Method for implementing sidelink positioning, related wireless device and related wireless network node

Abstract

A method performed in a first wireless device for enabling sidelink positioning is disclosed. The method includes receiving a sidelink reference signal for positioning from a second wireless device. The method includes transmitting positioning feedback information to the second wireless device, the positioning feedback information indicating a quality of the received sidelink reference signal for positioning.

Description

[0001] This disclosure relates to the field of wireless communications. Specifically, it relates to a method for implementing sidelink positioning, a first wireless device, a second wireless device, and a wireless network node. Background Technology

[0002] Sidelink positioning is currently being discussed in 3GPP Release 18. Sidelink positioning is a mechanism in which at least two radio devices (WDs) can perform positioning estimation based on positioning measurements in a first WD. The positioning measurements themselves are based on a received sidelink reference signal for positioning, which is transmitted by the second WD and received by the first WD.

[0003] Sidelink localization involves at least two Virtual Machines (WDs): one WD that transmits sidelink reference signals for localization, referred to herein as the Sidelink Transmitting Wireless Device (SL-Tx-WD), and the other WD that receives the sidelink reference signals for localization, referred herein as the Sidelink Reference Signal Receiving WD (SL-Rx-WD). The SL-Tx-WD transmits the sidelink reference signals for localization within sidelink resources (such as resources within a sidelink resource pool), and the SL-Rx-WD receives the sidelink reference signals for localization and can perform localization measurements, such as timing difference measurements, received signal strength measurements, and angle-based measurements. The localization measurement results can be further processed by the SL-Rx-WD (e.g., to obtain relative distances), or they can be reported to one or more other entities, such as the SL-Tx-WD, another WD, and / or a network node.

[0004] Ideally, transmission from SL-Tx-WD to SL-Rx-WD yields good positioning measurements, enabling accurate positioning estimates. However, due to the characteristics of wireless propagation, good positioning measurements are not always obtained. Limited transmission power, limited bandwidth, obstructions or obstacles between two WDs, and long distances between WDs are all factors that can negatively impact positioning measurements. Positioning estimates based on poor positioning measurements result in inaccurate positioning estimates. Therefore, the positioning estimate may not be usable at all for determining the location of the WD. Summary of the Invention

[0005] Therefore, there is a need for apparatus and methods for achieving side-link positioning that can mitigate, alleviate, or resolve existing defects and provide improved WD positioning accuracy.

[0006] A method for achieving sidelink positioning, executed in a first WD, is disclosed. The method includes receiving a sidelink reference signal for positioning from a second WD. The method also includes transmitting positioning feedback information to the second WD, the positioning feedback information indicating the quality of the received sidelink reference signal for positioning.

[0007] Furthermore, a first WD is provided, which includes memory circuitry, processor circuitry, and a wireless interface. The first WD is configured to perform any of the methods disclosed herein.

[0008] The advantage of this disclosure is that the first WD can inform the second WD and / or network node of the quality of the received signal, enabling the WD to initiate retransmission of the sidelink reference signal for positioning based on that quality. For example, the first WD can inform the second WD and / or network node that the quality of the received sidelink reference signal for positioning does not meet quality standards (which may cause inaccurate positioning by the first WD). By providing a feedback mechanism that enables the first WD to transmit sidelink positioning feedback information, the second WD can react within a relatively short notification period / time frame by, for example, performing retransmission of the sidelink reference signal for positioning. This improves the quality of positioning measurements, thereby resulting in improved positioning estimation accuracy.

[0009] A method for processing sidelink positioning of a first wireless device, executed in a second wireless device, is disclosed. The method includes transmitting a sidelink reference signal for positioning to the first wireless device. The method also includes receiving positioning feedback information from the first wireless device, the positioning feedback information indicating the quality of the sidelink reference signal for positioning received by the first wireless device.

[0010] Furthermore, a second wireless device is provided, comprising memory circuitry, processor circuitry, and a wireless interface. The second wireless device is configured to perform any of the methods disclosed herein.

[0011] The advantage of this disclosure is that the first WD can inform the second WD of the quality of the received reference signal used for positioning, enabling the WD to initiate retransmission of the sidelink reference signal used for positioning based on this quality. For example, the first WD can inform the second WD that the quality of the received sidelink reference signal used for positioning does not meet quality standards (which may cause inaccurate positioning by the first WD). By providing a feedback mechanism that enables the second WD to receive sidelink positioning feedback information, the second WD can react within a short notification period by, for example, performing retransmission of the sidelink reference signal used for positioning, which can improve the quality of positioning measurements and thus obtain improved positioning estimation accuracy.

[0012] A method for sidelink positioning of a first wireless device via a second wireless device, performed in a wireless network node, is disclosed. The method includes providing resources to at least one of the first and second wireless devices for transmitting a sidelink reference signal for positioning. The method also includes receiving positioning feedback information from at least one of the first and second wireless devices, the positioning feedback information indicating the quality of the received sidelink reference signal for positioning.

[0013] Furthermore, a wireless network node is provided, comprising memory circuitry, processor circuitry, and a wireless interface. The wireless network node is configured to perform any of the methods disclosed herein.

[0014] The advantage of this disclosure is that the first WD can inform the wireless network node of the quality of the received reference signal used for positioning, enabling the WD to initiate retransmission of the sidelink reference signal used for positioning based on this quality. For example, the first WD can inform or instruct the wireless network node that the quality of the received sidelink reference signal used for positioning does not meet quality standards (which may cause inaccurate positioning by the first WD). In another example, the first WD can inform or instruct the wireless network node of the resources it needs to use for retransmitting the sidelink reference signal used for positioning. By providing a feedback mechanism that enables the wireless network node to receive sidelink positioning feedback information, the wireless network node can respond to the feedback information by scheduling the retransmission of the sidelink reference signal used for positioning, which can improve the quality of positioning measurements and thus obtain improved positioning estimation accuracy. Attached Figure Description

[0015] The above and other features and advantages of this disclosure will become apparent to those skilled in the art from the following detailed description of examples of the disclosure with reference to the accompanying drawings, in which:

[0016] Figure 1 This is a diagram illustrating an example wireless communication system according to the present disclosure, including an example network node and an example wireless device.

[0017] Figure 2 This is a flowchart illustrating an example method for implementing sidelink positioning executed in a first wireless device according to the present disclosure.

[0018] Figure 3 The illustration shows an example time slot format for transmitting side-link positioning feedback information according to this disclosure.

[0019] Figure 4 The illustration shows an example association of time slots for transmitting sidelink reference signals and sidelink positioning feedback information according to this disclosure.

[0020] Figures 5A to 5BThe illustration shows an example resource mapping for transmitting sidelink location feedback information according to this disclosure;

[0021] Figure 6 This is a flowchart illustrating an example method for processing sidelink localization of a first wireless device, performed in a second wireless device according to the present disclosure.

[0022] Figure 7 This is a flowchart illustrating an example method for sidelink localization of a first wireless device via a second wireless device, performed in a wireless network node according to the present disclosure.

[0023] Figure 8 This is a block diagram illustrating an example of a first wireless device according to the present disclosure.

[0024] Figure 9 This is a block diagram illustrating an example of a second wireless device according to the present disclosure.

[0025] Figure 10 It is a block diagram illustrating an example network node according to this disclosure, and

[0026] Figure 11 This is a signaling diagram illustrating example communication between a first wireless device, a second wireless device, and a sidelink resource allocation node according to this disclosure, and

[0027] Figure 12 This is a signaling diagram illustrating an example communication between a first wireless device, a second wireless device, and a wireless network node according to the present disclosure. Detailed Implementation

[0028] Various examples and details are described below with reference to the accompanying drawings (where applicable). It should be noted that the drawings may be drawn to scale or not, and throughout the drawings, elements with similar structures or functions are indicated by similar reference numerals. It should also be noted that the drawings are intended only to facilitate the description of examples. They are not intended to be an exhaustive description of this disclosure or to limit the scope of this disclosure. Furthermore, the examples shown need not possess all the aspects or advantages shown. Aspects or advantages described in connection with a particular example are not necessarily limited to that example, and may be practiced in any other example even if not so illustrated or so explicitly described.

[0029] The accompanying drawings are schematic and simplified for clarity, and they show only details that aid in understanding this disclosure, while other details have been omitted. The same reference numerals are used throughout for the same or corresponding parts.

[0030] Figure 1This diagram illustrates an example wireless communication system 1, which includes an example wireless network node 400, an example core network node 600, and one or more wireless devices 300, such as a first WD 300A and a second WD 300B. According to this disclosure, the first WD 300A may be a target wireless device, and the second WD 300B may be an auxiliary WD 300B. In one or more examples, the target wireless device 300A is a mobile WD. In one or more examples, the auxiliary wireless device 300B is a WD with a known (e.g., fixed) location. As discussed in detail herein, this disclosure relates to a wireless communication system 1 including a cellular system, such as a 3GPP wireless communication system.

[0031] The wireless network node disclosed herein refers to a radio access network node operating in a radio access network, such as a base station, an evolved Node B (eNB), or a gNB in ​​NR. In one or more examples, the RAN node is a functional unit that can be distributed across several physical units. A wireless network node has at least one transmit and receive point (TRP) for communicating with wireless devices.

[0032] The core network (CN) nodes disclosed in this document refer to network nodes that operate in the core network (such as in the evolved packet core network (EPC) and / or the 5G core network (5GC)). Examples of CN nodes in the EPC include mobility management entities (MMEs) and / or location nodes, such as location management functions (LMFs).

[0033] In one or more examples, a CN node is a functional unit that can be distributed across several physical units.

[0034] The wireless communication system 1 described herein may include one or more wireless devices 300, one or more wireless network nodes 400, and / or one or more CN nodes. The wireless network nodes may be one or more of base stations, eNBs, gNBs, and / or access points. The one or more WDs 300 may include mobile WDs (such as vehicles and / or vulnerable road users (VRUs) (pedestrians, cyclists, etc.)) and WDs with fixed locations (such as roadside units (RSUs) and location reference units (PRUs)).

