Positioning method and device and storage medium

Abstract

The invention provides a positioning method and device and a storage medium, and the method comprises the steps: transmitting a first uplink sounding reference signal UL SRS to first network equipment in a first time window, and transmitting a first sidelink positioning reference signal SL PRS to second network equipment; the first UL SRS is used for combining a second UL SRS and a second SL PRS sent by a second UE in the first time window to determine the position of the second UE; the first SL PRS is used for determining the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window. According to the positioning method and device and the storage medium provided by the invention, the UE sends the UL SRS and the SL PRS to the network equipment in a time window mode, hybrid positioning of the Uu interface and the PC5 interface is realized, and the positioning precision is improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a positioning method, apparatus, and storage medium. Background Art

[0002] In related technical solutions, a hybrid positioning solution for a terminal / user equipment (UE) based on the Uu interface and the PC5 interface is discussed. The combined positioning based on the Uu interface and the PC5 interface gives two solutions: uplink-based hybrid positioning and downlink-based hybrid positioning. Among them, in the uplink-based hybrid positioning solution, a base station (gNB) and an anchor UE respectively report uplink (UL) relative time of arrival (RTOA) measurement quantities and sidelink (SL) RTOA measurement quantities to a target UE or a location management function (LMF) network element. In the downlink-based hybrid positioning solution, for a target UE, it supports reporting a reference signal time difference (RSTD) of the timing difference between an SL reference node and a Uu interface reference node.

[0003] However, in the above two solutions, at present, due to different synchronization sources for the measurement quantities of the Uu interface and the PC5 interface, there may be a time offset caused by different synchronization sources, resulting in the technical problem of inaccurate positioning results. Summary of the Invention

[0004] Embodiments of this application provide a positioning method, apparatus, and storage medium to solve the technical problem of inaccurate positioning results in related technologies.

[0005] In a first aspect, an embodiment of this application provides a positioning method applied to a first terminal UE, including:

[0006] Sending a first uplink sounding reference signal UL SRS to a first network device and a first sidelink positioning reference signal SL PRS to a second network device in a first time window; the first UL SRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the position of the second UE in combination with the second UL SRS and the second SL PRS sent by the second UE in the first time window.

[0007] In some embodiments, the method further includes:

[0008] Determining first correlation parameters of the first time window;

[0009] Determine the position of the first time window based on the first relevant parameter.

[0010] In some embodiments, the first relevant parameter for determining the first time window includes:

[0011] Receive the first relevant parameter of the first time window sent by the first network device.

[0012] In a second aspect, an embodiment of the present application provides a positioning method, which is applied to a second UE and includes:

[0013] Send a second UL SRS to a first network device and send a second SLPRS to a second network device in a first time window; the second UL SRS is used to determine the position of the second UE in combination with the first UL SRS and the first SLPRS sent by the first UE in the first time window; the second SLPRS is used to determine the position of the second UE in combination with the first UL SRS and the first SLPRS sent by the first UE in the first time window.

[0014] In some embodiments, the method further includes:

[0015] Determine the first relevant parameter of the first time window;

[0016] Determine the position of the first time window based on the first relevant parameter.

[0017] In some embodiments, the determining the first relevant parameter of the first time window includes:

[0018] Receive the first relevant parameter of the first time window sent by the second network device.

[0019] In a third aspect, an embodiment of the present application provides a positioning method, which is applied to a first network device and includes:

[0020] Receive a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0021] Determine an uplink relative time of arrival ULRTOA based on the first UL SRS and the second UL SRS; the ULRTOA is used to determine the position of the second UE in combination with a side link relative time of arrival SL RTOA determined by a second network device.

[0022] In some embodiments, the method further includes:

[0023] Determine the second relevant parameter of the second time window;

[0024] Determine the position of the second time window based on the second correlation parameter.

[0025] In some embodiments, the method further includes:

[0026] Determine a first correlation parameter of the first time window;

[0027] Send the first correlation parameter to the first UE.

[0028] In a fourth aspect, an embodiment of the present application provides a positioning method, which is applied to a second network device and includes:

[0029] Receive a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in the second time window;

[0030] Determine an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the position of the second UE in combination with a UL RTOA determined by a first network device.

[0031] In some embodiments, the method further includes:

[0032] Determine a second correlation parameter of the second time window;

[0033] Determine the position of the second time window based on the second correlation parameter.

[0034] In some embodiments, the method further includes:

[0035] Determine a first correlation parameter of the first time window;

[0036] Send the first correlation parameter to the second UE.

[0037] In a fifth aspect, an embodiment of the present application provides a positioning method, which is applied to an electronic device and includes:

[0038] Obtain a UL RTOA determined by a first network device and determine an SL RTOA determined by a second network device;

[0039] Determine the position of the second UE based on the UL RTOA and the SL RTOA.

[0040] In some embodiments, the determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0041] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA;

[0042] Based on the UL RTOA after the double-differencing operation and the SL RTOA after the double-differencing operation, calculate the position of the second UE.

[0043] In some embodiments, determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0044] When the initial times of the UL RTOA and the SL RTOA are different, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0045] Correct the SL RTOA based on the difference;

[0046] Determine the position of the second UE based on the UL RTOA and the corrected SL RTOA.

[0047] In some embodiments, the UL RTOA is determined based on a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window received in a second time window.

[0048] In some embodiments, the SL RTOA is determined based on a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window received in a second time window.

[0049] In a sixth aspect, an embodiment of the present application provides a first UE, including a memory, a transceiver, and a processor;

[0050] The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0051] Send a first uplink sounding reference signal UL SRS to a first network device and a first side-link positioning reference signal SL PRS to a second network device in a first time window; the first UL SRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

[0052] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0053] Determine a first correlation parameter of the first time window;

[0054] Determine the position of the first time window based on the first correlation parameter.

[0055] In some embodiments, the determining the first correlation parameter of the first time window includes:

[0056] Receiving the first correlation parameter of the first time window sent by the first network device.

[0057] In a seventh aspect, an embodiment of the present application provides a second UE, including a memory, a transceiver, and a processor;

[0058] The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0059] Transmit a second UL SRS to a first network device and transmit a second SLPRS to a second network device in a first time window; the second UL SRS is used to determine the position of the second UE in combination with a first UL SRS and a first SLPRS sent by a first UE in the first time window; the second SLPRS is used to determine the position of the second UE in combination with the first UL SRS and the first SLPRS sent by the first UE in the first time window.

[0060] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0061] Determine a first correlation parameter of the first time window;

[0062] Determine the position of the first time window based on the first correlation parameter.

[0063] In some embodiments, the determining the first correlation parameter of the first time window includes:

[0064] Receiving the first correlation parameter of the first time window sent by the second network device.

[0065] In an eighth aspect, an embodiment of the present application provides a first network device, including a memory, a transceiver, and a processor;

[0066] A memory for storing computer programs; a transceiver for transmitting and receiving data under the control of the processor; a processor for reading the computer programs in the memory and performing the following operations:

[0067] Receiving a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0068] Determining an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the location of the second UE in combination with a side link relative time of arrival (SL RTOA) determined by a second network device.

[0069] In some embodiments, the processor is further configured to read the computer programs in the memory and perform the following operations:

[0070] Determining a second correlation parameter of the second time window;

[0071] Determining the location of the second time window based on the second correlation parameter.

[0072] In some embodiments, the processor is further configured to read the computer programs in the memory and perform the following operations:

[0073] Determining a first correlation parameter of the first time window;

[0074] Sending the first correlation parameter to the first UE.

[0075] In a ninth aspect, an embodiment of the present application provides a second network device, including a memory, a transceiver, and a processor;

[0076] A memory for storing computer programs; a transceiver for transmitting and receiving data under the control of the processor; a processor for reading the computer programs in the memory and performing the following operations:

[0077] Receiving a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in a second time window;

[0078] Determining an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the location of the second UE in combination with a UL RTOA determined by a first network device.

[0079] In some embodiments, the processor is further configured to read the computer programs in the memory and perform the following operations:

[0080] Determine the second correlation parameter of the second time window;

[0081] Determine the position of the second time window based on the second correlation parameter.

[0082] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0083] Determine the first correlation parameter of the first time window;

[0084] Send the first correlation parameter to the second UE.

[0085] In a tenth aspect, an embodiment of the present application provides an electronic device, including a memory, a transceiver, and a processor;

[0086] The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0087] Obtain the UL RTOA determined by the first network device, and determine the SL RTOA determined by the second network device;

[0088] Determine the position of the second UE based on the UL RTOA and the SL RTOA.

[0089] In some embodiments, the determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0090] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-difference operation on the UL RTOA, and perform a double-difference operation on the SL RTOA;

[0091] Based on the UL RTOA after the double-difference operation and the SL RTOA after the double-difference operation, calculate the position of the second UE.

[0092] In some embodiments, the determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0093] When the initial times of the UL RTOA and the SL RTOA are different, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0094] Correct the SL RTOA based on the difference;

[0095] Determine the position of the second UE based on the UL RTOA and the corrected SL RTOA.

[0096] In some embodiments, the UL RTOA is determined based on a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window, which are received in a second time window.

[0097] In some embodiments, the SL RTOA is determined based on a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window, which are received in a second time window.

