Absolute position positioning method and device, equipment and medium

Abstract

The application of the invention is a divisional application of 202280093949.3. The invention discloses an absolute position positioning method and device, equipment and a medium, and relates to the field of sidelink communication. The method comprises: receiving a positioning assistance message, the positioning assistance message being used for indicating a transmission mode of a positioning reference signal (PRS) (132); receiving the PRS (134) based on the positioning assistance message; an absolute positioning position of the target terminal is calculated based on the PRS (136). Under different sidelink communication conditions, the absolute position of the target terminal is determined through a flexible positioning reference signal receiving method, so that the positioning accuracy on the sidelink is improved.

Description

[0001] This application is a divisional application. The application number of the parent application is 202280093949.3, the application date is April 29, 2022, and the name of the invention is "Absolute position positioning method, device, equipment and medium". Technical Field

[0002] The present application relates to the field of sideline communications, and in particular to an absolute position positioning method, device, equipment and medium. Background Art

[0003] In sidelink (SL) communications, to determine its absolute geographic location, a terminal relies on both the sidelink and the Uu link, or solely on the Positioning Reference Signal (PRS) transmitted via the sidelink. However, there is no feasible solution in the related art for achieving absolute positioning using the sidelink, or both the sidelink and the Uu link. Summary of the Invention

[0004] The embodiments of the present application provide an absolute position positioning method, apparatus, device and medium, which can be used in sidelink communication to achieve absolute positioning of a target terminal by flexibly receiving a positioning reference signal (PRS).

[0005] According to one aspect of the present application, a method for determining an absolute position is provided, the method comprising:

[0006] receiving a positioning assistance message, where the positioning assistance message is used to indicate a sending mode of a positioning reference signal (PRS);

[0007] receiving the PRS based on the positioning assistance message;

[0008] The absolute positioning position of the target terminal is calculated based on the PRS.

[0009] According to one aspect of the present application, a method for determining an absolute position is provided, the method comprising:

[0010] Sending positioning assistance message and positioning reference signal PRS to the target terminal;

[0011] The positioning assistance message is used to indicate a sending method of the PRS, and the PRS is used to perform absolute positioning of the target terminal.

[0012] According to one aspect of the present application, there is provided an absolute position positioning device, the device comprising:

[0013] a receiving module, configured to receive a positioning assistance message, wherein the positioning assistance message is used to indicate a sending mode of a positioning reference signal PRS;

[0014] further configured to receive the PRS based on the positioning assistance message;

[0015] A processing module is configured to calculate an absolute positioning position of the device based on the PRS.

[0016] According to one aspect of the present application, there is provided an absolute position positioning device, the device comprising:

[0017] A sending module, configured to send a positioning assistance message and a positioning reference signal PRS to a target terminal;

[0018] The positioning assistance message is used to indicate a sending method of the PRS, and the PRS is used to perform absolute positioning of the target terminal.

[0019] According to one aspect of the present application, a terminal is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the absolute position positioning method as described in the above aspect.

[0020] According to one aspect of the present application, a network device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the absolute position positioning method as described in the above aspects.

[0021] According to one aspect of the present application, a computer-readable storage medium is provided, wherein the computer program product stores executable instructions, and the executable instructions are loaded and executed by the processor to implement the absolute position positioning method as described in the above aspect.

[0022] According to one aspect of the present application, a computer program product is provided, wherein executable instructions are stored in the computer program product, and the executable instructions are loaded and executed by the processor to implement the absolute position positioning method as described in the above aspect.

[0023] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when the chip is running, it is used to implement the absolute position positioning method as described in the above aspects.

[0024] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0025] By using a flexible positioning reference signal receiving method in sidelink communication, positioning reference signals from different reference points can be received under different sidelink communication conditions, thereby achieving absolute positioning of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0028] Figure 2 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0029] Figure 3 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0030] Figure 4 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0031] Figure 5 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0032] Figure 6 A schematic diagram of a sidelink transmission working scenario in the related art is shown;

[0033] Figure 7 A schematic diagram showing part of the symbols in a time slot used for SL transmission in the related art is shown;

[0034] Figure 8 A schematic diagram showing a PSCCH and PSSCH time slot structure in the related art;

[0035] Figure 9 A schematic diagram showing the time domain positions of 4 DMRS symbols when there are 13 PSSCH symbols in the related art;

[0036] Figure 10 A schematic diagram showing the frequency domain position of a PSSCH DMRS in the related art is shown;

[0037] Figure 11 A schematic diagram of an absolute position positioning system provided by an exemplary embodiment of the present application is shown;

[0038] Figure 12 A flowchart of an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0039] Figure 13 A flowchart of an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0040] Figure 14 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0041] Figure 15 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0042] Figure 16 A flowchart of an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0043] Figure 17 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0044] Figure 18 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0045] Figure 19 A schematic diagram of a PRS resource pool provided by an exemplary embodiment of the present application is shown;

[0046] Figure 20 A schematic diagram showing a PRS transmission resource provided by an exemplary embodiment of the present application is shown;

[0047] Figure 21 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0048] Figure 22 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0049] Figure 23 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0050] Figure 24 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0051] Figure 25 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0052] Figure 26 A schematic diagram showing an absolute position positioning method provided by an exemplary embodiment of the present application is shown;

[0053] Figure 27 A structural block diagram of an absolute position positioning device provided by an exemplary embodiment of the present application is shown;

[0054] Figure 28 A structural block diagram of an absolute position positioning device provided by an exemplary embodiment of the present application is shown;

[0055] Figure 29 A schematic structural diagram of an absolute position positioning communication device provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0057] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0058] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0059] First, the relevant technical background involved in the embodiments of this application is introduced:

[0060] In sidelink communication, according to the network coverage of the communicating terminal user equipment (UE), it can be divided into network coverage sidelink communication, partial network coverage sidelink communication, and network coverage sidelink communication. Figure 1 , Figure 2 and Figure 3 shown.

[0061] like Figure 1 As shown in FIG, in the network coverage sidelink communication, all terminals performing sidelink communication are within the coverage of the same base station, so that the above terminals can perform sidelink communication based on the same sidelink configuration by receiving the configuration signaling of the base station. Figure 2 As shown in the figure, in the sidelink communication with partial network coverage, some terminals performing sidelink communication are located within the coverage of the base station. These terminals can receive the configuration signaling of the base station and perform sidelink communication according to the configuration of the base station. However, terminals outside the network coverage cannot receive the configuration signaling of the base station. In this case, the terminals outside the network coverage will determine the sidelink configuration based on the pre-configuration information and the information carried in the physical sidelink broadcast channel (PSBCH) sent by the terminals within the network coverage, and perform sidelink communication. Figure 3 As shown, for sidelink communications outside the network coverage, all terminals performing sidelink communications are located outside the network coverage, and all terminals determine the sidelink configuration according to pre-configuration information to perform sidelink communications.

[0062] Device to Device (D2D) / Vehicle to Everything (V2X):

[0063] Device-to-device communication is a sidelink (SL) transmission technology based on D2D. Unlike traditional cellular systems, where data is received or sent via base stations, this technology offers higher spectrum efficiency and lower transmission latency. The connected vehicle system utilizes direct end-to-end communication, with 3GPP defining two transmission modes: Mode 1 and Mode 2.

[0064] The first mode: The transmission resources of the terminal are allocated by the base station, and the terminal sends data on the sidelink according to the resources allocated by the base station; the base station can allocate resources for a single transmission to the terminal, or allocate resources for semi-static transmission to the terminal. Figure 1 In the case of a terminal located within the coverage area of ​​the network, the network allocates transmission resources for the terminal to use for sideline transmission.

[0065] The second mode: The terminal selects a resource in the resource pool to transmit data. Figure 3 In the case where the terminal is outside the coverage area of ​​the cell, the terminal autonomously selects transmission resources from the pre-configured resource pool for side transmission; or Figure 1 In the process, the terminal autonomously selects transmission resources from the resource pool configured by the network for side transmission.

[0066] The second mode resource selection is performed in two steps:

[0067] Step 1: The terminal takes all available resources in the resource selection window as resource set A;

[0068] If the terminal sends data in some time slots within the listening window and does not listen, all resources on the corresponding time slots in the selection window for these time slots are excluded. The terminal uses the value set of the Resource Reservation Period field in the resource pool configuration to determine the corresponding time slot in the selection window.

[0069] If a terminal detects a Physical Sidelink Control Channel (PSCCH) within the listening window, it measures the Reference Signal Received Power (RSRP) of the PSCCH or the RSRP of the Physical Sidelink Shared Channel (PSSCH) scheduled by the PSCCH. If the measured RSRP is greater than the SL-RSRP threshold, and the reserved resources are determined to be within the resource selection window based on the resource reservation information in the sidelink control information transmitted on the PSCCH, the corresponding resources are excluded from resource set A. If the remaining resources in resource set A are less than X% of the total resources in resource set A before resource exclusion, the SL-RSRP threshold is raised by 3dB and step 1 is repeated. Possible values ​​for X are {20, 35, 50}, and the terminal determines parameter X from this set based on the priority of the data to be transmitted. The SL-RSRP threshold is related to the priority carried in the detected PSCCH and the priority of the data to be transmitted by the terminal. The terminal uses the remaining resources in set A after resource exclusion as the candidate resource set.

[0070] Step 2: The terminal randomly selects several resources from the candidate resource set as the transmission resources for its initial transmission and retransmission.

[0071] New Radio (NR)-V2X:

[0072] In NR-V2X, autonomous driving needs to be supported, which places higher requirements on data interaction between vehicles, such as higher throughput, lower latency, higher reliability, larger coverage, and more flexible resource allocation.

[0073] In LTE-V2X, broadcast transmission is supported, and in NR-V2X, unicast and multicast transmission are introduced. For unicast transmission, there is only one receiving terminal, such as Figure 4 As shown in the figure, unicast transmission is performed between UE1 and UE2; for multicast transmission, the receiving end is all terminals in a communication group, or all terminals within a certain transmission distance, such as Figure 5 As shown in the figure, UE1, UE2, UE3 and UE4 form a communication group, in which UE1 sends data and the other terminal devices in the group are receiving terminals. For the broadcast transmission mode, the receiving terminal is any terminal around the sending terminal, such as Figure 6 As shown, UE1 is a transmitting terminal, and the other terminals around it, UE2, UE3, UE4, UE5, and UE6 are all receiving terminals.

