Positioning method and device, equipment and storage medium

Abstract

The invention discloses a positioning method and device, equipment and a storage medium, and relates to the field of communication. The method comprises the following steps: sending first information, wherein the first information is used for indicating a first terminal device to enter a first area or requesting to activate and use first configuration information; sending the SL-PRS to a second terminal device based on first configuration information, or performing measurement on the SL-PRS sent by the second terminal device based on the first configuration information; wherein the first configuration information is associated with the first area. According to the method provided by the invention, the measurement accuracy of the SL-PRS and the accuracy of the positioning result can be improved.

Description

Positioning method, device, equipment and storage medium Technical Field

[0001] The present application relates to the field of communications, and in particular to a positioning method, apparatus, device, and storage medium. Background Art

[0002] In the side positioning scenario, when the first terminal device moves across regions, the network device may not be able to promptly learn of the cross-regional behavior of the first terminal device, resulting in the inability to promptly enable the second terminal device in the corresponding area to start sending or measuring SL-PRS, thereby negatively affecting the positioning efficiency and the accuracy of the positioning results.

[0003] Summary of the Invention

[0004] The present application provides a positioning method, apparatus, device, and storage medium. The technical solution is as follows:

[0005] According to one aspect of the present application, a positioning method is provided, which is performed by a first terminal device and includes:

[0006] Sending first information, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information;

[0007] Send a sidelink positioning reference signal SL-PRS based on the first configuration information, or perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information;

[0008] The first configuration information is associated with the first area.

[0009] According to one aspect of the present application, a positioning method is provided, which is performed by a network device and includes:

[0010] receiving first information sent by a first terminal device, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information;

[0011] The first area is associated with the first configuration information.

[0012] According to one aspect of the present application, a positioning method is provided, which is performed by a second terminal device and includes:

[0013] Receive trigger information, where the trigger information is used to trigger the second terminal device to perform at least one of the following operations: start sending a sidelink positioning reference signal SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS;

[0014] The SL-PRS is transmitted based on the first configuration information.

[0015] According to one aspect of the present application, a positioning device is provided, comprising:

[0016] A first sending module is configured to send first information, where the first information is used to indicate that the device has entered a first area or to request activation of first configuration information;

[0017] The first sending module is further configured to send a sidelink positioning reference signal SL-PRS based on the first configuration information; or the first processing module is configured to perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information;

[0018] The first configuration information is associated with the first area.

[0019] According to one aspect of the present application, a positioning device is provided, comprising:

[0020] A second receiving module is configured to receive first information sent by a first terminal device, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information;

[0021] The first area is associated with the first configuration information.

[0022] According to one aspect of the present application, a positioning device is provided, comprising:

[0023] a third receiving module, configured to receive trigger information, where the trigger information is used to trigger the apparatus to perform at least one of the following operations: start sending a sidelink positioning reference signal SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS;

[0024] The SL-PRS is transmitted based on the first configuration information.

[0025] According to one aspect of the present application, a terminal device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described in the above aspects.

[0026] According to one aspect of the present application, a network device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described in the above aspects.

[0027] According to one aspect of the present application, a computer-readable storage medium is provided, in which executable instructions are stored. The executable instructions are loaded and executed by the processor to implement the positioning method as described in the above aspect.

[0028] According to one aspect of the present application, a computer program product is provided, which includes computer instructions, wherein the computer instructions are stored in a computer-readable storage medium, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the positioning method described in the above aspect.

[0029] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and is used to implement the positioning method described in the above aspects when the chip is running.

[0030] According to one aspect of the present application, a computer program is provided, which includes computer instructions. A processor of a computer device executes the computer instructions, so that the computer device executes the positioning method as described in the above aspect.

[0031] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0032] The first terminal device is supported to notify the network device or other terminal device of its entry into the first area or request activation of the first configuration information by sending the first information, so as to quickly and promptly inform the network device or other terminal device of the first terminal device's positioning requirements, thereby helping subsequent network devices or other terminal devices to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the first configuration information based on which the SL-PRS transmitted between the first terminal device and the second terminal device is transmitted is associated with the first area. Using more targeted configuration information to transmit the SL-PRS helps to improve the measurement accuracy of the SL-PRS and the accuracy of the positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] FIG1 shows a schematic diagram of a side communication scenario provided by some exemplary embodiments of the present application;

[0035] FIG2 shows a schematic diagram of a side communication scenario provided by some exemplary embodiments of the present application;

[0036] FIG3 shows a schematic diagram of a side communication scenario provided by some exemplary embodiments of the present application;

[0037] FIG4 shows a schematic flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0038] FIG5 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0039] FIG6 shows a schematic diagram of a mobile communication system provided by some exemplary embodiments of the present application;

[0040] FIG7 shows a schematic flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0041] FIG8 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0042] FIG9 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0043] FIG10 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0044] FIG11 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0045] FIG12 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0046] FIG13 is a schematic diagram showing a flow chart of a positioning method provided by some exemplary embodiments of the present application;

[0047] FIG14 is a schematic diagram showing a positioning method provided by some exemplary embodiments of the present application;

[0048] FIG15 shows a structural block diagram of a positioning device provided by some exemplary embodiments of the present application;

[0049] FIG16 shows a structural block diagram of a positioning device provided by some exemplary embodiments of the present application;

[0050] FIG17 shows a structural block diagram of a positioning device provided by some exemplary embodiments of the present application;

[0051] FIG18 shows a schematic structural diagram of a communication device provided by some exemplary embodiments of the present application. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0053] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0054] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0055] First, the relevant technologies involved in the embodiments of this application are introduced:

[0056] Sidelink (SL) communication

[0057] Sidelink is also called direct link. Different from the signal transmission and reception between network equipment and terminal equipment in traditional mobile communication systems, SL transmission refers to a communication method in which terminal equipment directly transmits and receives signals through a sidelink. SL transmission has the characteristics of short delay and low overhead, and is particularly suitable for communication between two terminals with close geographical locations (such as vehicle-mounted equipment and other peripheral equipment with close geographical locations). SL technology can be applied to scenarios where various terminal devices communicate directly with each other, or in other words, the terminal device in this application refers to any device that communicates using SL technology.

[0058] In SL transmission, according to the network coverage of the terminal equipment, it can be divided into network coverage inner side communication, partial network coverage side communication, and network coverage outer side communication, as shown in Figure 1, Figure 2 and Figure 3 respectively.

[0059] Figure 1: In sideline communications within network coverage, all terminal devices 21 performing sideline communications are within the coverage of the same network device 10. Therefore, the above-mentioned terminal devices 21 can all perform sideline communications based on the same sideline configuration by receiving configuration signaling from the network device 10.

[0060] Figure 2: In the case of partial network coverage and sidelink communication, some terminal devices 21 performing sidelink communication are located within the coverage area of ​​the network device. These terminal devices 21 can receive configuration signaling from the network device 10 and perform sidelink communication according to the configuration of the network device 10. However, terminal devices 22 located outside the network coverage area cannot receive configuration signaling from the network device 10. In this case, the terminal devices 22 outside the network coverage area can determine the sidelink configuration based on pre-configuration information and / or information carried in the Physical Sidelink Broadcast Channel (PSBCH) sent by the terminal device 21, thereby performing sidelink communication.

[0061] Figure 3: For sideline communication outside the network coverage, all terminal devices 22 performing sideline communication are located outside the network coverage. All terminal devices 22 can determine the sideline configuration according to the pre-configuration information to perform sideline communication.

[0062] SL Positioning

[0063] Different from the positioning method in traditional mobile communication systems that relies on terminal devices and network devices, SL positioning uses reference signals between terminal devices to achieve positioning.

[0064] In the SL positioning method, the reference signal is sent and measured in the specified frequency band of the side link. The measurement result of the reference signal can reflect the positioning reference variables with actual physical meaning in space, such as the relative distance and relative angle between the terminal devices. After triggering the SL positioning, the first terminal device with positioning requirements first searches for a suitable second terminal device through the configuration of the network device or its own measurement of the surrounding signals, and then measures the reference signal sent by the second terminal device through the first terminal device and / or measures the reference signal sent by the first terminal device through the second terminal device to obtain the measurement result of the reference signal, and then obtains the positioning result of the first terminal device.

[0065] In the case where the second terminal device measures the reference signal sent by the first terminal device, taking the second terminal device including the second terminal device A, the second terminal device B, and the second terminal device C as an example, the SL positioning process is shown in Figure 4:

[0066] Step 401: The first terminal device triggers SL positioning (Triggering of Positioning Need);

[0067] In some embodiments, when the first terminal device has a positioning requirement, SL positioning is actively triggered, or the start of the SL positioning process is actively triggered.

[0068] In some embodiments, the first terminal device receives the trigger information of SL positioning, triggers SL positioning based on the trigger information of SL positioning, or triggers the start of the SL positioning process based on the trigger information of SL positioning.

[0069] Step 402: The first terminal device searches for the second terminal device (Finding Qualified Anchor UEs);

[0070] The second terminal device is used to assist in achieving the positioning of the first terminal device. The second terminal device can also be called an auxiliary positioning device, an auxiliary terminal device, or an anchor terminal device (Anchor UE).

[0071] In some embodiments, the first terminal device searches for the second terminal device based on a configuration of the network device.

[0072] In some embodiments, the first terminal device measures surrounding signals (Performing Measurement) and searches for the second terminal device based on the measurement results of the surrounding signals.

[0073] Exemplarily, the second terminal devices include terminal device B1, terminal device B2, and terminal device B3.

[0074] Step 403: Configure a sidelink positioning reference signal (SL-PRS).

[0075] SL-PRS is configured between the first terminal device and the second terminal device A, the second terminal device B, and the second terminal device C.

[0076] Step 404: The first terminal device sends a sidelink location information request message (Sidelink Location Information Request MSG or SL: LocationInformationRequest msg) to the second terminal device A;

[0077] Step 405: The first terminal device sends a sidelink location information request message to the second terminal device B;

[0078] Step 406: The first terminal device sends a sidelink location information request message to the second terminal device C;

[0079] Step 407: The second terminal device A measures the SL-PRS (Performing Measurement) sent by the first terminal device;

[0080] Step 408: The second terminal device B measures the SL-PRS sent by the first terminal device;

[0081] Step 409: The second terminal device C measures the SL-PRS sent by the first terminal device;

[0082] Step 410: The second terminal device A sends a sidelink location information response message (Sidelink Location Information Response MSG or SL: LocationInformationResponse msg) to the first terminal device;

[0083] Step 411: The second terminal device B sends a sidelink location information response message to the first terminal device;

[0084] Step 412: The second terminal device C sends a sidelink location information response message to the first terminal device;

[0085] Step 413: Deriving a positioning result (Location Derivation).

[0086] The first terminal device obtains the positioning result of the first terminal device based on the side link position information response message fed back by the second terminal device A, the second terminal device B, and the second terminal device C.

[0087] It should be understood that the execution order of the above steps can be adjusted according to specific circumstances. For example, step 404 may be followed by step 407, which may be followed by step 410; another example, step 405 may be followed by step 408, which may be followed by step 411; another example, step 406 may be followed by step 409, which may be followed by step 412.

[0088] In the case where the first terminal device measures the reference signal sent by the second terminal device, taking the second terminal device including the second terminal device A, the second terminal device B, and the second terminal device C as an example, the SL positioning process is shown in Figure 5:

[0089] Step 501: The first terminal device triggers SL positioning;

[0090] In some embodiments, when the first terminal device has a positioning requirement, SL positioning is actively triggered, or the start of the SL positioning process is actively triggered.

[0091] In some embodiments, the first terminal device receives the trigger information of SL positioning, triggers SL positioning based on the trigger information of SL positioning, or triggers the start of the SL positioning process based on the trigger information of SL positioning.

[0092] Step 502: The first terminal device searches for the second terminal device;

[0093] In some embodiments, the first terminal device searches for the second terminal device based on a configuration of the network device.

[0094] In some embodiments, the first terminal device measures surrounding signals and searches for the second terminal device based on the measurement results of the surrounding signals.

[0095] Exemplarily, the second terminal devices include terminal device B1, terminal device B2, and terminal device B3.

[0096] Step 503: The first terminal device sends a sidelink location assistance data request message (SL Location Assistance Data Request MSG or SL: LocationAssistanceDataRequest msg) to the second terminal device A;

[0097] Step 504: The first terminal device sends a sidelink position assistance data request message to the second terminal device B;

[0098] Step 505: The first terminal device sends a sidelink position assistance data request message to the second terminal device C;

[0099] Step 506: the second terminal device A sends a sidelink location assistance data message (SL Provide Location Assistance Data MSG or SL: ProvideLocationAssistanceData msg) to the first terminal device;

[0100] Step 507: The second terminal device B sends a sidelink to the first terminal device to provide location assistance data information;

[0101] Step 508: The second terminal device C sends a sidelink to the first terminal device to provide location assistance data information;

[0102] Step 509: The first terminal device measures the SL-PRS;

[0103] Step 510: Deriving a positioning result (Location Derivation).

[0104] The first terminal device obtains the positioning result of the first terminal device based on the measurement result of SL-PRS.

