only memory (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. Of course, the processor and the storage medium can also be present in a network device or a terminal as discrete components.

[0189] 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 programs or instructions. When the computer program or instruction is loaded and executed on a computer, the layer or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may 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 program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a tape; it may also be an optical medium, such as a digital video disc; it may also be a semiconductor medium, such as a solid-state hard disk.

[0190] In the various embodiments of the present application, unless otherwise specified or provided for in any logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0191] In the present application, "at least one" means one or more, and "more" means two or more. "At least one of the following: ..." or similar expressions means any one of the listed items or any combination of these items. For example, "at least one of the following: A, B and C", or "at least one of the following: A, B or C", can all mean: A exists alone, B exists alone, C exists alone, A and B exist at the same time, B and C exist at the same time, A and C exist at the same time, and A, B and C exist at the same time, where A, B, C can be singular or plural. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship.

[0192] It is understood that the various numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.

Claims

1. A sidelink positioning measurement method, characterized in that: The method comprises: receiving a positioning measurement request, where the positioning measurement request includes a positioning measurement requirement, where the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; According to the positioning measurement request, a positioning measurement report is reported, where the positioning measurement report includes a measurement result of the single measurement, where the measurement result is obtained by the target terminal based on at least one sidelink-positioning reference signal received from at least one anchor terminal.

2. The method according to claim 1, characterized in that The positioning measurement requirement includes the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, or the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal, or completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal.

3. The method according to claim 1 or 2, characterized in that The positioning measurement requirement includes the number of anchor terminals measured in the one measurement, or the positioning measurement requirement includes the percentage of the anchor terminals measured in the one measurement to the total number of anchor terminals; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of sidelink-positioning reference signals sent by the number of anchor terminals in the one measurement, or completing the measurement of sidelink-positioning reference signals sent by the percentage of anchor terminals in the one measurement.

4. The method according to claim 3, characterized in that The number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals, corresponds to a measurement and positioning technology.

5. The method according to any one of claims 1 to 4, characterized in that The positioning measurement requirement includes information of a time window; The information of the time window is used to indicate that the one measurement and the reporting of the positioning measurement report are completed within the time window; or The information of the time window is used to indicate that the measurement is completed within the time window, and the positioning measurement report is reported after the time window ends.

6. The method according to claim 5, characterized in that The information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

7. A sidelink positioning measurement method, characterized in that: The method comprises: Sending a positioning measurement request, where the positioning measurement request includes a positioning measurement requirement, where the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; A positioning measurement report is received according to the positioning measurement request, wherein the positioning measurement report includes a measurement result of the single measurement, wherein the measurement result is obtained by the target terminal based on at least one sidelink-positioning reference signal received from at least one anchor terminal.

8. The method according to claim 1, characterized in that The positioning measurement requirement includes the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, or the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal, or completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal.

9. The method according to claim 7 or 8, characterized in that The positioning measurement requirement includes the number of anchor terminals measured in the one measurement, or the positioning measurement requirement includes the percentage of the anchor terminals measured in the one measurement to the total number of anchor terminals; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of sidelink-positioning reference signals sent by the number of anchor terminals in the one measurement, or completing the measurement of sidelink-positioning reference signals sent by the percentage of anchor terminals in the one measurement.

10. The method according to claim 9, characterized in that The number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals, corresponds to a measurement and positioning technology.

11. The method according to any one of claims 7 to 10, characterized in that: The positioning measurement requirement includes information of a time window; The information of the time window is used to indicate that the one measurement and the reporting of the positioning measurement report are completed within the time window; or The information of the time window is used to indicate that the measurement is completed within the time window, and the positioning measurement report is reported after the time window ends.

12. The method according to claim 11, characterized in that The information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

13. The method according to any one of claims 7 to 12, characterized in that The method further comprises: Sending a positioning request to the at least one anchor terminal, wherein the positioning request is used to request the at least one anchor terminal to send at least one sidelink-positioning reference signal; In response to the positioning request, configuration information is received from the at least one anchor terminal respectively, the configuration information including at least one of the following information of the sidelink-positioning reference signal: the number of symbols occupied by the sidelink-positioning reference signal, the bandwidth corresponding to the sidelink-positioning reference signal, the comb tooth size of the sidelink-positioning reference signal, the frequency domain starting position of the sidelink-positioning reference signal, the time domain starting position of the sidelink-positioning reference signal, the sequence initialization identifier of the sidelink-positioning reference signal, and the resource identifier corresponding to the sidelink-positioning reference signal.

14. The method according to claim 13, characterized in that The method further comprises: Sending auxiliary data to the target terminal, the auxiliary data including configuration information of the at least one anchor terminal.

15. The method according to any one of claims 7 to 14, characterized in that The method further comprises: The target terminal is positioned according to the measurement result.

16. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 15.

17. A communication device, characterized in that: The device comprises a processor, and when the program or instruction is executed by the processor, the device executes the method according to any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 15 is implemented.

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