[0074] NR-V2X time slot structure:

[0075] In NR-V2X, PSSCH and its associated PSCCH are transmitted in the same time slot, and PSCCH occupies 2 or 3 time domain symbols. The time domain resource allocation of NR-V2X is based on the time slot as the allocation granularity. The starting point and length of the time domain symbols used for sidelink transmission in a time slot are configured by the parameters Sidelink Start Symbol (SL-StartSymbols) and Sidelink Length Symbol (SL-LengthSymbols). The last symbol in this part of symbols is used as the Guard Period (GP). PSSCH and PSCCH can only use the remaining time domain symbols. However, if the Physical Sidelink Feedback Channel (PSFCH) transmission resources are configured in a time slot, PSSCH and PSCCH cannot occupy the time domain symbols used for PSFCH transmission, as well as the Automatic Gain Control (AGC) and GP symbols before the symbol.

[0076] like Figure 7As shown, the network configuration SL-StartSymbols = 3, SL-LengthSymbols = 11, that is, the 11 time domain symbols (symbols 3 to 13) starting from symbol index 3 in a time slot can be used for side transmission. There are PSFCH transmission resources in the time slot. The PSFCH occupies symbols 11 and 12, of which symbol 11 is used as the AGC symbol of PSFCH, and symbols 10 and 13 are used as GPs respectively. The time domain symbols that can be used for PSSCH transmission are symbols 3 to 9, and PSCCH occupies 3 time domain symbols, namely symbols 3, 4, and 5. Symbol 3 is usually used as an AGC symbol.

[0077] In NR-V2X, in addition to PSCCH and PSSCH, there may also be PSFCH in a side slot, such as Figure 8 As shown. It can be seen that in a time slot, the first Orthogonal Frequency Division Multiplexing (OFDM) symbol is fixed for AGC. On the AGC symbol, the UE copies the information sent on the second symbol. And at the end of the time slot, there is a symbol reserved for transceiver conversion, which is used for the UE to switch from the transmit (or receive) state to the receive (or transmit) state. In the remaining OFDM symbols, PSCCH can occupy two or three OFDM symbols starting from the second sidelink symbol. In the frequency domain, the number of physical resource blocks (PRBs) occupied by PSCCH is within the sub-band range of a PSSCH. If the number of PRBs occupied by PSCCH is less than the size of a sub-channel of PSSCH, or the frequency domain resources of PSSCH include multiple sub-channels, then PSCCH can be frequency-division multiplexed with PSSCH on the OFDM symbol where PSCCH is located.

[0078] The PSSCH demodulation reference symbol (DMRS) in NR-V2X draws on the design of the NR terminal-network communication interface (User-Equipment UTRAN, Uu) and adopts multiple time-domain PSSCH DMRS patterns. Within a resource pool, the number of available DMRS patterns is related to the number of PSSCH symbols in the resource pool. For a specific number of PSSCH symbols (including the first AGC symbol) and PSCCH symbols, the available DMRS patterns and the position of each DMRS symbol within the pattern are shown in Table 1. Figure 9 A schematic diagram of the time domain position of 4 DMRS symbols when the number of PSSCH symbols is 13 is given in FIG.

[0079] Table 1 Number and position of DMRS symbols under different PSSCH and PSCCH symbol numbers

[0080]

[0081] If multiple time-domain DMRS patterns are configured in the resource pool, the specific time-domain DMRS pattern to be used is selected by the transmitting UE and indicated in the first-order Sidelink Control Information (SCI). This design allows high-speed UEs to select a high-density DMRS pattern to ensure channel estimation accuracy, while low-speed UEs can use a low-density DMRS pattern to improve spectrum efficiency.

[0082] The generation method of the PSSCH DMRS sequence is almost identical to that of the PSCCH DMRS sequence. The only difference is the initialization formula c(m) of the pseudo-random sequence. init middle, p i The i-th cyclic redundancy check (CRC) of the PSCCH that schedules the PSSCH, where L=24 is the number of bits of the PSCCH CRC.

[0083] The NR physical downlink shared channel (PDSCH) and physical uplink shared channel (PUSCH) support two frequency domain DMRS patterns, namely DMRS frequency domain type 1 and DMRS frequency domain type 2, and for each frequency domain type, there are two different types of single DMRS symbols and double DMRS symbols. Single-symbol DMRS frequency domain type 1 supports 4 DMRS ports, and single-symbol DMRS frequency domain type 2 can support 6 DMRS ports. In the case of double DMRS symbols, the number of supported ports is doubled. However, in NR-V2X, since PSSCH only needs to support two DMRS ports at most, only single-symbol DMRS frequency domain type 1 is supported, such as Figure 10 shown.

[0084] Sidelink-based positioning:

[0085] Sidelink-based positioning is one of the enhancements to Release 18 positioning technology. This topic will consider supporting scenarios and requirements for NR positioning use cases within, partially within, and outside of cellular network coverage. It will also consider positioning requirements for V2X, public safety, commercial, and Industrial Internet of Things (IIOT) use cases, and support the following features:

[0086] Absolute positioning, distance / direction finding, and relative positioning;

[0087] Study the positioning method combining side-line measurements and Uu interface measurements;

[0088] Research on sideline positioning reference signals, including signal design, physical layer control signaling, resource allocation, physical layer measurements, and related physical layer processes;

[0089] Study positioning system architecture and signaling processes, such as configuration and measurement reporting.

[0090] It should be understood that in some embodiments of the present application, "NR" may also be referred to as a 5G NR system or a 5G system. The technical solutions described in some embodiments of the present application may be applicable to the 5G NR system, to subsequent evolution systems of the 5G NR system, and to 6G and subsequent evolution systems.

[0091] Figure 11 A schematic diagram of an absolute position positioning system provided by an exemplary embodiment of the present application is shown.

[0092] In this embodiment, there are at least three reference points and at least one target terminal. The at least three reference points include at least one absolute reference point and at least two other reference points. The absolute reference point serves as a reference synchronization source for the other reference points. A reference point is a device that transmits a Positioning Reference Signal (PRS) that can be used to determine location information.

[0093] The target terminal receives a positioning assistance message and / or a PRS from a reference point. The positioning assistance message indicates how the PRS is sent. Optionally, the positioning assistance information is radio resource control (RRC) layer signaling, media access control (MAC) layer signaling, or physical layer signaling. Optionally, the positioning assistance information is sent via unicast, multicast, or broadcast.

[0094] In some embodiments, the reference point is a network device type, including at least one of a network device, a road side unit (RSU), a positioning server (LMF) and a transmission reception point (TRP).

[0095] When the reference point is a network device type, the reference point sends a positioning assistance message and / or a downlink positioning reference signal (DL-PRS) to the target terminal. Optionally, the positioning assistance message is sent on RRC signaling. The specific transmission method of the DL-PRS is not described in detail in this application. Please refer to the DL-PRS transmission method in the related art.

[0096] In some embodiments, the reference point is the terminal type, including handheld terminals, vehicle-mounted terminals, Internet of Things devices, etc.

[0097] Depending on whether the absolute position of the reference point is fixed, the reference point can be a moving reference point or a fixed reference point. For example, the at least three reference points are all fixed reference points, or at least one reference point is a fixed reference point, or the absolute reference point is a fixed reference point, or at least one reference point is a moving reference point, or all reference points are moving reference points.

[0098] When the reference point is a terminal type, the reference point sends a positioning assistance message and / or a sidelink positioning reference signal (SL-PRS) to the target terminal. Optionally, the positioning assistance message is sent via first-order or second-order sidelink control information (SCI). The following describes a method for determining the absolute position of the target terminal when the reference point is a terminal type.

[0099] Figure 12 A flowchart of a method for determining an absolute position provided by an exemplary embodiment of the present application is shown. This embodiment uses the method applied to a reference point as an example for explanation. The method includes at least some of the following steps:

[0100] Step 122: Send the positioning assistance message and PRS to the target terminal.

[0101] The reference point sends a positioning assistance message and a PRS to the target terminal. The PRS is a reference signal used to support positioning of the target terminal, and the positioning assistance message is used to indicate the transmission method of the PRS.

[0102] In some embodiments, the reference point is a network device type, and the reference point sends the positioning assistance message by autonomously selecting sending resources in a resource pool.

[0103] In some embodiments, the reference point is a terminal type. The reference point determines the method for sending positioning assistance messages by receiving an allocation from a configuration node. Alternatively, the reference point autonomously selects transmission resources from a resource pool to send positioning assistance messages. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0104] In some embodiments, the reference point is a network device type, and the reference point transmits the DL-PRS by autonomously selecting a transmission resource in a resource pool.

[0105] In some embodiments, the reference point is a terminal type. The reference point determines the SL-PRS transmission mode by receiving an allocation from a configuration node, or the reference point autonomously selects transmission resources from a resource pool to transmit the SL-PRS. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0106] In some embodiments, the PRS transmission method includes at least one of the following information:

[0107] PRS resource pool;

[0108] PRS transmission period;

[0109] The time domain location of the resource used for the first transmission of the PRS in each transmission cycle;

[0110] The number of times PRS is sent in each transmission cycle;

[0111] The time interval between two consecutive PRS transmissions;

[0112] PRS comb spacing;

[0113] The frequency domain location of the PRS;

[0114] PRS bandwidth;

[0115] PRS sequence identification (Identity, ID).

[0116] The time interval between two adjacent PRS transmissions may be a time slot or an OFDM symbol, and the PRS sequence ID is used to generate the PRS sequence for the reference point. At least one of the PRS transmission period, the time domain location of the resource used for the first PRS transmission in each transmission period, the number of PRS transmissions in each transmission period, and the time interval between two adjacent PRS transmissions may be carried in scenarios where PRS is periodically transmitted.

[0117] In some embodiments, the resource pool to which the positioning assistance message is transmitted belongs is the same as, overlaps with, or is different from the resource pool to which the PRS is transmitted. In some embodiments, the transmission resources of the SL-PRS are used to transmit the PSCCH and / or PSSCH. The positioning assistance message can be carried in the second-order SCI of the PSCCH or PSSCH.

[0118] In summary, the method provided in this embodiment supports the target terminal to achieve absolute positioning by sending a positioning assistance message and a positioning reference signal to the target terminal in sidelink communication.

[0119] Figure 13 A flowchart of a method for determining an absolute position provided by an exemplary embodiment of the present application is shown. This embodiment is described by taking the method applied to a target terminal as an example. The method includes at least some of the following steps:

[0120] Step 132: The target terminal receives the positioning assistance message;

[0121] The target terminal receives positioning assistance messages from the absolute reference point and / or other reference points.