[0105] It should be understood that the execution order of the above steps can be adjusted according to specific circumstances. For example, step 506 may be executed after step 503, and step 507 may be executed after step 504; or step 508 may be executed after step 505.

[0106] However, when the first terminal device using the above-mentioned SL positioning process crosses regions, the network device may not be aware of the cross-regional behavior of the terminal device, resulting in the inability to promptly enable the second terminal device in the corresponding area to start sending, receiving, and measuring SL-PRS, thereby negatively affecting the positioning efficiency and the accuracy of the positioning results.

[0107] Based on the above problems, the present application provides a positioning method that supports timely sending and receiving of SL-PRS between the first terminal device and the second terminal device when the first terminal device generates cross-region behavior, thereby improving positioning efficiency.

[0108] Figure 6 shows a schematic diagram of a mobile communication system provided by an exemplary embodiment of the present application. The mobile communication system includes a network device 110 and terminal devices (including terminal devices 120 and 130), which are not limited in the present application.

[0109] The network device 110 in the present application provides wireless communication functions, and the network device 110 includes but is not limited to: Evolved Node B (eNB), Radio Network Controller (RNC), Node B (NB), Base Station Controller (BSC), Base Transceiver Station (BTS), Home Base Station (e.g., Home Evolved Node B, or Home Node B, HNB), Baseband Unit (BBU), Access Point (AP) in Wireless Fidelity (Wi-Fi) system, Wireless Relay Node, Wireless Backhaul Node, Transmission Point (TP) or Transmission and Reception Point (TRP), etc., and can also be the Next Generation Node B (NGNB) in the 5th Generation (5G) mobile communication system. The term "gNB" refers to a base station (B, gNB) or a transmission point (TRP or TP), or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU), or a base station in a Beyond Fifth Generation (B5G) or a 6th Generation (6G) mobile communication system, or a core network (CN), fronthaul, backhaul, radio access network (RAN), network slicing, or a serving cell, primary cell (PCell), primary secondary cell (PSCell), special cell (SpCell), secondary cell (SCell), or neighboring cell of a terminal device.

[0110] In some embodiments, the network device 110 may include a core network device 112 and / or an access network device 114 .

[0111] The core network device 112 primarily provides user connectivity, user management, and service bearer services, serving as a bearer network interface to external networks. Exemplarily, the core network device 112 includes an Access and Mobility Management Function (AMF) entity, a User Plane Function (UPF) entity, a Session Management Function (SMF) entity, and a Location Management Function (LMF) entity. The core network device 112 is deployed within the core network.

[0112] The access network device 114 is a device deployed in the access network to provide wireless communication functions for the terminal device 120. The access network device 114 may include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems using different wireless access technologies, the names of devices with access network device functions may be different. For example, in the fifth generation mobile communication technology (5th Generation, 5G) new radio (New Radio, NR) system, the access network device 114 is called a 5G base station (Next Generation Node B, gNodeB or gNB). With the evolution of communication technology, the name of "access network device" may change. For the convenience of description, in the embodiment of the present application, the above-mentioned devices that provide wireless communication functions for the terminal device 120 are collectively referred to as access network devices 114.

[0113] The number of the terminal devices 120 may be one or more, and the number of the terminal devices 130 may be one or more. One or more terminal devices may be distributed in a cell managed by each access network device 114.

[0114] The terminal device in this application is also called user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, and user device. The terminals include, but are not limited to, handheld devices, wearable devices, vehicle-mounted devices, and IoT devices, such as mobile phones, tablet computers, road side units (RSUs), e-book readers, laptop computers, desktop computers, televisions, game consoles, mobile internet devices (MIDs), augmented reality (AR) terminals, virtual reality (VR) terminals, mixed reality (MR) terminals, extended reality (XR) terminals, baffle reality (BR) terminals, cinematic reality (CR) terminals, deceived reality (DR) terminals, wearable devices, handles, electronic tags, controllers, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. Home), wireless terminals in remote medical surgery, cellular phones, cordless phones, Session Initiation Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), TV set-top boxes (STBs), Customer Premise Equipment (CPE), sensors, monitoring equipment, etc.

[0115] In some embodiments, the access network device 114 and the core network device 112 communicate with each other via some air technology, such as the NG interface in the 5G NR system.

[0116] In some embodiments, the access network device 114 and the terminal device 120 communicate with each other via some air technology, such as a Uu interface.

[0117] In some embodiments, the access network device 114 and the terminal device 130 communicate with each other via some air technology, such as a Uu interface.

[0118] For example, there are two communication scenarios between network device 110 and terminal device 120: uplink communication scenario and downlink communication scenario. Uplink communication, or uplink transmission, refers to sending signals or data to network device 110; downlink communication, or downlink transmission, refers to sending signals or data to terminal device 120.

[0119] The terminal devices 120 and 130 can communicate with each other via a direct communication interface (e.g., a PC5 interface). For example, an in-vehicle device can communicate with other devices (e.g., other in-vehicle devices, mobile phones, RSUs, etc.) via a PC5 interface. Accordingly, the communication link established based on the direct communication interface can be referred to as a direct link or a sidelink.

[0120] Terminal device 120 and terminal device 130 are both within the network coverage and located in the same cell, or terminal device 120 and terminal device 130 are both within the network coverage but located in different cells, or terminal device 120 is within the network coverage but terminal device 130 is outside the network coverage.

[0121] The technical solutions provided in the embodiments of the present application can be applied to various communication systems, such as: Global System of Mobile communication (GSM) system, Code Division Multiple Access (CDMA) system, Wideband Code Division Multiple Access (WCDMA) system, General Packet Radio Service (GPRS), Long Term Evolution (LTE) system, Frequency Division Duplex (FDD) system, Time Division Duplex (TDD) system, Advanced Long Term Evolution (LTE-A) system, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, 5G mobile communication system, New Radio (NR) system, NR system evolution system, LTE on unlicensed spectrum (LTE-U) system, NR on unlicensed spectrum (NR-based access to unlicensed spectrum) system. 5G NR system, ...

[0122] The technical solutions provided in the embodiments of the present application can also be applied to machine type communication (MTC), long term evolution technology for machine-to-machine communication (LTE-M), device-to-device (D2D) networks, machine-to-machine (M2M) networks, Internet of Things (IoT) networks or other networks. Among them, the IoT network can include, for example, the Internet of Vehicles. Among them, the communication methods in the Internet of Vehicles system are collectively referred to as vehicle to other devices (Vehicle to X, V2X, X can represent anything), for example, the V2X may include: vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2I) communication, vehicle to pedestrian communication (V2P) or vehicle to network (V2N) communication, etc.

[0123] The mobile communication system provided in the embodiment of the present application can be applied to but not limited to at least one of the following communication scenarios: an uplink communication scenario, a downlink communication scenario, and a sidelink communication scenario.

[0124] FIG7 is a flow chart of a positioning method provided by some exemplary embodiments of the present application. The method is schematically illustrated by taking the terminal device shown in FIG6 as an example. The method includes at least some of the following steps:

[0125] Step 710: Sending first information, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information;

[0126] The first information is sent from the first terminal device to the network device, or the first information is sent from the first terminal device to other terminal devices, wherein the other terminal devices refer to other terminal devices except the first terminal device.

[0127] In some embodiments, the other terminal devices and the first terminal device are located within the same network coverage range; or, the other terminal devices and the first terminal device are located within different network coverage ranges; or, neither the other terminal device nor the first terminal device is located within the network coverage range; or, the other terminal device or the first terminal device is not located within the network coverage range.

[0128] The first information is sent when the first terminal device enters the first area; or, the first information is sent at a first time before the first terminal device enters the first area; or, the first information is sent at a second time after the first terminal device enters the first area. The first time and the second time may be the same or different. The first time and the second time are configured by the network device, agreed upon by the communication protocol, or determined by the first terminal device.

[0129] In the embodiment of the present application, a region can be understood as a geographical region, a spatial region, or a network coverage area. Each region has a one-to-one corresponding identifier, index, or number for terminal devices and network devices to distinguish different regions.

[0130] In some embodiments, the division of areas is configured by the network device, or determined by negotiation between the network device and the terminal device, or agreed upon by a communication protocol.

[0131] Requesting activation of use of the first configuration information includes: requesting activation of sending the SL-PRS based on the first configuration information, and / or requesting activation of performing measurement on the SL-PRS based on the first configuration information.

[0132] In some embodiments, the first information is used by the first terminal device to request use of the first configuration information.

[0133] Requesting to use the first configuration information includes: requesting to send the SL-PRS based on the first configuration information, and / or requesting to perform measurement on the SL-PRS based on the first configuration information.

[0134] The first terminal device includes one or more terminal devices.

[0135] Step 730: Send an SL-PRS based on the first configuration information, or perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information.

[0136] The first configuration information is associated with the first area. That is, the SL-PRS sent by the first terminal device in the first area is sent based on the first configuration information. That is, the first configuration information includes configuration information of the SL-PRS sent in the first area.

[0137] The first terminal device and the second terminal device transmit and / or receive SL-PRS on the side link.

[0138] The second terminal device belongs to other terminal devices, and the second terminal device is used to assist in positioning the first terminal device.

[0139] In this application, the second terminal device may also be referred to as an auxiliary positioning device, or an auxiliary terminal device, or an anchor terminal device (Anchor UE). The second terminal device includes one or more terminal devices.

[0140] The first terminal device and the second terminal device may be of the same or different types. For example, both may be in-vehicle devices, or both may be smartphones, etc. Another example may be that one is an in-vehicle device and the other is a smartphone; or one is a smartphone and the other is a RSU; or one is an in-vehicle device and the other is an RSU, etc.

[0141] In some embodiments, the first terminal device sends the SL-PRS by unicast based on the first configuration information; or, the first terminal device sends the SL-PRS by multicast based on the first configuration information; or, the first terminal device sends the SL-PRS by broadcast based on the first configuration information.

[0142] In summary, the method provided in the embodiment of the present application supports a first terminal device to inform a network device or other terminal device that it has entered a first area or requested to activate the use of first configuration information by sending a first message, thereby quickly and promptly informing the network device or other terminal device of the first terminal device's positioning requirements, thereby helping subsequent network devices or other terminal devices to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the first configuration information based on which the SL-PRS transmitted between the first terminal device and the second terminal device is transmitted is associated with the first area, and using more targeted configuration information to transmit the SL-PRS helps to improve the measurement accuracy of the SL-PRS and the accuracy of the positioning results.

[0143] Based on the embodiment shown in FIG7 , step 710 may also be implemented as step 812 , and step 730 may also be implemented as step 840 . The method may further include step 822 , step 830 , and step 850 , as shown in FIG8 .

[0144] FIG8 is a flow chart of a positioning method provided by some exemplary embodiments of the present application. The method is illustrated by taking the method executed by a first terminal device as an example. The method includes at least some of the following steps:

[0145] Step 812: Sending first information to the first device, where the first information is used to indicate that the first terminal device has entered the first area or to request activation of the first configuration information;

[0146] The first device includes a network device and / or a third terminal device, wherein the third terminal device is of the same or different type as the first terminal device, and the third terminal device is of the same or different type as the second terminal device.

[0147] Exemplarily, the network device includes a core network device (such as LMF) and / or an access network device.

[0148] Exemplarily, the third terminal device is a location service terminal device (Location Server UE), or RSU.

[0149] In some embodiments, a region is represented by at least one of the following:

[0150] Radio Access Network (RAN)-based Notification Area (RNA);

[0151] Tracking Area (TA)

[0152] Synchronization Signal and PBCH Block (SSB)

[0153] Cell

[0154] PBCH is the abbreviation of Physical Broadcast Channel. Optionally, the cell refers to a serving cell and / or a resident cell. Optionally, the cell includes a primary cell (PCell) and / or a secondary cell (SCell).

[0155] In some embodiments, the first information is sent using Radio Resource Control (RRC) signaling, or using a Media Access Control Control Element (MAC CE).

[0156] Exemplarily, the first information is sent using RRC signaling, and the RRC signaling includes identification information of the first region. Exemplarily, the first information is sent using MAC CE, and the MAC CE includes index information of the first region.

[0157] In some embodiments, when a first terminal device enters a first area from a second area, a first message is sent. The second area is associated with second configuration information. For details about the second configuration information, refer to the details about the first configuration information below.

[0158] In some embodiments, the first information is sent immediately before the first terminal device enters the first area from the second area. This design allows the first device to appropriately and in advance understand the first terminal device's positioning requirements, thereby improving efficiency and expediting the process of subsequently assisting the first terminal device in achieving positioning. Optionally, the first information includes information indicating the first time, which helps the first device more accurately assist the first terminal device in achieving positioning.

[0159] In some embodiments, the first information is sent at a second time after the first terminal device enters the first area from the second area. When the first terminal device is moving rapidly and is in close proximity to a large number of areas, this design allows the first device to more accurately assist the first terminal device in achieving positioning, avoiding wasting resources by requiring second terminal devices in unrelated areas to initiate the transmission, reception, and measurement of SL-PRS.

[0160] The rest of the content can be referred to step 710 and will not be repeated here.