[0098] In a tenth aspect, an embodiment of the present application provides a positioning device, including:

[0099] A first sending module, configured to send a first UL SRS to a first network device and send a first SL PRS to a second network device in a first time window; the first UL SRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

[0100] In some embodiments, the device further includes:

[0101] A fourth determining module, configured to determine a first correlation parameter of the first time window;

[0102] A fifth determining module, configured to determine the position of the first time window based on the first correlation parameter.

[0103] In some embodiments, the fourth determining module is specifically configured to:

[0104] Receive the first correlation parameter of the first time window sent by the first network device.

[0105] In an eleventh aspect, an embodiment of the present application provides a positioning device, including:

[0106] A second sending module, configured to send a second UL SRS to a first network device and send a second SL PRS to a second network device in a first time window; the second UL SRS is used to determine the position of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window; the second SL PRS is used to determine the position of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window.

[0107] In some embodiments, the device further includes:

[0108] A sixth determination module, configured to determine a first correlation parameter of the first time window;

[0109] A seventh determination module, configured to determine the position of the first time window based on the first correlation parameter.

[0110] In some embodiments, the sixth determination module is specifically configured to:

[0111] Receive the first correlation parameter of the first time window sent by the second network device.

[0112] In a thirteenth aspect, an embodiment of the present application provides a positioning device, including:

[0113] A first receiving module, configured to receive a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0114] A first determination module, configured to determine an uplink relative time of arrival UL RTOA based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the position of the second UE in combination with a sidelink relative time of arrival SL RTOA determined by a second network device.

[0115] In some embodiments, the device further includes:

[0116] An eighth determination module, configured to determine a second correlation parameter of the second time window;

[0117] A ninth determination module, configured to determine the position of the second time window based on the second correlation parameter.

[0118] In some embodiments, the device further includes:

[0119] A tenth determination module, configured to determine a first correlation parameter of the first time window;

[0120] A third sending module, configured to send the first correlation parameter to the first UE.

[0121] In a fourteenth aspect, an embodiment of the present application provides a positioning device, including:

[0122] A second receiving module, configured to receive a first SLPRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in a second time window;

[0123] A second determination module, configured to determine an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the location of the second UE in combination with the UL RTOA determined by a first network device.

[0124] In some embodiments, the apparatus further includes:

[0125] An eleventh determination module, configured to determine a second correlation parameter of the second time window;

[0126] A twelfth determination module, configured to determine the location of the second time window based on the second correlation parameter.

[0127] In some embodiments, the apparatus further includes:

[0128] A thirteenth determination module, configured to determine a first correlation parameter of the first time window;

[0129] A fourth sending module, configured to send the first correlation parameter to the second UE.

[0130] In a fifteenth aspect, an embodiment of the present application provides a positioning apparatus, including:

[0131] An acquisition module, configured to acquire a UL RTOA determined by a first network device and determine an SL RTOA determined by a second network device;

[0132] A third determination module, configured to determine the location of a second UE based on the UL RTOA and the SL RTOA.

[0133] In some embodiments, the third determination module is specifically configured to:

[0134] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA;

[0135] Based on the UL RTOA after the double-differencing operation and the SL RTOA after the double-differencing operation, calculate the location of the second UE.

[0136] In some embodiments, the third determination module is specifically configured to:

[0137] When the initial times of the UL RTOA and the SL RTOA are different, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0138] Correct the SL RTOA based on the difference;

[0139] Determine the location of the second UE based on the UL RTOA and the corrected SL RTOA.

[0140] In some embodiments, the UL RTOA is determined based on the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window, which are received in the second time window.

[0141] In some embodiments, the SL RTOA is determined based on the first SL PRS sent by the first UE in the first time window and the second SL PRS sent by the second UE in the first time window, which are received in the second time window.

[0142] In a sixteenth aspect, an embodiment of the present application further provides a non-transitory readable storage medium storing a computer program for causing a processor to execute the positioning method described in the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect as described above.

[0143] In a seventeenth aspect, an embodiment of the present application further provides a processor-readable storage medium storing a computer program for causing a processor to execute the positioning method described in the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect as described above.

[0144] In an eighteenth aspect, an embodiment of the present application further provides a computer-readable storage medium storing a computer program for causing a computer to execute the positioning method described in the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect as described above.

[0145] In a nineteenth aspect, an embodiment of the present application further provides a communication device storing a computer program for causing the communication device to execute the positioning method described in the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect as described above.

[0146] In a twentieth aspect, an embodiment of the present application further provides a chip product storing a computer program for causing the chip product to execute the positioning method described in the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect as described above.

[0147] For the positioning method, device and storage medium provided by the present application, the UE sends UL SRS and SL PRS to the network device in a time window manner, and the network device receives UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy. Description of the Drawings

[0148] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0149] Figure 1 It is one of the schematic flowcharts of the positioning method provided by the embodiments of the present application;

[0150] Figure 2 It is a schematic diagram of an aperiodic transmission window provided by the embodiments of the present application;

[0151] Figure 3 It is a schematic diagram of a periodic transmission window provided by the embodiments of the present application;

[0152] Figure 4 It is a schematic diagram of an aperiodic reception window provided by the embodiments of the present application;

[0153] Figure 5 It is a schematic diagram of a periodic reception window provided by the embodiments of the present application;

[0154] Figure 6 It is the second schematic flowchart of the positioning method provided by the embodiments of the present application;

[0155] Figure 7 It is the third schematic flowchart of the positioning method provided by the embodiments of the present application;

[0156] Figure 8 It is the fourth schematic flowchart of the positioning method provided by the embodiments of the present application;

[0157] Figure 9 It is the fifth schematic flowchart of the positioning method provided by the embodiments of the present application;

[0158] Figure 10 It is the schematic structural diagram of the first UE provided by the embodiments of the present application;

[0159] Figure 11 It is the schematic structural diagram of the second UE provided by the embodiments of the present application;

[0160] Figure 12 It is the schematic structural diagram of the first network device provided by the embodiments of the present application;

[0161] Figure 13 It is the schematic structural diagram of the second network device provided by the embodiments of the present application;

[0162] Figure 14It is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0163] Figure 15 It is one of the schematic flowcharts of a positioning device provided by an embodiment of the present application;

[0164] Figure 16 It is the second of the schematic flowcharts of a positioning device provided by an embodiment of the present application;

[0165] Figure 17 It is the third of the schematic flowcharts of a positioning device provided by an embodiment of the present application;

[0166] Figure 18 It is the fourth of the schematic flowcharts of a positioning device provided by an embodiment of the present application;

[0167] Figure 19 It is the fifth of the schematic flowcharts of a positioning device provided by an embodiment of the present application. Detailed implementation manners

[0168] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0169] Figure 1 It is the first of the schematic flowcharts of a positioning method provided by an embodiment of the present application. As Figure 1 shown, an embodiment of the present application provides a positioning method, and the execution subject thereof may be a first UE, such as a mobile phone, a vehicle-mounted terminal, etc. The method includes:

[0170] Step 101: Send a first uplink sounding reference signal UL SRS to a first network device in a first time window, and send a first sidelink positioning reference signal SL PRS to a second network device; the first UL SRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

[0171] Specifically, in a positioning scenario within the coverage of a sidelink (SL), when the number of network devices for positioning is insufficient, the first network device on the Uu interface and the second network device on the PC5 interface need to jointly participate in positioning to achieve the positioning of the target UE (the second UE).

[0172] In an embodiment of the present application, a first UE (which may also be referred to as a reference UE or an assisting UE) sends a first uplink (UL) sounding reference signal (SRS) to a first network device in a first time window, and sends a first sidelink (SL) positioning reference signal (PRS) to a second network device.

[0173] A second UE sends a second UL SRS to the first network device in the first time window, and sends a second SL PRS to the second network device.

[0174] The first network device receives the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window in a second time window, and determines an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS.

[0175] The second network device receives the first SL PRS sent by the first UE in the first time window and the second SL PRS sent by the second UE in the first time window in the second time window, and determines an SL RTOA based on the first SL PRS and the second SL PRS.

[0176] Finally, a position calculation network element determines the position of the second UE based on the UL RTOA and the SL RTOA.

[0177] In an embodiment of the present application, the first network device includes a base station of the Uu interface, etc., and the second network device includes a road side unit (RSU), a repeater, etc. The position calculation network element includes all devices with position calculation capabilities, such as a location management function (LMF), a base station, an RSU, the first UE, the second UE, etc.

[0178] In an embodiment of the present application, the first time window may also be referred to as a first double difference effective window (DDEW) or a transmission DDEW, and the second time window may also be referred to as a second DDEW or a reception DDEW. The relevant parameters of the first time window and the relevant parameters of the second time window may be configured by a network device or may be predefined. The relevant parameters of the first time window and the relevant parameters of the second time window may be the same (i.e., the same time window, which is applicable to both transmission and reception), and the relevant parameters of the first time window and the relevant parameters of the second time window may also be different (the first time window is applicable to UE signal transmission, and the second time window is applicable to network device signal reception).