[0122] In some embodiments, the reference point is a network device type, and the reference point sends the positioning assistance message by autonomously selecting sending resources in a resource pool.

[0123] In some embodiments, the reference point is a terminal type. The reference point determines the method for sending positioning assistance messages by receiving an allocation from a configuration node. Alternatively, the reference point autonomously selects transmission resources from a resource pool to send positioning assistance messages. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0124] Step 134: The target terminal receives the PRS based on the positioning assistance message;

[0125] The target terminal receives PRSs from the absolute reference point and other reference points based on the received positioning assistance message. PRSs are reference signals used to support positioning of the target terminal and are sent from the reference points to the target terminal.

[0126] In some embodiments, the reference point is a network device type, and the reference point transmits the DL-PRS by autonomously selecting a transmission resource in a resource pool.

[0127] In some embodiments, the reference point is a terminal type. The reference point determines the SL-PRS transmission mode by receiving an allocation from a configuration node, or the reference point autonomously selects transmission resources from a resource pool to transmit the SL-PRS. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0128] In some embodiments, the PRS transmission method includes at least one of the following information:

[0129] PRS resource pool;

[0130] PRS transmission period;

[0131] The time domain location of the resource used for the first transmission of the PRS in each transmission cycle;

[0132] The number of times PRS is sent in each transmission cycle;

[0133] The time interval between two consecutive PRS transmissions;

[0134] PRS comb spacing;

[0135] The frequency domain location of the PRS;

[0136] PRS bandwidth;

[0137] The sequence ID of the PRS.

[0138] The time interval between two adjacent PRS transmissions may be a time slot or an OFDM symbol, and the PRS sequence ID is used to generate the PRS sequence for the reference point. At least one of the PRS transmission period, the time domain location of the resource used for the first PRS transmission in each transmission period, the number of PRS transmissions in each transmission period, and the time interval between two adjacent PRS transmissions may be carried in scenarios where PRS is periodically transmitted.

[0139] In some embodiments, the resource pool to which the positioning assistance message is transmitted belongs is the same as, overlaps with, or is different from the resource pool to which the PRS is transmitted. In some embodiments, the transmission resources of the SL-PRS are used to transmit the PSCCH and / or PSSCH. The positioning assistance message can be carried in the second-order SCI of the PSCCH or PSSCH.

[0140] In some embodiments, the target terminal receives the SL-PRS based on the most recently received positioning assistance message.

[0141] Step 136: Calculate the absolute positioning position of the target terminal based on the PRS.

[0142] The absolute location of the target terminal can be calculated based on the PRS. The absolute location refers to the specific geographic location obtained by positioning, such as longitude and latitude.

[0143] In summary, the method provided in this embodiment, by using a flexible positioning reference signal receiving method in sidelink communication, can receive positioning reference signals from different reference points under different sidelink communication conditions, thereby achieving absolute positioning of the target terminal.

[0144] In the present application, the method of sending the positioning assistance message can be divided into at least two categories: active sending of the reference point or passive sending of the reference point.

[0145] Type 1: The reference point actively sends a positioning assistance message

[0146] The absolute reference point sends the first positioning assistance message, and the other reference points send the second positioning assistance message. That is, each reference point sends its own positioning assistance message.

[0147] The absolute reference point sends the third positioning assistance message, and other reference points do not need to send positioning assistance messages. In other words, the absolute reference point sends the positioning assistance message uniformly.

[0148] Type 2: The target terminal sends a PRS, triggering the reference point to send a positioning assistance message

[0149] After the target terminal sends the third PRS, it triggers the absolute reference point to send the first positioning assistance message, and triggers other reference points to send the second positioning assistance message.

[0150] After the target terminal sends the third PRS, it triggers the absolute reference point to send the third positioning assistance message and PRS simultaneously.

[0151] Type 1: Reference point actively sends PRS

[0152] An embodiment of sending a first positioning assistance message for an absolute reference point and sending a second positioning assistance message for other reference points

[0153] Figure 14 A schematic diagram shows an exemplary embodiment of an absolute position positioning method provided by the present application. This embodiment is described by taking the application of the method in a target terminal as an example.

[0154] Absolute reference point 141 sends a first positioning assistance message to target terminal 144. The first positioning assistance message indicates the transmission mode of the first PRS transmitted by absolute reference point 141. Other reference points 142 and 143 send a second positioning assistance message to target terminal 144. The second positioning assistance message indicates the transmission mode of the second PRS transmitted by other reference points 142 and 143.

[0155] In some embodiments, the first positioning assistance message further carries the absolute position of the absolute reference point 141. The second positioning assistance message further carries at least one of the following information: the absolute positions of the other reference points 142 and 143, the relative positions of the other reference points 142 and 143 relative to the absolute reference point 141, and the timing offsets of the other reference points 142 and 143 relative to the absolute reference point 141.

[0156] Schematically, the absolute position of the absolute reference point 141 refers to the latitude and longitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0157] In some embodiments, the information items carried by the first positioning assistance message and the second positioning assistance message are the same or independent, that is, the first positioning assistance message and the second positioning assistance message each independently carry positioning assistance information of a reference point.

[0158] In some embodiments, the information items carried in the second positioning assistance message include differential information relative to the first positioning assistance message, that is, the second positioning assistance message carries information that is different from the first positioning assistance message, or information not carried by the first positioning assistance message, or a differential portion relative to the same type of information items in the first positioning assistance message. For example, absolute reference point 141 transmits all information items in the first positioning assistance message on the absolute reference point 141 side, while the second positioning assistance messages transmitted by other reference points 141 and 142 do not transmit the same information items as in the first positioning assistance message, such as the PRS resource pool and PRS bandwidth. This can reduce resource loss in transmitting positioning assistance messages.

[0159] In summary, the method provided in this embodiment achieves absolute positioning of the target terminal by receiving positioning assistance messages and positioning reference signals from different reference points.

[0160] An embodiment in which a third positioning assistance message is sent for an absolute reference point and no positioning assistance message is sent for other reference points

[0161] Figure 15 A schematic diagram shows an exemplary embodiment of an absolute position positioning method provided by the present application. This embodiment is described by taking the method applied in a terminal as an example.

[0162] The absolute reference point 141 sends a third positioning assistance message to the target terminal 144 , where the third positioning assistance message is used to indicate the sending mode of the first PRS sent by the absolute reference point 141 and the sending mode of the second PRS sent by the other reference points 142 and 143 .

[0163] In some embodiments, the third positioning assistance message also carries at least one of the following information: the absolute position of the absolute reference point 141, the absolute positions of other reference points 142 and other reference points 143, the relative positions of other reference points 142 and other reference points 143 relative to the absolute reference point 141, and the timing deviations of other reference points 142 and other reference points 143 relative to the absolute reference point 141.

[0164] Schematically, the absolute position of the absolute reference point 141 refers to the latitude and longitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0165] In summary, the method provided in this embodiment uniformly sends positioning assistance messages through absolute reference points, thereby reducing the resource consumption of sending positioning assistance messages required by the target terminal in the process of achieving absolute positioning.

[0166] Type 2: Reference point passively sends PRS

[0167] Example of sending positioning assistance message and PRS to target terminal after sending third PRS

[0168] Figure 16 The flowchart of an exemplary embodiment of an absolute position positioning method provided by the present application is shown. This embodiment is described by taking the method applied in a terminal as an example.

[0169] The target terminal sends the third PRS at time T1, and the reference point receives the third PRS sent by the target terminal at time T2. d After that, the reference point sends a positioning assistance message at time T3 and sends the first PRS or the second PRS at time T4. The target terminal receives the first PRS or the second PRS at time T5 based on the positioning assistance message. Optionally, T3 is the same as T4, or T3 and T4 belong to the same time slot, or T3 is earlier than T4, or the time slot of T3 is earlier than the time slot of T4. d The time difference between the time when the first PRS or the second PRS is sent by the reference point and the time when the third PRS sent by the target terminal is received is referred to as the PRS sending and receiving time difference.

[0170] The target terminal determines its own absolute positioning position based on the absolute geographic locations and RTT of multiple reference points by determining the PRS round trip time (RTT) relative to different reference points.

[0171] After the third PRS is sent to the target terminal, the absolute reference point sends the first positioning assistance message, and other reference points send the second positioning assistance message.

[0172] The present application provides an exemplary embodiment of a method for positioning an absolute position. This embodiment is described by taking the method applied in a terminal as an example.

[0173] After receiving the third PRS sent by the target terminal, the absolute reference point sends a first positioning assistance message to the target terminal. The first positioning assistance message indicates the transmission mode of the first PRS sent by the absolute reference point. After receiving the third PRS sent by the target terminal, the other reference points send a second positioning assistance message to the target terminal. The second positioning assistance message indicates the transmission mode of the second PRS sent by the other reference points.

[0174] In some embodiments, the first positioning assistance message also carries the absolute position of the absolute reference point, and the second positioning assistance message also carries at least one of the following information: the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point, and the timing deviation of other reference points relative to the absolute reference point.

[0175] Schematically, the absolute position of the absolute reference point refers to the latitude and longitude positions of the absolute reference point, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point refer to the offset values ​​of other reference points relative to the absolute reference point, and the timing deviations of other reference points relative to the absolute reference point refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point.

[0176] In some embodiments, the information items carried by the first positioning assistance message and the second positioning assistance message are the same or independent, that is, the first positioning assistance message and the second positioning assistance message each independently carry positioning assistance information of a reference point.

[0177] In some embodiments, the information items carried in the second positioning assistance message include differential information relative to the first positioning assistance message, that is, the second positioning assistance message carries information that is different from the first positioning assistance message, or information not carried by the first positioning assistance message, or a differential portion relative to the same type of information items in the first positioning assistance message. For example, the absolute reference point transmits all information items in the first positioning assistance message on the absolute reference point side, while the second positioning assistance message transmitted by other reference points does not transmit information items such as the PRS resource pool and PRS bandwidth that are identical to those in the first positioning assistance message, thereby reducing resource loss in transmitting positioning assistance messages.

[0178] In some embodiments, the first positioning assistance message does not include a sequence ID of the first PRS, and / or the second positioning assistance message does not include a sequence ID of the second PRS. If the first positioning assistance message does not include a sequence ID of the first PRS, the sequence ID of the first PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the first PRS and the sequence ID of the third PRS are the same, or the sequence ID of the first PRS and the sequence ID of the third PRS are in a functional relationship. If the second positioning assistance message does not include a sequence ID of the second PRS, the sequence ID of the second PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the second PRS and the sequence ID of the third PRS are the same, or the sequence ID of the second PRS and the sequence ID of the third PRS are in a functional relationship.