[0161] Step 822: Receive second information sent by the first device;

[0162] In some embodiments, the second information is instruction information. The second information is used to instruct the first terminal device to send the SL-PRS, or to instruct the first terminal device to perform measurement on the SL-PRS sent by the second terminal device.

[0163] In some embodiments, the second information is confirmation information for the first information feedback.

[0164] Step 830: Receive first configuration information sent by the network device;

[0165] The first configuration information is associated with the first area. Alternatively, the first configuration information is associated with a time window corresponding to the first area.

[0166] The first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0167] In some embodiments, the configuration information received by the first terminal device from the network device includes at least two SL-PRS configurations, and the at least two SL-PRS configurations are associated with different areas, wherein the SL-PRS configuration associated with the first area belongs to the first configuration information.

[0168] In some embodiments, the configuration information received by the first terminal device from the network device includes: an SL-PRS group consisting of at least two SL-PRSs; and / or an assistance message containing at least two SL-PRSs; and / or an identifier of a second terminal device associated with the SL-PRS; and / or geographic location information of the second terminal device associated with the SL-PRS. Optionally, the at least two SL-PRSs are associated with different second terminal devices.

[0169] In some embodiments, the configuration information received by the first terminal device from the network device is the first configuration information.

[0170] In some embodiments, the first SL-PRS configuration includes at least one of the following:

[0171] SL-PRS wireless configuration;

[0172] SL-PRS System Frame Number (SFN) level offset;

[0173] NR-Absolute Radio Frequency Channel Number (NR-ARFCN);

[0174] SL-PRS Resource Set ID;

[0175] SL-PRS Resource ID

[0176] SL-PRS Periodicity-and-Resource Set Slot Offset

[0177] SL-PRS Resource Repetition Factor

[0178] SL-PRS Resource Time Gap

[0179] Number of SL-PRS symbols (SL-PRS NumSymbols);

[0180] SL-PRS Muting Option 1

[0181] SL-PRS Muting Option 2

[0182] SL-PRS Resource List

[0183] In some embodiments, the SL-PRS radio configuration includes at least one of the following:

[0184] Subcarrier Spacing

[0185] Resource Bandwidth

[0186] Start Physical Resource Block (Start PRB);

[0187] The starting position of the starting frequency reference point (Point A);

[0188] Comb Size

[0189] Cyclic Prefix

[0190] The cyclic prefix can be normal or extended.

[0191] For example, the fields of each of the above configurations are described with examples.

[0192] The nr-SL-PRS-ResourceSetID field indicates the SL-PRS resource set ID, which is used to identify the SL-PRS resource set ID of the TRP (Transmission and Receiving Point) on all frequency layers.

[0193] The sl-PRS-Periodicity-and-ResourceSetSlotOffset field indicates the periodicity of SL-PRS allocation in the time slots configured for each SL-PRS resource set, and the time slot offset relative to SFN#0 time slot #0 for the TRP of the configured SL-PRS resource set (i.e., the time slot in which the first SL-PRS resource of the SL-PRS resource set appears).

[0194] The sl-PRS-ResourceRepetitionFactor field indicates the number of times each SL-PRS resource is repeated for a single instance of an SL-PRS resource set. This field applies to all resources in the SL-PRS resource set. The enumerated values ​​n2, n4, n6, n8, n16, and n32 correspond to 2, 4, 6, 8, 16, and 32 resource repetitions, respectively. If this field is absent, the value of sl-PRS-ResourceRepetitionFactor is 1 (i.e., no resource repetition).

[0195] The sl-PRS-ResourceTimeGap field indicates the offset in time slots between two repeated instances of an SL-PRS resource that correspond to the same SL-PRS ResourceID within a single instance of an SL-PRS resource set. The duration spanned by an SL-PRS resource set containing repeated SL-PRS resources shall not exceed the SL PRS Periodicity.

[0196] The sl-PRS-NumSymbols field indicates the number of symbols occupied by each SL-PRS resource in the time slot.

[0197] The sl-PRS-MutingOption1 field indicates the muting configuration of the SL-PRS of the TRP of muting option 1 and includes at least one of the following subfields:

[0198] -sl-prs-MutingBitRepetitionFactor (Muting Bit Repetition Factor) indicates the number of consecutive instances of the SL-PRS resource set corresponding to a single bit of the nr-option1-muting bitmap. The enumerated values ​​n1, n2, n4, and n8 correspond to 1, 2, 4, and 8 consecutive instances, respectively. If this subfield is not present, the value of sl prs-MutingBitRepetitionFactor is n1.

[0199] -nr-option1-muting defines a bitmap of time positions of transmitting (value "1") or not transmitting (value "0") SL-PRS resources for one SL-PRS resource set.

[0200] If this field is absent, the TRP does not use Mute Option 1.

[0201] The sl-PRS-MutingOption2 field indicates the muting configuration of the SL-PRS of the TRP with muting option 2 and may include the following subfields:

[0202] -nr-option2-muting defines a bitmap of the time positions at which SL-PRS resources are transmitted (value "1") or not transmitted (value "0"). Each bit of the bitmap corresponds to a single repetition of an SL-PRS resource within an instance of an SL-PRS resource set. The size of this bitmap shall be the same as the value of the SL-PRS resource repetition factor.

[0203] If this field is absent, the TRP does not use Mute Option 2.

[0204] The sl-PRS-ResourcePower field indicates the average EPRE (Energy Per Resource Element, RE is the smallest unit in the resource grid) of the resource elements carrying PRS used for PRS transmission in dBm (decibels per milliwatt). The UE assumes a constant EPRE for all REs of a given SL-PRS resource.

[0205] The sl-PRS-SequenceID (sequence ID) field indicates the sequence ID used to initialize the pseudo-random generator.

[0206] The sl-PRS-CombSizeN-AndReOffset field indicates the resource element spacing within each symbol of the SL-PRS resource and the resource element (RE) offset of the first symbol in the SL-PRS resource in the frequency domain. All SL-PRS resource sets belonging to the same positioning frequency layer have the same comb size value. The relative RE offsets of the following symbols are defined relative to the RE offset of the first symbol in the SL-PRS resource in the frequency domain. The comb size configuration should be aligned with the comb size configuration used for the frequency layer.

[0207] The sl-PRS-ResourceSlotOffset field indicates the starting time slot of the SL PRS resource relative to the corresponding SL PRS resource set slot offset.

[0208] The sl-PRS-ResourceSymbolOffset field indicates the starting symbol of the SL-PRS resource within the slot determined by the SL PRS Resource Slot Offset.

[0209] The sl-PRS-QCL-Info (Quasi-CoLocation Information) field indicates the QCL indication of other SL reference signals for the serving cell and neighboring cells and includes at least one of the following subfields:

[0210] 1.ssb indicates the SSB information of the QCL source and includes at least one of the following subfields:

[0211] -pci (physical cell identifier) ​​indicates the physical cell ID of the cell configured as the SSB of the SL-PRS source reference signal. The UE obtains the SSB configuration of the SSB configured as the source reference signal of the SL-PRS by indexing the field nr SSB Config with the physical cell identifier.

[0212] -ssb-Index (index) indicates the index of the SSB configured as the source reference signal of the SL-PRS.

[0213] -rs-Type indicates the QCL type.

[0214] 2.sl-PRS indicates PRS information for a QCL source reference signal and includes at least one of the following subfields:

[0215] -qcl-SL-PRS-ResourceID indicates the SL-PPS resource ID of the SL-PRS resource used as the source reference signal.

[0216] -qcl-SL-PRS-ResourceSetID indicates the SL-PPS resource set ID of the SL-PRS resource set used as a source reference signal.

[0217] The sl-PRS-ResourcePrioritySubset field provides a subset of SL-PRS resources that is associated with the nr SL PRS resource ID for the purpose of SL AoD reporting priority. This field is only applicable to the SL-AoD (Angle-of-Departure) positioning method and should be ignored for SL-TDoA (Time Difference of Arrival) and Multi-RTT (Round Trip Time) positioning methods.

[0218] Exemplarily, the network device configures the first SL-PRS configuration for the first terminal device through the at least one field mentioned above.

[0219] In some embodiments, before executing step 830, the first terminal device further sends an SL-PRS configuration desired by the first terminal device, or an SL-PRS configuration required by the first terminal device, or an SL-PRS configuration supported by the first terminal device to the network device. Optionally, the network device configures a first SL-PRS configuration for the first terminal device based on the received SL-PRS configuration desired by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device.

[0220] Step 840: Send an SL-PRS based on the first configuration information, or perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information;

[0221] For related content, please refer to step 730, which will not be repeated here.

[0222] Step 850: Determine the positioning result of the first terminal device based on the measurement result of SL-PRS.

[0223] The measurement result of the SL-PRS is determined by the first terminal device; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0224] In some embodiments, the first terminal device sends an SL-PRS to the second terminal device based on the first configuration information, and the second terminal device then measures the SL-PRS. Optionally, the second terminal device sends the SL-PRS measurement result to the first terminal device, and the first terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result. Optionally, the second terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result, and the second terminal device sends the positioning result of the first terminal device to the first terminal device.

[0225] In some embodiments, the first terminal device measures the SL-PRS sent by the second terminal device based on the first configuration information. Optionally, the first terminal device determines a positioning result of the first terminal device based on the measurement result of the SL-PRS.

[0226] Optionally, the first terminal device informs the network device or other terminal devices of its own positioning result.

[0227] It should be understood that in the embodiment of the present application, step 822, step 830, and step 850 are optional steps. The execution order of the above steps can be adjusted according to actual conditions. For example, step 830 can be executed before step 812, or step 830 can be executed before step 822, etc. The above steps can be combined or split according to actual conditions. For example, step 812 and step 822 can be combined into one step, or step 840 and step 850 can be combined into one step, etc.

[0228] In summary, the method provided in the embodiment of the present application supports the first terminal device to inform the network device or third terminal device that it has entered the first area or requested to activate the use of the first configuration information by sending the first information, so as to quickly and promptly make the network device or third terminal device clear about its own positioning needs, which helps the subsequent network device or third terminal device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the first configuration information based on which the SL-PRS transmitted between the first terminal device and the second terminal device is associated with the first area, and the use of more targeted configuration information to transmit the SL-PRS helps to improve the measurement accuracy of the SL-PRS and the accuracy of the positioning results.

[0229] Based on the embodiment shown in FIG7 , step 710 may also be implemented as step 814 , and step 730 may also be implemented as step 840 . The method may further include steps 824 , 830 , and 850 , as shown in FIG9 .

[0230] FIG9 is a flow chart of a positioning method provided by some exemplary embodiments of the present application. The method is illustrated by taking the method executed by a first terminal device as an example. The method includes at least some of the following steps:

[0231] Step 814: Sending first information in a unicast, multicast, or broadcast manner, where the first information is used to indicate that the first terminal device has entered the first area or to request activation of the first configuration information;

[0232] In some embodiments, the first information includes identification information, index information, or number information of the first region.

[0233] For the rest of the content, please refer to step 710 and step 812, which will not be repeated here.

[0234] Step 824: Receive confirmation information regarding the first information feedback sent by the second terminal device;

[0235] The confirmation information is used to indicate that the second terminal device confirms receipt of the first information, or is used to indicate that the second terminal device confirms sending the SL-PRS to the first terminal device, or is used to indicate that the second terminal device confirms receipt of the SL-PRS sent by the first terminal device.

[0236] In some embodiments, the first terminal device sends the first information in a multicast manner, and the second terminal device feeds back confirmation information for the first information.

[0237] In some embodiments, the first terminal device sends the first information in a broadcast manner, and the second terminal device feeds back or does not feed back confirmation information for the first information.

[0238] Step 830: Receive first configuration information sent by the network device;

[0239] Please refer to the previous article for relevant content and will not repeat it here.

[0240] Step 840: Send an SL-PRS based on the first configuration information, or perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information;

[0241] For related content, please refer to step 730, which will not be repeated here.

[0242] Step 850: Determine the positioning result of the first terminal device based on the measurement result of SL-PRS.

[0243] The measurement result of the SL-PRS is determined by the first terminal device; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0244] In some embodiments, the first terminal device sends an SL-PRS to the second terminal device based on the first configuration information, and the second terminal device then measures the SL-PRS. Optionally, the second terminal device sends the SL-PRS measurement result to the first terminal device, and the first terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result. Optionally, the second terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result, and the second terminal device sends the positioning result of the first terminal device to the first terminal device.

[0245] In some embodiments, the first terminal device measures the SL-PRS sent by the second terminal device based on the first configuration information. Optionally, the first terminal device determines a positioning result of the first terminal device based on the measurement result of the SL-PRS.

[0246] Optionally, the first terminal device informs the network device or other terminal devices of its own positioning result.

[0247] It should be understood that in the embodiment of the present application, step 824, step 830, and step 850 are optional steps. The execution order of the above steps can be adjusted according to actual conditions. For example, step 830 can be executed before step 814, or step 830 can be executed before step 824, etc. The above steps can be combined or split according to actual conditions. For example, step 814 and step 824 can be combined into one step, or step 840 and step 850 can be combined into one step, etc.