[0035] WD can refer to a mobile device and / or user equipment (UE). The one or more wireless devices 300, 300A, 300B can be configured to communicate with network node 400 via wireless link (or radio access link) 10. Wireless link 10 can be established via the Uu interface between the one or more WDs and wireless network node 400.

[0036] The core network node 600 can be configured to communicate with the wireless network node 400 via link 12 (such as a wired and / or wireless link), and / or communicate with one or more wireless devices 300, 300A via the wireless network node 400.

[0037] Wireless devices 300, 300A, and 300B can be configured to communicate directly with each other via sidelink 20, such as without communicating via wireless network node 400. Sidelink 20 can be a wireless link such as via a PC5 interface.

[0038] Location of one or more WD 300s can be performed using different techniques, such as sidelink location and / or direct link location. Sidelink location uses a PC5 interface (such as sidelink 20) ​​to communicate sidelink reference signals for location between multiple WD 300s. Direct link location uses a Uu interface (such as wireless link 10) between the WD to be located and one or more wireless network nodes.

[0039] During sidelink positioning, there are two types of interacting WDs, as described in 3GPP TR 38.859 Release 18.0.0. The first type of WD is the WD to be positioned, which may be referred to herein as the target WD. The term target WD can be used for the WD to be positioned in both sidelink positioning and / or direct link positioning. The second type of WD interacting during sidelink positioning is the WD that supports the positioning of the target WD, for example, by transmitting and / or receiving reference signals for positioning and / or providing positioning-related information via the SL interface. The second type of WD may be referred to herein as the auxiliary WD. The auxiliary WD is the WD that assists the target WD in the positioning procedure. The auxiliary WD may have a known (e.g., fixed) location, or it may be a mobile WD, such as a WD with a location that changes over time. When the auxiliary WD meets certain requirements (e.g., when the positioning and / or location is known or fixed), according to 3GPP TR 38.859, the auxiliary WD may be referred to as the anchored WD. During sidelink positioning, the sidelink reference signal for positioning is transmitted between the target WD and the auxiliary WD. The sidelink reference signal for positioning is transmitted by one of the target WD and the auxiliary WD and received by the other. The WD for the receive-side link reference signal is referred to herein as SL-Rx-WD 300A, and the WD for the transmit-side link reference signal is referred to herein as SL-Tx-WD 300B.

[0040] Ideally, the transmission from the SL-Tx-WD 300B to the SL-Rx-WD 300A should yield good positioning measurements, enabling accurate estimation of the target WD's location. However, due to the nature of wireless propagation, good positioning measurements are not always possible. Limited transmission power, limited bandwidth, obstructions or obstacles between the two WDs, and long distances between the WDs are all factors that can negatively impact positioning measurements. Positioning estimates based on poor positioning measurements result in inaccurate positioning estimates. Therefore, the positioning estimate may not be usable at all for determining the WD's location.

[0041] To improve the positioning accuracy of the target WD, this disclosure provides the following technical solution: The SL-Rx-WD 300A can inform the SL-Tx-WD 300B whether it can obtain good positioning measurement results. Knowing this information, the SL-Tx-WD 300B can perform necessary actions, such as retransmitting the side-link reference signal used for positioning. To enable the SL-Tx-WD 300B to obtain this information, a feedback mechanism is introduced between the SL-Rx-WD 300A and the SL-Tx-WD 300B.

[0042] Feedback mechanisms between WDs in the sidelink have been used for data communication purposes, such as indicating the success or failure of data transmission. This feedback mechanism is based on Hybrid Automatic Repeat Request (HARQ), which has been widely deployed in LTE and 5G NR for communication via the Uu interface.

[0043] In sidelink communication, HARQ feedback is used to indicate the success or failure of data transmission between two sidelink WDs, which involves wireless network nodes, such as in sidelink mode 1. When a WD transmits data to another device in sidelink communication, the SL-Tx-WD may incorporate forward error correction (FEC) and error detection codes (EDC) along with the data packet. Subsequently, the SL-Rx-WD may decode the FEC and EDC to identify the reception status and report it to the SL-Tx-WD using one of three feedback types: Acknowledgment (ACK), Negative Acknowledgment (NACK), or No Response. In one or more example methods, ACK may be reported upon successful reception. In one or more example methods, NACK may be reported upon unsuccessful reception. In yet another example method, no response is sent when the sidelink control information (SCI) associated with data transmission is not successfully decoded.

[0044] In the event of a NACK or no response, the SL-Tx-WD can perform a HARQ retransmission. However, currently, HARQ feedback and retransmission mechanisms only exist for data communication, not for location procedures.

[0045] Therefore, this disclosure provides a feedback mechanism for transmitting a side link reference signal from SL-Rx-WD 300A to SL-Tx-WD 300B based on a positioning measurement of a received side link reference signal for positioning transmitted by SL-Tx-WD 300B at SL-Rx-WD 300A.

[0046] Figure 2 The illustration shows a flowchart of an example method 100 for implementing sidelink localization executed in a first WD according to this disclosure. The first WD is the first WD disclosed herein, such as... Figure 1 , Figure 9 , Figure 12 And the SL-Rx-WD 300A in Figure 13.

[0047] In one or more example methods, method 100 includes providing information to a sidelink resource allocation node in S101 indicating the capability of a first WD to transmit positioning feedback information. The information indicating the capability of the first WD to transmit positioning feedback information may indicate whether the first WD is capable of performing a positioning feedback mechanism. In one or more example methods, the information indicating the capability of the first WD to transmit positioning feedback information indicates the capability of the first WD to perform a specific measurement (such as RSRP only without LOS, or vice versa). In one or more example methods, the information indicating the capability of the first WD to transmit positioning feedback information includes the capability of the first WD to process sidelink reference signals for positioning. The resource allocation node may be a wireless network node (such as in sidelink mode 1) or a second WD (such as an SL-Tx-WD in sidelink mode 2). In one or more example methods, the first WD may provide this information to the wireless network node via the second WD.

[0048] In one or more example methods, method 100 includes obtaining S103 feedback configuration information, which indicates the configuration to be used for transmitting positioning feedback information.

[0049] In one or more example methods, the feedback configuration information indicates one or more of the following:

[0050] -Availability of the location feedback mechanism

[0051] -Whether to transmit location feedback information

[0052] - Resources used to provide location feedback information

[0053] - The type of positioning measurement used to determine positioning feedback information, and

[0054] - One or more thresholds used to transmit positioning feedback information.

[0055] The availability of the location feedback mechanism indicates whether it will be available for use in the network, such as whether the network supports it. Information indicating whether location feedback will be transmitted indicates whether the feedback mechanism is activated. The location measurement type indicates which location measurement(s) will be used for the feedback mechanism when it is activated, such as for determining the quality of the received sidelink reference signal used for positioning. One or more thresholds used to transmit location feedback information indicate the thresholds that will be used when measuring the quality of the sidelink reference signal used for positioning to determine whether feedback will be provided and / or what type of feedback will be provided in the location feedback information. These one or more thresholds can be associated with a corresponding set of rules used to determine the quality. For example, an SL-Tx-WD or a wireless network node (such as a wireless network node serving a first WD) can (pre-)assign a specific set of rules to the first WD, which will be used to determine the quality of the received sidelink reference signal used for positioning. The set of rules to be used can be indicated by the rule set index and the corresponding threshold. The rule set index can be associated with the corresponding measurement (such as the measurement type). In one or more examples, a first example rule set is associated with a Reference Signal Received Power (RSRP) measurement and may have an RSRP threshold (RSRPth) of, for example, -70 dBm. The first example rule set may be indicated as {Rule set #1 of RSRPth = -70 dBm}, which indicates that an RSRP measurement will be performed and that the threshold applied to the RSRP measurement is -70 dBm. Additional thresholds and / or rule sets may also be provided and / or indicated for other quality measurements, such as measurements related to line-of-sight (LOS) metrics, front-to-diameter ratio (FPAR), amplitude coherence at different antenna elements, and / or phase coherence at different antenna elements. This threshold may be provided as an absolute or relative value. The relative value may be a percentage relative to a maximum value. The LOS metric may be a relative value of LOS (such as a value between 0 and 1, where 1 indicates LOS). In one or more example methods, the positioning feedback information includes one or more of the following: power preference (such as preferred power for additional transmissions of the sidelink reference signal (which is used for positioning), bandwidth (BW) information, bandwidth portion (BWP) information, resource pool information, and / or the number of repetitions of the sidelink reference signal used for positioning, etc.

[0056] In one or more example methods, feedback configuration information can be retrieved from a database. This is likely the case if no instruction is received. The database can be pre-configured and stored within the WD itself.

[0057] In one or more example methods, feedback configuration information can be obtained (such as received) from a second WD (such as from SL-Tx-WD).

[0058] In one or more example methods, feedback configuration information, or at least a portion thereof, such as information indicating feedback mechanism activation and / or one or more thresholds, can be obtained (e.g., received) from a network node (such as a wireless network node or an LMF). The network node can provide information indicating feedback mechanism activation to indicate whether the feedback mechanism is enabled across the entire coverage area of ​​the wireless network node, and / or to indicate that the feedback mechanism is only for a specific WD. In one or more example methods, the wireless network node and / or LMF can learn the correspondence between RSRP and positioning accuracy based on, for example, historical data. Based on this knowledge, the network node can estimate thresholds (such as minimum RSRP requirements) to meet quality criteria (such as desired positioning accuracy).

[0059] In one or more example methods, feedback configuration information may be received from a second WD and / or a network node in response to a first WD.

[0060] In one or more example methods, other measurements of the sidelink reference signal used for positioning (such as FPAR, LOS metric and / or NLOS metric, and one or more of amplitude and / or phase coherence at different antenna elements) can be used as thresholds for determining positioning feedback information (such as ACK / NACK of the received sidelink reference signal used for positioning).

[0061] Step S103 corresponds to the target Figure 6 The transmission step S203, performed by the second WD, is disclosed in the document and is similar to step S901 performed by the wireless network node. In other words, the feedback configuration information obtained in step S103 may correspond to the feedback configuration information transmitted in step S203 or step S901.