[0179] To sum up, the method provided in this embodiment is that the target terminal sends a third PRS to trigger the reference point to send positioning assistance messages and PRS, thereby reducing the transmission resource loss of positioning assistance messages and PRS in the process of achieving absolute positioning, and improving the efficiency of the target terminal in determining absolute positioning.

[0180] An embodiment of sending a third positioning assistance message to the absolute reference point after sending the third PRS to the target terminal

[0181] The present application provides an exemplary embodiment of a method for positioning an absolute position. This embodiment is described by taking the method applied in a terminal as an example.

[0182] After the absolute reference point receives the third PRS sent by the target terminal, it sends a third positioning assistance message to the target terminal. The third positioning assistance message is used to indicate the sending method of the absolute reference point to send the first PRS and the sending method of the other reference points to send the second PRS.

[0183] In some embodiments, the third positioning assistance message also carries at least one of the following information: the absolute position of the absolute reference point, the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point, and the timing deviation of other reference points relative to the absolute reference point.

[0184] Schematically, the absolute position of the absolute reference point refers to the latitude and longitude positions of the absolute reference point, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point refer to the offset values ​​of other reference points relative to the absolute reference point, and the timing deviations of other reference points relative to the absolute reference point refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point.

[0185] In some embodiments, the third positioning assistance message does not include the sequence ID of the first PRS and / or the sequence ID of the second PRS. If the third positioning assistance message does not include the sequence ID of the first PRS, the sequence ID of the first PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the first PRS and the sequence ID of the third PRS are the same, or the sequence ID of the first PRS and the sequence ID of the third PRS are in a functional relationship. If the third positioning assistance message does not include the sequence ID of the second PRS, the sequence ID of the second PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the second PRS and the sequence ID of the third PRS are the same, or the sequence ID of the second PRS and the sequence ID of the third PRS are in a functional relationship.

[0186] In this application, the timing of sending positioning assistance messages can be divided into at least two categories:

[0187] Type 1: Periodically sending positioning assistance messages

[0188] Type 2: Sending positioning assistance messages one by one before the PRS indicated by the positioning assistance message

[0189] Type 1: Periodic sending

[0190] Figure 17 A schematic diagram shows an exemplary embodiment of an absolute position positioning method provided by the present application. This embodiment is described by taking the method applied in a terminal as an example.

[0191] The reference point periodically sends positioning assistance messages to the target terminal. Optionally, the periodic value is predefined by the communication protocol, or configured by the configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0192] In some embodiments, the sending period includes at least one of the following:

[0193] The transmission period of the positioning assistance message is longer than the transmission period of the PRS;

[0194] The transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS;

[0195] The transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS;

[0196] The transmission period of the positioning assistance message is equal to the transmission period of the PRS;

[0197] The sending time of the positioning assistance message is no later than the sending time of the PRS indicated by the positioning assistance message, that is, the positioning assistance message is sent in the time slot before the PRS is sent, or the positioning assistance message and the PRS are sent in the same time slot, but the sending time domain of the positioning assistance message is earlier than the sending time domain of the PRS.

[0198] In some embodiments, a first duration is separated from a transmission resource of a positioning assistance message and a transmission resource of a PRS indicated by the positioning assistance message. Optionally, the first duration is predefined by a communication protocol, configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0199] Type 2: One-to-one sending

[0200] Figure 18 A schematic diagram shows an exemplary embodiment of an absolute position positioning method provided by the present application. This embodiment is described by taking the method applied in a terminal as an example.

[0201] The positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message, that is, the reference point sends the positioning assistance message one-to-one before sending the PRS, so as to avoid the target terminal affecting the reception of the PRS due to the failure to receive the positioning assistance message.

[0202] In some embodiments, a second duration is provided between the transmission resource of the positioning assistance message and the PRS. Optionally, the second duration is predefined by a communication protocol, or configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point, or another terminal.

[0203] In this application, the selection method of the sending resource of the positioning assistance message can be divided into at least two categories:

[0204] Type 1: Assigned by a configuration node (base station or absolute reference point or another terminal)

[0205] Type 2: Autonomous selection of reference points

[0206] In this application, the selection methods of PRS transmission resources can be divided into at least three categories:

[0207] Type 1: Assigned by a configuration node (base station or absolute reference point or another terminal)

[0208] Type 2: Autonomous selection of reference point or target terminal

[0209] Type 3: Positioning assistance message reservation

[0210] Method for selecting the sending resource of the first positioning assistance message:

[0211] The absolute reference point sends a first positioning assistance message to the target terminal.

[0212] In the case that the absolute reference point is a network device type, the sending resource of the first positioning assistance message is autonomously selected by the absolute reference point in the resource pool.

[0213] When the absolute reference point is a terminal type, the sending resource of the first positioning assistance message is independently selected by the absolute reference point from the resource pool, or allocated to the absolute reference point by a configuration node. Optionally, the configuration node can be a network device or other terminal.

[0214] When the absolute reference point autonomously selects the resources for sending the first positioning assistance message within the resource pool, the bandwidth of the resources selected by the absolute reference point for sending the first positioning assistance message should be the same as the bandwidth used to send the first PRS. For example, if the bandwidth of the first PRS is the same as the bandwidth of the resource pool, the bandwidth of the resources selected by the absolute reference point for sending the first positioning assistance message should also be the same as the bandwidth of the resource pool.

[0215] Method for selecting the sending resource of the second positioning assistance message:

[0216] The other reference points send a second positioning assistance message to the target terminal.

[0217] In the case that the other reference points are network device types, the resources for sending the second positioning assistance message are independently selected by the other reference points in the resource pool.

[0218] When the other reference points are terminal types, the resources for sending the second positioning assistance message are independently selected by the other reference points from the resource pool, or allocated to the other reference points by the configuration node. Optionally, the configuration node can be a network device, an absolute reference point, or another terminal.

[0219] Method for selecting the sending resource of the third positioning assistance message:

[0220] The absolute reference point sends a third positioning assistance message to the target terminal.

[0221] In the case that the absolute reference point is of the network device type, the resource for sending the third positioning assistance message is autonomously selected by the absolute reference point from the resource pool.

[0222] When the absolute reference point is a terminal type, the resource for sending the third positioning assistance message is independently selected by the absolute reference point from the resource pool, or allocated to the absolute reference point by a configuration node. Optionally, the configuration node can be a network device, a target terminal, or other terminals.

[0223] When the absolute reference point autonomously selects the resources for sending the third positioning assistance message within the resource pool, the bandwidth of the resources selected by the absolute reference point for sending the third positioning assistance message should be the same as the bandwidth used to send the third PRS. For example, if the bandwidth of the third PRS is the same as the bandwidth of the resource pool, the bandwidth of the resources selected by the absolute reference point for sending the third positioning assistance message should also be the same as the bandwidth of the resource pool.

[0224] How to select PRS sending resources:

[0225] The reference point sends the PRS to the target terminal.

[0226] In some embodiments, the transmission resources of the PRS are located in a resource pool. Optionally, the resource pool is a separately configured resource pool, and the separately configured resource pool may overlap or not overlap with another sideline communication resource pool in the time domain or frequency domain. Optionally, the resource pool is a sideline communication resource pool. Figure 19 As shown, the time slots occupied by the PRS resource pool and other sideline communication resource pools are different.

[0227] In some embodiments, the absolute reference point sends a first PRS to the target terminal.

[0228] In the case where the absolute reference point is a network device type, the transmission resource of the first PRS is autonomously selected by the absolute reference point from a resource pool supporting the first mode.

[0229] When the absolute reference point is a terminal type, the transmission resource of the first PRS is autonomously selected by the absolute reference point from a resource pool supporting the second mode, or allocated to the absolute reference point by a configuration node. Optionally, the configuration node may be a network device or other terminal.

[0230] In some embodiments, as Figure 20 As shown, the transmission resources of the PRS are the reserved resources indicated by the positioning assistance message. The positioning assistance message sent by the reference point is carried on the PSSCH, and the transmission of the PSSCH is indicated by the PSCCH. The PSCCH also indicates that one or more time slots are reserved for the transmission of the PRS. When the reference point transmits the PRS, the transmission resources of the PRS can be located in one or more time slots reserved by the PSCCH.

[0231] In some embodiments, the other reference point sends a second PRS to the target terminal.

[0232] In the case that the other reference points are of the network device type, the sending resources of the second PRS are autonomously selected by the other reference points from the resource pool supporting the first mode.

[0233] When the other reference points are terminal-type, the transmission resources for the second PRS are autonomously selected by the other reference points from a resource pool supporting the second mode, or allocated to the other reference points by the configuration node. Optionally, the configuration node can be a network device, an absolute reference point, or another terminal. Exemplarily, the absolute reference point obtains the PRS transmission modes of multiple reference points from the configuration node and sends the PRS transmission modes to the corresponding reference points via a positioning assistance message. The other reference points then determine the PRS transmission mode based on the positioning assistance message from the absolute reference point.

[0234] In some embodiments, the transmission resources of the second PRS are reserved resources indicated by the second positioning assistance message or the third positioning assistance message. The positioning assistance message transmitted by the reference point is carried on the PSSCH, and the transmission of the PSSCH is indicated by the PSCCH. The PSCCH also indicates that one or more time slots are reserved for the transmission of the second PRS. When other reference points transmit the second PRS, the transmission resources of the PRS may be located in one or more time slots reserved by the PSCCH.

[0235] In some embodiments, the target terminal sends a third PRS to the reference point.

[0236] In some embodiments, the transmission resource of the third PRS is autonomously selected by the target terminal from a resource pool supporting the second mode.

[0237] In some embodiments, the transmission resource of the third PRS is allocated by a configuration node. Optionally, the configuration node may be a network device, or an absolute reference point, or other reference points, or other terminals.

[0238] In some embodiments, there is a correspondence between the transmission resources for the target terminal to transmit the third PRS and the transmission resources for the reference point to transmit the positioning assistance message. Exemplarily, the resource pool for the target terminal to transmit the third PRS may be the same as the resource pool for the reference point to transmit the positioning assistance message. The mth resource in time slot n within the resource pool used for the target terminal to transmit the positioning reference signal corresponds to the m*K, m*K+1, ..., m*K+K-1th resources in time slot n+y used for the reference node to transmit the positioning assistance message. K and y are both specific values ​​that may be predefined by the communication protocol, configured by the configuration node, or preconfigured by the configuration node. The reference point selects a resource from the m*K, m*K+1, ..., m*K+K-1 resources based on its own ID to transmit the positioning assistance message.