[0248] In summary, the method provided in the embodiment of the present application supports the first terminal device to inform the second terminal device that it has entered the first area or requested to activate the use of the first configuration information by sending the first information, so as to quickly and promptly make the second terminal device clear about its own positioning needs, which helps the subsequent second terminal device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the first configuration information based on which the SL-PRS transmitted between the first terminal device and the second terminal device is associated with the first area, and using more targeted configuration information to transmit the SL-PRS helps to improve the measurement accuracy of the SL-PRS and the accuracy of the positioning results. In addition, there is no need for a network device or a third terminal device to transfer the first information. The direct exchange of the first information between the first terminal device and the second terminal device also makes the overall process of the positioning method faster and simpler, reducing resource consumption.

[0249] FIG10 is a flow chart of a positioning method provided by some exemplary embodiments of the present application. The method is schematically illustrated using the network device shown in FIG1 as an example. The method includes at least some of the following steps:

[0250] Step 1010: Receive first information sent by a first terminal device, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information;

[0251] The first information is sent when the first terminal device enters the first area; or, the first information is sent at a first time before the first terminal device enters the first area; or, the first information is sent at a second time after the first terminal device enters the first area. The first time and the second time may be the same or different. The first time and the second time are configured by the network device, agreed upon by the communication protocol, or determined by the first terminal device.

[0252] In the embodiment of the present application, a region can be understood as a geographical region, a spatial region, or a network coverage area. Each region has a one-to-one corresponding identifier, index, or number for terminal devices and network devices to distinguish different regions.

[0253] In some embodiments, the division of areas is configured by the network device, or determined by negotiation between the network device and the terminal device, or agreed upon by a communication protocol.

[0254] Exemplarily, the network device includes a core network device (such as LMF) and / or an access network device.

[0255] In some embodiments, a region is represented by at least one of: RNA; TA; SSB; cell.

[0256] Optionally, the cell refers to a serving cell and / or a resident cell. Optionally, the cell includes a PCell and / or a SCell.

[0257] Requesting activation of use of the first configuration information includes: requesting activation of sending the SL-PRS based on the first configuration information, and / or requesting activation of performing measurement on the SL-PRS based on the first configuration information.

[0258] In some embodiments, the first information is sent using RRC signaling or MAC CE.

[0259] Exemplarily, the first information is sent using RRC signaling, and the RRC signaling includes identification information of the first region. Exemplarily, the first information is sent using MAC CE, and the MAC CE includes index information of the first region.

[0260] In some embodiments, when a first terminal device enters a first area from a second area, the first information is sent. The second area is associated with second configuration information. The relevant content of the second configuration information can refer to the relevant content of the first configuration information.

[0261] In some embodiments, the first information is sent immediately before the first terminal device enters the first area from the second area. This design allows the first device to appropriately and in advance understand the first terminal device's positioning requirements, thereby improving efficiency and expediting the process of subsequently assisting the first terminal device in achieving positioning. Optionally, the first information includes information indicating the first time, which helps the first device more accurately assist the first terminal device in achieving positioning.

[0262] In some embodiments, the first information is sent at a second time after the first terminal device enters the first area from the second area. When the first terminal device is moving rapidly and is in close proximity to a large number of areas, this design allows the first device to more accurately assist the first terminal device in achieving positioning, avoiding wasting resources by requiring second terminal devices in unrelated areas to initiate the transmission, reception, and measurement of SL-PRS.

[0263] Step 1020: Sending second information to the first terminal device;

[0264] In some embodiments, the second information is instruction information. The second information is used to instruct the first terminal device to send the SL-PRS, or to instruct the first terminal device to perform measurement on the SL-PRS sent by the second terminal device.

[0265] In some embodiments, the second information is confirmation information for the first information feedback.

[0266] In some embodiments, the second information is sent using RRC signaling or MAC CE.

[0267] Step 1030: Sending third information to the second terminal device;

[0268] The third information is used to indicate at least one of the following: instructing the second terminal device to start sending SL-PRS; instructing the second terminal device to start receiving SL-PRS; and instructing the second terminal device to perform measurement on the SL-PRS.

[0269] In some embodiments, the third information is used to instruct the second terminal device to start sending the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to perform measurements on the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS and to instruct the second terminal device to perform measurements on the received SL-PRS.

[0270] The third information can be understood as trigger information, which is used to trigger the second terminal device to assist the first terminal device in positioning. The second terminal device only starts receiving, measuring, or sending SL-PRS after receiving the trigger information, which helps to save power consumption of the second terminal device and avoids meaningless resource consumption when the second terminal device does not need to receive, measure, or send SL-PRS.

[0271] Step 1040: Receive confirmation information regarding the third information feedback sent by the second terminal device;

[0272] The confirmation information is used to indicate that the second terminal device confirms receipt of the third information, or is used to indicate that the second terminal device confirms sending the SL-PRS to the first terminal device, or is used to indicate that the second terminal device confirms receipt of the SL-PRS sent by the first terminal device.

[0273] In some embodiments, the network device sends the third information in a unicast, multicast or broadcast manner, and the second terminal device feeds back or does not feed back confirmation information for the third information.

[0274] Step 1050: Receive the SL-PRS configuration expected by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device, sent by the first terminal device;

[0275] Step 1060: Send first configuration information to the first terminal device.

[0276] The first configuration information is associated with the first area. Alternatively, the first configuration information is associated with a time window corresponding to the first area.

[0277] The first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0278] In some embodiments, the configuration information sent by the network device to the first terminal device includes at least two SL-PRS configurations, and the at least two SL-PRS configurations are associated with different areas, wherein the SL-PRS configuration associated with the first area belongs to the first configuration information.

[0279] In some embodiments, the configuration information sent by the network device to the first terminal device includes: an SL-PRS group consisting of at least two SL-PRSs; and / or an assistance message containing at least two SL-PRSs; and / or an identifier of a second terminal device associated with the SL-PRS; and / or geographic location information of the second terminal device associated with the SL-PRS. Optionally, the at least two SL-PRSs are associated with different second terminal devices.

[0280] In some embodiments, the configuration information sent by the network device to the first terminal device is the first configuration information.

[0281] For the relevant content of the first SL-PRS configuration, please refer to step 830 and will not be repeated here.

[0282] In some embodiments, the network device configures a first SL-PRS configuration for the first terminal device based on a received SL-PRS configuration desired by the first terminal device, or a SL-PRS configuration required by the first terminal device, or a SL-PRS configuration supported by the first terminal device.

[0283] In some embodiments, in addition to sending the first configuration information to the first terminal device, the network device also sends the first configuration information to the second terminal device.

[0284] It should be understood that in the embodiment of the present application, step 1020, step 1030, step 1040, step 1050, and step 1060 are optional steps. The execution order of the above steps can be adjusted according to actual conditions. For example, step 1050 is executed before step 1010, or step 1050 is executed before step 1020, or step 1050 is executed before step 1030, or step 1050 is executed before step 1040, or step 1060 is executed before step 1010, or step 1060 is executed before step 1020, or step 1060 is executed before step 1030, or step 1060 is executed before step 1040, and so on. The above steps can be combined or split according to actual conditions. For example, step 1020 and step 1030 can be combined into one step, or step 1010 and step 1050 can be combined into one step, or step 1020 and step 1060 can be combined into one step, and so on.

[0285] In summary, the method provided in the embodiment of the present application supports the network device to quickly and promptly clarify the positioning requirements of the first terminal device by receiving the first information, which helps the subsequent network device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the network device is supported to send third information to the second terminal device after receiving the first information to promptly trigger the second terminal device to assist the first terminal device in achieving positioning, thereby ensuring positioning efficiency. When the first terminal device and the second terminal device cannot communicate directly, or the first terminal device and the second terminal device are unaware of each other's existence, the information transfer of the network device further ensures positioning efficiency. In addition, the first configuration information configured by the network device to the first terminal device is associated with the first area, so that more targeted configuration information is used between the first terminal device and the second terminal device to transmit SL-PRS, which helps to improve the measurement accuracy of SL-PRS and the accuracy of positioning results.

[0286] When the first device includes a third terminal device, the execution steps of the third terminal device are similar to the execution steps of the network device. For example, the third terminal device executes at least one of step 1010, step 1020, step 1030, and step 1040. In the present application, the functions of the third terminal device are similar to those of the network device, and both can be used to send and receive the first information, the second information, the third information, and the confirmation information for the third information feedback, and support the transmission of trigger information by information relay when direct communication between the first terminal device and the second terminal device is impossible, or when the first terminal device and the second terminal device are unaware of each other's existence, so that the second terminal device can timely, quickly, and accurately assist the first terminal device in achieving positioning.

[0287] FIG11 is a flow chart of a positioning method provided by some exemplary embodiments of the present application. The method is illustrated by taking the second terminal device as an example. The method includes at least some of the following steps:

[0288] Step 1110: Receive trigger information, where the trigger information is used to trigger the second terminal device to perform an operation related to the SL-PRS;

[0289] The operations related to the SL-PRS include at least one of the following operations: starting to send the SL-PRS; starting to receive the SL-PRS; and performing measurements on the SL-PRS.

[0290] In some embodiments, the trigger information is used to trigger the second terminal device to start sending the SL-PRS. Alternatively, the trigger information is used to trigger the second terminal device to start receiving the SL-PRS. Alternatively, the trigger information is used to trigger the second terminal device to perform measurements on the SL-PRS. Alternatively, the trigger information is used to trigger the second terminal device to start receiving the SL-PRS and to trigger the second terminal device to perform measurements on the received SL-PRS.

[0291] In some embodiments, the trigger information includes first information, which is used to indicate that the first terminal device has entered the first area or to request activation of the first configuration information. Optionally, the first information is sent by the first terminal device. Therefore, step 1110 can also be implemented as step 1110a.

[0292] Step 1110a: Receive the first information sent by the first terminal device.

[0293] In some embodiments, the trigger information includes third information, which is used to indicate at least one of the following: instructing the second terminal device to start sending SL-PRS; instructing the second terminal device to start receiving SL-PRS; and instructing the second terminal device to perform measurement on the SL-PRS.

[0294] In some embodiments, the third information is used to instruct the second terminal device to start sending the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to perform measurements on the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS and to instruct the second terminal device to perform measurements on the received SL-PRS.

[0295] Optionally, the third information is sent by the first device, and the first device includes a network device and / or a third terminal device. Therefore, step 1110 can also be implemented as step 1110b.

[0296] Step 1110b: Receive third information sent by the first device.

[0297] The third terminal device is of the same or different type as the first terminal device, and the third terminal device is of the same or different type as the second terminal device.

[0298] Exemplarily, the network device includes a core network device (such as LMF) and / or an access network device.

[0299] Exemplarily, the third terminal device is a location service terminal device (Location Server UE), or RSU.

[0300] In some embodiments, the second terminal device and the first terminal device are located in the same network coverage area; or, the second terminal device and the first terminal device are located in different network coverage areas; or, neither the second terminal device nor the first terminal device is located in the network coverage area; or, the second terminal device or the first terminal device is not located in the network coverage area.

[0301] In some embodiments, the first terminal device and the second terminal device are of the same or different types.

[0302] In some embodiments, the second terminal device may also be referred to as an auxiliary positioning device, an auxiliary terminal device, or an anchor terminal device. The second terminal device includes one or more terminal devices.

[0303] In some embodiments, the trigger information is sent via unicast, multicast, or broadcast.

[0304] In some embodiments, before receiving the trigger information, the second terminal device is in a sleep state, a low power consumption state, or an energy-saving state; after receiving the trigger information, the second terminal device enters an awake state or a normal working state.

[0305] In some embodiments, before receiving the trigger information, the second terminal device does not send the SL-PRS, or does not receive the SL-PRS, or does not perform measurements on the received SL-PRS; after receiving the trigger information, the second terminal device performs operations related to the SL-PRS, such as at least one of the following operations: starting to send the SL-PRS; starting to receive the SL-PRS; performing measurements on the SL-PRS.

[0306] In some embodiments, before receiving the trigger information, the second terminal device does not send SL-PRS to the first terminal device or does not receive SL-PRS from the first terminal device; after receiving the trigger information, the second terminal device sends SL-PRS to the first terminal device or receives SL-PRS from the first terminal device.

[0307] Step 1120: Feedback confirmation information;

[0308] The confirmation information is used to indicate that the second terminal device confirms receipt of the trigger information, or is used to indicate that the second terminal device confirms sending the SL-PRS to the first terminal device, or is used to indicate that the second terminal device confirms receipt of the SL-PRS sent by the first terminal device.

[0309] In some embodiments, the trigger information includes the first information, and the second terminal device sends confirmation information for the first information feedback. Exemplarily, the second terminal device sends confirmation information for the first information feedback to the first terminal device.

[0310] In some embodiments, the trigger information includes third information, and the second terminal device sends confirmation information for feedback of the third information. Exemplarily, the second terminal device sends confirmation information for feedback of the first information to the first device.

[0311] Step 1130: Perform operations related to SL-PRS;

[0312] The operations related to the SL-PRS include at least one of the following operations: starting to send the SL-PRS; starting to receive the SL-PRS; and performing measurements on the SL-PRS.