[0062] Method 100 includes receiving a sidelink reference signal for positioning from a second WD, S105. The sidelink reference signal for positioning may be received in a first sidelink reference signal configuration. The sidelink reference signal configuration may include bandwidth, resource allocation (such as time and / or frequency allocation), and / or different transmission power for the sidelink reference signal (which is used for positioning). In one or more example methods, receiving S105 includes receiving a sidelink reference signal for positioning from a plurality of second WDs. Receiving S105 corresponds to... Figure 6 The publicly disclosed transmission step S205 is performed by the second WD.

[0063] In one or more example methods, method 100 includes determining, in S107, the quality of the received sidelink reference signal for positioning based on the received sidelink reference signal. In one or more example methods, determining includes performing a positioning measurement to measure the quality of the sidelink reference signal for positioning. The positioning measurement may be one or more of a signal strength measurement, RSRP measurement, LOS measurement, and Time Difference of Arrival (TDOA) measurement of the received sidelink reference signal for positioning. When the measurement result meets a quality criterion (such as being equal to or higher than a threshold associated with the measurement), a first WD may determine to provide positive feedback in the positioning feedback information. When the measurement result does not meet the quality criterion (such as being lower than a threshold associated with the measurement), the first WD may determine to provide negative feedback in the positioning feedback information. The threshold may be a threshold indicated in feedback configuration information, such as a threshold indicated in one or more rule sets indicated in the feedback configuration information. In one or more example methods, the threshold may be an RSRP threshold.

[0064] Method 100 includes transmitting S109 positioning feedback information to a second WD or to a network node (such as a wireless network node and / or LMF), the positioning feedback information indicating the quality of the received sidelink reference signal used for positioning. Transmission step S109 corresponds to... Figure 6 The publicly disclosed receiving step S207 is performed by the second WD. In other words, the positioning feedback information transmitted in S109 corresponds to the positioning feedback information received in S207.

[0065] Location feedback information can be based on the quality of location measurements and / or thresholds and / or combinations of location measurements, such as based on RSRP and / or LOS classification.

[0066] In one or more example methods, the positioning feedback information includes one or more of the following: acknowledgment (ACK), indicating that the quality of the received sidelink reference signal used for positioning meets a quality criterion; negative acknowledgment (NACK), indicating that the quality of the received sidelink reference signal used for positioning does not meet a quality criterion; and soft values, such as an absolute value indicating the quality of the received sidelink reference signal used for positioning or a relative value indicating the quality of the received sidelink reference signal used for positioning. In one or more example methods, the positioning feedback information includes positive or negative feedback, such as ACK or NACK. Positive feedback (such as ACK) can indicate that the quality of the positioning measurement meets a quality criterion or is equal to or higher than a threshold. Positive feedback can be represented by a single bit, where "1" means that the positioning measurement meets the quality criterion based on LOS or a measurement value (such as an RSRP value), and "0" means that NLOS or a measurement result does not meet the quality criterion. In one or more example methods, the positioning feedback information includes soft values ​​representing quality, such as absolute or relative values. For example, an LOS index of "0.9" can indicate that the positioning measurement is almost at LOS, where 1 indicates LOS.

[0067] In one or more example methods, the location feedback information is transmitted in a physical side link channel dedicated to transmitting location feedback information. This physical side link channel, dedicated to transmitting location feedback information, may be referred to herein as the Physical Side Link Location Feedback Channel (PSPFCH).

[0068] In one or more example methods, a physical sidelink channel dedicated to transmitting positioning feedback information is associated with one or more WDs and / or one or more sidelink positioning resource timings.

[0069] In one or more example methods, a physical sidelink channel dedicated to transmitting positioning feedback information is allocated in at least one orthogonal frequency division multiplexing (OFDM) symbol within a time slot, which contains a sidelink reference signal for positioning.

[0070] Figure 3The illustration shows an example time slot with OFDM symbols including the PSPFCH. Resources (such as time and / or frequency resources) used to transmit positioning feedback information from a first WD can be allocated in a new physical channel (such as the PSPFCH) within the sidelink resource pool. This new physical channel carries positioning feedback information (positive or negative) associated with the transmission of a sidelink reference signal used for positioning. In one or more example methods, the resources associated with the PSPFCH are pre-configured to a second WD, such as an SL-Tx-WD, by a radio network node via RRC signaling or DCI. The second WD can then forward the resource allocation to the first WD, such as in the feedback configuration information. To activate the resources for the PSPFCH, the second WD (such as the SL-Tx-WD) can indicate whether positioning feedback is enabled or disabled in the feedback configuration information, for example via sidelink control information format 2 (SCI-2) carried by the Physical Sidelink Shared Channel (PSSCH) in the time slot. nd The PSPFCH can be allocated in the time slots used for sidelink positioning feedback. The PSPFCH can be separated from the resources allocated to sidelink reference signals used for positioning, which are transmitted in time-division multiplexing (TDM), such that the OFDM symbols allocated to the sidelink reference signals for positioning are different from the OFDM symbols allocated to the PSPFCH. In one or more example time slots, automatic gain control (AGC) symbols and protection symbols are introduced along with the PSPFCH. Figure 3 As seen in the example methods, in one or more instances, the AGC symbol can be assigned before the PSPFCH symbol, and the protection symbol can be assigned after the PSPFCH symbol. Figure 3 In this context, the time unit T corresponds to the duration of an OFDM symbol.

[0071] In one or more example methods, a physical sidelink channel dedicated to transmitting location feedback information is allocated in every N time slots containing a sidelink reference signal for location, where N>=1. In other words, location feedback in the PSPFCH can be transmitted periodically once every N time slots. In one or more example methods, N can be selected from {1, 2, 4, 8, 16}, etc. The value of N can be dynamically adjusted. For example, a wireless network node can be configured with N=1, allowing the SL-Tx-WD to receive location feedback frequently in each time slot.

[0072] To allow the first WD (such as SL-Rx-WD) sufficient time to process the sidelink reference signal for positioning and transmit positioning feedback information, a minimum time slot interval K can be defined between the time slot containing the sidelink reference signal for positioning and the time slot containing the associated PSPFCH. For example, if the sidelink reference signal for positioning is transmitted in time slot i, the corresponding PSPFCH should be located in a time slot equal to or later than the time slot (i+K) containing the PSPFCH. The value of K can be selected from various options, such as {1,2,3}, etc. The mapping between the time slot with SL-PRS and the associated time slot with PSPFCH can be determined by N and K. In one or more example methods, information indicating the first WD's ability to transmit positioning feedback information includes the first WD's ability to process the sidelink reference signal for positioning, which may influence the decision of the value of K. Figure 4 The illustration shows an example association at the slot level between a slot containing a sidelink reference signal for positioning and its corresponding slot with a PSPFCH. In this example, the period of the PSPFCH is N=2 and the minimum slot interval is K=2. Based on the minimum slot interval, feedback for the sidelink reference signal for positioning in slot i=1 should be fed back in slot i=3. However, in… Figure 4 In the example shown, no PSPFCH is allocated in time slot i=3. Therefore, feedback for the sidelink reference signal used for positioning in time slot i=1 can be fed back in the next time slot with a PSPFCH (such as time slot i=4). In this case, a PSPFCH can carry positioning feedback information for the sidelink positioning reference signals from the previous two time slots.

[0073] In one or more example methods, the first WD may transmit positioning feedback information associated with the transmission of sidelink reference signals for positioning from multiple SL-Tx-WDs. For example, this could be a multicast operation where the first WD receives sidelink reference signals for positioning from multiple SL-Tx-WDs. In one or more example methods, the positioning feedback information for transmissions from different SL-Tx-WDs may be frequency division multiplexing (FDM) or code division multiplexing (CDM) within a single PSPFCH symbol.

[0074] In one or more example methods, the PSPFCH is divided into multiple segments. Each segment contains multiple Feedback Physical Resource Blocks (PRBs) associated with each time slot. The number of segments can be determined by, for example, based on, the number of sub-channels in the resource pool and the number of associated time slots. Figure 5A The illustration shows an example PSPFCH mapping where the PSPFCH is segmented into multiple segments. Figure 5AIn the example shown, one PSPFCH is associated with two time slots (e.g., time slots i=1 and i=2), and each time slot has only one sub-channel in the frequency domain. The number of segments in the PSPFCH is two (2 time slots × 1 sub-channel per time slot). In other words, the PSPFCH is divided into two segments. The first segment (e.g., ... Figure 5A Segment #1 may contain positioning feedback information for the sidelink reference signal used for positioning transmitted in time slot i=1 and subchannel #1, while the second segment (such as segment #2) may contain positioning feedback information for the sidelink reference signal used for positioning transmitted in time slot i=1 and subchannel #1. The first segment (such as segment #1) may be assigned a lower PRB index than the second segment (such as segment #2), such that the first segment is allocated in a lower frequency resource than the second segment.

[0075] In one or more example methods, each segment may be further divided into multiple PRBs 21, 22 in the frequency domain and / or code domain (in the case of using CDM) to carry ACK / NACK information. Figure 5B The diagram illustrates the division of segments 2 and 22 into multiple PRBs. When these segments are divided into multiple PRBs, a one-to-one mapping can exist between the PRBs used for positioning feedback information (such as ACK / NACK) and the number of sidelink reference signals for positioning received in the corresponding time slot. In other words, if time slot i = 1 contains sidelink reference signals for positioning from three SL-Tx-WDs, then three PRBs can exist in segment #1 to transmit the corresponding positioning feedback information associated with the sidelink reference signals for positioning from the three SL-Tx-WDs. The number of PRBs in a PSPFCH segment can be indicated by the parameter M_set. M_set can be calculated by the number of associated resources and the total number of PRBs in the PSPFCH. In one or more example methods, M_set is calculated as M_set = floor(M / (N*L)), where M is the number of PRBs in the PSPFCH, L is the number of associated subchannels, and N is the number of associated time slots. Figures 5A to 5B In the example shown, L = 1, N = 2. If the total number of PRBs M = 100, then M_set = 100 / (1*2) = 50 PRBs.