[0179] For example, in the scenario of positioning within the sidelink coverage, when the number of Road Side Units (RSUs) and base stations is insufficient, the RSU with the PC5 interface and the base station with the Uu interface need to jointly participate in the positioning to achieve the positioning of the target UE. The LMF notifies the serving base station to allocate the resources of the SL PRS and UL SRS of the two UEs within the transmitted DDEW, and notifies the configuration parameters of the transmitted DDEW to the base station with the Uu interface and the RSU with the PC5 interface. Then, through the scheduling of the base station with the Uu interface and the RSU with the PC5 interface, it is ensured that the target UE and the reference UE can transmit the SRS and SL PRS within the same DDEW. Subsequently, the LMF notifies the base station with the Uu interface and the RSU with the PC5 interface of the configuration parameters related to receiving the DDEW. After that, the base station with the Uu interface and the RSU with the PC5 interface measure the SRS and SL PRS of the reference UE and the target UE respectively according to the received DDEW configuration parameters. The LMF processes the RTOA measurement values reported by the base station and the RSU to obtain the reference time difference between the two parties, which is convenient for subsequent double-difference processing. Finally, after the LMF performs the double-differencing process to eliminate the synchronous timing error, the final solution position of the positioned UE is obtained through calculation.

[0180] In the positioning method provided by the embodiments of the present application, the UE sends the UL SRS and SL PRS to the network device in the form of a time window, and the network device receives the UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0181] In some embodiments, the method further includes:

[0182] Determining first correlation parameters of the first time window;

[0183] Determining the position of the first time window based on the first correlation parameters.

[0184] Specifically, in the embodiments of the present application, before the first UE sends the first UL SRS to the first network device and the first SL PRS to the second network device in the first time window, it is necessary to determine the first correlation parameters of the first time window, and then determine the position of the first time window based on the first correlation parameters. The position of the first time window includes the time domain position or the frequency domain position of the first time window.

[0185] The first correlation parameters of the first time window can be configured by the network device or can be predefined.

[0186] As Figure 2 shown, the first time window can be a non-periodic time window. Figure 2Among them, UL SRS1 represents the first UL SRS sent by the first UE to the first network device, SL PRS1 represents the first SL PRS sent by the first UE to the second network device, L1 represents the window length / duration of the first time window, t_begin represents the start time of the first time window, t_end represents the end time of the first time window, UL SRS2 represents the second UL SRS sent by the second UE to the first network device, and SLPRS2 represents the second SL PRS sent by the second UE to the second network device.

[0187] As Figure 3 shown, the first time window can also be a periodic time window. Figure 3 Among them, UL SRS1 represents the first UL SRS sent by the first UE to the first network device, SL PRS1 represents the first SL PRS sent by the first UE to the second network device, L1 represents the window length / duration of the first time window, t_begin represents the start time of the first time window, t_end represents the end time of the first time window, UL SRS2 represents the second UL SRS sent by the second UE to the first network device, SLPRS2 represents the second SL PRS sent by the second UE to the second network device, t_begin + T_repetition represents the start time of the first time window in the T_repetition-th cycle, and t_end + T_repetition represents the end time of the first time window in the T_repetition-th cycle.

[0188] For example, for the hybrid positioning scenario covering the PC5 interface and the Uu interface, the LMF notifies the serving base station of the parameters of the relevant valid window, and the serving base stations corresponding to the target UE and the reference UE schedule the UL SRS and SL PRS corresponding to the UE according to the sent DDEW configuration parameters to ensure that the transmission times of the UL SRS and SL PRS are within the same DDEW. Among them, the DDEW parameters sent to the base station of the Uu interface and the RSU of the PC5 interface should be kept consistent.

[0189] In the positioning method provided by the embodiment of the present application, the first UE determines the position of the first time window based on the first relevant parameters of the first time window, and sends UL SRS and SL PRS to the network device in the first time window. The network device receives the UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0190] In some embodiments, determining the first relevant parameters of the first time window includes:

[0191] Receiving the first relevant parameters of the first time window sent by the first network device.

[0192] Specifically, in the embodiments of the present application, the first related parameter of the first time window is configured by a network device.

[0193] For example, the first related parameter of the first time window is configured by a first network device, and the first network device directly sends the configured first related parameter of the first time window to the first UE.

[0194] For example, the first related parameter of the first time window is configured by an LMF network element. The LMF network element sends the configured first related parameter of the first time window to the first network device, and then the first network device sends the first related parameter of the first time window to the first UE.

[0195] In the positioning method provided in the embodiments of the present application, the first related parameter of the first time window is configured by a network device, which improves the flexibility of the communication system.

[0196] In some embodiments, the first related parameter includes one or more of the following:

[0197] Start time;

[0198] Window length;

[0199] End time;

[0200] Granularity;

[0201] Repetition period.

[0202] Specifically, in the embodiments of the present application, the first related parameter of the first time window includes one or more of the following:

[0203] Start time;

[0204] Window length;

[0205] End time;

[0206] Granularity;

[0207] Repetition period.

[0208] For example, the first time window is a periodic time window, and the first related parameter of the first time window includes a start time, a window length, and a repetition period.

[0209] For another example, the first time window is a periodic time window, and the first related parameter of the first time window includes an end time, a window length, and a repetition period.

[0210] For another example, the first time window is a non-periodic time window, and the first related parameter of the first time window includes a start time and a window length.

[0211] For another example, the first time window is a non-periodic time window, and the first correlation parameter of the first time window includes an end moment and a window length.

[0212] The window length can also be referred to as the duration, with the unit of granularity, and the value range is {1, 2, …, L_Max}, where L_Max is a positive integer greater than or equal to 1.

[0213] The repetition period, with the unit of granularity, has a value range of {1, 2, …, T_repetition_Max}, where T_repetition_Max is a positive integer greater than or equal to 1.

[0214] In the positioning method provided by the embodiments of this application, the first UE determines the position of the first time window based on the first correlation parameter of the first time window, and sends UL SRS and SL PRS to the network device within the first time window. The network device receives UL SRS and SL PRS within the time window, and the network device receives UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0215] In some embodiments, the start moment includes one or more of the following:

[0216] Start radio frame number;

[0217] Start time slot offset within the radio frame;

[0218] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0219] Specifically, in the embodiments of this application, for UL SRS, the start radio frame number of the first time window can be determined according to the system frame number (SFN) of UL SRS.

[0220] For SL PRS, the start radio frame number of the first time window can be determined according to the SFN or direct frame number (DFN) of SL PRS.

[0221] The first network device can determine the start radio frame number according to the SFN of the first UL SRS.

[0222] The first network device can determine the start radio frame number according to the SFN or DFN of the first SL PRS.

[0223] To ensure that the two signals are sent within the same time window, the first time window can be determined by the SFN.

[0224] The start time slot offset within the radio frame refers to the offset of the periodic time window relative to the cycle start position.

[0225] In the positioning method provided by the embodiment of the present application, the first UE determines the position of the first time window based on the start time of the first time window, and sends UL SRS and SL PRS to the network device in the first time window. The network device receives UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0226] In some embodiments, the granularity includes one or more of the following:

[0227] Subframe;

[0228] Time slot;

[0229] OFDM symbol.

[0230] Specifically, in the embodiment of the present application, the granularity includes one or more of the following:

[0231] Subframe;

[0232] Time slot;

[0233] OFDM symbol.

[0234] The granularity can be used as the unit of the window length or as the unit of the time window period.

[0235] For example, the window length is 2 subframes.

[0236] For another example, the time window period is 100 time slots.

[0237] In the positioning method provided by the embodiment of the present application, the first UE determines the position of the first time window based on the first parameter of the first time window, and sends UL SRS and SL PRS to the network device in the first time window. The network device receives UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0238] Figure 4 It is the second flow chart of the positioning method provided by the embodiment of the present application. As Figure 4 shown, the embodiment of the present application provides a positioning method, and its execution subject can be the second UE, such as a mobile phone, a vehicle-mounted terminal, etc. The method includes:

[0239] Step 401: Send a second UL SRS to a first network device and send a second SL PRS to a second network device within a first time window; the second UL SRS is used to determine the position of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE within the first time window; the second SL PRS is used to determine the position of the second UE in combination with the first UL SRS and the first SL PRS sent by the first UE within the first time window.

[0240] In some embodiments, the method further includes:

[0241] Determine a first correlation parameter of the first time window;

[0242] Determine the position of the first time window based on the first correlation parameter.

[0243] In some embodiments, the determining the first correlation parameter of the first time window includes:

[0244] Receive the first correlation parameter of the first time window sent by the second network device.

[0245] Specifically, in the embodiments of the present application, the first correlation parameter of the first time window is configured by a network device.

[0246] For example, the first correlation parameter of the first time window is configured by the second network device, and the second network device directly sends the configured first correlation parameter of the first time window to the second UE.

[0247] For example, the first correlation parameter of the first time window is configured by an LMF network element, the LMF network element sends the configured first correlation parameter of the first time window to the second network device, and then the second network device sends the first correlation parameter of the first time window to the second UE.

[0248] In the positioning method provided by the embodiments of the present application, the first correlation parameter of the first time window is configured by a network device, which improves the flexibility of the communication system.

[0249] In some embodiments, the first correlation parameter includes one or more of the following:

[0250] Start time;

[0251] Window length;

[0252] End time;

[0253] Granularity;

[0254] Repetition period.