[0313] In some embodiments, step 1130 is implemented as: the second terminal device starts sending the SL-PRS. Alternatively, step 1130 is implemented as: the second terminal device starts receiving the SL-PRS. Alternatively, step 1130 is implemented as: the second terminal device performs measurements on the SL-PRS. Alternatively, step 1130 is implemented as: the second terminal device starts receiving the SL-PRS and performs measurements on the received SL-PRS.

[0314] The SL-PRS is transmitted based on the first configuration information. For details about the first configuration information, refer to step 830 and will not be described in detail here.

[0315] The first configuration information is associated with the first area. That is, the SL-PRS sent by the first terminal device in the first area is sent based on the first configuration information. That is, the first configuration information includes configuration information of the SL-PRS sent in the first area.

[0316] The first terminal device and the second terminal device transmit and / or receive SL-PRS on the side link.

[0317] The measurement result of the SL-PRS is determined by the first terminal device; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0318] In some embodiments, the first terminal device sends an SL-PRS to the second terminal device based on the first configuration information, and the second terminal device then measures the SL-PRS. Optionally, the second terminal device sends the SL-PRS measurement result to the first terminal device, and the first terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result. Optionally, the second terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result, and the second terminal device sends the positioning result of the first terminal device to the first terminal device.

[0319] In some embodiments, the first terminal device measures the SL-PRS sent by the second terminal device based on the first configuration information. Optionally, the first terminal device determines a positioning result of the first terminal device based on the measurement result of the SL-PRS.

[0320] Optionally, the first terminal device informs the network device or other terminal devices of its own positioning result.

[0321] In some embodiments, after the second terminal device completes the measurement of the SL-PRS, it returns to the state before executing step 1110. Alternatively, after the second terminal device sends the positioning result to the first terminal device, it returns to the state before executing step 1110. Alternatively, after the second terminal device sends the SL-PRS measurement result to the first terminal device, it returns to the state before executing step 1110. Alternatively, after the second terminal device sends the SL-PRS to the first terminal device, it returns to the state before executing step 1110.

[0322] Among them, restoring to the state before executing step 1110 includes at least one of the following operations: restoring to a sleep state; restoring to a low power consumption state; restoring to an energy-saving state; stopping sending SL-PRS; stopping receiving SL-PRS; stopping performing measurements on SL-PRS; stopping sending SL-PRS to the first terminal device; and stopping receiving SL-PRS from the first terminal device.

[0323] It should be understood that in the embodiment of the present application, step 1120 and step 1130 are optional steps. The execution order of the above steps can be adjusted according to actual circumstances. For example, step 1130 can be executed before step 1120, etc. The above steps can be combined or separated according to actual circumstances. For example, step 1120 and step 1130 can be combined into one step, or step 1110 and step 1120 can be combined into one step, etc.

[0324] In summary, the method provided in the embodiments of the present application supports a second terminal device to quickly and promptly determine the positioning requirements of a first terminal device by receiving trigger information, which helps the second terminal device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. Furthermore, the method supports the second terminal device to feedback confirmation information to the first terminal device after receiving the first information, informing the first terminal device that it has started receiving or sending SL-PRS, thereby improving system efficiency. If the second terminal device does not feedback confirmation information after receiving the first information and directly starts receiving or sending SL-PRS, this helps save signaling resource consumption. When direct communication between the first and second terminal devices is impossible, or when the first and second terminal devices are unaware of each other's existence, the design of forwarding the trigger information by the first device further ensures positioning efficiency and accuracy. Furthermore, the first configuration information is associated with the first area, which helps the first and second terminal devices use more targeted configuration information to transmit SL-PRS, thereby improving the measurement accuracy of SL-PRS and the accuracy of positioning results.

[0325] For the second terminal device, it does not start receiving SL-PRS or sending SL-PRS or performing measurements on SL-PRS before receiving the trigger information, and then starts one or more of the SL-PRS-related operations such as receiving SL-PRS, sending SL-PRS, and performing measurements on SL-PRS after receiving the trigger information. This helps the second terminal device save power consumption and avoids meaningless resource consumption when the second terminal device does not need to receive, measure or send SL-PRS.

[0326] FIG12 is a flow chart illustrating a positioning method provided by some exemplary embodiments of the present application. The method is illustrated by taking the method executed by a first terminal device, a network device, and a second terminal device as an example. The method includes at least some of the following steps:

[0327] Step 1201: The network device sends first configuration information to the first terminal device;

[0328] The first configuration information is associated with the first area. Alternatively, the first configuration information is associated with a time window corresponding to the first area.

[0329] The first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0330] In some embodiments, the configuration information sent by the network device to the first terminal device includes at least two SL-PRS configurations, and the at least two SL-PRS configurations are associated with different areas, wherein the SL-PRS configuration associated with the first area belongs to the first configuration information.

[0331] In some embodiments, the configuration information sent by the network device to the first terminal device includes: an SL-PRS group consisting of at least two SL-PRSs; and / or an assistance message containing at least two SL-PRSs; and / or an identifier of a second terminal device associated with the SL-PRS; and / or geographic location information of the second terminal device associated with the SL-PRS. Optionally, the at least two SL-PRSs are associated with different second terminal devices.

[0332] In some embodiments, the configuration information sent by the network device to the first terminal device is the first configuration information.

[0333] For the relevant content of the first SL-PRS configuration, please refer to step 830 and will not be repeated here.

[0334] In some embodiments, the network device configures a first SL-PRS configuration for the first terminal device based on a received SL-PRS configuration desired by the first terminal device, or a SL-PRS configuration required by the first terminal device, or a SL-PRS configuration supported by the first terminal device.

[0335] In some embodiments, before executing step 1201, the first terminal device sends an SL-PRS configuration desired by the first terminal device, or an SL-PRS configuration required by the first terminal device, or an SL-PRS configuration supported by the first terminal device to the network device. Optionally, the network device configures a first SL-PRS configuration for the first terminal device based on the received SL-PRS configuration desired by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device.

[0336] In some embodiments, in addition to sending the first configuration information to the first terminal device, the network device also sends the first configuration information to the second terminal device.

[0337] Exemplarily, the first configuration information is pre-configured assistance data, or the first configuration information includes pre-configured assistance data.

[0338] Step 1202: The first terminal device enters the first area (Entering Area 1);

[0339] The first terminal device moves from another area to the first area, for example, from the second area to the first area. The second area is associated with the second configuration information. The relevant content of the second configuration information can refer to the relevant content of the first configuration information.

[0340] Step 1203: The first terminal device sends first information to the network device;

[0341] The first information is used to indicate that the first terminal device enters the first area or requests activation of the first configuration information;

[0342] The first information is sent when the first terminal device enters the first area; or, the first information is sent at a first time before the first terminal device enters the first area; or, the first information is sent at a second time after the first terminal device enters the first area. The first time and the second time may be the same or different. The first time and the second time are configured by the network device, agreed upon by the communication protocol, or determined by the first terminal device.

[0343] Each area has a one-to-one corresponding identification, index or number, so that terminal devices and network devices can distinguish different areas.

[0344] In some embodiments, the division of areas is configured by the network device, or determined by negotiation between the network device and the terminal device, or agreed upon by a communication protocol.

[0345] Exemplarily, the network device includes a core network device (such as LMF) and / or an access network device.

[0346] In some embodiments, a region is represented by at least one of: RNA; TA; SSB; cell.

[0347] Optionally, the cell refers to a serving cell and / or a resident cell. Optionally, the cell includes a PCell and / or a SCell.

[0348] In some embodiments, the first information is sent using RRC signaling or MAC CE.

[0349] Exemplarily, the first information is sent using RRC signaling, and the RRC signaling includes identification information of the first region. Exemplarily, the first information is sent using MAC CE, and the MAC CE includes index information of the first region.

[0350] In some embodiments, when a first terminal device enters a first area from a second area, the first information is sent. The second area is associated with second configuration information. The relevant content of the second configuration information can refer to the relevant content of the first configuration information.

[0351] Exemplarily, the first information is prompt information of entering a new area, and the prompt information includes the area identifier of the first area (Notification of Entering New Area with Area ID#1).

[0352] Step 1204: The network device sends third information to the second terminal device;

[0353] The third information is used to indicate at least one of the following: instructing the second terminal device to start sending SL-PRS; instructing the second terminal device to start receiving SL-PRS; instructing the second terminal device to perform measurement on the received SL-PRS.

[0354] In some embodiments, the third information is used to instruct the second terminal device to start sending the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS. Alternatively, the third information is used to instruct the second terminal device to perform measurements on the received SL-PRS. Alternatively, the third information is used to instruct the second terminal device to start receiving the SL-PRS and to instruct the second terminal device to perform measurements on the received SL-PRS.

[0355] The third information can be understood as trigger information, which is used to trigger the second terminal device to assist the first terminal device in positioning. The second terminal device only starts receiving, measuring, or sending SL-PRS after receiving the trigger information, which helps to save power consumption of the second terminal device and avoids meaningless resource consumption when the second terminal device does not need to receive, measure, or send SL-PRS.

[0356] Exemplarily, the second terminal device includes a second terminal device A and a second terminal device B. The second terminal device is located in the first area.

[0357] Exemplarily, the third information is trigger information, used to trigger the reception and / or measurement of SL-PRS from the first terminal device, or to trigger the transmission of SL-PRS to the first terminal device, and the trigger information includes the device identification of the first terminal device (Triggering of monitoring / transmission of SL-PRS from / towards target UE1with UE1 ID).

[0358] Step 1205: The second terminal device sends a confirmation message to the network device;

[0359] The confirmation information is used to indicate that the second terminal device confirms receipt of the third information, or is used to indicate that the second terminal device confirms sending the SL-PRS to the first terminal device, or is used to indicate that the second terminal device confirms receipt of the SL-PRS sent by the first terminal device.

[0360] In some embodiments, the network device sends the third information in a unicast, multicast or broadcast manner, and the second terminal device feeds back or does not feed back confirmation information for the third information.

[0361] Exemplarily, the confirmation information is ACK information, where ACK stands for Acknowledge / Acknowledgement.

[0362] Step 1206: The network device sends second information to the first terminal device;

[0363] In some embodiments, the second information is instruction information. The second information is used to instruct the first terminal device to send the SL-PRS, or to instruct the first terminal device to perform measurement on the SL-PRS sent by the second terminal device.

[0364] In some embodiments, the second information is confirmation information for the first information feedback.

[0365] In some embodiments, the second information is sent using RRC signaling or MAC CE.

[0366] Exemplarily, the first information is request information, and the second information is confirmation information (Acknowledge of Request) of the first information.

[0367] Step 1207: The first terminal device and the second terminal device transmit and measure the SL-PRS.

[0368] The SL-PRS is transmitted based on the first configuration information. For details about the first configuration information, refer to step 830 and will not be described in detail here.

[0369] The first terminal device and the second terminal device transmit and / or receive SL-PRS on the side link.

[0370] The measurement result of the SL-PRS is determined by the first terminal device; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0371] In some embodiments, the first terminal device sends an SL-PRS to the second terminal device based on the first configuration information, and the second terminal device then measures the SL-PRS. Optionally, the second terminal device sends the SL-PRS measurement result to the first terminal device, and the first terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result. Optionally, the second terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result, and the second terminal device sends the positioning result of the first terminal device to the first terminal device.

[0372] In some embodiments, the first terminal device measures the SL-PRS sent by the second terminal device based on the first configuration information. Optionally, the first terminal device determines a positioning result of the first terminal device based on the measurement result of the SL-PRS.

[0373] Optionally, the first terminal device informs the network device or other terminal devices of its own positioning result.

[0374] It should be understood that in the embodiment of the present application, step 1205 and step 1206 are optional steps. The execution order of the above steps can be adjusted according to actual conditions. For example, step 1203 is executed before step 1202, or step 1202 is executed before step 1201, or step 1203 is executed before step 1201, etc. The above steps can be combined or split according to actual conditions. For example, step 1202 and step 1203 can be combined into one step, or step 1201 and step 1204 can be combined into one step, or step 1207 can be split into two steps (a step of transmitting SL-PRS and a step of measuring SL-PRS), etc.

[0375] In summary, the method provided in the embodiment of the present application supports the network device to quickly and promptly clarify the positioning requirements of the first terminal device by sending the first information, which helps the subsequent second terminal device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, the network device is supported to send the third information to the second terminal device after receiving the first information, so as to promptly trigger the second terminal device to assist the first terminal device in achieving positioning, thereby ensuring positioning efficiency. When the first terminal device and the second terminal device cannot communicate directly, or the first terminal device and the second terminal device are unaware of each other's existence, the information transfer of the network device further ensures the positioning efficiency. In addition, the first configuration information configured by the network device to the first terminal device is associated with the first area, so that the first terminal device and the second terminal device use more targeted configuration information to transmit SL-PRS, which helps to improve the measurement accuracy of SL-PRS and the accuracy of positioning results.

[0376] For the second terminal device, it does not start receiving, measuring SL-PRS, sending SL-PRS, or performing measurements on SL-PRS before receiving the third information from the network device, and starts one or more of the SL-PRS-related operations such as receiving SL-PRS, measuring SL-PRS, sending SL-PRS, and performing measurements on SL-PRS after receiving the third information. This helps the second terminal device save power consumption and avoids meaningless resource consumption when the second terminal device does not need to receive, measure, or send SL-PRS.