[0239] In some embodiments, the resource pool for transmitting the positioning assistance message is the same as the resource pool for transmitting the PRS, and the mth positioning assistance message transmission resource in time slot n of the resource pool corresponds to the mth PRS transmission resource in time slot n+x within the resource pool, where x is a specific value. Alternatively, the resource pool for transmitting the positioning assistance message is different from the resource pool for transmitting the PRS, and the mth positioning assistance message transmission resource in time slot n within the positioning assistance message transmission resource pool corresponds to the mth PRS transmission resource in time slot N within the PRS resource pool, where time slots N and n are separated by a second duration. At least one of n, x, and N is predefined by the communication protocol, configured by a configuration node, or preconfigured by a configuration node. If the resource pool to which the positioning assistance message transmission resource belongs is the same as the resource pool to which the PRS transmission resource belongs, the positioning assistance message may not include information indicating the PRS transmission resource pool.

[0240] In some embodiments, the resource pool to which the transmission resources of the positioning assistance message belong overlaps with the resource pool to which the transmission resources of the PRS belong.

[0241] In some embodiments, the resource pool to which the positioning assistance message sending resources belong is different from the resource pool to which the PRS sending resources belong.

[0242] It should be understood that the positioning system of the above-mentioned absolute position positioning method, the method for sending the positioning assistance message, the method for sending the positioning assistance message and the method for selecting the sending resources can be freely combined and used.

[0243] The present application provides an exemplary embodiment of an absolute position positioning method, and this embodiment is described by taking the method applied to a target terminal as an example.

[0244] This embodiment includes one absolute reference point 141 and two other reference points, namely other reference point 142 and other reference point 143 .

[0245] Absolute reference point 141 sends a first positioning assistance message to target terminal 144. The first positioning assistance message indicates the transmission mode of the first PRS transmitted by absolute reference point 141. Other reference points 142 and 143 send a second positioning assistance message to target terminal 144. The second positioning assistance message indicates the transmission mode of the second PRS transmitted by other reference points.

[0246] In some embodiments, the first positioning assistance message also carries the absolute position of the absolute reference point 141, and the second positioning assistance message also carries at least one of the following information: the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point 141, and the timing deviation of other reference points relative to the absolute reference point 141.

[0247] Exemplarily, the absolute position of the absolute reference point 141 refers to the latitude and longitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0248] In some embodiments, the information items carried by the first positioning assistance message and the second positioning assistance message are the same or independent, that is, the first positioning assistance message and the second positioning assistance message each independently carry positioning assistance information of a reference point.

[0249] In some embodiments, the information items carried in the second positioning assistance message include differential information relative to the first positioning assistance message, that is, the second positioning assistance message carries information that is different from the first positioning assistance message, or information not carried by the first positioning assistance message, or a differential portion relative to the same type of information items in the first positioning assistance message. For example, absolute reference point 141 transmits all information items in the first positioning assistance message on the side of absolute reference point 141, while the second positioning assistance messages transmitted by other reference points do not transmit information items such as the PRS resource pool and PRS bandwidth that are identical to those in the first positioning assistance message, thereby reducing resource loss in transmitting positioning assistance messages.

[0250] Target terminal 144 receives a first PRS based on the first positioning assistance message sent by absolute reference point 141 and a second PRS based on the second positioning assistance message of other reference points 142 and 143. Based on the first and second PRSs, the absolute positioning position of target terminal 144 can be calculated.

[0251] like Figure 21 As shown, in some embodiments, the first positioning assistance message and the second positioning assistance message are sent periodically. Optionally, the periodicity is predefined by a communication protocol, or configured by a configuration node, or preconfigured by a configuration node. Optionally, the configuration node is a network device, an absolute reference point 141, or another terminal.

[0252] In some embodiments, the transmission period of the positioning assistance message is greater than the transmission period of the PRS; or the transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS; or the transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS; or the transmission period of the positioning assistance message is equal to the transmission period of the PRS. The transmission time of the positioning assistance message is no later than the transmission time of the PRS indicated by the positioning assistance message, that is, the positioning assistance message is transmitted in a time slot before the time slot in which the PRS is transmitted, or the positioning assistance message and the PRS are transmitted in the same time slot, but the transmission time domain of the positioning assistance message is earlier than the transmission time domain of the PRS.

[0253] In some embodiments, a first duration is separated from a transmission resource of a positioning assistance message and a transmission resource of a PRS indicated by the positioning assistance message. Optionally, the first duration is predefined by a communication protocol, configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point 141, or another terminal.

[0254] like Figure 22 As shown, in some embodiments, a positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message. That is, the absolute reference point 141 sends the first positioning assistance message one-to-one before sending the first PRS, and the other reference points 142 and 143 send the second positioning assistance message one-to-one before sending the second PRS. This prevents the target terminal 144 from receiving the PRS due to the failure to receive the positioning assistance message. A second duration is separated from the transmission resource of the first positioning assistance message and the transmission resource of the first PRS, and from the transmission resource of the second positioning assistance message and the second PRS. Optionally, the second duration is predefined by the communication protocol, or configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, or the absolute reference point 141, or another terminal.

[0255] Exemplarily, the resource pool for transmitting positioning assistance messages is the same as the resource pool for transmitting PRSs, and the mth positioning assistance message transmission resource in time slot n of the resource pool corresponds to the mth PRS transmission resource in time slot n+x within the resource pool, where x is a specific value. Alternatively, the resource pool for transmitting positioning assistance messages is different from the resource pool for transmitting PRSs, and the mth positioning assistance message transmission resource in time slot n within the positioning assistance message transmission resource pool corresponds to the mth PRS transmission resource in time slot N within the PRS resource pool, where time slots N and n are separated by a second duration. At least one of n, x, and N is predefined by the communication protocol, configured by the configuration node, or preconfigured by the configuration node.

[0256] In some embodiments, the transmission resources of the PRS indicated by the positioning assistance message are reserved resources indicated by the positioning assistance message. The positioning assistance message transmitted by the reference point is carried on the PSSCH, and the transmission of the PSSCH is indicated by the PSCCH. The PSCCH also indicates that one or more time slots are reserved for the transmission of the PRS. When the reference point transmits the PRS, the transmission resources of the PRS may be located in one or more time slots reserved by the PSCCH.

[0257] In some embodiments, the PRS transmission resources are located in a resource pool. Optionally, the resource pool is a separately configured resource pool, which may or may not overlap with another sideline communication resource pool in the time domain or frequency domain. Optionally, the resource pool is a sideline communication resource pool.

[0258] In some embodiments, a PRS resource pool can be used for resource selection in the first mode. The reference point obtains PRS transmission resources within the resource pool by receiving scheduling information from a configuration node. Alternatively, the reference point autonomously selects transmission resources within the PRS resource pool that can be used to transmit the PRS. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal. For example, if the reference point is a first terminal, the configuration node can be a network device, an absolute reference point 141, or a second terminal.

[0259] In some embodiments, the resources for transmitting positioning assistance messages are allocated by a configuration node, and the reference point receives the resources allocated by the configuration node. Alternatively, the reference point autonomously selects the resources for transmitting positioning assistance messages. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal. For example, if the reference point is a first terminal, the configuration node can be a network device, an absolute reference point 141, or a second terminal.

[0260] Exemplarily, the reference point receives the transmission resources for the positioning assistance message and / or PRS allocated by the configuration node. When the configuration node is a network device and the reference point is a terminal, the reference point may determine the transmission resources for the positioning assistance message and / or PRS based on downlink control information (DCI) sent by the network device and / or RRC signaling sent by the network device.

[0261] In some embodiments, the resource pool to which the positioning assistance message is transmitted is the same as, overlaps with, or differs from the resource pool to which the PRS is transmitted. In some embodiments, the SL-PRS transmission resources are used to transmit the PSCCH and / or PSSCH. The positioning assistance message may be carried in the second-order SCI of the PSCCH or PSSCH. If the resource pool to which the positioning assistance message is transmitted is the same as the resource pool to which the PRS is transmitted, the positioning assistance message may not include information indicating the PRS transmission resource pool.

[0262] The present application provides an exemplary embodiment of an absolute position positioning method, and this embodiment is described by taking the method applied to a target terminal as an example.

[0263] This embodiment includes one absolute reference point 141 and two other reference points, namely other reference point 142 and other reference point 143 .

[0264] The absolute reference point 141 sends a third positioning assistance message to the target terminal 144 , where the third positioning assistance message is used to indicate the sending mode of the first PRS sent by the absolute reference point 141 and the sending mode of the second PRS sent by the other reference points 142 and 143 .

[0265] In some embodiments, the third positioning assistance message also carries at least one of the following information: the absolute position of the absolute reference point 141, the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point 141, and the timing deviation of other reference points relative to the absolute reference point 141.

[0266] Exemplarily, the absolute position of the absolute reference point 141 refers to the latitude and longitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the latitude and longitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0267] The target terminal receives the first PRS and the second PRS based on the third positioning assistance message sent by the absolute reference point 141. Based on the first PRS and the second PRS, the absolute positioning position of the target terminal can be calculated.

[0268] like Figure 23 As shown, in some embodiments, the third positioning assistance message is sent periodically. Optionally, the periodic value is predefined by the communication protocol, or configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point 141, or other terminal.

[0269] It should be noted that Figure 23 The three positioning assistance messages numbered 1 are the same positioning assistance message, the three positioning assistance messages numbered 2 in the figure are the same positioning assistance message, and the three positioning assistance messages numbered 3 in the figure are the same positioning assistance message. They are drawn separately in the figure to more vividly illustrate the process of the target terminal, other reference point 142 and other reference point 143 receiving the same positioning assistance message.

[0270] In some embodiments, other reference points 142 and 143 receive a third positioning assistance message sent by absolute reference point 141 , and based on the third positioning assistance message, other reference points 142 and 143 send a second PRS to target terminal 144 .