[0255] In some embodiments, the start time includes one or more of the following:

[0256] Starting radio frame number;

[0257] Starting time slot offset within a radio frame;

[0258] Starting orthogonal frequency division multiplexing (OFDM) symbol offset within a starting time slot.

[0259] In some embodiments, the granularity includes one or more of the following:

[0260] Sub-frame;

[0261] Time slot;

[0262] OFDM symbol.

[0263] Specifically, in the embodiments of the present application, the first UE sends a first UL SRS to the first network device and a first SL PRS to the second network device within a first time window.

[0264] The second UE sends a second UL SRS to the first network device and a second SL PRS to the second network device within the first time window.

[0265] The first network device receives the first UL SRS sent by the first UE within the first time window and the second UL SRS sent by the second UE within the first time window in a second time window, and determines the uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS.

[0266] The second network device receives the first SL PRS sent by the first UE within the first time window and the second SL PRS sent by the second UE within the first time window in the second time window, and determines the SL RTOA based on the first SL PRS and the second SL PRS.

[0267] Finally, the location calculation network element determines the location of the second UE based on the UL RTOA and the SL RTOA.

[0268] For the positioning method provided by the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution subject above, and the same technical effects can be achieved. The same parts and beneficial effects as those in the corresponding method embodiments above will not be specifically described herein.

[0269] Figure 5 is the third schematic flowchart of the positioning method provided by the embodiments of the present application. As Figure 5 shown, the embodiments of the present application provide a positioning method, and its execution subject may be the first network device, such as a base station, etc. The method includes:

[0270] Step 501: Receive a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0271] Step 502: Determine an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the position of the second UE in combination with a sidelink relative time of arrival (SL RTOA) determined by a second network device.

[0272] Specifically, in an embodiment of the present application, the first UE sends a first UL SRS to a first network device and a first SL PRS to a second network device in a first time window.

[0273] The second UE sends a second UL SRS to the first network device and a second SL PRS to the second network device in the first time window.

[0274] The first network device receives the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window in the second time window, and determines the UL RTOA based on the first UL SRS and the second UL SRS.

[0275] The second network device receives the first SL PRS sent by the first UE in the first time window and the second SL PRS sent by the second UE in the first time window in the second time window, and determines the SL RTOA based on the first SL PRS and the second SL PRS.

[0276] Finally, a position calculation network element determines the position of the second UE based on the UL RTOA and the SL RTOA.

[0277] In the positioning method provided by the embodiment of the present application, the UE sends the UL SRS and the SL PRS to the network device in a time window manner, and the network device receives the UL SRS and the SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0278] In some embodiments, the method further includes:

[0279] Determine a second correlation parameter of the second time window;

[0280] Determine the position of the second time window based on the second correlation parameter.

[0281] Specifically, in the embodiments of the present application, before the first network device receives the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window in the second time window, it is necessary to determine the second correlation parameter of the second time window, and then determine the position of the second time window based on the second correlation parameter. The position of the second time window includes the time domain position or the frequency domain position of the second time window.

[0282] The second correlation parameter of the second time window can be configured by the network device or can be predefined.

[0283] As Figure 6 shown, the second time window can be a non-periodic time window. Figure 6 In it, UL SRS1 represents the first UL SRS sent by the first UE to the first network device, UL SRS2 represents the second UL SRS sent by the second UE to the first network device, L2 represents the window length / duration of the second time window, t_begin represents the start time of the second time window, t_end represents the end time / termination time of the second time window, SL PRS1 represents the first SL PRS sent by the first UE to the second network device, and SLPRS2 represents the second SL PRS sent by the second UE to the second network device.

[0284] As Figure 7 shown, the second time window can also be a periodic time window. Figure 7 In it, UL SRS1 represents the first UL SRS sent by the first UE to the first network device, UL SRS2 represents the second UL SRS sent by the second UE to the first network device, L2 represents the window length / duration of the second time window, t_begin represents the start time of the second time window, t_end represents the end time / termination time of the second time window, SL PRS1 represents the first SL PRS sent by the first UE to the second network device, SLPRS2 represents the second SL PRS sent by the second UE to the second network device, t_begin + T_repetition represents the start time of the second time window of the T_repetition-th cycle, and t_end + T_repetition represents the end time / termination time of the second time window of the T_repetition-th cycle.

[0285] For the hybrid positioning scenario covering the PC5 interface and the Uu interface, since the signals received by the base station of the Uu interface and the RSU of the PC5 interface are different, the LMF needs to configure two receiving DDEWs with the same parameters for the base station of the Uu interface and the RSU of the PC5 interface respectively, so as to ensure receiving UL SRS and SL PRS at close times. The LMF notifies the base station of the Uu interface and the RSU of the PC5 interface of the parameters of the relevant receiving valid window, and then the base station of the Uu interface measures the UL SRS of the reference UE and the target UE respectively according to the configured parameters of the receiving DDEW. Similarly, the RSU measures the SL PRS of the reference UE and the target UE respectively according to the configured parameters of the receiving DDEW.

[0286] In the receiving valid window of the base station of the Uu interface, SRS1 is sent by the target UE and SRS2 is sent by the reference UE. In the receiving valid window of the RSU, SL PRS1 is sent by the target UE and SL PRS2 is sent by the reference UE.

[0287] In the positioning method provided by the embodiment of the present application, the first network device determines the position of the second time window based on the second correlation parameter of the second time window, and receives the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window in the second time window, realizing hybrid positioning of the Uu interface and the PC5 interface and improving the positioning accuracy.

[0288] In some embodiments, the second correlation parameter includes one or more of the following:

[0289] Start time;

[0290] Window length;

[0291] End time;

[0292] Granularity;

[0293] Repeat period.

[0294] Specifically, for the positioning method provided by the embodiment of the present application, reference may be made to the embodiment of the positioning method with the first UE as the execution subject above, and the same technical effect can be achieved. The same parts and beneficial effects as those in the corresponding method embodiment above will not be specifically described herein.

[0295] In some embodiments, the start time includes one or more of the following:

[0296] Start radio frame number;

[0297] Start time slot offset within the radio frame;

[0298] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0299] Specifically, for the positioning method provided in the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution entity above, and the same technical effects can be achieved. Therefore, the same parts and beneficial effects in this embodiment as those in the corresponding method embodiments above will not be specifically described herein.

[0300] In some embodiments, the granularity includes one or more of the following:

[0301] Sub - frame;

[0302] Time slot;

[0303] OFDM symbol.

[0304] Specifically, for the positioning method provided in the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution entity above, and the same technical effects can be achieved. Therefore, the same parts and beneficial effects in this embodiment as those in the corresponding method embodiments above will not be specifically described herein.

[0305] In some embodiments, the method further includes:

[0306] Determining a first correlation parameter of the first time window;

[0307] Sending the first correlation parameter to the first UE.

[0308] Specifically, in the embodiments of the present application, the first correlation parameter of the first time window used when the first UE sends the first UL SRS to the first network device and the first SL PRS to the second network device is configured by the first network device or by other network devices and sent to the first UE through the first network device.

[0309] After determining the first correlation parameter of the first time window, the first network device sends the first correlation parameter to the first UE.

[0310] For the positioning method provided in the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution entity above, and the same technical effects can be achieved. Therefore, the same parts and beneficial effects in this embodiment as those in the corresponding method embodiments above will not be specifically described herein.

[0311] Figure 8 It is the fourth flow diagram of the positioning method provided in the embodiments of the present application. As Figure 8 shown, the embodiments of the present application provide a positioning method, and its execution entity can be a second network device, such as an RSU, etc. The method includes:

[0312] Step 801: Receive a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in a second time window;

[0313] Step 802: Determine an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the location of the second UE in combination with a UL RTOA determined by a first network device.

[0314] In some embodiments, the method further includes:

[0315] Determine a second correlation parameter of the second time window;

[0316] Determine the location of the second time window based on the second correlation parameter.

[0317] In some embodiments, the second correlation parameter includes one or more of the following:

[0318] Start time;

[0319] Window length;

[0320] End time;

[0321] Granularity;

[0322] Repetition period.

[0323] In some embodiments, the start time includes one or more of the following:

[0324] Start radio frame number;

[0325] Start time slot offset within a radio frame;

[0326] Start orthogonal frequency division multiplexing (OFDM) symbol offset within a start time slot.

[0327] Specifically, in an embodiment of the present application, a second network device may determine a start radio frame number according to the SFN or DFN of the first SL PRS and the second SL PRS.

[0328] In some embodiments, the granularity includes one or more of the following:

[0329] Subframe;

[0330] Time slot;

[0331] OFDM symbol.

[0332] In some embodiments, the method further includes:

[0333] Determine a first correlation parameter of the first time window;

[0334] Send the first relevant parameter to the second UE.

[0335] Specifically, for the positioning method provided in the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution entity above, and the same technical effects can be achieved. The same parts and beneficial effects as those in the corresponding method embodiments above will not be specifically described herein.

[0336] Figure 9 is the fifth flowchart of the positioning method provided in the embodiments of the present application. As Figure 9 shown, the embodiments of the present application provide a positioning method, and its execution entity may be an electronic device, such as a position calculation network element, etc. The method includes:

[0337] Step 901: Obtain the UL RTOA determined by the first network device and determine the SL RTOA determined by the second network device;

[0338] Step 902: Determine the position of the second UE based on the UL RTOA and the SL RTOA.