[0076] In one or more example methods, the mapping between the side-link reference signal used for positioning and the PRB index in each segment is determined by an identifier of the first WD (such as SL-Rx-WD) and an identifier of the second WD (such as SL-Tx-WD). The corresponding identifiers may be the Rx WD ID for the first WD and the Tx WD ID for the second WD, which can be determined via PSSCH in SCI-2. ndThe source ID / destination ID can be one-to-one with the PRB ID in one or more example methods. For example, PRB ID = modulo (source ID + destination ID, M_set). In this paper, the source ID is the ID of SL-Tx-WD, and the destination ID is the ID of SL-Rx-WD.

[0077] For example, a first-side link reference signal transmitted from a first SL-Tx-WD (such as having Tx-WD ID=1) to an SL-Rx-WD (such as having Rx-WDID=2) (in... Figures 5A to 5B The positioning feedback information (referred to as SL-PRS#1) can be carried in the corresponding segment's PRB#1. For each transmission of the side-link reference signal used for positioning, there are two associated IDs (source ID and destination ID), which can be determined by SCI-2. nd Bearing. The first WD can be used with CI-2 nd Decoding is performed to obtain these two IDs, and these two IDs can be used to determine the PRB from which the positioning feedback information will be transmitted. In one or more example methods, method 100 includes: receiving, S111, additional sidelink reference signals for positioning, such as retransmissions of the sidelink reference signals for positioning, from the second WD when the positioning feedback information indicates that the quality of the received sidelink reference signals for positioning does not meet a quality criterion. The receiving step S111 corresponds to the... Figure 6 The publicly disclosed transmission step S209B is performed by the second WD.

[0078] Figure 6 A flowchart is shown of an example method 200 for processing sidelink positioning of a first WD, executed in a second wireless device WD according to the present disclosure. The second WD is the second WD disclosed herein, such as... Figure 1 , Figure 9 , Figure 11 and Figure 12 The SL-Tx-WD 300B is mentioned.

[0079] In one or more example methods, method 200 includes receiving information from a first WD in step S201 indicating the first WD's ability to transmit positioning feedback information. The information indicating the first WD's ability to transmit positioning feedback information may indicate whether the first WD is capable of performing a positioning feedback mechanism. In one or more example methods, the information indicating the first WD's ability to transmit positioning feedback information indicates the first WD's ability to perform a specific measurement (such as RSRP only without LOS or vice versa, or any other measurement). In one or more example methods, the information indicating the first WD's ability to transmit positioning feedback information includes the first WD's ability to process sidelink reference signals for positioning. The second WD may forward the information indicating the first WD's ability to transmit positioning feedback information to the wireless network node. The receiving step S201 corresponds to... Figure 2 The disclosed step S101 is performed by the first WD. In other words, the information received in step S201 indicating the first WD's ability to transmit positioning feedback information corresponds to the information provided in step S101 indicating the first WD's ability to transmit positioning feedback information.

[0080] In one or more example methods, method 200 includes transmitting S203 feedback configuration information to a first WD, the feedback configuration information indicating a configuration to be used for transmitting positioning feedback information. In one or more example methods, a second WD may receive the feedback configuration information from a wireless network node and before transmitting the feedback configuration information to the first WD. In one or more example methods, the feedback configuration information indicates one or more of the following: availability of a feedback mechanism, whether positioning feedback information will be transmitted, resources for providing the positioning feedback information, the type of positioning measurement to be used to determine the positioning feedback information, and one or more thresholds for transmitting the positioning feedback information. The availability of the positioning feedback mechanism may indicate whether the positioning feedback mechanism will be available for use in the network, such as whether the network supports the positioning feedback mechanism. The information indicating whether positioning feedback will be transmitted may indicate whether the feedback mechanism is activated. The type of positioning measurement may indicate which positioning measurement(s) will be used for the feedback mechanism when the feedback mechanism is activated, such as for determining the quality of a received sidelink reference signal for positioning. One or more thresholds for transmitting the positioning feedback information may indicate thresholds to be used when measuring the quality of the sidelink reference signal for positioning to determine whether feedback will be provided and / or what type of feedback will be provided in the positioning feedback information. These one or more thresholds can be associated with a corresponding set of rules used to determine quality.

[0081] In one or more example methods, the second WD can (pre-)assign a specific set of rules to the first WD, which will be used to determine the quality of the received sidelink reference signal used for positioning. The second wireless device can indicate the set of rules to be used by providing an index of the rule set and a corresponding threshold in the feedback configuration information. The index of the rule set can be associated with a corresponding measurement (such as measurement type). In one or more example methods, thresholds and / or rule sets can also be provided and / or indicated for one or more measurements, such as measurements related to signal strength, RSRP, LOS index, FPAR, amplitude consistency at different antenna elements, and / or phase consistency at different antenna elements. The threshold can be provided as an absolute or relative value. The relative value can be a percentage relative to a maximum value. The LOS index can be a relative value of LOS (such as a value between 0 and 1, where 1 indicates LOS). Transmission step S203 corresponds to the transmission step S203 for the measurement of the LOS value. Figure 2 The disclosed acquisition step S103 is performed by the first WD. In other words, the feedback configuration information transmitted in step S203 corresponds to the feedback configuration information acquired in step S103.

[0082] Method 200 includes transmitting a sidelink reference signal for positioning to a first WD in step S205. The sidelink reference signal for positioning may be transmitted in a first sidelink reference signal configuration. The sidelink reference signal configuration may include bandwidth, resource allocation (such as time and / or frequency allocation), and / or different transmission power for the sidelink reference signal (used for positioning). Transmission S205 corresponds to... Figure 2 The publicly disclosed receiving step S105 is performed by the first WD.

[0083] Method 200 includes receiving positioning feedback information S207 from a first WD, the positioning feedback information indicating the quality of a side link reference signal for positioning received by the first WD.

[0084] In one or more example methods, the location feedback information is received in a physical sidelink channel dedicated to transmitting the location feedback information. The location feedback information may be based on the quality of the location measurement results and / or a combination of thresholds and / or location measurements, such as based on RSRP and / or LOS classification.

[0085] In one or more example methods, the positioning feedback information includes one or more of the following: acknowledgment (ACK), indicating that the quality of the received sidelink reference signal used for positioning meets a quality criterion; negative acknowledgment (NACK), indicating that the quality of the received sidelink reference signal used for positioning does not meet a quality criterion; and soft values, such as absolute values ​​or relative values ​​indicating the quality of the received sidelink reference signal used for positioning. In one or more example methods, the positioning feedback information includes positive or negative feedback, such as ACK or NACK. Positive feedback (such as ACK) can indicate that the quality of the positioning measurement meets a quality criterion or is equal to or higher than a threshold. Positive feedback can be represented by a single bit, where "1" means that the positioning measurement meets the quality criterion based on LOS or a measurement value (such as an RSRP value), and "0" means that NLOS or a measurement result does not meet the quality criterion. In one or more example methods, the positioning feedback information includes soft values ​​representing quality, such as absolute or relative values. For example, an LOS index of "0.9" can indicate that the positioning measurement is almost at LOS, where 1 indicates LOS.

[0086] In one or more example methods, location feedback information is received in the PSPFCH. In one or more example methods, the PSPFCH is associated with one or more WDs and / or one or more sidelink location resource timings.

[0087] In one or more example methods, a physical sidelink channel dedicated to transmitting positioning feedback information is allocated in at least one orthogonal frequency division multiplexing (OFDM) symbol within a time slot, which contains a sidelink reference signal for positioning. The receiving step S207 corresponds to... Figure 2 The transmission step S107 performed by the first WD is disclosed. In other words, the positioning feedback information received in S207 corresponds to the positioning feedback information transmitted in S109, and PSPFCH corresponds to the positioning feedback information transmitted in S109 and Figures 3 to 5B PSPFCH as described in [the document].

[0088] In one or more example methods, method 200 includes initiating, in step S209, an additional transmission of the sidelink reference signal for positioning based on positioning feedback information. In one or more example methods, the feedback information is used by a second WD (such as an SL-Tx-WD) to initiate an additional transmission (such as a retransmission) of the sidelink reference signal for positioning. For example, when the positioning feedback information indicates that the quality of the sidelink reference signal for positioning does not meet a quality criterion, such as when negative feedback (such as NACK) is received from the first WD, the second WD may accordingly initiate a retransmission of the sidelink reference signal for positioning. The purpose of the retransmission is to obtain better positioning accuracy by allowing the first WD to measure a signal with higher quality.

[0089] In one or more example methods, initiating S209 includes sending S209A to the wireless network node a request for resources for additional transmission of a sidelink reference signal (used for positioning). When the positioning feedback information is negative (such as indicating that the quality of the sidelink reference signal used for positioning does not meet a quality criterion), the second WD can determine that additional transmission (retransmission) of the sidelink reference signal used for positioning is required. The second WD can request resources for additional transmission of the sidelink reference signal (used for positioning) from the wireless network node (such as from the wireless network node serving the first WD and / or the second WD). In one or more example methods, the second WD sends the request to the wireless network node upon receiving negative feedback (such as positioning feedback information indicating that the quality of the sidelink reference signal used for positioning does not meet a quality criterion).

[0090] In one or more example methods, the second WD sends the request to the wireless network node, such as a request for retransmission of pre-configured resources, before initially transmitting the sidelink reference signal used for positioning. In this case, upon receiving positive feedback (such as positioning feedback information indicating that the quality of the sidelink reference signal used for positioning meets quality criteria), the second WD can send a cancellation request for the pre-configured resources to the wireless network node, allowing the pre-configured resources to be released.

[0091] In one or more example methods, initiating S209 includes receiving from the wireless network node S209B a sidelink reference signal configuration, such as a second sidelink reference signal configuration, for additional transmission of a sidelink reference signal (used for positioning).

[0092] In one or more example methods, initiating S209 includes transmitting additional sidelink reference signals for positioning (S209C) to the first WD. In one or more example methods, the second WD transmits additional sidelink reference signals for positioning (such as retransmissions of the sidelink reference signals for positioning) using the same sidelink reference signal configuration as the initial transmission (such as the transmission performed in S205). In one or more example methods, the second WD transmits additional sidelink reference signals (such as retransmissions) using a different sidelink reference signal configuration than the initial transmission, such as using different bandwidth, different time / frequency allocation, and / or different transmission power. In one or more example methods, such as when the initial transmission of the sidelink reference signals for positioning is transmitted to multiple first WDs (such as multiple SL-Rx-WDs), the second WD may selectively retransmit the sidelink reference signals for positioning to a subset of the SL-Rx-WDs.