[0271] In some embodiments, the transmission period of the third positioning assistance message is greater than the transmission period of the first PRS or the second PRS; or the transmission period of the third positioning assistance message is greater than an integer multiple of the transmission period of the first PRS or the second PRS; or the transmission period of the third positioning assistance message is equal to an integer multiple of the transmission period of the first PRS or the second PRS; or the transmission period of the third positioning assistance message is equal to the transmission period of the first PRS or the second PRS. The transmission time of the third positioning assistance message is no later than the transmission time of the first PRS and the second PRS indicated by the third positioning assistance message, that is, the third positioning assistance message is transmitted in a time slot before the time slot in which the first PRS or the second PRS is transmitted, or the third positioning assistance message and the first PRS or the second PRS are transmitted in the same time slot, but the transmission time domain of the third positioning assistance message is earlier than the transmission time domain of the first PRS and the second PRS.

[0272] In some embodiments, a first duration is separated from a transmission resource of a third positioning assistance message and a transmission resource of a PRS indicated by the third positioning assistance message. Optionally, the first duration is predefined by a communication protocol, or configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, an absolute reference point 141, or another terminal.

[0273] like Figure 24 As shown, in some embodiments, the third positioning assistance message is sent one-to-one before the first PRS or the second PRS indicated by the third positioning assistance message. That is, before the absolute reference point 141 sends the first PRS and before the other reference points send the second PRS, the absolute reference point 141 sends the third positioning assistance message one-to-one. The third positioning assistance message is separated from the transmission resources of the first PRS and the transmission resources of the second PRS by a second duration. Optionally, the second duration is predefined by a communication protocol, or configured by a configuration node, or preconfigured by the configuration node. Optionally, the configuration node is a network device, the absolute reference point 141, or another terminal.

[0274] It should be noted that Figure 24The three positioning assistance messages numbered 1 are the same positioning assistance message, the three positioning assistance messages numbered 2 in the figure are the same positioning assistance message, and the three positioning assistance messages numbered 3 in the figure are the same positioning assistance message. They are drawn separately in the figure to more vividly illustrate the process of the target terminal, other reference point 142 and other reference point 143 receiving the same positioning assistance message.

[0275] In some embodiments, other reference points 142 and 143 receive a third positioning assistance message sent by absolute reference point 141 , and based on the third positioning assistance message, other reference points 142 and 143 send a second PRS to target terminal 144 .

[0276] In some embodiments, the PRS transmission resources indicated by the third positioning assistance message are reserved resources indicated by the third positioning assistance message. The third positioning assistance message sent by the absolute reference point 141 is carried on the PSSCH, and the transmission of the PSSCH is indicated by the PSCCH. The PSCCH also indicates that one or more time slots are reserved for the transmission of the PRS. When the reference point transmits the PRS, the transmission resources of the PRS can be located in one or more time slots reserved by the PSCCH.

[0277] In some embodiments, the PRS transmission resources are located in a resource pool. Optionally, the resource pool is a separately configured resource pool, which may or may not overlap with another sideline communication resource pool in the time domain or frequency domain. Optionally, the resource pool is a sideline communication resource pool.

[0278] In some embodiments, a PRS resource pool can be used for resource selection in the first mode. The reference point obtains PRS transmission resources within the resource pool by receiving scheduling information from a configuration node. Alternatively, the reference point autonomously selects transmission resources within the PRS resource pool that can be used to transmit the PRS. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal. For example, if the reference point is a first terminal, the configuration node can be a network device, an absolute reference point 141, or a second terminal.

[0279] In some embodiments, the resources for transmitting positioning assistance messages are allocated by a configuration node, and the reference point receives the resources for transmitting positioning assistance messages allocated by the configuration node. Alternatively, the reference point autonomously selects the resources for transmitting positioning assistance messages. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal.

[0280] Exemplarily, when absolute reference point 141 is a terminal, the configuration node may be a network device, absolute reference point 141, or a second terminal. Other reference points may determine the PRS transmission mode based on the allocation by the configuration node. Alternatively, absolute reference point 141 may obtain the PRS transmission modes of multiple reference points from the configuration node and send these modes to the corresponding reference points via a positioning assistance message. Other reference points may then determine the PRS transmission mode based on the positioning assistance message from absolute reference point 141.

[0281] Exemplarily, the absolute reference point 141 autonomously selects the resources for sending the positioning assistance message within the resource pool. In this case, the bandwidth of the resources selected by the absolute reference point 141 for sending the positioning assistance message should be the same as the bandwidth used to send the PRS. For example, if the bandwidth of the PRS is the same as the bandwidth of the resource pool, then the bandwidth of the resources selected by the absolute reference point 141 for sending the positioning assistance message should also be the same as the bandwidth of the resource pool.

[0282] In some embodiments, the resource pool to which the positioning assistance message is transmitted is the same as, overlaps with, or differs from the resource pool to which the PRS is transmitted. In some embodiments, the SL-PRS transmission resources are used to transmit the PSCCH and / or PSSCH. The positioning assistance message may be carried in the second-order SCI of the PSCCH or PSSCH. If the resource pool to which the positioning assistance message is transmitted is the same as the resource pool to which the PRS is transmitted, the positioning assistance message may not include information indicating the PRS transmission resource pool.

[0283] The present application provides an exemplary embodiment of an absolute position positioning method, and this embodiment is described by taking the method applied to a target terminal 144 as an example.

[0284] This embodiment includes one absolute reference point 141 and two other reference points, namely other reference point 142 and other reference point 143 .

[0285] The target terminal 144 sends the third SL-PRS at time T1, and the reference point receives the third SL-PRS sent by the target terminal 144 at time T2. d After that, the reference point sends a positioning assistance message at time T3 and sends an SL-PRS at time T4. The target terminal 144 receives the SL-PRS at time T5 based on the positioning assistance message. Optionally, T3 is the same as T4, or T3 and T4 belong to the same time slot, or T3 is less than T4, or the time slot of T3 is earlier than the time slot of T4. d The time difference between the time when the reference point sends the SL-PRS and the time when the third SL-PRS sent by the target terminal 144 is received is referred to as the SL-PRS sending and receiving time difference.

[0286] The target terminal 144 determines its own absolute positioning position based on the absolute geographic locations and RTTs of multiple reference points by determining the SL-PRS round trip time (RTT) relative to different reference points.

[0287] like Figure 25 As shown, in some embodiments, the absolute reference point 141 and the other reference points all receive the third PRS sent by the target terminal 144. The absolute reference point 141 sends a first positioning assistance message to the target terminal 144, and the other reference points send a second positioning assistance message to the target terminal 144. The first positioning assistance message indicates the transmission mode of the first PRS sent by the absolute reference point 141, and the second positioning assistance message indicates the transmission mode of the second PRS sent by the other reference points.

[0288] In some embodiments, the first positioning assistance message also carries the absolute position of the absolute reference point 141, and the second positioning assistance message also carries at least one of the following information: the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point 141, and the timing deviation of other reference points relative to the absolute reference point 141.

[0289] The absolute position of the absolute reference point 141 refers to the longitude and latitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the longitude and latitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0290] In some embodiments, the information items carried by the first positioning assistance message and the second positioning assistance message are the same or independent, that is, the first positioning assistance message and the second positioning assistance message each independently carry positioning assistance information of a reference point.

[0291] In some embodiments, the information items carried in the second positioning assistance message include differential information relative to the first positioning assistance message, that is, the second positioning assistance message carries information that is different from the first positioning assistance message, or information not carried by the first positioning assistance message, or a differential portion relative to the same type of information items in the first positioning assistance message. For example, absolute reference point 141 transmits all information items in the first positioning assistance message on the side of absolute reference point 141, while the second positioning assistance messages transmitted by other reference points do not transmit information items such as the PRS resource pool and PRS bandwidth that are identical to those in the first positioning assistance message, thereby reducing resource loss in transmitting positioning assistance messages.

[0292] like Figure 26As shown, in some embodiments, only the absolute reference point 141 receives the third PRS sent by the target terminal 144, or both the absolute reference point 141 and the other reference points receive the third PRS sent by the target terminal 144. The absolute reference point 141 sends a third positioning assistance message to the target terminal 144, where the third positioning assistance message is used to indicate the transmission mode of the first PRS sent by the absolute reference point 141 and the transmission mode of the second PRS sent by the other reference points.

[0293] In some embodiments, the third positioning assistance message also carries at least one of the following information: the absolute position of the absolute reference point 141, the absolute position of other reference points, the relative position of other reference points relative to the absolute reference point 141, and the timing deviation of other reference points relative to the absolute reference point 141.

[0294] The absolute position of the absolute reference point 141 refers to the longitude and latitude positions of the absolute reference point 141, the absolute positions of other reference points refer to the longitude and latitude positions of other reference points, the relative positions of other reference points relative to the absolute reference point 141 refer to the offset values ​​of other reference points relative to the absolute reference point 141, and the timing deviations of other reference points relative to the absolute reference point 141 refer to the deviation values ​​of the reference times of other reference points relative to the absolute reference point 141.

[0295] In some embodiments, the third positioning assistance message does not include the sequence ID of the first PRS and / or the sequence ID of the second PRS. If the third positioning assistance message does not include the sequence ID of the first PRS, the sequence ID of the first PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the first PRS and the sequence ID of the third PRS are the same, or the sequence ID of the first PRS and the sequence ID of the third PRS are in a functional relationship. If the third positioning assistance message does not include the sequence ID of the second PRS, the sequence ID of the second PRS is determined by the sequence ID of the third PRS, i.e., the sequence ID of the second PRS and the sequence ID of the third PRS are the same, or the sequence ID of the second PRS and the sequence ID of the third PRS are in a functional relationship.

[0296] In some embodiments, the transmission resources of the PRS indicated by the positioning assistance message are reserved resources indicated by the positioning assistance message. The positioning assistance message transmitted by the reference point is carried on the PSSCH, and the transmission of the PSSCH is indicated by the PSCCH. The PSCCH also indicates that one or more time slots are reserved for the transmission of the PRS. When the reference point transmits the PRS, the transmission resources of the PRS may be located in one or more time slots reserved by the PSCCH.

[0297] In some embodiments, the PRS transmission resources are located in a resource pool. Optionally, the resource pool is a separately configured resource pool, which may or may not overlap with another sideline communication resource pool in the time domain or frequency domain. Optionally, the resource pool is a sideline communication resource pool.

[0298] In some embodiments, a PRS resource pool can be used for resource selection in the first mode. The reference point obtains PRS transmission resources within the resource pool by receiving scheduling information from a configuration node. Alternatively, the reference point autonomously selects transmission resources within the PRS resource pool that can be used to transmit the PRS. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal. For example, if the reference point is a first terminal, the configuration node can be a network device, an absolute reference point 141, or a second terminal.