[0339] In some embodiments, the determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0340] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA;

[0341] Based on the UL RTOA after the double-differencing operation and the SL RTOA after the double-differencing operation, calculate the position of the second UE.

[0342] In some embodiments, the determining the position of the second UE based on the UL RTOA and the SL RTOA includes:

[0343] When the initial times of the UL RTOA and the SL RTOA are different, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0344] Correct the SL RTOA based on the difference;

[0345] Determine the position of the second UE based on the UL RTOA and the corrected SL RTOA.

[0346] In some embodiments, the UL RTOA is determined based on a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window and received in a second time window.

[0347] In some embodiments, the SL RTOA is determined based on a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window and received in a second time window.

[0348] Specifically, in the embodiments of the present application, the position calculation network element includes all devices with position calculation capabilities, such as LMF, base station, RSU, first UE, second UE, etc.

[0349] For example, after the base station of the Uu interface and the RSU of the PC5 interface complete the measurement of the reference UE and the target UE, the base station of the Uu interface and the RSU of the PC5 interface report their respective measurement values to the LMF. The measurement quantities reported by the Uu interface mainly include UL RTOA measurement values and other contents. The measurement quantities reported by the RSU mainly include SL RTOA measurement values and other contents.

[0350] Among them, according to the relevant definitions of UL RTOA and SL RTOA, the measurement quantity definitions of UL RTOA and SL RTOA are reported as the differences relative to the reference time. Therefore, the LMF adjusts the time difference between the UL RTOA reference time and the SL RTOA reference time to the same initial time to enable the RTOA measurement values reported by the base station of the Uu interface and the RSU of the PC5 interface to be jointly used for calculation. Among them, the time offset caused by different synchronization sources of the base station of the Uu interface and the RSU of the PC5 interface can be further eliminated by the double-difference method, further improving the accuracy of the final calculation result of the hybrid positioning.

[0351] If both UL RTOA and SL RTOA use SFN0 as the initial time, the reported measurement quantities can be directly subjected to double-difference processing and then subsequent calculations can be performed.

[0352] If SL RTOA uses DFN0 as the initial time while UL RTOA uses SFN0 as the initial time, further adjustment of the initial time difference is required.

[0353] The adjustment method for the time difference between the UL RTOA reference time and the SL TDOA reference time is as follows:

[0354] If the initial reference time of UL RTOA is T0 and the initial reference time of SL RTOA is T1, for example, the final RTOA measurement value is T0 + t SRS, the measurement value reported by the SL RTOA is T1 + t SLPRS , then the LMF side needs to subtract an offset value Δτ from the measurement value reported by the SL RTOA before using the final measurement value for solution calculation.

[0355] Specifically, for the positioning method provided in the embodiments of the present application, reference may be made to the embodiments of the positioning method with the first UE as the execution subject, and the same technical effects can be achieved. Therefore, the same parts and beneficial effects as those in the corresponding method embodiments above will not be specifically described herein.

[0356] The following uses several specific examples to further illustrate the method in the above embodiments.

[0357] Example 1:

[0358] In the case where the parameters of the transmission time window and the reception time window are different, the positioning process may include the following steps:

[0359] Step 1: The serving base station configures UL SRS and SL PRS resources for the reference UE and the target UE;

[0360] Based on the transmission time window parameters, the LMF notifies the serving base station to allocate the SL PRS and UL SRS resources of the two UEs within the transmission time window.

[0361] Step 2: The reference UE sends a UL SRS signal to the base station through the Uu interface according to the configured UL SRS resources, and the target UE sends an SL PRS signal to the RSU through the PC5 interface according to the configured SL PRS resources.

[0362] Step 3: Based on the reception time window parameters, the LMF notifies the base station and the RSU to measure the UL SRS and SL PRS of the two UEs within the reception time window.

[0363] Step 4: The RSU measures the SL PRS sent by the reference UE and the target UE respectively within the reception time window.

[0364] The base station measures the UL SRS sent by the reference UE and the target UE respectively within the reception time window.

[0365] Step 5: After the measurement is completed, the RSU and the base station report the following measurement quantities to the LMF, and the RSU and the base station report them in the following ways respectively:

[0366] The RSU reports the following information:

[0367] The reference sidelink positioning reference signal terminal identifier (the reference SL PRS UE ID);

[0368] Reference Sidelink Positioning Reference Signal Resource ID;

[0369] Reference Sidelink Positioning Reference Signal Resource Index;

[0370] Reference Sounding Reference Signal UE ID;

[0371] Measured Sidelink Relative Time of Arrival (Measured SL RTOA).

[0372] The base station reports the following information:

[0373] Sounding Reference Signal UE ID;

[0374] Sounding Reference Signal Resource ID;

[0375] Sidelink Positioning Reference Signal Index (SL PRS resource index);

[0376] Reference Sounding Reference Signal UE ID;

[0377] Measured Uplink Relative Time of Arrival (Measured UL RTOA).

[0378] Step 6: The LMF processes the measured UL RTOA and SL RTOA values reported by the base station and the RSU, and compensates for the reference time difference between the base station and the RSU, facilitating subsequent double-differencing operations.

[0379] The reference time compensation operation is as follows: First, confirm the initial values T0 and T1 of UL RTOA and SL RTOA through the frame numbers of SFN and DFN. If they are inconsistent, determine the initial time difference Δτ according to their frame numbers. Then subtract an offset value Δτ from the reported measured value of SL RTOA for calibration to determine the final SL RTOA value.

[0380] Step 7: The LMF performs double-differencing operations on the RTOA measurement quantities reported by the RSU and the base station to further eliminate the synchronization time error caused by different synchronization sources between the RSU and the base station.

[0381] Step 8: The LMF calculates the position at the Target UE based on the processed measured values.

[0382] Example 2:

[0383] When the parameters of the transmission time window and the reception time window are the same, the positioning process may include the following steps:

[0384] Step 1: The serving base station configures UL SRS and SL PRS resources for the reference UE and the Target UE;

[0385] Based on the time window parameters, the LMF notifies the serving base station to allocate the resources of SL PRS and UL SRS of the two UEs within the transmission time window.

[0386] Step 2: The reference UE sends a UL SRS signal to the base station through the Uu interface according to the configured UL SRS resources, and the Target UE sends an SL PRS signal to the RSU through the PC5 interface according to the configured SL PRS resources.

[0387] Step 3: Based on the time window parameters, the LMF notifies the base station and the RSU to measure the UL SRS and SL PRS of the two UEs within the reception time window.

[0388] Step 4: The RSU measures the SL PRS sent by the reference UE and the target UE respectively within the reception time window.

[0389] The base station measures the UL SRS sent by the reference UE and the target UE respectively within the reception time window.

[0390] Step 5: After the measurement is completed, the RSU and the base station report the following measurement quantities to the LMF, and the RSU and the base station report them in the following ways respectively:

[0391] The RSU reports the following information:

[0392] the reference SL PRS UE ID;

[0393] Reference SL PRS resource ID;

[0394] Reference SL PRS resource index;

[0395] the reference SRS UE ID;

[0396] Measured SL RTOA.

[0397] The base station reports the following information:

[0398] SRS UE ID;

[0399] SRS resource ID;

[0400] SL PRS resource index;

[0401] the reference SRS UE ID;

[0402] Measured UL RTOA.

[0403] Step 6: The LMF processes the UL RTOA measurement values and SL RTOA measurement values reported by the base station and the RSU, and compensates for the reference time difference between the base station and the RSU, facilitating subsequent double-difference operations.

[0404] The reference time compensation operation is as follows: First, confirm the initial values T0 and T1 of the UL RTOA and SL RTOA through the frame numbers of the SFN and DFN. If they are inconsistent, determine the initial time difference Δτ according to the frame numbers of the two. Then subtract an offset value Δτ from the measured value reported by the SL RTOA for calibration to determine the final SL RTOA value.

[0405] Step 7: The LMF performs double-difference operations on the RTOA measurement quantities reported by the RSU and the base station to further eliminate the synchronization time error caused by different synchronization sources between the RSU and the base station.

[0406] Step 8: The LMF calculates the position at the Target UE based on the processed measurement values.

[0407] In the positioning method provided by the embodiments of the present application, the UE sends UL SRS and SL PRS to the network device in the form of a time window, and the network device receives the UL SRS and SL PRS within the time window, realizing hybrid positioning of the Uu interface and the PC5 interface, and improving the positioning accuracy.

[0408] Figure 10 It is a schematic structural diagram of the first UE provided by the embodiments of the present application, as Figure 10 shown, the first UE includes a memory 1020, a transceiver 1000, and a processor 1010, where:

[0409] The memory 1020 is used to store computer programs; the transceiver 1000 is used to transmit and receive data under the control of the processor 1010; the processor 1010 is used to read the computer programs in the memory 1020 and perform the following operations:

[0410] Send a first uplink sounding reference signal (UL SRS) to a first network device and a first sidelink positioning reference signal (SL PRS) to a second network device in a first time window; the first UL SRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

[0411] Wherein, in Figure 10 the bus architecture may include any number of interconnected buses and bridges, specifically various circuits of one or more processors represented by processor 1010 and a memory represented by memory 1020 are linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1000 may be multiple elements, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission media include wireless channels, wired channels, optical fiber cables, and other transmission media. For different user devices, the user interface 1030 may also be an interface capable of externally connecting or internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0412] The processor 1010 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1010 when performing operations.