[0093] In one or more example methods, additional sidelink reference signals are transmitted in pre-configured resources for additional transmissions of sidelink reference signals (which are used for positioning), or in resources for additional transmissions of sidelink reference signals (which are used for positioning) received from a resource allocation node in response to a request for additional transmissions of resources for sidelink reference signals.

[0094] Transmission step S209B corresponds to the transmission step S209B for the purpose of transmitting the data. Figure 2 The publicly disclosed receiving step S111 is performed by the first WD.

[0095] Figure 7 A flowchart is shown of an example method 900 for sidelink localization of a first WD via a second WD, performed in a wireless network node according to the present disclosure. The wireless network node is the wireless network node disclosed herein, such as... Figure 1 , Figure 10 , Figure 11 and Figure 12 Wireless network node 400.

[0096] In one or more example methods, method 900 includes transmitting S901 feedback configuration information to at least one of a first WD and a second WD, the feedback configuration information indicating a configuration to be used for transmitting positioning feedback information. This information may be provided in higher-level signaling (such as RRC signaling). In one or more example methods, the feedback configuration information indicates one or more of the following: availability of a feedback mechanism, whether positioning feedback information will be transmitted, resources for providing the positioning feedback information, the type of positioning measurement to be used to determine the positioning feedback information, and one or more thresholds for transmitting the positioning feedback information. Transmission step S901 is related to... Figure 2The acquisition step S103 performed by the first WD is similar to the transmission step S203 performed by the second WD.

[0097] Method 900 includes providing a first sidelink reference signal configuration (S902) to at least one of a first WD and a second WD. This information may be provided in higher-layer signaling (such as RRC signaling). The first sidelink reference signal configuration may indicate resources for transmitting sidelink reference signals for positioning. In one or more example methods, the resources for transmitting sidelink reference signals for positioning may be included in feedback configuration information transmitted in S901.

[0098] In one or more example methods, method 900 includes receiving, in step S904, information indicating the capability of the first WD to transmit positioning feedback information from at least one of a first WD and a second WD. In one or more example methods, this information indicates the capability of the first WD to transmit positioning feedback information. The information indicating the capability of the first WD to transmit positioning feedback information may indicate whether the first WD is capable of performing a positioning feedback mechanism. In one or more example methods, the information indicating the capability of the first WD to transmit positioning feedback information indicates the capability of the first WD to perform a specific measurement (such as RSRP only without LOS or vice versa, or any other measurement). In one or more example methods, the information indicating the capability of the first WD to transmit positioning feedback information includes the capability of the first WD to process sidelink reference signals for positioning. Receiving step S904 corresponds to... Figure 2 The disclosed provision step S101 is performed by the first WD.

[0099] Method 900 includes receiving positioning feedback information (S905) from at least one of a first WD and a second WD, the positioning feedback information indicating the quality of the received sidelink reference signal used for positioning. In one or more example methods, the positioning feedback information includes a request for resources for additional transmission of the sidelink reference signal (used for positioning). The positioning feedback information may be received directly from the first WD or via the second WD. This information may be received via lower-layer signaling (such as a control channel, shared channel, or feedback channel). The receiving step S905 corresponds to... Figure 2 The described step S109 is provided by the first WD.

[0100] In one or more example methods, method 900 includes determining, in S907, a sidelink reference signal configuration for additional transmissions (such as retransmissions) of the sidelink reference signal (which is used for positioning).

[0101] In one or more example methods, the second sidelink reference signal configuration (such as allocated resources) is determined in response to receiving positioning feedback information. In one or more example methods, the sidelink reference signal configuration for the additional transmission differs from the sidelink reference signal configuration for the initial transmission, such as having different bandwidths, different time / frequency allocations, and / or different transmission powers.

[0102] In one or more example methods, a second sidelink reference signal configuration for additional transmission is pre-configured and can be provided as a first sidelink reference signal configuration transmitted in S902, which is used to transmit a sidelink reference signal for positioning.

[0103] In one or more example methods, method 900 includes a second sidelink reference signal configuration that provides S909 for additional transmission of a sidelink reference signal (which is used for positioning) to at least one of a first WD and a second WD.

[0104] Figure 8 A block diagram of an example first wireless device 300A (such as an SL-Rx-WD) according to this disclosure is shown. The first WD 300A includes memory circuitry 301A, processor circuitry 302A, and a wireless interface 303A. The first WD 300A can be configured to perform any Figure 2 The method disclosed herein. In other words, the first WD 300A can be configured to implement side-link positioning.

[0105] The first WD 300A is configured to communicate with a second WD (such as the WD disclosed herein) using a wireless communication system.

[0106] The first WD 300A is configured to receive a sidelink reference signal for positioning from the second WD (such as via the wireless interface 303A).

[0107] The first WD 300A is configured (such as via wireless interface 303A) to transmit positioning feedback information to the second WD, the positioning feedback information indicating the quality of the received side link reference signal used for positioning.

[0108] The radio interface 303A is configured to conduct wireless communication via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of the following: New Radio (NR), Long Term Evolution (LTE), Narrowband IoT (NB-IoT), and Long Term Evolution-Enhanced Machine Type Communications (LTE-M), and a 3GPP system operating in licensed or unlicensed frequency bands.

[0109] The first WD 300A can optionally be configured to perform any Figure 2The operations disclosed in the diagram (such as any one or more of the following: S101, S103, S105, S107, S109, S111). The operations of the first WD 300A may be implemented in the form of executable logic routines (e.g., lines of code, software programs, etc.) stored on a non-transitory computer-readable medium (e.g., memory circuitry 301A) and executed by processor circuitry 302A.

[0110] Furthermore, the operation of the first WD 300A can be viewed as a method configured for the first WD 300A to perform. Additionally, while the described functions and operations can be implemented in software, such functions can also be performed via dedicated hardware or firmware, or some combination of hardware, firmware, and / or software.

[0111] The memory circuit 301A can be one or more of the following: a buffer, flash memory, hard disk drive, removable media, volatile memory, non-volatile memory, random access memory (RAM), and any other suitable device. In a typical arrangement, the memory circuit 301A may include non-volatile memory for long-term data storage and volatile memory used as system memory for the processor circuit 302A. The memory circuit 301A can exchange data with the processor circuit 302A via a data bus. Control lines and an address bus may also exist between the memory circuit 301A and the processor circuit 302A. Figure 8 (Not shown in the image). The memory circuit 301A is considered a non-transitory computer-readable medium.

[0112] The memory circuit 301A can be configured to store a portion of the side link reference signal, the quality of the received side link reference signal, feedback configuration information, information indicating the ability of the first WD to transmit positioning feedback information, and additional side link reference signals for positioning in a portion of the memory.

[0113] Figure 9 A block diagram of an example second wireless device 300B (such as an SL-Tx-WD) according to this disclosure is shown. The second WD 300B includes memory circuitry 301B, processor circuitry 302B, and a wireless interface 303B. The second WD 300B can be configured to perform any... Figure 8 The method disclosed herein. In other words, the second WD 300B can be configured to handle the side-link positioning of the first WD.

[0114] The second WD 300B is configured to communicate with the first WD using a wireless communication system.

[0115] The second WD 300B is configured to transmit a sidelink reference signal for positioning (such as via wireless interface 303B) to the first WD.

[0116] The second WD 300B is configured to receive positioning feedback information (such as via wireless interface 303B) from the first WD, which indicates the quality of the side link reference signal for positioning received by the first WD.

[0117] The radio interface 303B is configured to conduct wireless communication via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of the following: New Radio (NR), Long Term Evolution (LTE), Narrowband IoT (NB-IoT) and Long Term Evolution-Enhanced Machine Type Communications (LTE-M), and a 3GPP system operating in licensed or unlicensed frequency bands.

[0118] The second WD 300B can optionally be configured to perform any Figure 6 The operations disclosed in the diagram (such as any one or more of the following: S201, S203, S205, S207, S209, S209A, S209B). The operations of the second WD 300B may be implemented in the form of executable logic routines (e.g., lines of code, software programs, etc.), which are stored on a non-transitory computer-readable medium (e.g., memory circuitry 301B) and executed by processor circuitry 302B.

[0119] Furthermore, the operation of the second WD 300B can be viewed as a method configured to be performed by the second WD 300B. Additionally, while the described functions and operations can be implemented in software, such functions can also be performed via dedicated hardware or firmware, or some combination of hardware, firmware, and / or software.

[0120] The memory circuit 301B can be any one or more of the following: a buffer, flash memory, hard disk drive, removable media, volatile memory, non-volatile memory, random access memory (RAM), and any other suitable device. In a typical arrangement, the memory circuit 301B may include non-volatile memory for long-term data storage and volatile memory used as system memory for the processor circuit 302B. The memory circuit 301B can exchange data with the processor circuit 302B via a data bus. Control lines and an address bus may also exist between the memory circuit 301B and the processor circuit 302B. Figure 9 (Not shown in the image). The memory circuit 301A is considered a non-transitory computer-readable medium.

[0121] The memory circuit 301B can be configured to store positioning feedback information, information indicating the ability of the first WD to transmit positioning feedback information, feedback configuration, and additional side link reference signals in a portion of the memory.

[0122] Figure 10 A block diagram of an example wireless network node 400 according to this disclosure is shown. The wireless network node 400 includes memory circuitry 401, processor circuitry 402, and a wireless interface 403. The wireless network node 400 can be configured to perform any... Figure 7 The method disclosed herein. In other words, network node 400 can be configured to achieve side-link positioning of the first WD via the second WD.

[0123] Network node 400 is configured to communicate with the first WD and / or the second WD using a wireless communication system.

[0124] The wireless network node 400 is configured to provide (e.g., via wireless interface 403 and / or processor circuitry 402) resources to at least one of the first WD and the second WD for transmitting side link reference signals for positioning.

[0125] The wireless network node 400 is configured to receive (e.g., via wireless interface 403) positioning feedback information from at least one of the first WD and the second WD, the positioning feedback information indicating the quality of the received side link reference signal for positioning.

