Positioning method and device, and storage medium

Abstract

The present disclosure provides a positioning method and device, and a storage medium, the method including the steps of: sending a capability request message to a second terminal that communicates with a first terminal via a sidelink; in response to receiving a capability provision message returned from the second terminal, sending a positioning assistance information request message to the second terminal based on positioning capability information for indicating positioning capabilities supported by the second terminal in the capability provision message; in response to receiving a positioning assistance information provision message returned from the second terminal, including first positioning assistance information, sending a location information request message to the second terminal; in response to receiving a location information provision message returned from the second terminal, including a measurement result, determining location information of the second terminal based on the first positioning assistance information and the measurement result. The present disclosure extends the LPP protocol to achieve the objective of positioning a terminal based on the LPP protocol in a sidelink.

Description

[Technical field]

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

[0002] LPP (LTE Positioning Protocol) is a point-to-point positioning protocol applied between a positioning server and a device. Currently, it can be applied between a positioning server and a terminal, thereby positioning the terminal. Summary of the Invention [Problem to be solved by the invention]

[0003] In order to solve the problems existing in the related art, the embodiments of the present disclosure provide a positioning method and apparatus, and a storage medium. [Means for solving the problem]

[0004] According to a first aspect of an embodiment of the present disclosure, a positioning method is provided, the method being applied to a first terminal, the method including the steps of: transmitting a capability request message to a second terminal, the second terminal being a terminal communicating with the first terminal via a sidelink; the capability request message requesting the second terminal to provide a positioning capability supported by the second terminal; and in response to receiving a capability provision message returned from the second terminal, transmitting a positioning support information request message to the second terminal based on positioning capability information for indicating a positioning capability supported by the second terminal in the capability provision message, the positioning support information request message including a first positioning support information. the first positioning assistance information assisting the first terminal in determining location information of the second terminal; in response to receiving a positioning assistance information providing message returned from the second terminal and including the first positioning assistance information, transmitting a location information request message to the second terminal, wherein the location information request message requests the second terminal to provide a measurement result of measuring the location information of the second terminal; and in response to receiving a position information providing message returned from the second terminal and including the measurement result, determining the location information of the second terminal based on the first positioning assistance information and the measurement result.

[0005] According to a second aspect of an embodiment of the present disclosure, a positioning method is provided, the method being applied to a second terminal, the method including the steps of: transmitting a capability providing message to the first terminal in response to receiving a capability request message transmitted from the first terminal, the first terminal being a terminal that communicates with the second terminal via a sidelink; the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, the capability providing message including positioning capability information for indicating positioning capabilities supported by the second terminal; and transmitting a positioning support information request message including first positioning support information in response to receiving a positioning support information request message transmitted by the first terminal based on the positioning capability information. The method includes a step of transmitting a positioning assistance information providing message to the first terminal, wherein the positioning assistance information request message requests the second terminal to provide the first positioning assistance information, and the first positioning assistance information assists the first terminal in determining a measurement result for positioning the second terminal; in response to receiving a location information request message transmitted from the first terminal, positioning the second terminal based on the positioning capability supported by the second terminal and determining a measurement result, wherein the location information request message requests the second terminal to determine the measurement result; and a step of transmitting a location information providing message including the measurement result to the first terminal.

[0006] According to a third aspect of an embodiment of the present disclosure, a positioning device is provided, the device being applied to a first terminal, the first transmitting module being configured to transmit a capability request message to a second terminal, the second terminal being a terminal communicating with the first terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal; and a second transmitting module being configured to transmit a positioning support information request message to the second terminal in response to receiving a capability provision message returned from the second terminal, based on positioning capability information for indicating positioning capabilities supported by the second terminal in the capability provision message, the positioning support information request message including a first positioning support information. the first positioning assistance information assisting the first terminal in determining location information of the second terminal; a third transmitting module configured to transmit a location information request message to the second terminal in response to receiving a location information providing message returned from the second terminal and including the first positioning assistance information, the location information request message requesting the second terminal to provide a measurement result of measuring the location information of the second terminal; and a determination module configured to determine the location information of the second terminal based on the first positioning assistance information and the measurement result in response to receiving a location information providing message returned from the second terminal and including the measurement result.