[0413] In some embodiments, the processor 1010 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0414] The processor is used to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions by calling the computer program stored in the memory. The processor and the memory may also be physically separated.

[0415] In some embodiments, the processor is further used to read the computer program in the memory and perform the following operations:

[0416] Determine the first correlation parameter of the first time window;

[0417] Determine the position of the first time window based on the first correlation parameter.

[0418] In some embodiments, the determining the first correlation parameter of the first time window includes:

[0419] Receive the first correlation parameter of the first time window sent by the first network device.

[0420] In some embodiments, the first correlation parameter includes one or more of the following:

[0421] Start time;

[0422] Window length;

[0423] End time;

[0424] Granularity;

[0425] Repetition period.

[0426] In some embodiments, the start time includes one or more of the following:

[0427] Start radio frame number;

[0428] Start time slot offset within the radio frame;

[0429] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0430] In some embodiments, the granularity includes one or more of the following:

[0431] Sub-frame;

[0432] Time slot;

[0433] OFDM symbol.

[0434] It should be noted here that the above-mentioned first UE provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the first UE as the execution subject, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0435] Figure 11 is a schematic structural diagram of the second UE provided in the embodiments of the present application. As Figure 11 shown, the second UE includes a memory 1120, a transceiver 1100, and a processor 1110, where:

[0436] A memory 1120 for storing computer programs; a transceiver 1100 for transceiving data under the control of the processor 1110; a processor 1110 for reading the computer programs in the memory 1120 and performing the following operations:

[0437] Sending a second UL SRS to a first network device and a second SLPRS to a second network device in a first time window; the second UL SRS is used to determine the location of the second UE in combination with a first UL SRS and a first SLPRS sent by the first UE in the first time window; the second SL PRS is used to determine the location of the second UE in combination with a first UL SRS and a first SLPRS sent by the first UE in the first time window.

[0438] Wherein, in Figure 11 Among them, the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 1110 and the memory represented by the memory 1120 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, they will not be further described herein. The bus interface provides an interface. The transceiver 1100 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, which includes transmission media such as wireless channels, wired channels, and optical cables. For different user devices, the user interface 1130 may also be an interface capable of externally connecting and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0439] The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1110 when performing operations.

[0440] In some embodiments, the processor 1110 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0441] The processor is used to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions by calling a computer program stored in a memory. The processor and the memory may also be physically separated.

[0442] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations:

[0443] Determine a first correlation parameter of the first time window;

[0444] Determine the position of the first time window based on the first correlation parameter.

[0445] In some embodiments, the determining the first correlation parameter of the first time window includes:

[0446] Receiving the first correlation parameter of the first time window sent by the second network device.

[0447] In some embodiments, the first correlation parameter includes one or more of the following:

[0448] Start time;

[0449] Window length;

[0450] End time;

[0451] Granularity;

[0452] Repetition period.

[0453] In some embodiments, the start time includes one or more of the following:

[0454] Start radio frame number;

[0455] Start time slot offset within a radio frame;

[0456] Start orthogonal frequency division multiplexing (OFDM) symbol offset within a start time slot.

[0457] In some embodiments, the granularity includes one or more of the following:

[0458] Subframe;

[0459] Time slot;

[0460] OFDM symbol.

[0461] It should be noted here that the above-mentioned second UE provided in the embodiments of the present application can implement all the method steps implemented in the method embodiments with the second UE as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0462] Figure 12 is a schematic structural diagram of a first network device provided by an embodiment of the present application. As Figure 12 shown, the first network device includes a memory 1220, a transceiver 1200, and a processor 1210, where:

[0463] The memory 1220 is used to store computer programs; the transceiver 1200 is used to transmit and receive data under the control of the processor 1210; the processor 1210 is used to read the computer programs in the memory 1220 and perform the following operations:

[0464] Receive a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0465] Determine an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS; the ULRTOA is used to determine the position of the second UE in combination with a sidelink relative time of arrival (SL RTOA) determined by a second network device.

[0466] Wherein, in Figure 12 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits of one or more processors represented by the processor 1210 and the memory represented by the memory 1220 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1200 may be multiple elements, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums. The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store the data used by the processor 1210 when performing operations.

[0467] The processor 1210 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0468] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0469] Determine a second correlation parameter of the second time window;

[0470] Determine the position of the second time window based on the second correlation parameter.

[0471] In some embodiments, the second correlation parameter includes one or more of the following:

[0472] Start time;

[0473] Window length;

[0474] End time;

[0475] Granularity;

[0476] Repetition period.

[0477] In some embodiments, the start time includes one or more of the following:

[0478] Start radio frame number;

[0479] Start time slot offset within a radio frame;

[0480] Start orthogonal frequency division multiplexing (OFDM) symbol offset within a start time slot.

[0481] In some embodiments, the granularity includes one or more of the following:

[0482] Sub-frame;

[0483] Time slot;

[0484] OFDM symbol.

[0485] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0486] Determine a first correlation parameter of the first time window;

[0487] Send the first correlation parameter to the first UE.

[0488] Specifically, the above-mentioned first network device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the first network device as the execution subject, and can achieve the same technical effects. Therefore, the parts and beneficial effects that are the same as those in the method embodiments are not specifically described in this embodiment.

[0489] Figure 13 is a schematic structural diagram of a second network device provided in the embodiments of the present application, as Figure 13As shown, the network device includes a memory 1320, a transceiver 1300, and a processor 1310, where:

[0490] The memory 1320 is used to store computer programs; the transceiver 1300 is used to transmit and receive data under the control of the processor 1310; the processor 1310 is used to read the computer programs in the memory 1320 and perform the following operations:

[0491] Receive a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in a second time window;

[0492] Determine an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the position of the second UE in combination with a UL RTOA determined by a first network device.

[0493] Wherein, in Figure 13 The bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 1310 and a memory represented by the memory 1320 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1300 may be multiple elements, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums. The processor 1310 is responsible for managing the bus architecture and general processing, and the memory 1320 can store data used by the processor 1310 when performing operations.

[0494] The processor 1310 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0495] In some embodiments, the processor is further used to read the computer programs in the memory and perform the following operations:

[0496] Determine a second correlation parameter of the second time window;

[0497] Determine the position of the second time window based on the second correlation parameter.

[0498] In some embodiments, the second correlation parameter includes one or more of the following:

[0499] Start time;

[0500] Window length;

[0501] End time;

[0502] Granularity;

[0503] Repetition period.

[0504] In some embodiments, the start time includes one or more of the following:

[0505] Start radio frame number;

[0506] Start time slot offset within the radio frame;

[0507] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0508] In some embodiments, the granularity includes one or more of the following:

[0509] Sub-frame;

[0510] Time slot;

[0511] OFDM symbol.

[0512] In some embodiments, the processor is further configured to read a computer program in the memory and perform the following operations:

[0513] Determine the first correlation parameter of the first time window;

[0514] Send the first correlation parameter to the second UE.

[0515] Specifically, the above-mentioned second network device provided by the embodiments of the present application can implement all the method steps implemented by the method embodiments with the second network device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0516] Figure 14 is a schematic structural diagram of an electronic device provided by an embodiment of the present application, as Figure 14 shown, the electronic device includes a memory 1420, a transceiver 1400, and a processor 1410, where:

[0517] A memory 1420 for storing computer programs; a transceiver 1400 for transceiving data under the control of the processor 1410; a processor 1410 for reading the computer programs in the memory 1420 and performing the following operations:

[0518] Obtain the UL RTOA determined by a first network device and determine the SL RTOA determined by a second network device;

[0519] Determine the location of a second UE based on the UL RTOA and the SL RTOA.

[0520] Wherein, in Figure 14 The bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 1410 and the memory represented by the memory 1420 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1400 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums. The processor 1410 is responsible for managing the bus architecture and general processing, and the memory 1420 can store the data used by the processor 1410 when performing operations.

[0521] The processor 1410 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0522] In some embodiments, the determining the location of the second UE based on the UL RTOA and the SL RTOA includes:

[0523] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA;

[0524] Calculate the location of the second UE based on the UL RTOA after the double-differencing operation and the SL RTOA after the double-differencing operation.

[0525] In some embodiments, determining the location of the second UE based on the UL RTOA and the SL RTOA includes:

[0526] When the initial times of the UL RTOA and the SL RTOA are inconsistent, determining the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0527] Correcting the SL RTOA based on the difference;

[0528] Determining the location of the second UE based on the UL RTOA and the corrected SL RTOA.

[0529] In some embodiments, the UL RTOA is determined based on a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window received in a second time window.

[0530] In some embodiments, the SL RTOA is determined based on a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window received in a second time window.

[0531] Specifically, the above electronic device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the electronic device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0532] Figure 15 is one of the flow diagrams of the positioning device provided in the embodiments of the present application. As Figure 15 shown, the embodiments of the present application provide a positioning device, including:

[0533] A first sending module 1501 is configured to send a first UL SRS to a first network device and a first SL PRS to a second network device in a first time window; the first UL SRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

[0534] In some embodiments, the device further includes:

[0535] A fourth determination module, configured to determine a first correlation parameter of the first time window;

[0536] A fifth determination module, configured to determine the position of the first time window based on the first correlation parameter.