[0126] The wireless interface 403 is configured to conduct wireless communication via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of the following: New Radio (NR), Long Term Evolution (LTE), Narrowband IoT (NB-IoT) and Long Term Evolution-Enhanced Machine Type Communications (LTE-M), and a 3GPP system operating in licensed or unlicensed frequency bands.

[0127] Processor circuit 402 may optionally be configured to perform any Figure 7 The operations disclosed in the diagram (such as any one or more of the following: S301, S302, S304, S305, S309). The operation of the wireless network node 400 may be implemented in the form of executable logic routines (e.g., lines of code, software programs, etc.), which are stored on a non-transitory computer-readable medium (e.g., memory circuitry 401) and executed by processor circuitry 402.

[0128] Furthermore, the operation of the wireless network node 400 can be viewed as a method configured to be performed by the wireless network node 400. Additionally, while the described functions and operations can be implemented in software, such functions can also be performed via dedicated hardware or firmware, or some combination of hardware, firmware, and / or software.

[0129] The memory circuit 401 can be one or more of the following: a buffer, flash memory, hard disk drive, removable media, volatile memory, non-volatile memory, random access memory (RAM), and any other suitable device. In a typical arrangement, the memory circuit 401 may include non-volatile memory for long-term data storage and volatile memory used as system memory for the processor circuit 402. The memory circuit 401 exchanges data with the processor circuit 402 via a data bus. Control lines and an address bus may also exist between the memory circuit 401 and the processor circuit 402. Figure 10 (Not shown in the image). The memory circuit 401 is considered a non-transitory computer-readable medium.

[0130] The memory circuit 401 can be configured to store positioning feedback information, resource configuration, and information indicating the WD's ability to transmit positioning feedback information in a portion of the memory.

[0131] Figure 11 This diagram illustrates a signaling diagram of example communication 500 between a first WD 300A, a second WD 300B, and network nodes (such as a wireless network node 400 for positioning and / or a core network node 600, such as an LMF) according to this disclosure. The first WD 300A may be an SL-Rx-WD, and the second WD 300B may be an SL-Tx-WD. Signaling from the WD to the LMF can be transparently transmitted via the wireless network node.

[0132] In one or more examples, the first WD 300A transmits a request 502 for feedback configuration information to network nodes 400 and 600. The feedback configuration information may indicate the configuration to be used for transmitting positioning feedback information 512. In one or more example methods, the feedback configuration information may indicate the quality of the received sidelink reference signal for positioning and / or the rule set for transmitting positioning feedback information. In one or more example methods, the feedback configuration information may indicate resource configurations, such as the resource configuration to be used for PSPFCH, time slot format, etc.

[0133] In one or more examples, a network node (such as wireless network node 400 and / or LMF 600) transmits feedback configuration information 503 to a first WD300A. This feedback configuration information indicates the configuration to be used for transmitting positioning feedback information. In one or more example methods, the feedback configuration information 503 includes a set of rules to be used to determine the quality of the received sidelink reference signal for positioning and / or for transmitting positioning feedback information. In one or more example methods, the feedback configuration information may indicate resource configuration, such as which resource will be used for PSPFCH, the time slot format, etc. Feedback configuration information 504 corresponds to... Figure 2The feedback configuration information obtained by the first WD in S103.

[0134] In one or more examples, the first WD 300A provides (e.g., transmits) information 504 to the sidelink resource allocation node indicating the first WD's ability to transmit positioning feedback information 512. For example, information 504 indicating the first WD's ability to transmit positioning feedback information 512 may include the first WD's ability to process sidelink reference signals for positioning. Information 504 corresponds to... Figure 2 Information provided by the first WD 300A in S101.

[0135] In one or more examples, network nodes 400, 600 determine resources for transmitting sidelink reference signals for positioning and send an indication 506 to the first WD 300A and / or the second WD 300B of the resources for transmitting sidelink reference signals for positioning. In other words, the sidelink resource allocation node can determine one or more resource configurations (such as resource pre-configuration and / or resource reservation) associated with at least one of the first WD 300A and the second WD 300B for transmitting sidelink reference signals for positioning. In other words, network nodes 400, 600 can determine (such as allocate) resources for transmitting sidelink reference signals for positioning via one or more of the following: Physical Sidelink Control Channel (PSCCH), PSSCH. This may be similar to... Figure 7 S902 and / or S907 are executed by the wireless network node 400.

[0136] The second WD 300B transmits a side link reference signal 508 for positioning to the first WD 300B. The side link reference signal 508 corresponds to... Figure 2 In S105, it is received by the first WD 300A and Figure 6 The side link reference signal transmitted by the second WD 300B in S205.

[0137] In one or more examples, the first WD 300A determines whether the quality of the received sidelink reference signal for positioning meets quality criterion 510. The first WD 300A may determine whether the quality of the received sidelink reference signal for positioning meets quality criterion 510 based on positioning measurements and / or a combination of positioning measurements (such as based on RSRP and / or LOS classification). For example, when the positioning measurement is equal to or higher than a quality threshold, the first WD 300A may determine that the received sidelink reference signal for positioning meets quality criterion 510. In one or more examples, when the positioning measurement is lower than a quality threshold, the first WD 300A may determine that the received sidelink reference signal for positioning does not meet quality criterion 510. This corresponds to... Figure 2S107 is executed by the first WD.

[0138] The first WD 300A transmits positioning feedback information 512 to the second WD 300B and / or network nodes 400, 600. This positioning feedback information indicates the quality of the received sidelink reference signal 508 used for positioning. For example, when the received sidelink reference signal for positioning meets the quality criteria, the positioning feedback information 512 may include positive feedback, such as ACK. For example, when the received sidelink reference signal for positioning does not meet the quality criteria, the positioning feedback information 512 may include negative feedback, such as NACK. The positioning feedback information 512 corresponds to... Figure 2 The positioning feedback information transmitted by the first WD 300A in S109 and in Figure 6 The positioning feedback information 512 received by the second WD in S207. In one or more examples, the positioning feedback information 512 includes negative feedback, such as feedback indicating that the quality of the received reference signal for positioning does not meet a quality standard. The second WD 300B may, in response to the positioning feedback information 512 including negative feedback, initiate additional transmissions of the sidelink reference signal 514 for positioning, such as retransmissions. In other words, the second WD 300B may perform retransmissions of the sidelink reference signal 514 for positioning. The additional transmission of the sidelink reference signal 514 for positioning corresponds to... Figure 6 In S209, initiated by the second WD300B and Figure 2 In S109, the side link reference signal for positioning, received by the first WD 300A, is transmitted again.

[0139] Figure 12 This is a signaling diagram illustrating example communication 700 between a first WD 300A, a second WD 300B, and a wireless network node 400 according to this disclosure.

[0140] In one or more examples, wireless network node 400 transmits feedback configuration information 702 to at least one of the first WD 300A and the second WD 300B. This feedback configuration information indicates the configuration to be used for transmitting and / or receiving positioning feedback information. Feedback configuration information 504 corresponds to... Figure 2 The feedback configuration information obtained by the first WD in S103 is similar to the feedback configuration information transmitted from the second WD 300B to the first WD 300A in S203. The second WD 300B can receive the feedback configuration information from the wireless network node 400 and can forward the information to the first WD 300A in S203.

[0141] In one or more examples, the first WD 300A transmits information 704 to the second WD 300B and / or the wireless network node 400, indicating the first WD's ability to transmit positioning feedback information. Information 704 corresponds to... Figure 2 In S101, it is provided by the first WD300A and received by the second WD 300B in S201, and in Figure 7 Information received by wireless network node 400 in S904.

[0142] In one or more examples, the second WD 300B transmits a request 706 to the wireless network node 400 to perform the transmission of a side link reference signal for positioning with feedback.

[0143] In one or more examples, the wireless network node 400 assigns a resource 708 for transmitting a sidelink reference signal for positioning based on a request 706, such as in a resource set (e.g., a time slot) that includes resources for transmitting positioning feedback information. In one or more examples, the wireless network node 400 transmits and / or provides information 710 to the second WD 300B indicating the resource 708 for transmitting the sidelink reference signal 712 for positioning.

[0144] The second WD 300B transmits a side link reference signal 712 for positioning to the first WD 300A. The side link reference signal 712 for positioning can be transmitted in the indicated resource 708. The side link reference signal 712 for positioning corresponds to... Figure 6 Transmitted by the second wireless device 300B in S205 and Figure 2 The side link reference signal for positioning is received by the first WD in S105.

[0145] In one or more examples, the first WD 300A determines whether the quality of the received sidelink reference signal 712 for positioning, received by 714, meets a quality criterion. The first WD 300A may determine whether the quality of the received sidelink reference signal 712 for positioning meets the quality criterion based on positioning measurements and / or a combination of positioning measurements (such as based on RSRP and / or LOS classification). For example, when the positioning measurement is equal to or higher than a quality threshold, the first WD 300A may determine that the received sidelink reference signal 712 for positioning meets quality criterion 714. In one or more examples, when the positioning measurement is lower than a quality threshold, the first WD 300A may determine that the received sidelink reference signal 712 for positioning does not meet quality criterion 714. Determination 714 corresponds to... Figure 2 S107 is executed by the first WD 300A.

[0146] The first WD 300A transmits positioning feedback information 716 to the second WD 300B. This positioning feedback information indicates the quality of the received sidelink reference signal 712 used for positioning. For example, when the received sidelink reference signal 712 used for positioning meets quality criterion 714, the positioning feedback information 716 may include positive feedback, such as ACK. For example, when the received sidelink reference signal 712 used for positioning fails to meet quality criterion 714, the positioning feedback information 716 may include negative feedback, such as NACK. The positioning feedback information 716 corresponds to... Figure 2 Transmitted by the first WD in S109 and in Figure 6 The positioning feedback information received by the second WD 300B in S207.

[0147] In one or more examples, when the location feedback information includes an indication that the quality of the received sidelink reference signal fails to meet quality standards, the second WD 300B initiates an additional transmission of the sidelink reference signal used for location. In other words, the second WD 300B can perform retransmission of the sidelink reference signal used for location. In one or more example methods, the second WD 300B transmits a request 718 for resources to the wireless network node 400 for additional transmission of the sidelink reference signal (used for location). Request 718 corresponds to... Figure 6 The request transmitted by the second WD 300B in S209A, and similar to that in Figure 7 The location feedback information received by the wireless network node 400 in the S907.