[0377] FIG13 is a flow chart illustrating a positioning method provided by some exemplary embodiments of the present application. The method is illustrated by taking the method executed by a first terminal device, a network device, and a second terminal device as an example. The method includes at least some of the following steps:

[0378] Step 1301: The network device sends first configuration information to the first terminal device;

[0379] The first configuration information is associated with the first area. Alternatively, the first configuration information is associated with a time window corresponding to the first area.

[0380] The first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0381] In some embodiments, the configuration information sent by the network device to the first terminal device includes at least two SL-PRS configurations, and the at least two SL-PRS configurations are associated with different areas, wherein the SL-PRS configuration associated with the first area belongs to the first configuration information.

[0382] In some embodiments, the configuration information sent by the network device to the first terminal device includes: an SL-PRS group consisting of at least two SL-PRSs; and / or an assistance message containing at least two SL-PRSs; and / or an identifier of a second terminal device associated with the SL-PRS; and / or geographic location information of the second terminal device associated with the SL-PRS. Optionally, the at least two SL-PRSs are associated with different second terminal devices.

[0383] In some embodiments, the configuration information sent by the network device to the first terminal device is the first configuration information.

[0384] For the relevant content of the first SL-PRS configuration, please refer to step 830 and will not be repeated here.

[0385] In some embodiments, the network device configures a first SL-PRS configuration for the first terminal device based on a received SL-PRS configuration desired by the first terminal device, or a SL-PRS configuration required by the first terminal device, or a SL-PRS configuration supported by the first terminal device.

[0386] In some embodiments, before executing step 1301, the first terminal device sends an SL-PRS configuration desired by the first terminal device, or an SL-PRS configuration required by the first terminal device, or an SL-PRS configuration supported by the first terminal device to the network device. Optionally, the network device configures a first SL-PRS configuration for the first terminal device based on the received SL-PRS configuration desired by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device.

[0387] In some embodiments, in addition to sending the first configuration information to the first terminal device, the network device also sends the first configuration information to the second terminal device.

[0388] Exemplarily, the first configuration information is pre-configured assistance data, or the first configuration information includes pre-configured assistance data.

[0389] Step 1302: A first terminal device enters a first area;

[0390] The first terminal device moves from another area to the first area, for example, from the second area to the first area. The second area is associated with the second configuration information. The relevant content of the second configuration information can refer to the relevant content of the first configuration information.

[0391] Step 1303: The first terminal device sends the first information;

[0392] The first information is used to indicate that the first terminal device enters the first area or requests activation of the first configuration information;

[0393] The first terminal device sends the first information in a unicast, multicast or broadcast manner.

[0394] The first information is sent when the first terminal device enters the first area; or, the first information is sent at a first time before the first terminal device enters the first area; or, the first information is sent at a second time after the first terminal device enters the first area. The first time and the second time may be the same or different. The first time and the second time are configured by the network device, agreed upon by the communication protocol, or determined by the first terminal device.

[0395] Each area has a one-to-one corresponding identification, index or number, so that terminal devices and network devices can distinguish different areas.

[0396] In some embodiments, the division of areas is configured by the network device, or determined by negotiation between the network device and the terminal device, or agreed upon by a communication protocol.

[0397] Exemplarily, the network device includes a core network device (such as LMF) and / or an access network device.

[0398] In some embodiments, a region is represented by at least one of: RNA; TA; SSB; cell.

[0399] Optionally, the cell refers to a serving cell and / or a resident cell. Optionally, the cell includes a PCell and / or a SCell.

[0400] In some embodiments, the second terminal device and the first terminal device are located in the same network coverage area; or, the second terminal device and the first terminal device are located in different network coverage areas; or, neither the second terminal device nor the first terminal device is located in the network coverage area; or, the second terminal device or the first terminal device is not located in the network coverage area.

[0401] In some embodiments, the first terminal device and the second terminal device are of the same or different types.

[0402] In some embodiments, the second terminal device may also be referred to as an auxiliary positioning device, an auxiliary terminal device, or an anchor terminal device.

[0403] In some embodiments, the first information includes identification information, index information, or number information of the first region.

[0404] In some embodiments, when a first terminal device enters a first area from a second area, the first terminal device sends a first message to a second terminal device. The second area is associated with second configuration information. The relevant content of the second configuration information can refer to the relevant content of the first configuration information.

[0405] Exemplarily, the first information is prompt information of entering a new area, and the prompt information includes the area identifier of the first area (Notification of Entering New Area with Area ID#1).

[0406] Step 1304: The second terminal device sends a confirmation message to the first terminal device;

[0407] The confirmation information is used to indicate that the second terminal device confirms receipt of the first information, or is used to indicate that the second terminal device confirms sending the SL-PRS to the first terminal device, or is used to indicate that the second terminal device confirms receipt of the SL-PRS sent by the first terminal device.

[0408] In some embodiments, the first terminal device sends the first information in a multicast manner, and the second terminal device feeds back confirmation information for the first information.

[0409] In some embodiments, the first terminal device sends the first information in a broadcast manner, and the second terminal device feeds back or does not feed back confirmation information for the first information.

[0410] Exemplarily, the second terminal device includes a second terminal device A and a second terminal device B. The second terminal device is located in the first area.

[0411] Exemplarily, the first information is request information (for example, for requesting activation of the first configuration information), and the confirmation information sent by the second terminal device is confirmation information (Acknowledge of Request) of the first information.

[0412] Step 1305: The first terminal device and the second terminal device transmit and measure the SL-PRS.

[0413] The SL-PRS is transmitted based on the first configuration information. For details about the first configuration information, refer to step 830 and will not be described in detail here.

[0414] The first terminal device and the second terminal device transmit and / or receive SL-PRS on the side link.

[0415] The measurement result of the SL-PRS is determined by the first terminal device; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0416] In some embodiments, the first terminal device sends an SL-PRS to the second terminal device based on the first configuration information, and the second terminal device then measures the SL-PRS. Optionally, the second terminal device sends the SL-PRS measurement result to the first terminal device, and the first terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result. Optionally, the second terminal device determines the positioning result of the first terminal device based on the SL-PRS measurement result, and the second terminal device sends the positioning result of the first terminal device to the first terminal device.

[0417] In some embodiments, the first terminal device measures the SL-PRS sent by the second terminal device based on the first configuration information. Optionally, the first terminal device determines a positioning result of the first terminal device based on the measurement result of the SL-PRS.

[0418] Optionally, the first terminal device informs the network device or other terminal devices of its own positioning result.

[0419] It should be understood that in the embodiment of the present application, step 1304 is an optional step, that is, the second terminal device may directly receive and measure the SL-PRS sent by the first terminal device or directly send the SL-PRS to the first terminal device without feeding back confirmation information, that is, the first terminal device may directly send the SL-PRS or receive and measure the SL-PRS after sending the first information. The execution order of the above steps can be adjusted according to actual conditions, for example, step 1303 is executed before step 1302, or step 1302 is executed before step 1301, or step 1303 is executed before step 1301, and so on. The above steps can be combined or split according to actual conditions, for example, step 1302 and step 1303 are combined into one step, or step 1305 can be split into two steps (a step of transmitting SL-PRS and a step of measuring SL-PRS), and so on.

[0420] In summary, the method provided in the embodiment of the present application supports the network device to quickly and promptly clarify the positioning requirements of the first terminal device by sending the first information, which helps the subsequent second terminal device to promptly assist the first terminal device in achieving positioning, thereby improving positioning efficiency. In addition, it supports the network device to send third information to the second terminal device after receiving the first information, so as to promptly trigger the second terminal device to assist the first terminal device in achieving positioning, thereby ensuring positioning efficiency. When the first terminal device and the second terminal device cannot communicate directly, or the first terminal device and the second terminal device are unaware of each other's existence, the information transfer of the network device further ensures positioning efficiency. In addition, the first configuration information configured by the network device to the first terminal device is associated with the first area, so that the first terminal device and the second terminal device use more targeted configuration information to transmit SL-PRS, which helps to improve the measurement accuracy of SL-PRS and the accuracy of positioning results.

[0421] For the second terminal device, not starting to receive, measure or send SL-PRS or perform measurements on SL-PRS before receiving the third information from the network device, and then starting one or more of the SL-PRS-related operations such as receiving SL-PRS, sending SL-PRS, and performing measurements on SL-PRS after receiving the third information, will help the second terminal device save power consumption and avoid meaningless resource consumption when the second terminal device does not need to receive, measure or send SL-PRS.

[0422] Figure 14 shows a schematic diagram of a positioning method provided by some exemplary embodiments of the present application, which is schematically illustrated by taking the method executed by a first terminal device, a network device, and a second terminal device as an example.

[0423] The first terminal device 1401 enters the first area from the second area. The second area and the first area may overlap or not overlap. FIG14 takes the example of the second area and the first area not overlapping.

[0424] The second area includes a second terminal device 1403. The first area includes a second terminal device 1404. Network device 1402 can communicate with first terminal device 1401 and / or second terminal device 1403 and / or second terminal device 1404. Second terminal device 1403 includes one or more terminal devices. Second terminal device 1404 includes one or more terminal devices.

[0425] Exemplarily, the network device 1402 sends second configuration information to the first terminal device 1401, where the second configuration information includes a second SL-PRS configuration. The second SL-PRS configuration is, for example, the configuration of SL-PRS 2. The specific information contained in the second SL-PRS configuration can refer to the relevant content of the first SL-PRS configuration in step 830.

[0426] Exemplarily, the network device 1402 sends first configuration information to the first terminal device 1401 , where the first configuration information includes a first SL-PRS configuration, such as a configuration of SL-PRS 1.

[0427] Exemplarily, the configuration information sent by the network device 1402 to the first terminal device 1401 includes configurations of at least two SL-PRSs, where the configurations of the at least two SL-PRSs include, for example, a second SL-PRS configuration and a first SL-PRS configuration. Optionally, the configurations of the at least two SL-PRSs may further include a third SL-PRS configuration.

[0428] The second SL-PRS configuration is associated with the second region, the first SL-PRS configuration is associated with the first region, and the third SL-PRS configuration is associated with a third region (not shown). The third region is a region other than the first region and the second region. The third region may or may not overlap with the first region and the second region.

[0429] Similarly, the network device 1402 can also send first configuration information to the second terminal device 1404 and second configuration information to the second terminal device 1403, so that different second terminal devices use the SL-PRS configuration corresponding to their own area to send SL-PRS to the first terminal device 1401.

[0430] When the first terminal device 1401 is in the second area, the first terminal device 1401 can transmit SL-PRS 2 with the second terminal device 1403 to determine the positioning result of the first terminal device 1401. At this time, because the first terminal device 1401 has not yet entered the first area, the second terminal device 1404 in the first area does not send SL-PRS or does not receive or measure SL-PRS. In fact, the second terminal device 1404 can be in a sleep state or a power-saving state, thereby saving power consumption of the second terminal device 1404.

[0431] Exemplarily, the first terminal device 1401 uses the second SL-PRS configuration to send SL-PRS 2 to the second terminal device 1403, and the second terminal device 1403 measures SL-PRS 2. The second terminal device 1403 feeds back the measurement result of SL-PRS 2 to the first terminal device 1401, or feeds back the positioning result of the first terminal device 1401 obtained based on the measurement result of SL-PRS 2.

[0432] After first terminal device 1401 enters the first area, first terminal device 1401 can transmit SL-PRS 1 to second terminal device 1404 to determine the positioning result of first terminal device 1401. At this time, since first terminal device 1401 has entered the first area, it no longer needs to use second terminal device 1403 in the second area for positioning. Second terminal device 1403 can stop sending SL-PRS or stop receiving and measuring SL-PRS. Second terminal device 1403 can even enter a sleep state or a power-saving state to save power consumption of second terminal device 1403.

[0433] Exemplarily, first terminal device 1401 sends first information to network device 1402 to inform network device 1402 that it has entered the first area. After receiving the first information, network device 1402 sends third information to second terminal device 1404 to instruct second terminal device 1404 to start receiving, measuring, or sending SL-PRS.

[0434] Exemplarily, the first terminal device 1401 sends first information to the second terminal device 1404 to inform the second terminal device 1404 that it has entered the first area. After receiving the first information, the second terminal device 1404 starts receiving, measuring, or sending SL-PRS.

[0435] After sending the first information, the first terminal device 1401 directly uses the first SL-PRS configuration to send SL-PRS 1 to the second terminal device 1404. Alternatively, after sending the first information, the first terminal device 1401 directly receives and measures SL-PRS 1. Alternatively, after receiving confirmation information for the first information, the first terminal device 1401 uses the first SL-PRS configuration to send SL-PRS 1 to the second terminal device 1404. Alternatively, after receiving confirmation information for the first information, the first terminal device 1401 receives and measures SL-PRS 1. By transmitting the first information, the network device 1402 and / or the second terminal device 1404 are promptly informed of the cross-regional movement of the first terminal device 1401, allowing the second terminal device 1404 to promptly receive, measure, or send the SL-PRS, thereby ensuring positioning efficiency.