[0537] In some embodiments, the fourth determination module is specifically configured to:

[0538] Receive the first correlation parameter of the first time window sent by the first network device.

[0539] In some embodiments, the first correlation parameter includes one or more of the following:

[0540] Start time;

[0541] Window length;

[0542] End time;

[0543] Granularity;

[0544] Repetition period.

[0545] In some embodiments, the start time includes one or more of the following:

[0546] Start radio frame number;

[0547] Start time slot offset within the radio frame;

[0548] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0549] In some embodiments, the granularity includes one or more of the following:

[0550] Sub-frame;

[0551] Time slot;

[0552] OFDM symbol.

[0553] Specifically, the positioning device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the first UE as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0554] Figure 16 is the second flowchart of the positioning device provided in the embodiments of the present application. As Figure 16 shown, the embodiments of the present application provide a positioning device, including:

[0555] The second sending module 1601 is configured to send a second UL SRS to the first network device and send a second SL PRS to the second network device in the first time window; the second UL SRS is used to determine the position of the second UE in combination with the first UL SRS and the first SL PRS sent by the first UE in the first time window; the second SL PRS is used to determine the position of the second UE in combination with the first UL SRS and the first SL PRS sent by the first UE in the first time window.

[0556] In some embodiments, the apparatus further includes:

[0557] A sixth determining module, configured to determine a first correlation parameter of the first time window;

[0558] A seventh determining module, configured to determine the position of the first time window based on the first correlation parameter.

[0559] In some embodiments, the sixth determining module is specifically configured to:

[0560] Receive the first correlation parameter of the first time window sent by the second network device.

[0561] In some embodiments, the first correlation parameter includes one or more of the following:

[0562] Start time;

[0563] Window length;

[0564] End time;

[0565] Granularity;

[0566] Repetition period.

[0567] In some embodiments, the start time includes one or more of the following:

[0568] Start radio frame number;

[0569] Start time slot offset within the radio frame;

[0570] Start orthogonal frequency division multiplexing (OFDM) symbol offset within the start time slot.

[0571] In some embodiments, the granularity includes one or more of the following:

[0572] Sub-frame;

[0573] Time slot;

[0574] OFDM symbol.

[0575] Specifically, the positioning device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the above-mentioned execution subject being the second UE, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described herein again.

[0576] Figure 17 It is the third schematic flowchart of the positioning device provided in the embodiments of the present application. As Figure 17 shown, the embodiments of the present application provide a positioning device, including:

[0577] The first receiving module 1701 is configured to receive a first UL SRS sent by a first UE in a first time window and a second UL SRS sent by a second UE in the first time window in a second time window;

[0578] The first determining module 1702 is configured to determine an uplink relative time of arrival UL RTOA based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the position of the second UE in combination with a side link relative time of arrival SL RTOA determined by a second network device.

[0579] In some embodiments, the device further includes:

[0580] An eighth determining module, configured to determine a second correlation parameter of the second time window;

[0581] A ninth determining module, configured to determine the position of the second time window based on the second correlation parameter.

[0582] In some embodiments, the second correlation parameter includes one or more of the following:

[0583] Start time;

[0584] Window length;

[0585] End time;

[0586] Granularity;

[0587] Repetition period.

[0588] In some embodiments, the start time includes one or more of the following:

[0589] Start radio frame number;

[0590] Start time slot offset within a radio frame;

[0591] Start orthogonal frequency division multiplexing OFDM symbol offset within a start time slot.

[0592] In some embodiments, the granularity includes one or more of the following:

[0593] Subframe;

[0594] Time slot;

[0595] OFDM symbol.

[0596] In some embodiments, the device further includes:

[0597] A tenth determination module, configured to determine a first correlation parameter of the first time window;

[0598] A third sending module, configured to send the first correlation parameter to the first UE.

[0599] Specifically, the positioning device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the first network device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments are not specifically described herein again.

[0600] Figure 18 It is the fourth flow diagram of the positioning device provided in the embodiments of the present application. As Figure 18 shown, the embodiments of the present application provide a positioning device, including:

[0601] A second receiving module 1801 is configured to receive a first SL PRS sent by a first UE in a first time window and a second SL PRS sent by a second UE in the first time window in a second time window;

[0602] A second determination module 1802 is configured to determine an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the position of the second UE in combination with a UL RTOA determined by a first network device.

[0603] In some embodiments, the device further includes:

[0604] An eleventh determination module, configured to determine a second correlation parameter of the second time window;

[0605] A twelfth determination module, configured to determine the position of the second time window based on the second correlation parameter.

[0606] In some embodiments, the second correlation parameter includes one or more of the following:

[0607] Start time;

[0608] Window length;

[0609] End time;

[0610] Granularity;

[0611] Repetition period.

[0612] In some embodiments, the starting moment includes one or more of the following:

[0613] Starting radio frame number;

[0614] Starting time slot offset within a radio frame;

[0615] Starting orthogonal frequency division multiplexing (OFDM) symbol offset within a starting time slot.

[0616] In some embodiments, the granularity includes one or more of the following:

[0617] Sub-frame;

[0618] Time slot;

[0619] OFDM symbol.

[0620] In some embodiments, the device further includes:

[0621] A thirteenth determination module, configured to determine a first correlation parameter of the first time window;

[0622] A fourth transmission module, configured to send the first correlation parameter to the second UE.

[0623] Specifically, the positioning device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the second network device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0624] Figure 19 It is the fifth flow diagram of the positioning device provided in the embodiments of the present application. As Figure 19 shown, the embodiments of the present application provide a positioning device, including:

[0625] An acquisition module 1901 is configured to acquire the UL RTOA determined by a first network device and determine the SL RTOA determined by a second network device;

[0626] A third determination module 1902 is configured to determine the position of a second UE based on the UL RTOA and the SL RTOA.

[0627] In some embodiments, the third determination module is specifically configured to:

[0628] When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA;

[0629] Based on the UL RTOA after double-difference operation and the SL RTOA after double-difference operation, calculate the position of the second UE.

[0630] In some embodiments, the third determination module is specifically configured to:

[0631] In the case where the initial times of the UL RTOA and the SL RTOA are inconsistent, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA;

[0632] Correct the SL RTOA based on the difference;

[0633] Determine the position of the second UE based on the UL RTOA and the corrected SL RTOA.

[0634] In some embodiments, the UL RTOA is determined based on the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window received in the second time window.

[0635] In some embodiments, the SL RTOA is determined based on the first SL PRS sent by the first UE in the first time window and the second SL PRS sent by the second UE in the first time window received in the second time window.

[0636] Specifically, the above positioning device provided by the embodiments of the present application can implement all the method steps implemented by the method embodiments with the execution subject being an electronic device, and can achieve the same technical effects. Here, the same parts and beneficial effects as those in the method embodiments in this embodiment will not be specifically described again.

[0637] It should be noted that the division of units / modules in the above embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation. In addition, each functional unit in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0638] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0639] In some embodiments, a non-transitory readable storage medium is also provided. The non-transitory readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the positioning method provided in each of the above method embodiments.

[0640] Specifically, the above non-transitory readable storage medium provided by the embodiments of this application can implement all the method steps implemented by each of the above method embodiments and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0641] It should be noted that: the non-transitory readable storage medium can be any available medium or data storage device that can be accessed by a processor, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical discs (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memories (NAND FLASH), solid state drives (SSD), etc.).

[0642] In some embodiments, a processor-readable storage medium is also provided. The processor-readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the positioning method provided in each of the above method embodiments.

[0643] Specifically, the above processor-readable storage medium provided by the embodiments of this application can implement all the method steps implemented by each of the above method embodiments and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0644] In some embodiments, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program, and the computer program is used to cause a computer to execute the positioning method provided in each of the above method embodiments.

[0645] Specifically, the above computer-readable storage medium provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments in this embodiment will not be specifically described herein.

[0646] In some embodiments, a communication device is further provided. A computer program is stored in the communication device, and the computer program is used to cause the communication device to execute the positioning method provided in each of the above method embodiments.

[0647] Specifically, the above communication device provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments in this embodiment will not be specifically described herein.

[0648] In some embodiments, a chip product is further provided. A computer program is stored in the chip product, and the computer program is used to cause the chip product to execute the positioning method provided in each of the above method embodiments.

[0649] Specifically, the above chip product provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments in this embodiment will not be specifically described herein.

[0650] In addition, it should be noted that: In the embodiments of the present application, terms such as "first" and "second" are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple.

[0651] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0652] "Determining B based on A" in the embodiments of this application means that the factor A should be considered when determining B. It is not limited to "determining B only based on A", but also includes: "determining B based on A and C", "determining B based on A, C, and E", "determining C based on A and further determining B based on C", etc. Additionally, it may also include using A as a condition for determining B. For example, "when A meets the first condition, use the first method to determine B"; another example, "when A meets the second condition, determine B"; still another example, "when A meets the third condition, determine B based on the first parameter", etc. Of course, it can also be that A is used as a condition for the factor of determining B. For example, "when A meets the first condition, use the first method to determine C and further determine B based on C", etc.