[0299] In some embodiments, the resources for transmitting positioning assistance messages are allocated by a configuration node, and the reference point receives the resources allocated by the configuration node. Alternatively, the reference point autonomously selects the resources for transmitting positioning assistance messages. Optionally, the configuration node can be a network device, an absolute reference point 141, or another terminal. For example, if the reference point is a first terminal, the configuration node can be a network device, an absolute reference point 141, or a second terminal.

[0300] In some embodiments, the resource pool to which the positioning assistance message is transmitted belongs is the same as, overlaps with, or is different from the resource pool to which the PRS is transmitted. In some embodiments, the SL-PRS transmission resources are used to transmit the PSCCH and / or PSSCH. The positioning assistance message can be carried in the second-order SCI of the PSCCH or PSSCH.

[0301] In some embodiments, the transmission resource for the target terminal 144 to transmit the third PRS is allocated by the configuration node or independently selected by the target terminal 144 .

[0302] In some embodiments, there is a correspondence between the transmission resources for the target terminal 144 to transmit the third PRS and the transmission resources for the reference point to transmit the positioning assistance message. For example, the resource pool for the target terminal 144 to transmit the third PRS can be the same as the resource pool for the reference point to transmit the positioning assistance message. Within the resource pool, the mth resource in time slot n for the target terminal 144 to transmit the positioning reference signal corresponds to the m*K, m*K+1, ..., m*K+K-1th resources in time slot n+y for the reference point to transmit the positioning assistance message. K and y are both specific values ​​that can be predefined by the communication protocol, configured by the configuration node, or preconfigured by the configuration node. The reference point selects a resource from the m*K, m*K+1, ..., m*K+K-1 resources based on its own ID to transmit the positioning assistance message.

[0303] It should be noted that Figure 26 The three positioning assistance messages numbered 1 are the same positioning assistance message, the three positioning assistance messages numbered 2 in the figure are the same positioning assistance message, and the three positioning assistance messages numbered 3 in the figure are the same positioning assistance message. They are drawn separately in the figure to more vividly illustrate the process of the target terminal, other reference point 142 and other reference point 143 receiving the same positioning assistance message.

[0304] Figure 27 The following is a structural block diagram of an absolute position positioning device provided by an exemplary embodiment of the present application, wherein the device includes at least some of the following modules:

[0305] The receiving module 271 is configured to receive a positioning assistance message, where the positioning assistance message is used to indicate a sending mode of a positioning reference signal PRS;

[0306] further configured to receive the PRS based on the positioning assistance message;

[0307] The processing module 273 is configured to calculate the absolute positioning position of the device based on the PRS.

[0308] In one possible design, the PRS and the positioning assistance message are actively sent by a reference point;

[0309] The reference points include an absolute reference point and at least two other reference points.

[0310] In one possible design, the positioning assistance message includes:

[0311] a first positioning assistance message sent by the absolute reference point, and a second positioning assistance message sent by the other reference points;

[0312] The first positioning assistance message is used to indicate a sending mode of a first PRS sent by the absolute reference point, and the second positioning assistance message is used to indicate a sending mode of a second PRS sent by the other reference point.

[0313] In one possible design, the first positioning assistance message further carries the absolute position of the absolute reference point;

[0314] The second positioning assistance message also carries at least one of the following information: the absolute position of the other reference point, the relative position of the other reference point relative to the absolute reference point, and the timing deviation of the other reference point relative to the absolute reference point.

[0315] In one possible design, the receiving module 271 is used to receive the first PRS based on the first positioning assistance message; and receive the second PRS based on the second positioning assistance message.

[0316] In one possible design, the information carried by the second positioning assistance message includes differential information relative to the first positioning assistance message.

[0317] In one possible design, the positioning assistance message includes:

[0318] a third positioning assistance message sent by the absolute reference point;

[0319] The third positioning assistance message is used to indicate a sending mode of the first PRS sent by the absolute reference point and a sending mode of the second PRS sent by the other reference points.

[0320] In one possible design, the third positioning assistance message also carries at least one of: the absolute position of the absolute reference point, the absolute position of the other reference points, the relative position of the other reference points relative to the absolute reference point, and the timing deviation of the other reference points relative to the absolute reference point.

[0321] In one possible design, the receiving module 271 receives the first PRS and the second PRS based on the third positioning assistance message.

[0322] In one possible design, the sending method includes at least one of the following information:

[0323] a resource pool of the PRS;

[0324] a transmission period of the PRS;

[0325] A time domain position of resources used for first transmitting the PRS in each transmission cycle;

[0326] The number of times the PRS is sent in each sending cycle;

[0327] a time interval between two adjacent transmissions of the PRS;

[0328] The interdental spacing of the PRS;

[0329] The frequency domain position of the PRS;

[0330] the bandwidth of the PRS;

[0331] The sequence ID of the PRS.

[0332] In one possible design, the positioning assistance message is sent periodically.

[0333] In one possible design, a transmission period of the positioning assistance message is greater than a transmission period of the PRS; or

[0334] The transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS; or

[0335] The transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS; or

[0336] The transmission period of the positioning assistance message is equal to the transmission period of the PRS;

[0337] The sending time of the positioning assistance message is no later than the sending time of the PRS indicated by the positioning assistance message.

[0338] In one possible design, the sidelink resources of the positioning assistance message and the sending resources of the PRS indicated by the positioning assistance message are separated by a first duration, and the first duration is predefined by the communication protocol, or configured by the network device, or pre-configured by the network device.

[0339] In one possible design, the positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message.

[0340] In one possible design, the sidelink resources of the positioning assistance message and the sending resources of the PRS indicated by the positioning assistance message are separated by a second duration, and the second duration is predefined by the communication protocol, or configured by the network device, or pre-configured by the network device.

[0341] In one possible design, the PRS sending resources indicated by the positioning assistance message are reserved resources indicated by the positioning assistance message.

[0342] In one possible design, the device further includes:

[0343] The sending module 275 is configured to send a third PRS, and trigger the sending of a positioning assistance message and the PRS after sending the third PRS, wherein the positioning assistance message and the PRS are sent simultaneously.

[0344] In one possible design, the apparatus further includes: a processing module 273, configured to determine the sequence ID of the PRS by using the sequence ID of the third PRS when the sequence ID of the PRS is not included in the positioning assistance message.

[0345] In one possible design, the sequence ID of the PRS is the same as the sequence ID of the third PRS; or

[0346] The sequence ID of the PRS and the sequence ID of the third PRS are in a functional relationship.

[0347] In one possible design, the absolute reference point is a reference synchronization source for the other reference points.

[0348] In one possible design, the positioning assistance information is radio resource control RRC layer signaling, or media access control MAC layer signaling, or physical layer signaling.

[0349] In one possible design, the positioning assistance information is sent via unicast, multicast, or broadcast.

[0350] Figure 28 The following is a structural block diagram of an absolute position positioning device provided by an exemplary embodiment of the present application, wherein the device includes at least some of the following modules:

[0351] A sending module 282 is configured to send a positioning assistance message and a positioning reference signal PRS to a target terminal;

[0352] The positioning assistance message is used to indicate a sending method of the PRS, and the PRS is used to perform absolute positioning of the target terminal.

[0353] In one possible design, the types of the reference points include absolute reference points and other reference points;

[0354] The sending module 282 is configured to send a first positioning assistance message and a first PRS to the target terminal when the device is the absolute reference point, wherein the first positioning assistance message is used to indicate a sending method of the first PRS;

[0355] The sending module 282 is configured to send a second positioning assistance message and a second PRS to the target terminal when the device is the other reference point, where the second positioning assistance message is used to indicate a sending method of the second PRS.

[0356] In one possible design, the first positioning assistance message further carries the absolute position of the absolute reference point;

[0357] The second positioning assistance message also carries at least one of the following information: the absolute position of the other reference point, the relative position of the other reference point relative to the absolute reference point, and the timing deviation of the other reference point relative to the absolute reference point.

[0358] In one possible design, the information carried by the second positioning assistance message includes differential information relative to the first positioning assistance message.

[0359] In one possible design, the types of the reference points include absolute reference points and other reference points;

[0360] The sending module 282 is configured to send a third positioning assistance message and a first PRS to the target terminal when the device is the absolute reference point, wherein the third positioning assistance message is used to indicate a sending mode of the first PRS and a sending mode of the second PRS sent by the other reference point;

[0361] The sending module 282 is configured to send the second PRS to the target terminal when the reference point is the other reference point.

[0362] In one possible design, the third positioning assistance message also carries at least one of: the absolute position of the absolute reference point, the absolute position of the other reference points, the relative position of the other reference points relative to the absolute reference point, and the timing deviation of the other reference points relative to the absolute reference point.

[0363] In one possible design, the sending method includes at least one of the following information:

[0364] a resource pool of the PRS;

[0365] a transmission period of the PRS;

[0366] A time domain position of resources used for first transmitting the PRS in each transmission cycle;

[0367] The number of times the PRS is sent in each sending cycle;

[0368] a time interval between two adjacent transmissions of the PRS;

[0369] The interdental spacing of the PRS;

[0370] The frequency domain position of the PRS;

[0371] The bandwidth of the PRS;

[0372] The sequence ID of the PRS.

[0373] In one possible design, the device further includes:

[0374] A receiving module 284 is configured to receive, when the apparatus is a first terminal, a transmission resource for the positioning assistance message allocated by a configuration node, where the configuration node is a network device, the absolute reference point, or a second terminal;

[0375] Or, a selection module 286, configured to autonomously select a resource for sending the positioning assistance message;

[0376] The resource pool to which the sending resources of the positioning assistance message belong is the same as, overlaps with, or is different from the resource pool to which the sending resources of the PRS belong, and the sending resources of the PRS are used to send the physical sidelink control channel PSCCH and / or the physical sidelink shared channel PSSCH.

[0377] In one possible design, the device further includes:

[0378] The receiving module 284 is configured to receive, when the reference point is the first terminal, the transmission resource of the PRS allocated by the configuration node, where the configuration node is a network device, the absolute reference point, or the second terminal.

[0379] In one possible design, the device further includes:

[0380] The selection module 286 is configured to autonomously select a transmission resource for the PRS.

[0381] In one possible design, the positioning assistance message is sent periodically.

[0382] In one possible design, a transmission period of the positioning assistance message is greater than a transmission period of the PRS; or

[0383] The transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS; or

[0384] The transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS; or

[0385] The transmission period of the positioning assistance message is equal to the transmission period of the PRS;

[0386] The sending time of the positioning assistance message is no later than the sending time of the PRS indicated by the positioning assistance message.