[0148] Wireless network node 400 can allocate resources for transmitting additional sidelink reference signals used for positioning, and can transmit a sidelink reference signal configuration 720, such as a second sidelink reference signal configuration, to the second WD 300B for additional transmissions of sidelink reference signals. The sidelink reference signal configuration 720 can indicate resources for additional transmissions (such as retransmissions) of sidelink reference signals (used for positioning). This configuration can be the same as the previously transmitted configuration, or it can be a different configuration (e.g., different bandwidth, different frequency allocation, etc.). The sidelink reference signal configuration 720 corresponds to... Figure 6 The side link reference signal configuration received by the second WD 300B in S209B, and corresponding to the configuration in Figure 7 The second-side link reference signal configuration provided by the wireless network node 400 in the S909.

[0149] In one or more example methods, the second WD 300B may transmit additional side link reference signals 722 for positioning to the first WD 300B, such as configuration 720 based on the second side link reference signal. The side link reference signal 722 corresponds to... Figure 6 The side link reference signal transmitted by the second WD 300B in the S209C and in Figure 2 The side link reference signal received by the first WD 300A in S111.

[0150] Examples of methods and products (first WD, second WD, and wireless network node) according to this disclosure are listed in the following terms:

[0151] Item 1. A method for achieving sidelink positioning, executed in a first wireless device (WD), the method comprising:

[0152] - Receive the side link reference signal for positioning from the second WD (S105), and

[0153] - Transmit positioning feedback information (S109) to the second WD, which indicates the quality of the received side link reference signal used for positioning.

[0154] Item 2. The method according to Item 1, wherein the method includes:

[0155] - Based on the received side link reference signal, determine (S107) the quality of the received side link reference signal used for positioning.

[0156] Item 3. The method according to Item 1 or 2, wherein the method includes:

[0157] - Obtain (S103) feedback configuration information, which indicates the configuration to be used for transmitting positioning feedback information.

[0158] Item 4. According to the method of Item 3, wherein the feedback configuration information indicates one or more of the following:

[0159] -Availability of the location feedback mechanism

[0160] -Whether to transmit location feedback information

[0161] - Resources used to provide location feedback information

[0162] - The type of positioning measurement used to determine positioning feedback information, and

[0163] - One or more thresholds used to transmit positioning feedback information.

[0164] Item 5. The method according to any of the preceding items, wherein the positioning feedback information is transmitted in a physical side link channel dedicated to transmitting the positioning feedback information.

[0165] Item 6. According to the method of Item 5, wherein the physical sidelink channel dedicated to transmitting positioning feedback information is associated with one or more WDs and / or one or more sidelink positioning resource timings.

[0166] Item 7. The method according to any one of Items 5 to 6, wherein a physical sidelink channel dedicated to transmitting positioning feedback information is allocated in at least one orthogonal frequency division multiplexing (OFDM) symbol within a time slot, the time slot containing a sidelink reference signal for positioning.

[0167] Item 8. The method according to any one of Items 5 to 7, wherein a physical sidelink channel dedicated to transmitting positioning feedback information is allocated in every N time slots containing sidelink reference signals for positioning, where N>=1.

[0168] Item 9. The method according to any of the preceding items, wherein the method comprises:

[0169] - Provide the side link resource allocation node with (S101) information indicating the ability of the first WD to transmit positioning feedback information.

[0170] Item 10. According to the method of any of the preceding items, wherein the location feedback information includes one or more of the following:

[0171] - Acknowledgment (ACK): This indicates that the quality of the received sidelink reference signal used for positioning meets the quality criteria.

[0172] - Negative Acknowledgment (NACK) indicates that the quality of the received sidelink reference signal used for positioning fails to meet quality standards.

[0173] - Absolute value, indicating the quality of the received side-link reference signal used for positioning, and

[0174] - Relative value, indicating the quality of the received sidelink reference signal used for positioning.

[0175] Item 11. The method according to any one of the preceding items, wherein the method comprises:

[0176] - When the positioning feedback information indicates that the quality of the received side link reference signal for positioning does not meet the quality standard, receive (S105) an additional side link reference signal for positioning from the second WD.

[0177] Item 12. A method for processing sidelink localization of a first WD, executed in a second wireless device WD, the method comprising:

[0178] - Transmit a side link reference signal for positioning to the first WD (S205), and

[0179] - Receive positioning feedback information from the first WD (S207), which indicates the quality of the side link reference signal for positioning received by the first WD.

[0180] Item 13. The method according to Item 12, wherein the method includes:

[0181] - Based on the positioning feedback information, initiate (S209) another transmission of the side link reference signal for positioning.

[0182] Item 14. According to the method of Item 13, wherein initiation (S209) includes:

[0183] - Send (S209A) a request for resources to the sidelink resource allocation node for additional transmission of sidelink reference signals used for positioning.

[0184] Item 15. According to the method of Item 13 or 14, wherein initiation (S209) includes:

[0185] - Transmit an additional side link reference signal (S209B) to the first WD for positioning.

[0186] Item 16. The method of Item 15, wherein an additional sidelink reference signal is transmitted in pre-configured resources for additional transmission of the sidelink reference signal for positioning; or the additional sidelink reference signal is transmitted in resources for additional transmission of the sidelink reference signal received from a resource allocation node in response to a request for resources for additional transmission of the sidelink reference signal for positioning.

[0187] Item 17. The method according to any one of items 12 to 16, wherein the method comprises:

[0188] - Transmit (S203) feedback configuration information to the first WD, which indicates the configuration to be used for transmitting positioning feedback information.

[0189] Item 18. According to the method of Item 17, wherein the feedback configuration information indicates one or more of the following:

[0190] - Availability of the feedback mechanism;

[0191] -Whether to transmit location feedback information

[0192] - Resources used to provide location feedback information

[0193] - The type of positioning measurement used to determine positioning feedback information, and

[0194] - One or more thresholds used to transmit positioning feedback information.

[0195] Item 19. The method according to any one of items 12 to 18, wherein the positioning feedback information is received in a physical side link channel dedicated to transmitting the positioning feedback information.

[0196] Item 20. The method according to any one of items 12 to 19, wherein the method comprises:

[0197] - Receive information from the first WD (S201) indicating the first WD's ability to transmit positioning feedback information.

[0198] Item 21. According to the method of any one of Items 12 to 20, wherein the location feedback information includes one or more of the following:

[0199] - Acknowledgment (ACK): This indicates that the quality of the received sidelink reference signal used for positioning meets the quality criteria.

[0200] - Negative Acknowledgment (NACK) indicates that the quality of the received sidelink reference signal used for positioning fails to meet quality standards.

[0201] - Absolute value, indicating the quality of the received side-link reference signal used for positioning, and

[0202] - Relative value, indicating the quality of the received sidelink reference signal used for positioning.

[0203] Item 22. A method for sidelink localization of a first WD via a second WD, performed in a wireless network node, wherein the method includes:

[0204] -Provide (S302) resources (to) at least one of the first WD and the second WD for transmitting a side link reference signal for positioning; and

[0205] - Receive (S305) positioning feedback information from at least one of the first WD and the second WD, the positioning feedback information indicating the quality of the received side link reference signal for positioning.

[0206] Item 23. The method according to Item 22, wherein the positioning feedback information includes a request for resources for additional transmission of a sidelink reference signal used for positioning.

[0207] Item 24. The method according to Item 22 or 23, wherein the method comprises:

[0208] - Provide (S309) a resource configuration for additional transmission of a side link reference signal for positioning to at least one of the first WD and the second WD.

[0209] Item 25. The method according to any one of items 22 to 24, wherein the method comprises:

[0210] - Feedback configuration information is sent to at least one of the first WD and the second WD (S301), the feedback configuration information indicating the configuration to be used for transmitting positioning feedback information.

[0211] Item 26. The method according to any one of items 22 to 25, wherein the method comprises:

[0212] - Receive (S304) information from at least one of the first WD and the second WD indicating the WD's ability to transmit positioning feedback information.

[0213] Item 27. The method according to any one of items 22 to 26, wherein the method comprises:

[0214] - Determine (S307) the resource configuration for additional transmission of the side link reference signal used for positioning.

[0215] Item 28. According to the method of Item 27, wherein the resource configuration is determined in response to receiving location feedback information.

[0216] Item 29. A method for sidelink localization of a first WD via a second WD, performed in a wireless network node, wherein the method includes:

[0217] - When the quality of the sidelink reference signal transmitted using the first resource configuration fails to meet the quality standard, provide (S309) at least one of the first WD and the second WD with an additional resource configuration for the transmission of the sidelink reference signal, which is used for positioning.

[0218] Item 30. A first wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the first wireless device is configured to perform any of the methods according to any one of Items 1 to 11.

[0219] Item 31. A second wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the second wireless device is configured to perform any of the methods according to any one of Items 12 to 21.

[0220] Item 32. A wireless network node including memory circuitry, processor circuitry, and a wireless interface, wherein the wireless network node is configured to perform any of the methods according to any one of Items 22 to 28.

[0221] The use of terms such as "first," "second," "third," and "fourth," "primary," "secondary," and "tertiary" does not imply any specific order, but is included to identify individual elements. Furthermore, the use of terms such as "first," "second," "third," and "fourth," "primary," "secondary," and "tertiary" does not indicate any order or importance, but is used to distinguish one element from another. It should be noted that the terms "first," "second," "third," and "fourth," "primary," "secondary," and "tertiary" are used here and elsewhere solely for labelling purposes and are not intended to indicate any specific spatial or temporal order. Moreover, the labeling of a first element does not imply the existence of a second element, and vice versa.