[0653] In the embodiments of this application, the term "a plurality of" means two or more, and other quantifiers are similar.

[0654] The technical solutions provided in the embodiments of this application can be applied to multiple systems, especially 5G systems. For example, the applicable systems can be the global system of mobile communication (GSM) system, code division multiple access (CDMA) system, Wideband Code Division Multiple Access (WCDMA) general packet radio service (GPRS) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (NR) system, etc. Both terminal devices and network devices are included in these multiple systems. The core network part may also be included in the system, such as the Evolved Packet System (EPS), 5G System (5GS), etc.

[0655] The terminal device involved in the embodiments of the present application may be a device that provides voice and / or data connectivity to users, such as a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be referred to as a user equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted mobile device that exchanges language and / or data with the radio access network. For example, devices such as personal communication service (PCS) phones, cordless phones, session initiated protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDA), etc. The wireless terminal device can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile, remote station, access point, remote terminal, access terminal, user terminal, user agent, user device, which is not limited in the embodiments of the present application.

[0656] The network device involved in the embodiments of the present application can be a base station, which may include multiple cells that provide services to terminals. Depending on specific application scenarios, the base station can also be referred to as an access point, or it can be a device in the access network that communicates with wireless terminal devices through one or more sectors over the air interface, or other names. The network device can be used to mutually replace the received air frames and Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the management of the attributes of the air interface. For example, the network device involved in the embodiments of the present application can be a network device (Base Transceiver Station, BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), or it can be a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or it can also be an evolved network device (evolutional Node B, eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), or it can be a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc. The embodiments of the present application do not limit this. In some network architectures, the network device can include a centralized unit (centralized unit, CU) node and a distributed unit (distributed unit, DU) node, and the centralized unit and the distributed unit can also be arranged separately geographically.

[0657] A network device and a terminal device can each use one or more antennas for Multi-Input Multi-Output (MIMO) transmission. The MIMO transmission can be Single User MIMO (SU-MIMO) or Multiple User MIMO (MU-MIMO). According to the form and quantity of the root antenna combination, the MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or it can also be diversity transmission, precoding transmission, beamforming transmission, etc.

[0658] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0659] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0660] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the processor-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0661] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Therefore, the instructions executed on the computer or other programmable device provide for implementing the functions in the process Figure 1One or more processes and / or blocks Figure 1 Steps of functions specified in one or more blocks.

[0662] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A positioning method, characterized in that, Applied to the first user equipment (UE), it includes: Sending a first uplink sounding reference signal (UL SRS) to a first network device and a first sidelink positioning reference signal (SL PRS) to a second network device in a first time window; the first UL SRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the location of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

2. The positioning method according to claim 1, wherein The method further includes: Determining a first correlation parameter of the first time window; Determining the location of the first time window based on the first correlation parameter.

3. The positioning method according to claim 2, wherein The determining of the first correlation parameter of the first time window includes: Receiving the first correlation parameter of the first time window sent by the first network device.

4. A positioning method, characterized in that, Applied to the second UE, it includes: Sending a second UL SRS to a first network device and a second SL PRS to a second network device in a first time window; the second UL SRS is used to determine the location of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window; the second SL PRS is used to determine the location of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window.

5. The positioning method according to claim 4, wherein The method further includes: Determining a first correlation parameter of the first time window; Determining the location of the first time window based on the first correlation parameter.

6. The positioning method according to claim 5, characterized in that, The determining of the first correlation parameter of the first time window includes: Receiving the first correlation parameter of the first time window sent by the second network device.

7. A positioning method, characterized in that, Applied to the first network device, it includes: Receiving a first UL SRS sent by the first UE in a first time window and a second UL SRS sent by the second UE in the first time window in a second time window; Determining an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the location of the second UE in combination with a sidelink relative time of arrival (SL RTOA) determined by the second network device.

8. The positioning method according to claim 7, wherein The method further includes: Determining a second correlation parameter of the second time window; Determining the location of the second time window based on the second correlation parameter.

9. The positioning method according to claim 7, wherein The method further includes: Determining a first correlation parameter of the first time window; Sending the first correlation parameter to the first UE.

10. A positioning method, characterized in that, Applied to the second network device, it includes: Receiving a first SL PRS sent by the first UE in a first time window and a second SL PRS sent by the second UE in the first time window in a second time window; Determining an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the location of the second UE in combination with a UL RTOA determined by the first network device.

11. The positioning method according to claim 10, wherein The method further includes: Determining a second correlation parameter of the second time window; Determine the position of the second time window based on the second correlation parameter.

12. The positioning method according to claim 10, characterized in that, The method further includes: Determine a first correlation parameter of the first time window; Send the first correlation parameter to the second UE.

13. A positioning method, characterized in that Applied to an electronic device, including: Obtain the UL RTOA determined by a first network device and determine the SL RTOA determined by a second network device; Determine the position of the second UE based on the UL RTOA and the SL RTOA.

14. The positioning method according to claim 13, characterized in that, The determining the position of the second UE based on the UL RTOA and the SL RTOA includes: When the initial times of the UL RTOA and the SL RTOA are the same, perform a double-differencing operation on the UL RTOA and perform a double-differencing operation on the SL RTOA; Based on the UL RTOA after the double-differencing operation and the SL RTOA after the double-differencing operation, calculate the position of the second UE.

15. The positioning method according to claim 13, wherein The determining the position of the second UE based on the UL RTOA and the SL RTOA includes: When the initial times of the UL RTOA and the SL RTOA are different, determine the difference between the initial time of the UL RTOA and the initial time of the SL RTOA; Correct the SL RTOA based on the difference; Determine the position of the second UE based on the UL RTOA and the corrected SL RTOA.

16. The positioning method according to claim 13, wherein The UL RTOA is determined based on the first UL SRS sent by the first UE in the first time window and the second UL SRS sent by the second UE in the first time window received in the second time window.

17. The positioning method according to claim 13, wherein The SL RTOA is determined based on the first SL PRS sent by the first UE in the first time window and the second SL PRS sent by the second UE in the first time window received in the second time window.

18. A first UE, characterized in that, Including a memory, a transceiver, and a processor; The memory is used to store a computer program; The transceiver is used to transmit and receive data under the control of the processor; The processor is used to read the computer program in the memory and execute the positioning method according to any one of claims 1 to 3.

19. A second UE, characterized in that, Including a memory, a transceiver, and a processor; The memory is used to store a computer program; The transceiver is used to transmit and receive data under the control of the processor; The processor is used to read the computer program in the memory and execute the positioning method according to any one of claims 4 to 6.

20. A first network device, characterized in that, Including a memory, a transceiver, and a processor; The memory is used to store a computer program; The transceiver is used to transmit and receive data under the control of the processor; The processor is used to read the computer program in the memory and execute the positioning method according to any one of claims 7 to 9.

21. A second network device, characterized in that, Including a memory, a transceiver, and a processor; The memory is used to store a computer program; The transceiver is used to transmit and receive data under the control of the processor; The processor is used to read the computer program in the memory and execute the positioning method according to any one of claims 10 to 12.

22. An electronic device, characterized in that, Including a memory, a transceiver, and a processor; A memory for storing a computer program; A transceiver for transmitting and receiving data under the control of the processor; A processor for reading the computer program in the memory and executing the positioning method according to any one of claims 13 to 17.

23. A positioning device, characterized in that, Comprising: A first sending module for sending a first UL SRS to a first network device and a first SL PRS to a second network device in a first time window; the first UL SRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window; the first SL PRS is used to determine the position of the second UE in combination with a second UL SRS and a second SL PRS sent by the second UE in the first time window.

24. A positioning device, characterized in that, Comprising: A second sending module for sending a second UL SRS to a first network device and a second SL PRS to a second network device in a first time window; the second UL SRS is used to determine the position of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window; the second SL PRS is used to determine the position of the second UE in combination with a first UL SRS and a first SL PRS sent by the first UE in the first time window.

25. A positioning device, characterized in that, Comprising: A first receiving module for receiving a first UL SRS sent by the first UE in a first time window and a second UL SRS sent by the second UE in the first time window in a second time window; A first determining module for determining an uplink relative time of arrival (UL RTOA) based on the first UL SRS and the second UL SRS; the UL RTOA is used to determine the position of the second UE in combination with a side link relative time of arrival (SL RTOA) determined by the second network device.

26. A positioning device, characterized in that, Comprising: A second receiving module for receiving a first SL PRS sent by the first UE in a first time window and a second SL PRS sent by the second UE in the first time window in a second time window; A second determining module for determining an SL RTOA based on the first SL PRS and the second SL PRS; the SL RTOA is used to determine the position of the second UE in combination with a UL RTOA determined by the first network device.

27. A positioning device, characterized in that, Comprising: An obtaining module for obtaining a UL RTOA determined by the first network device and determining an SL RTOA determined by the second network device; A third determining module for determining the position of the second UE based on the UL RTOA and the SL RTOA.

28. A non-transitory readable storage medium, characterized in that, The non-transitory readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the positioning method according to any one of claims 1 to 3, or the positioning method according to any one of claims 4 to 6, or the positioning method according to any one of claims 7 to 9, or the positioning method according to any one of claims 10 to 12, or the positioning method according to any one of claims 13 to 17.

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