[0007] According to a fourth aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising: a fourth transmitting module adapted to a second terminal, configured to transmit a capability providing message to the first terminal in response to receiving a capability request message transmitted from the first terminal, the first terminal being a terminal communicating with the second terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, the capability providing message including positioning capability information for indicating positioning capabilities supported by the second terminal; and a fourth transmitting module adapted to transmit a positioning support information providing message including first positioning support information in response to receiving a positioning support information request message transmitted by the first terminal based on the positioning capability information. a fifth transmitting module configured to transmit to the first terminal, wherein the positioning assistance information request message requests the second terminal to provide the first positioning assistance information, and the first positioning assistance information assists the first terminal in determining a measurement result for positioning the second terminal; a positioning module configured to position the second terminal based on the positioning capability supported by the second terminal in response to receiving a location information request message transmitted from the first terminal and determine a measurement result, wherein the location information request message requests the second terminal to determine the measurement result; and a sixth transmitting module configured to transmit to the first terminal a location information providing message including the measurement result.

[0008] According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium having a computer program stored therein, the computer program executing the positioning method according to any one of the above claims.

[0009] According to a sixth aspect of an embodiment of the present disclosure, there is provided a positioning device comprising a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the positioning method according to any one of the preceding claims. Effect of the Invention

[0010] The technical solutions provided by the embodiments of the present disclosure can achieve the following beneficial effects:

[0011] In the embodiment of the present disclosure, terminal positioning can be performed between terminals based on the LPP protocol, and the LPP protocol is extended to achieve the objective of positioning a terminal based on the LPP protocol in a sidelink.

[0012] It should be noted that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to be limiting of the present disclosure. [Brief description of the drawings]

[0013] The drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the specification, serve to explain the principles of the invention. [Figure 1] FIG. 1 is a schematic diagram of an application scene of an LPP protocol in the related art. [Diagram 2] 1 is a schematic flowchart of a positioning method according to an exemplary embodiment; [Diagram 3] 4 is a schematic flowchart of another positioning method according to an exemplary embodiment; [Figure 4] 4 is a schematic flowchart of another positioning method according to an exemplary embodiment; [Diagram 5] 4 is a schematic flowchart of another positioning method according to an exemplary embodiment; [Figure 6] 4 is a schematic flowchart of another positioning method according to an exemplary embodiment; [Figure 7] 4 is a schematic flowchart of another positioning method according to an exemplary embodiment; [Figure 8] FIG. 2 is a block diagram of a positioning device shown in an exemplary embodiment. [Figure 9] FIG. 2 is a block diagram of another positioning device shown in an exemplary embodiment. [Figure 10] FIG. 1 is a schematic configuration diagram of a positioning device shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Exemplary embodiments will now be described in detail, examples of which are illustrated in the drawings. The following description refers to the drawings, in which the same numerals in different drawings represent the same or similar elements unless otherwise specified. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure, as recited in the appended claims.

[0015] The terms used in the embodiments of the present disclosure are for the purpose of describing particular embodiments, and are not intended to limit the embodiments of the present disclosure. Unless otherwise clearly indicated by the context, the singular forms "a" and "the" used in the embodiments of the present disclosure and the appended claims also include the plural forms. In addition, the term "and / or" as used herein refers to and includes any or all possible combinations of at least one of the associated and listed items.

[0016] It should be understood that, although various information may be described with terms such as first, second, and third in the embodiments of the present disclosure, the information should not be limited to these terms. These terms are used only to distinguish between the same types of information. For example, the first information may be referred to as the second information, and similarly, the second information may be referred to as the first information, without departing from the scope of the embodiments of the present disclosure. Depending on the context, the term "when" as used herein may be interpreted as "when" or "when" or "in response to determining."

[0017] Referring to Fig. 1, the positioning server and the target device communicate with each other based on the LPP protocol to realize positioning for the target device. Here, the positioning server can send a RequestCapabilities message to the target device, and the target device can return a ProvideCapabilities message to the positioning server after receiving it. The target device sends a RequestAssistanceData message to the positioning server, and the positioning server sends a ProvideAssistanceData message to the target device after receiving it. Furthermore, the positioning server may send a RequestLocationInformation message to the target device, and the target device returns a ProvideLocationInformation message to the positioning server after receiving it.

[0018] Here, the positioning server may include, but is not limited to, an E-SMLC (Enhanced Serving Mobile Location Centre, an LTE control plane network element), an LMF (Location Management Function, an NR control plane network function unit) or an SLP (SUPL Location Platform, a user plane server), and the target device may be a terminal.

[0019] As can be seen from the above, the LPP protocol supports interaction between a positioning server and a terminal to position the terminal. The LPP protocol cannot be applied to the scene of communication between two terminals in a sidelink. In order to solve this technical problem, the present disclosure provides the following positioning method, which can perform terminal positioning between terminals based on the LPP protocol, and extends the LPP protocol to achieve the purpose of positioning based on the LPP protocol in a sidelink.