[0387] In one possible design, the sidelink resources of the positioning assistance message and the sending resources of the PRS indicated by the positioning assistance message are separated by a first duration, and the first duration is predefined by the communication protocol, or configured by the network device, or pre-configured by the network device.

[0388] In one possible design, the positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message.

[0389] In one possible design, the sidelink resources of the positioning assistance message and the sending resources of the PRS indicated by the positioning assistance message are separated by a second duration, and the second duration is predefined by the communication protocol, or configured by the network device, or pre-configured by the network device.

[0390] In one possible design, the PRS sending resources indicated by the positioning assistance message are reserved resources indicated by the positioning assistance message.

[0391] In one possible design, the apparatus further includes a receiving module 284 for simultaneously sending a positioning assistance message and the PRS to the target terminal upon receiving a third PRS sent by the target terminal.

[0392] In one possible design, the device further includes:

[0393] The processing module 288 is configured to determine the sequence ID of the PRS according to the sequence ID of the third PRS.

[0394] In one possible design, the sequence ID of the PRS is the same as the sequence ID of the third PRS; or

[0395] The sequence ID of the PRS and the sequence ID of the third PRS are in a functional relationship.

[0396] In one possible design, the device further includes:

[0397] The processing module 288 is configured to perform synchronization based on the absolute reference point as a reference synchronization source when the reference point is the other reference point.

[0398] In one possible design, the positioning assistance information is radio resource control RRC layer signaling, or media access control MAC layer signaling, or physical layer signaling.

[0399] In one possible design, the positioning assistance information is sent via unicast, multicast, or broadcast.

[0400] It should be noted that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0401] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method and will not be elaborated here.

[0402] Figure 29 A structural diagram of a communication device (terminal device or network device) provided by an exemplary embodiment of the present application is shown. The communication device 2900 includes: a processor 2901, a receiver 2902, a transmitter 2903, a memory 2904 and a bus 2905.

[0403] The processor 2901 includes one or more processing cores. The processor 2901 executes various functional applications and information processing by running software programs and modules.

[0404] The receiver 2902 and the transmitter 2903 may be implemented as a communication component, which may be a communication chip.

[0405] The memory 2904 is connected to the processor 2901 via a bus 2905. The memory 2904 may be used to store at least one instruction, and the processor 2901 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0406] In addition, the memory 2904 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Static Random-Access Memory (SRAM), Read-Only Memory (ROM), magnetic memory, flash memory, and Programmable Read-Only Memory (PROM).

[0407] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program is stored. The at least one program is loaded and executed by the processor to implement the absolute position positioning method provided by the above-mentioned various method embodiments.

[0408] In an exemplary embodiment, a chip is further provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a communication device, it is used to implement the absolute position positioning method provided by the above-mentioned various method embodiments.

[0409] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed on a processor of a computer device, the computer device is enabled to execute the above-mentioned absolute position positioning method.

[0410] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0411] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for absolute position positioning, characterized in that: The method is executed by a target terminal, and includes: receiving a positioning assistance message, where the positioning assistance message is used to indicate a sending mode of a positioning reference signal (PRS); receiving the PRS based on the positioning assistance message; The absolute positioning position of the target terminal is calculated based on the PRS.

2. The method according to claim 1, characterized in that The PRS and the positioning assistance message are actively sent by the reference point; The reference points include an absolute reference point and at least two other reference points.

3. The method according to claim 2, characterized in that The positioning assistance message includes: a first positioning assistance message sent by the absolute reference point, and a second positioning assistance message sent by the other reference points; The first positioning assistance message is used to indicate a sending mode of a first PRS sent by the absolute reference point, and the second positioning assistance message is used to indicate a sending mode of a second PRS sent by the other reference point.

4. The method according to claim 2, characterized in that The positioning assistance message includes: a third positioning assistance message sent by the absolute reference point; The third positioning assistance message is used to indicate a sending mode of the first PRS sent by the absolute reference point and a sending mode of the second PRS sent by the other reference points.

5. The method according to claim 3 or 4, characterized in that The sending method includes at least one of the following information: a resource pool of the PRS; a transmission period of the PRS; A time domain position of resources used for first transmitting the PRS in each transmission cycle; The number of times the PRS is sent in each sending cycle; a time interval between two adjacent transmissions of the PRS; The interdental spacing of the PRS; The frequency domain position of the PRS; The bandwidth of the PRS; The sequence ID of the PRS.

6. The method according to any one of claims 3 to 5, characterized in that: The positioning assistance message is sent periodically.

7. The method according to claim 6, characterized in that The transmission period of the positioning assistance message is greater than the transmission period of the PRS; or The transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS; or The transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS; or The transmission period of the positioning assistance message is equal to the transmission period of the PRS; The sending time of the positioning assistance message is no later than the sending time of the PRS indicated by the positioning assistance message.

8. The method according to any one of claims 3 to 7, characterized in that: The positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message.

9. The method according to claim 8, characterized in that The sidelink resource of the positioning assistance message and the sending resource of the PRS indicated by the positioning assistance message are separated by a second duration, and the second duration is predefined by a communication protocol, or configured by a network device, or preconfigured by a network device.

10. The method according to any one of claims 3 to 9, characterized in that: The PRS is sent after being triggered by a third PRS sent by the target terminal, and the positioning assistance message and the PRS are sent simultaneously.

11. The method according to any one of claims 1 to 10, characterized in that: The absolute reference point is a reference synchronization source for the other reference points.

12. The method according to any one of claims 1 to 11, characterized in that: The positioning assistance information is radio resource control RRC layer signaling, or medium access control MAC layer signaling, or physical layer signaling.

13. The method according to any one of claims 1 to 12, characterized in that: The positioning assistance information is sent in a unicast, multicast, or broadcast manner.

14. A method for determining an absolute position, characterized in that: The method is performed by a reference point, and includes: Sending positioning assistance message and positioning reference signal PRS to the target terminal; The positioning assistance message is used to indicate a sending method of the PRS, and the PRS is used to perform absolute positioning of the target terminal.

15. The method according to claim 14, characterized in that The types of the reference points include absolute reference points and other reference points; The sending the positioning assistance message and the PRS to the target terminal includes: In a case where the reference point is the absolute reference point, sending a first positioning assistance message and a first PRS to the target terminal, where the first positioning assistance message is used to indicate a sending method of the first PRS; In a case where the reference point is the other reference point, a second positioning assistance message and a second PRS are sent to the target terminal, where the second positioning assistance message is used to indicate a sending method of the second PRS.

16. The method according to claim 14, characterized in that The types of the reference points include absolute reference points and other reference points; The sending the positioning assistance message and the PRS to the target terminal includes: When the reference point is the absolute reference point, sending a third positioning assistance message and a first PRS to the target terminal, where the third positioning assistance message is used to indicate a sending mode of the first PRS and a sending mode of the second PRS sent by the other reference point; In a case where the reference point is the other reference point, the second PRS is sent to the target terminal.

17. The method according to claim 15 or 16, characterized in that The sending method includes at least one of the following information: a resource pool of the PRS; a transmission period of the PRS; A time domain position of resources used for first transmitting the PRS in each transmission cycle; The number of times the PRS is sent in each sending cycle; a time interval between two adjacent transmissions of the PRS; The interdental spacing of the PRS; The frequency domain position of the PRS; The bandwidth of the PRS; The sequence ID of the PRS.

18. The method according to any one of claims 15 to 17, characterized in that: The positioning assistance message is sent periodically.

19. The method according to claim 18, characterized in that The transmission period of the positioning assistance message is greater than the transmission period of the PRS; or The transmission period of the positioning assistance message is greater than an integer multiple of the transmission period of the PRS; or The transmission period of the positioning assistance message is equal to an integer multiple of the transmission period of the PRS; or The transmission period of the positioning assistance message is equal to the transmission period of the PRS; The sending time of the positioning assistance message is no later than the sending time of the PRS indicated by the positioning assistance message.

20. The method according to any one of claims 15 to 19, characterized in that The positioning assistance message is sent one-to-one before the PRS indicated by the positioning assistance message.

21. The method according to claim 20, characterized in that The sidelink resource of the positioning assistance message and the sending resource of the PRS indicated by the positioning assistance message are separated by a second duration, and the second duration is predefined by a communication protocol, or configured by a network device, or preconfigured by a network device.

22. The method according to any one of claims 15 to 21, characterized in that The sending the positioning assistance message and the PRS to the target terminal includes: When the third PRS sent by the target terminal is received, a positioning assistance message and the PRS are simultaneously sent to the target terminal.

23. The method according to any one of claims 15 to 22, characterized in that The method further comprises: In a case where the reference point is the other reference point, synchronization is performed based on the absolute reference point as a reference synchronization source.

24. The method according to any one of claims 15 to 23, characterized in that The positioning assistance information is radio resource control RRC layer signaling, or medium access control MAC layer signaling, or physical layer signaling.

25. The method according to any one of claims 15 to 24, characterized in that The positioning assistance information is sent in a unicast, multicast, or broadcast manner.

26. An absolute position positioning device, characterized in that: The device comprises: a receiving module, configured to receive a positioning assistance message, wherein the positioning assistance message is used to indicate a sending mode of a positioning reference signal PRS; further configured to receive the PRS based on the positioning assistance message; A processing module is configured to calculate an absolute positioning position of the device based on the PRS.

27. An absolute position positioning device, characterized in that: The device is executed by a reference point, and the device includes: A sending module, configured to send a positioning assistance message and a positioning reference signal PRS to a target terminal; The positioning assistance message is used to indicate a sending method of the PRS, and the PRS is used to perform absolute positioning of the target terminal.

28. A terminal, characterized in that: The terminal includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the absolute position positioning method according to any one of claims 1 to 13, or the absolute position positioning method according to any one of claims 14 to 25.

29. A network device, characterized in that The network equipment includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the absolute position positioning method according to any one of claims 14 to 25.

30. A computer-readable storage medium, characterized in that The readable storage medium stores executable instructions, which are loaded and executed by the processor to implement the absolute position positioning method as described in any one of claims 1 to 13, or the absolute position positioning method as described in any one of claims 14 to 25.

31. A chip, characterized in that: The chip includes a programmable logic circuit or a program, and the chip is used to implement the absolute position positioning method as described in any one of claims 1 to 13, or the absolute position positioning method as described in any one of claims 14 to 25.

32. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the absolute position positioning method as described in any one of claims 1 to 13, or the absolute position positioning method as described in any one of claims 14 to 25.

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