[0436] When the second terminal device 1404 sends SL-PRS 1 to the first terminal device 1401, SL-PRS 1 is sent based on the first SL-PRS configuration. The first terminal device 1401 uses the SL-PRS configuration corresponding to the region to transmit or measure the SL-PRS in different regions, so that the SL-PRS measurement results are more consistent with the actual conditions of each region, effectively improving the accuracy of the positioning results of the first terminal device 1401.

[0437] FIG15 shows a schematic diagram of the structure of a positioning device provided by some exemplary embodiments of the present application. The device includes at least some of the following modules: a first sending module 1510, a first receiving module 1530, and a first processing module 1550:

[0438] A first sending module 1510 is configured to send first information, where the first information is used to indicate that the device has entered a first area or to request activation of first configuration information;

[0439] The first sending module 1510 is further configured to send the SL-PRS based on the first configuration information; or the first processing module 1550 is configured to perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information;

[0440] The first configuration information is associated with the first area.

[0441] In some embodiments, the first sending module 1510 is further configured to send the first information to a first device, where the first device includes a network device and / or a third terminal device.

[0442] In some embodiments, the apparatus further includes a first receiving module 1530 for receiving second information sent by the first device, wherein the second information is used to instruct the apparatus to send the SL-PRS, or to instruct the apparatus to perform measurements on the SL-PRS sent by the second terminal device.

[0443] In some embodiments, the first sending module 1510 is further configured to send the first information in a unicast, multicast or broadcast manner.

[0444] In some embodiments, the first receiving module 1530 is further configured to receive confirmation information for the first information feedback sent by the second terminal device.

[0445] In some embodiments, the apparatus further includes a first processing module 1550 configured to determine a positioning result of the apparatus based on the measurement result of the SL-PRS.

[0446] In some embodiments, the measurement result of the SL-PRS is determined by the apparatus; or, the measurement result of the SL-PRS is determined by the second terminal device.

[0447] In some embodiments, the first receiving module 1530 is further configured to receive the first configuration information sent by a network device, where the first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0448] In some embodiments, the first SL-PRS configuration includes at least one of the following: SL-PRS wireless configuration; SL-PRS SFN level offset; NR-ARFCN; SL-PRS resource set or SL-PRS resource identifier; SL-PRS period and resource set slot offset; SL-PRS resource repetition coefficient; SL-PRS resource time interval; number of SL-PRS symbols; SL-PRS mute option 1; SL-PRS mute option 2; SL-PRS resource list; SL-PRS group consisting of at least two SL-PRSs; and a second terminal device identifier associated with the SL-PRS.

[0449] In some embodiments, the SL-PRS wireless configuration includes at least one of the following: subcarrier spacing; resource bandwidth; starting physical resource block; starting frequency reference point starting position; comb tooth size; cyclic prefix.

[0450] In some embodiments, the first sending module 1510 is further configured to send, to the network device, the SL-PRS configuration desired by the apparatus, or the SL-PRS configuration required by the apparatus, or the SL-PRS configuration supported by the apparatus.

[0451] In some embodiments, the first sending module 1510 is further configured to send the first information when the device enters the first area from a second area; wherein the second area is associated with the second configuration information.

[0452] In some embodiments, the first region is represented by at least one of the following: RNA; TA; SSB; cell.

[0453] In some embodiments, the first configuration information is associated with a time window corresponding to the first area.

[0454] In some embodiments, the apparatus provided by the embodiments of the present application includes a first sending module 1510, which supports executing all the sending steps performed by the terminal device in the above-mentioned embodiments.

[0455] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple first sending modules 1510, and the multiple first sending modules 1510 respectively support the execution of part of the sending steps performed by the terminal device in each of the above embodiments.

[0456] In some embodiments, the steps performed by different first sending modules 1510 are completely the same, partially the same, or completely different.

[0457] In some embodiments, the device provided by the embodiments of the present application includes a first processing module 1550, which supports the execution of all processing-related steps, all determination-related steps, and all measurement-related steps performed by the terminal device in the above-mentioned embodiments.

[0458] In some embodiments, the device provided by the embodiments of the present application includes multiple first processing modules 1550, which respectively support the execution of some processing-related steps, some determination-related steps, and some measurement-related steps performed by the terminal device in the above-mentioned embodiments.

[0459] In some embodiments, the steps performed by different first processing modules 1550 are completely the same, partially the same, or completely different.

[0460] In some embodiments, the apparatus provided by the embodiments of the present application includes a first receiving module 1530, which supports executing all the receiving steps performed by the terminal device in each of the above embodiments.

[0461] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple first receiving modules 1530, and the multiple first receiving modules 1530 respectively support executing part of the receiving steps performed by the terminal device in each of the above embodiments.

[0462] In some embodiments, the steps performed by different first receiving modules 1530 are completely the same, partially the same, or completely different.

[0463] In summary, the apparatus provided in the embodiment of the present application supports quickly and promptly informing the network device or other terminal device of its entry into the first area or requesting activation of the first configuration information by sending a first message, thereby enabling the network device or other terminal device to quickly and promptly clarify the positioning requirements of the apparatus, thereby facilitating subsequent network devices or other terminal devices to promptly assist the apparatus in achieving positioning, thereby improving positioning efficiency. Furthermore, the first configuration information based on which the SL-PRS transmitted between the apparatus and the second terminal device is associated with the first area, and using more targeted configuration information to transmit the SL-PRS helps to improve the measurement accuracy of the SL-PRS and the accuracy of the positioning results.

[0464] FIG16 shows a schematic diagram of the structure of a positioning device provided by some exemplary embodiments of the present application. The device includes at least some of the following modules: a second receiving module 1610, a second sending module 1630, and a second processing module 1650.

[0465] The second receiving module 1610 is used to receive first information sent by a first terminal device, where the first information is used to indicate that the first terminal device has entered a first area or requests activation of first configuration information; wherein the first area is associated with the first configuration information.

[0466] In some embodiments, the apparatus further includes a second sending module 1630 for sending second information to the first terminal device, wherein the second information is used to instruct the first terminal device to send a sidelink positioning reference signal SL-PRS, or to instruct the first terminal device to perform measurements on the SL-PRS sent by the second terminal device.

[0467] In some embodiments, the second sending module 1630 is further used to send third information to the second terminal device, and the third information is used to instruct the second terminal device to perform at least one of the following operations: start sending SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

[0468] In some embodiments, the second receiving module 1610 is further configured to receive confirmation information sent by the second terminal device regarding the third information feedback.

[0469] In some embodiments, the second sending module 1630 is further used to send the first configuration information to the first terminal device, where the first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

[0470] In some embodiments, the first SL-PRS configuration includes at least one of the following: SL-PRS wireless configuration; SL-PRS SFN level offset; NR-ARFCN; SL-PRS resource set or SL-PRS resource identifier; SL-PRS period and resource set slot offset; SL-PRS resource repetition coefficient; SL-PRS resource time interval; number of SL-PRS symbols; SL-PRS mute option 1; SL-PRS mute option 2; SL-PRS resource list; SL-PRS group consisting of at least two SL-PRSs; and a second terminal device identifier associated with the SL-PRS.

[0471] In some embodiments, the SL-PRS wireless configuration includes at least one of the following: subcarrier spacing; resource bandwidth; starting physical resource block; starting frequency reference point starting position; comb tooth size; cyclic prefix.

[0472] In some embodiments, the second receiving module 1610 is further used to receive the SL-PRS configuration expected by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device, sent by the first terminal device.

[0473] In some embodiments, the first region is represented by at least one of the following: RNA; TA; SSB; cell.

[0474] In some embodiments, the first configuration information is associated with a time window corresponding to the first area.

[0475] In some embodiments, the apparatus further comprises a second processing module 1650 configured to determine or generate the first configuration information.

[0476] In some embodiments, the second processing module 1650 is used to determine the first configuration information based on the SL-PRS configuration expected by the first terminal device, the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device, which is received from the first terminal device.

[0477] In some embodiments, the apparatus provided by the embodiments of the present application includes a second receiving module 1610, which supports executing all the receiving steps performed by the network device in each of the above embodiments.

[0478] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple second receiving modules 1610, and the multiple second receiving modules 1610 respectively support executing part of the receiving steps performed by the network device in each of the above embodiments.

[0479] In some embodiments, the steps performed by different second receiving modules 1610 are completely the same, partially the same, or completely different.

[0480] In some embodiments, the apparatus provided by the embodiments of the present application includes a second processing module 1650, which supports the execution of all processing-related steps, all determination-related steps, and all measurement-related steps performed by the network device in the above-mentioned embodiments.

[0481] In some embodiments, the device provided by the embodiments of the present application includes multiple second processing modules 1650, which respectively support the execution of some processing-related steps, some determination-related steps, and some measurement-related steps performed by the network equipment in the above-mentioned embodiments.

[0482] In some embodiments, the steps performed by different second processing modules 1650 are completely identical, partially identical, or completely different.

[0483] In some embodiments, the apparatus provided by the embodiments of the present application includes a second sending module 1630, which supports executing all the sending steps performed by the network device in each of the above embodiments.

[0484] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple second sending modules 1630, and the multiple second sending modules 1630 respectively support the execution of part of the sending steps performed by the network device in each of the above embodiments.

[0485] In some embodiments, the steps performed by different second sending modules 1630 are completely the same, partially the same, or completely different.

[0486] In summary, the device provided in the embodiment of the present application quickly and promptly clarifies the positioning requirements of the first terminal device by receiving the first information, which helps the device to promptly assist the first terminal device in achieving positioning and improve positioning efficiency. In addition, the device supports sending third information to the second terminal device after receiving the first information to promptly trigger the second terminal device to assist the first terminal device in achieving positioning, thereby ensuring positioning efficiency. When the first terminal device and the second terminal device cannot communicate directly, or the first terminal device and the second terminal device are unaware of each other's existence, the information transfer of the device further ensures positioning efficiency. In addition, the first configuration information configured by the device to the first terminal device is associated with the first area, so that more targeted configuration information is used to transmit SL-PRS between the first terminal device and the second terminal device, which helps to improve the measurement accuracy of SL-PRS and the accuracy of positioning results.

[0487] FIG17 shows a schematic diagram of the structure of a positioning device provided by some exemplary embodiments of the present application. The device includes at least some of the following modules: a third receiving module 1710, a third processing module 1730, and a third sending module 1750:

[0488] The third receiving module 1710 is used to receive trigger information, where the trigger information is used to trigger the device to perform at least one of the following operations: start sending SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS; wherein the SL-PRS is transmitted based on the first configuration information.

[0489] In some embodiments, the trigger information includes first information, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of the first configuration information.

[0490] In some embodiments, the third receiving module 1710 is further used to receive the first information sent by the first terminal device.

[0491] In some embodiments, the apparatus further includes a third processing module 1730 configured to perform at least one of the following operations: start sending the SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

[0492] In some embodiments, the apparatus further includes a third sending module 1750, configured to send confirmation information regarding the first information feedback to the first terminal device.

[0493] In some embodiments, the trigger information includes third information, and the third information is used to instruct the apparatus to perform at least one of the following operations: start sending the SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

[0494] In some embodiments, the third receiving module 1710 is also used to receive the third information sent by the first device, where the first device includes a network device and / or a third terminal device. The third information is sent based on the first information, and the first information is used to indicate that the first terminal device enters the first area or requests activation of the use of the first configuration information.

[0495] In some embodiments, the third sending module 1750 is configured to send confirmation information regarding the third information feedback to the first device.

[0496] In some embodiments, the first region is represented by at least one of the following: RNA; TA; SSB; cell.

[0497] In some embodiments, the first area is associated with the first configuration information, or a time window corresponding to the first area is associated with the first configuration information.

[0498] In some embodiments, the apparatus provided by the embodiments of the present application includes a third sending module 1750, which supports the execution of all the sending steps performed by the terminal device in the above-mentioned embodiments.

[0499] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple third sending modules 1750, and the multiple third sending modules 1750 respectively support the execution of part of the sending steps performed by the terminal device in each of the above embodiments.

[0500] In some embodiments, the steps performed by different third sending modules 1750 are completely the same, partially the same, or completely different.

[0501] In some embodiments, the device provided by the embodiments of the present application includes a third processing module 1730, which supports the execution of all processing-related steps, all determination-related steps, and all measurement-related steps performed by the terminal device in the above-mentioned embodiments.

[0502] In some embodiments, the device provided by the embodiments of the present application includes multiple third processing modules 1730, which respectively support the execution of some processing-related steps, some determination-related steps, and some measurement-related steps performed by the terminal device in the above-mentioned embodiments.

[0503] In some embodiments, the steps performed by different third processing modules 1730 are completely the same, partially the same, or completely different.

[0504] In some embodiments, the apparatus provided by the embodiments of the present application includes a third receiving module 1710, which supports executing all the receiving steps performed by the terminal device in each of the above embodiments.

[0505] In some embodiments, the apparatus provided by the embodiments of the present application includes multiple third receiving modules 1710, and the multiple third receiving modules 1710 respectively support the execution of some of the receiving steps performed by the terminal device in each of the above embodiments.

[0506] In some embodiments, the steps performed by different third receiving modules 1710 are completely the same, partially the same, or completely different.