[0222] It is understood that the accompanying drawings include some circuits or operations illustrated with solid lines and some circuits, components, features, or operations illustrated with dashed lines. The circuits or operations included in solid lines are those included in the most broad examples. The circuits, components, features, or operations included in dashed lines are examples that can be included in the circuits, components, features, or operations of the solid-line examples, or portions of the circuits, components, features, or operations of the solid-line examples, or other circuits, components, features, or operations that may be employed besides those of the circuits, components, features, or operations of the solid-line examples. It should be understood that these operations do not need to be performed in the order presented. Furthermore, it should be understood that not all operations need to be performed. The example operations can be performed in any order and in any combination. It should be understood that these operations do not need to be performed in the order presented. The circuits, components, features, or operations included in dashed lines can be considered optional.

[0223] Other operations not described in this document may be incorporated into the example operations. For example, one or more additional operations may be performed before, after, simultaneously with, or between any of the described operations.

[0224] Some features discussed above as individual implementations can also be implemented in combination as a single implementation. Conversely, features described as single implementations can also be implemented individually or in any suitable sub-combination in multiple implementations. Furthermore, although features may be described above as functioning in certain combinations, in some cases, one or more features from the listed combinations can be removed from that combination, and that combination can be listed as any sub-combination or a variation of any sub-combination.

[0225] It should be noted that the word "including" does not necessarily exclude the existence of other elements or steps besides those listed.

[0226] It should be noted that the word "one" or "a" preceding an element does not preclude the existence of multiple such elements.

[0227] It should also be noted that no reference numerals in the drawings limit the scope of the claims, examples can be implemented at least in part by means of both hardware and software, and several “tools,” “units,” or “devices” can be represented by the same piece of hardware.

[0228] The degree language used herein (such as the terms “approximately,” “about,” “roughly,” and “basically” as used herein) refers to a value, quantity, or characteristic that is close to the stated value, quantity, or characteristic, still performs the expected function, or achieves the expected result. For example, the terms “approximately,” “about,” “roughly,” and “basically” can refer to a quantity that is less than or equal to 10% of the stated quantity, less than or equal to 5% of the stated quantity, less than or equal to 1% of the stated quantity, less than or equal to 0.1% of the stated quantity, and less than or equal to 0.01% of the stated quantity. If the stated quantity is 0 (e.g., none, not at all), the ranges listed above can be specific ranges and not within a specific percentage of that value. For example, less than or equal to 10 wt. / vol.%, less than or equal to 5 wt. / vol.%, less than or equal to 1 wt. / vol.%, less than or equal to 0.1 wt. / vol.%, and less than or equal to 0.01 wt. / vol.%.

[0229] The various example methods, apparatuses, nodes, and systems described herein are described within the overall context of method steps or processes. In one aspect, these method steps or processes can be implemented by a computer program product embodied in a computer-readable medium, which includes computer-executable instructions, such as program code, executed by a computer in a networked environment. The computer-readable medium can include removable and non-removable storage devices, including but not limited to read-only memory (ROM), random access memory (RAM), optical disc (CD), digital versatile disc (DVD), etc. Typically, program circuitry can include routines, programs, objects, components, data structures, etc., that perform a specified task or implement a particular abstract data type. The computer-executable instructions, associated data structures, and program circuitry represent examples of program code for performing steps in the methods disclosed herein. A particular sequence of such executable instructions or associated data structures represents examples of corresponding actions for implementing the functionality described in such steps or processes.

[0230] Although features have been shown and described, it should be understood that they are not intended to limit the claimed disclosure, and it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the scope of the claimed disclosure. Therefore, this specification and drawings are to be regarded as illustrative rather than restrictive. The claimed disclosure is intended to cover all alternatives, modifications, and equivalents.

Claims

1. A method for implementing sidelink positioning, executed in a first wireless device WD, the method comprising: - Receive the side link reference signal for positioning from the second WD (S105), and - Transmit positioning feedback information to the second WD (S109), the positioning feedback information indicating the quality of the received side link reference signal for positioning.

2. The method according to claim 1, wherein, The method includes: - Based on the received side link reference signal, determine (S107) the quality of the received side link reference signal used for positioning.

3. The method according to claim 1 or 2, wherein, The method includes: - Obtain (S103) feedback configuration information, which indicates the configuration to be used for transmitting positioning feedback information.

4. The method according to claim 3, wherein, The feedback configuration information indicates one or more of the following: -Availability of the location feedback mechanism -Whether to transmit location feedback information - Resources used to provide location feedback information - The type of positioning measurement used to determine positioning feedback information, and - One or more thresholds used to transmit positioning feedback information.

5. The method according to any one of the preceding claims, wherein, The positioning feedback information is transmitted in a physical side link channel dedicated to transmitting positioning feedback information.

6. The method according to claim 5, wherein, The physical sidelink channel, dedicated to transmitting positioning feedback information, is associated with one or more WDs and / or one or more sidelink positioning resource timings.

7. The method according to any one of claims 5 to 6, wherein, The physical sidelink channel, dedicated to transmitting positioning feedback information, is allocated in at least one orthogonal frequency division multiplexing (OFDM) symbol within a time slot, which contains a sidelink reference signal for positioning.

8. The method according to any one of claims 5 to 7, wherein, The physical sidelink channel, dedicated to transmitting positioning feedback information, is allocated in every N time slots containing sidelink reference signals for positioning, where N>=1.

9. The method according to any one of the preceding claims, wherein, The method includes: - Provide the side link resource allocation node with (S101) information indicating the ability of the first WD to transmit positioning feedback information.

10. The method according to any one of the preceding claims, wherein, The location feedback information includes one or more of the following: - Acknowledgement (ACK), indicating that the quality of the received sidelink reference signal used for positioning meets the quality criteria. - Negative Acknowledgment (NACK) indicates that the quality of the received sidelink reference signal used for positioning fails to meet the quality criteria. - Absolute value, indicating the quality of the received side-link reference signal used for positioning, and - A relative value indicating the quality of the received sidelink reference signal used for positioning.

11. The method according to any one of the preceding claims, wherein, The method includes: - When the positioning feedback information indicates that the quality of the received side link reference signal for positioning does not meet the quality standard, receive (S105) an additional side link reference signal for positioning from the second WD.

12. A method for processing sidelink positioning of a first WD, executed in a second wireless device WD, the method comprising: - Transmit a side link reference signal for positioning to the first WD (S205), and - Receive positioning feedback information from the first WD (S207), the positioning feedback information indicating the quality of the side link reference signal for positioning received by the first WD.

13. The method according to claim 12, wherein, The method includes: - Based on the positioning feedback information, initiate (S209) another transmission of the side link reference signal for positioning.

14. The method according to claim 13, wherein, Initiation (S209) includes: - Send (S209A) a request for resources to the sidelink resource allocation node, the resources being used for the additional transmission of the sidelink reference signal, the sidelink reference signal being used for positioning.

15. The method according to claim 13 or 14, wherein, Initiation (S209) includes: - Transmit (S209B) an additional side link reference signal for positioning to the first WD.

16. The method according to claim 15, wherein, The additional sidelink reference signal is transmitted in pre-configured resources for additional transmission of the sidelink reference signal, which is used for positioning; or the additional sidelink reference signal is transmitted in resources for additional transmission of the sidelink reference signal received from a resource allocation node in response to a request for resources for the additional transmission of the sidelink reference signal, which is used for positioning.

17. The method according to any one of claims 12 to 16, wherein, The method includes: - Transmit (S203) feedback configuration information to the first WD, the feedback configuration information indicating the configuration to be used for transmitting positioning feedback information.

18. The method according to claim 17, wherein, The feedback configuration information indicates one or more of the following: -Availability of feedback mechanisms -Whether to transmit location feedback information - Resources used to provide location feedback information - The type of positioning measurement used to determine positioning feedback information, and - One or more thresholds used to transmit positioning feedback information.

19. The method according to any one of claims 12 to 18, wherein, The positioning feedback information is received in a physical side link channel dedicated to transmitting positioning feedback information.

20. The method according to any one of claims 12 to 19, wherein, The method includes: - Receive information from the first WD (S201) indicating the first WD's ability to transmit positioning feedback information.

21. The method according to any one of claims 12 to 20, wherein, The location feedback information includes one or more of the following: - Acknowledgement (ACK), indicating that the quality of the received sidelink reference signal used for positioning meets the quality criteria. - Negative Acknowledgment (NACK) indicates that the quality of the received sidelink reference signal used for positioning fails to meet the quality criteria. - Absolute value, indicating the quality of the received side-link reference signal used for positioning, and - A relative value indicating the quality of the received sidelink reference signal used for positioning.

22. A method for sidelink localization of a first WD via a second WD, executed in a wireless network node, wherein, The method includes: - Provide (S302) resources to at least one of the first WD and the second WD for transmitting a side link reference signal for positioning, and - Receive (S305) positioning feedback information from at least one of the first WD and the second WD, the positioning feedback information indicating the quality of the received side link reference signal for positioning.

23. The method according to claim 22, wherein, The positioning feedback information includes a request for resources used for additional transmission of sidelink reference signals, which are used for positioning.

24. The method according to claim 22 or 23, wherein, The method includes: - Provide (S309) a resource configuration for additional transmission of a sidelink reference signal for positioning to at least one of the first WD and the second WD.

25. The method according to any one of claims 22 to 24, wherein, The method includes: - Feedback configuration information is transmitted to at least one of the first WD and the second WD (S301), the feedback configuration information indicating the configuration to be used for transmitting positioning feedback information.

26. The method according to any one of claims 22 to 25, wherein, The method includes: - Receive (S304) information from at least one of the first WD and the second WD indicating the WD's ability to transmit positioning feedback information.

27. The method according to any one of claims 22 to 26, wherein, The method includes: - Determine (S307) the resource configuration for additional transmission of the sidelink reference signal, which is used for positioning.

28. The method according to claim 27, wherein, The resource configuration is determined in response to receiving the location feedback information.

29. A first wireless device, comprising a memory circuit, a processor circuit, and a wireless interface, wherein, The first wireless device is configured to perform any of the methods claimed in any one of claims 1 to 11.

30. A second wireless device, comprising a memory circuit, a processor circuit, and a wireless interface, wherein, The second wireless device is configured to perform any of the methods claimed in any one of claims 12 to 21.

31. A wireless network node, comprising a memory circuit, a processor circuit, and a wireless interface, wherein, The wireless network node is configured to perform any of the methods claimed in any one of claims 22 to 28.

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