[0507] In summary, the apparatus provided in the embodiments of the present application supports the apparatus to quickly and promptly determine the positioning requirements of the first terminal device by receiving trigger information, which helps the apparatus subsequently assist the first terminal device in achieving positioning in a timely manner, thereby improving positioning efficiency. Furthermore, the apparatus supports feeding back confirmation information to the first terminal device after receiving the first information to inform the first terminal device that it has initiated the reception, measurement, or transmission of the SL-PRS, thereby improving system efficiency. If the apparatus does not feed back confirmation information after receiving the first information and directly initiates the reception, measurement, or transmission of the SL-PRS, this helps save signaling resource consumption. When direct communication between the first terminal device and the apparatus is impossible, or when the first terminal device and the apparatus are unaware of each other's existence, the design of forwarding the trigger information by the first device further ensures positioning efficiency and accuracy. Furthermore, the first configuration information is associated with the first area, which helps the first terminal device and the apparatus use more targeted configuration information to transmit the SL-PRS, thereby improving the measurement accuracy of the SL-PRS and the accuracy of the positioning results.

[0508] For this device, not starting to receive, measure or send SL-PRS before receiving the trigger information, and starting to receive, measure or send SL-PRS after receiving the trigger information, will help the device save power consumption and avoid meaningless resource consumption when the device does not need to receive, measure or send SL-PRS.

[0509] It should be noted that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0510] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method and will not be elaborated here.

[0511] Figure 18 shows a structural diagram of a communication device (terminal device or network device) provided by some exemplary embodiments of the present application. The communication device 1800 includes: a processor 1801, a receiver 1802, a transmitter 1803, a memory 1804 and a bus 1805.

[0512] The processor 1801 includes one or more processing cores. The processor 1801 executes various functional applications and information processing by running software programs and modules. In some embodiments, the processor 1801 can be used to implement the functions and steps of the first processing module 1550 and / or the second processing module 1650 and / or the third processing module 1730 described above.

[0513] Receiver 1802 and transmitter 1803 can be implemented as a communication component, which can be a communication chip. In some embodiments, receiver 1802 can be used to implement the functions and steps of first receiving module 1530 and / or second receiving module 1610 and / or third receiving module 1710 described above. In some embodiments, transmitter 1803 can be used to implement the functions and steps of first transmitting module 1510 and / or second transmitting module 1630 and / or third transmitting module 1750 described above.

[0514] The memory 1804 is connected to the processor 1801 via a bus 1805. The memory 1804 may be used to store at least one instruction, and the processor 1801 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0515] In addition, the memory 1804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random-access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0516] In some embodiments, the receiver 1802 receives signals / data independently, or the processor 1801 controls the receiver 1802 to receive signals / data, or the processor 1801 requests the receiver 1802 to receive signals / data, or the processor 1801 cooperates with the receiver 1802 to receive signals / data.

[0517] In some embodiments, the transmitter 1803 independently sends signals / data, or the processor 1801 controls the transmitter 1803 to send signals / data, or the processor 1801 requests the transmitter 1803 to send signals / data, or the processor 1801 cooperates with the transmitter 1803 to send signals / data.

[0518] In an exemplary embodiment of the present application, a computer-readable storage medium is further provided, wherein at least one program is stored in the computer-readable storage medium, and the at least one program is loaded and executed by the processor to implement the positioning method provided by each of the above method embodiments.

[0519] In an exemplary embodiment of the present application, a chip is further provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a communication device, it is used to implement the positioning methods provided by the above-mentioned various method embodiments.

[0520] In an exemplary embodiment of the present application, a computer program product is further provided. When the computer program product is executed on a processor of a computer device, the computer device is enabled to execute the above positioning method.

[0521] In an exemplary embodiment of the present application, a computer program is further provided. The computer program includes computer instructions. A processor of a computer device executes the computer instructions, so that the computer device executes the above positioning method.

[0522] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0523] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A positioning method, characterized in that: The method is performed by a first terminal device, and the method includes: Sending first information, where the first information is used to indicate that the first terminal device enters a first area or requests activation of first configuration information; Send a sidelink positioning reference signal SL-PRS based on the first configuration information, or perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information; The first configuration information is associated with the first area.

2. The method according to claim 1, characterized in that The sending of the first information includes: The first information is sent to a first device, where the first device includes a network device and / or a third terminal device.

3. The method according to claim 2, characterized in that After sending the first information, the method further includes: Receive second information sent by the first device, where the second information is used to instruct the first terminal device to send the SL-PRS, or to instruct the first terminal device to perform measurement on the SL-PRS sent by the second terminal device.

4. The method according to claim 1, characterized in that: The sending of the first information includes: The first information is sent in a unicast, multicast or broadcast manner.

5. The method according to claim 4, characterized in that After sending the first information, the method further includes: Receive confirmation information sent by the second terminal device for the first information feedback.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Based on the measurement result of the SL-PRS, the positioning result of the first terminal device is determined.

7. The method according to claim 6, characterized in that The SL-PRS measurement result is determined by the first terminal device; or, The measurement result of the SL-PRS is determined by the second terminal device.

8. The method according to any one of claims 1 to 7, characterized in that: Before sending the first information, the method further includes: Receive the first configuration information sent by a network device, where the first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

9. The method according to claim 8, characterized in that The first SL-PRS configuration includes at least one of the following: SL-PRS wireless configuration; SL-PRS system frame number SFN level offset; New Radio Interface - Absolute Radio Channel Number NR-ARFCN; SL-PRS resource set or SL-PRS resource identifier; SL-PRS period and resource set slot offset; SL-PRS resource repetition factor; SL-PRS resource time interval; Number of SL-PRS symbols; SL-PRS Silent Option 1; SL-PRS Silent Option 2; SL-PRS resource list; A SL-PRS group consisting of at least two SL-PRSs; The second terminal device identifier associated with the SL-PRS.

10. The method according to claim 9, characterized in that The SL-PRS wireless configuration includes at least one of the following: Subcarrier spacing; Resource bandwidth; Starting physical resource block; The starting frequency reference point starting position; Comb tooth size; Cyclic prefix.

11. The method according to claim 8, 9 or 10, characterized in that: Before receiving the first configuration information sent by the network device, the method further includes: Sending to the network device the SL-PRS configuration expected by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device.

12. The method according to any one of claims 1 to 11, characterized in that: The first configuration information is associated with a time window corresponding to the first area.

13. The method according to any one of claims 1 to 12, characterized in that: The sending of the first information includes: When the first terminal device enters the first area from the second area, sending the first information; The second area is associated with second configuration information.

14. The method according to any one of claims 1 to 13, characterized in that: The first area is represented by at least one of the following: Notification area RNA based on wireless access network; Tracking area TA; Synchronization signal block SSB; Community.

15. A positioning method, characterized in that: The method is performed by a network device, and the method includes: receiving first information sent by a first terminal device, where the first information is used to indicate that the first terminal device has entered a first area or to request activation of first configuration information; The first area is associated with the first configuration information.

16. The method according to claim 15, characterized in that The method further comprises: Second information is sent to the first terminal device, where the second information is used to instruct the first terminal device to send a sidelink positioning reference signal SL-PRS, or to instruct the first terminal device to perform measurement on the SL-PRS sent by the second terminal device.

17. The method according to claim 15 or 16, characterized in that After receiving the first information sent by the first terminal device, the method further includes: Send third information to the second terminal device, where the third information is used to instruct the second terminal device to perform at least one of the following operations: start sending a sidelink positioning reference signal SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

18. The method according to claim 17, characterized in that The method further comprises: Receive confirmation information sent by the second terminal device for the third information feedback.

19. The method according to any one of claims 15 to 18, characterized in that: Before receiving the first information sent by the first terminal device, the method further includes: The first configuration information is sent to the first terminal device, where the first configuration information includes a first SL-PRS configuration, and the first area is associated with the first SL-PRS configuration.

20. The method according to claim 19, characterized in that The first SL-PRS configuration includes at least one of the following: SL-PRS wireless configuration; SL-PRS system frame number SFN level offset; New Radio Interface - Absolute Radio Channel Number NR-ARFCN; SL-PRS resource set or SL-PRS resource identifier; SL-PRS period and resource set slot offset; SL-PRS resource repetition factor; SL-PRS resource time interval; Number of SL-PRS symbols; SL-PRS Silent Option 1; SL-PRS Silent Option 2; SL-PRS resource list; A SL-PRS group consisting of at least two SL-PRSs; The second terminal device identifier associated with the SL-PRS.

21. The method according to claim 20, characterized in that The SL-PRS wireless configuration includes at least one of the following: Subcarrier spacing; Resource bandwidth; Starting physical resource block; The starting frequency reference point starting position; Comb tooth size; Cyclic prefix.

22. The method according to claim 19, 20 or 21, characterized in that Before sending the first configuration information to the first terminal device, the method further includes: Receive the SL-PRS configuration expected by the first terminal device, or the SL-PRS configuration required by the first terminal device, or the SL-PRS configuration supported by the first terminal device, which is sent by the first terminal device.

23. The method according to any one of claims 15 to 22, characterized in that: The first area is represented by at least one of the following: Notification area RNA based on wireless access network; Tracking area TA; Synchronization signal block SSB; Community.

24. The method according to any one of claims 15 to 23, characterized in that: The first configuration information is associated with a time window corresponding to the first area.

25. A positioning method, characterized in that: The method is performed by a second terminal device, and the method includes: Receive trigger information, where the trigger information is used to trigger the second terminal device to perform at least one of the following operations: start sending a sidelink positioning reference signal SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS; The SL-PRS is transmitted based on the first configuration information.

26. The method according to claim 25, characterized in that The trigger information includes first information, where the first information is used to indicate that the first terminal device enters a first area or requests activation of the first configuration information; The receiving trigger information includes: receiving the first information sent by the first terminal device; The method further comprises: Perform at least one of the following operations: start sending the SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

27. The method according to claim 26, characterized in that After receiving the first information sent by the first terminal device, the method further includes: Send confirmation information for the first information feedback to the first terminal device.

28. The method according to claim 25, characterized in that The trigger information includes third information, and the third information is used to instruct the second terminal device to perform at least one of the following operations: start sending the SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS; The receiving trigger information includes: receiving the third information sent by a first device, where the first device includes a network device and / or a third terminal device, the third information is sent based on the first information, and the first information is used to indicate that the first terminal device enters a first area or requests activation of the first configuration information; The method further comprises: Perform at least one of the following operations: start sending the SL-PRS, start receiving the SL-PRS, and start measuring the SL-PRS.

29. The method according to claim 28, characterized in that After receiving the third information sent by the first device, the method further includes: Send confirmation information for the third information feedback to the first device.

30. The method according to any one of claims 26 to 29, characterized in that: The first area is represented by at least one of the following: Notification area RNA based on wireless access network; Tracking area TA; Synchronization signal block SSB; Community.

31. The method according to any one of claims 26 to 30, characterized in that: The first area is associated with the first configuration information, or a time window corresponding to the first area is associated with the first configuration information.

32. A positioning device, characterized in that: The device comprises: A first sending module, configured to send first information, where the first information is used to indicate that the device has entered a first area or to request activation of first configuration information; The first sending module is further configured to send a sidelink positioning reference signal SL-PRS based on the first configuration information; or, the first processing module is configured to perform measurement on the SL-PRS sent by the second terminal device based on the first configuration information; The first configuration information is associated with the first area.

33. A positioning device, characterized in that: The device comprises: A second receiving module is used to receive first information sent by a first terminal device, where the first information is used to indicate that the first terminal device enters a first area or requests activation of first configuration information; The first area is associated with the first configuration information.

34. A positioning device, characterized in that: The device comprises: A third receiving module is configured to receive trigger information, wherein the trigger information is used to trigger the apparatus to perform at least one of the following operations: start sending a sidelink positioning reference signal SL-PRS, start receiving the SL-PRS; start measuring the SL-PRS; The SL-PRS is transmitted based on the first configuration information.

35. A terminal device, characterized in that: The terminal device comprises: A processor; a transceiver connected to the processor; a memory for storing executable instructions of the processor; The processor is configured to load and execute the executable instructions so that the terminal device implements the positioning method described in any one of claims 1 to 14, or the positioning method described in any one of claims 25 to 31.

36. A network device, characterized in that: The network equipment includes: A processor; a transceiver connected to the processor; a memory for storing executable instructions of the processor; The processor is configured to load and execute the executable instructions so that the network device implements the positioning method as described in any one of claims 15 to 24.

37. A computer-readable storage medium, characterized in that: The readable storage medium stores executable instructions, and the executable instructions are loaded and executed by the processor to implement the positioning method as described in any one of claims 1 to 14 or 15 to 24 or 25 to 31.

38. A chip, characterized in that: The chip includes a programmable logic circuit or a program, and the chip is used to implement the positioning method as described in any one of claims 1 to 14 or 15 to 24 or 25 to 31.

39. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the positioning method as described in any one of claims 1 to 14 or 15 to 24 or 25 to 31.

40. A computer program, characterized in that The computer program includes computer instructions, and a processor of a computer device executes the computer instructions, so that the computer device performs the positioning method as described in any one of claims 1 to 14, 15 to 24, or 25 to 31.

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