[0020] In the present disclosure, positioning a terminal in a sidelink includes absolute positioning and relative positioning with respect to the terminal. Here, the absolute positioning can obtain absolute position information of the terminal, including but not limited to GNSS (Global Navigation Satellite System) coordinates of the terminal. The relative positioning can obtain relative position information of the terminal with respect to a reference point, which may be another terminal in the sidelink, and the relative position information includes but is not limited to one or more combinations of relative coordinate position information, relative distance information, and relative angle information.

[0021] In the embodiment of the present disclosure, the sidelink absolute positioning obtains the absolute position information of the terminal using the absolute coordinates of the reference point and the phase position between the terminal and the reference point, where the relative position between the terminal and the reference point can be obtained based on the measurement of the positioning reference signal transmitted in the sidelink, and the sidelink relative positioning can be obtained based on the measurement of the positioning reference signal transmitted in the sidelink between the terminal and the reference point.

[0022] Hereinafter, the positioning method provided by the present disclosure will be introduced from the first terminal side, and the first terminal may be a terminal that initiates positioning in the sidelink.

[0023] An embodiment of the present disclosure provides a positioning method, and referring to FIG. 2, FIG. 2 is a flowchart of a positioning method shown in one embodiment, which is applicable to a first terminal, and the method may include the following steps 201 to 204.

[0024] In step 201, a capability request message is sent to a second terminal.

[0025] In an embodiment of the present disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message requests the second terminal to provide a positioning capability supported by the second terminal. The first terminal can send the capability request message to the second terminal as a positioning server side or a target device side in an LPP protocol, and the second terminal can receive the capability request message as a target device side or a positioning server side in an LPP protocol.

[0026] In step 202, in response to receiving a capability provision message returned from the second terminal, a positioning support information request message is sent to the second terminal based on positioning capability information in the capability provision message for indicating the positioning capabilities supported by the second terminal.

[0027] In an embodiment of the present disclosure, after receiving a capability request message sent from the first terminal, the second terminal may return a capability provision message to the first terminal, and the capability provision message may include positioning capability information for indicating positioning capabilities supported by the second terminal. The first terminal may send a positioning support information request message to the second terminal based on the positioning capability information corresponding to the second terminal. Here, the positioning support information request message requests the second terminal to provide first positioning support information for assisting the first terminal in determining location information of the second terminal.

[0028] In step 203, in response to receiving a positioning assistance information providing message including the first positioning assistance information returned from the second terminal, a location information request message is transmitted to the second terminal.

[0029] In an embodiment of the present disclosure, after receiving the positioning assistance information request message, the second terminal may return a positioning assistance information provision message to the first terminal, and after receiving the first terminal, the first terminal may send a location information request message to the second terminal, where the location information request message requests the second terminal to provide a measurement result of measuring the location information of the second terminal.

[0030] In step 204, in response to receiving a location information providing message including the measurement result returned from the second terminal, location information of the second terminal is determined based on the first positioning assistance information and the measurement result.

[0031] In an embodiment of the present disclosure, after receiving the location information request message, the second terminal returns a location information provision message to the first terminal, and the first terminal determines the location information of the second terminal based on the previously received first positioning assistance information and the measurement result included in the location information provision message. Specifically, the first terminal can determine absolute location information of the second terminal, for example, absolute GNSS coordinate information of the second terminal. Alternatively, the first terminal can determine relative location information of the second terminal, for example, relative coordinates, relative distance, relative angle, etc. of the second terminal with respect to a reference point.

[0032] In the above embodiment, the first terminal can interact with the second terminal in the sidelink based on the LPP protocol to determine the location information of the second terminal. The LPP protocol is extended to achieve the purpose of locating the terminal in the sidelink based on the LPP protocol.

[0033] In some optional embodiments, refer to FIG. 3, which is a flowchart of a positioning method according to one embodiment, which can be applied to a first terminal, and the method may include the following steps 301 to 304.

[0034] In step 301, a capability request message is sent to a second terminal.

[0035] In an embodiment of the present disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message requests the second terminal to provide a positioning capability supported by the second terminal. The first terminal can send the capability request message to the second terminal as a positioning server side or a target device side in an LPP protocol, and the second terminal can receive the capability request message as a target device side or a positioning server side in an LPP protocol.

[0036] In step 302, in response to receiving the capability provision message returned from the second terminal, a positioning support information provision message including second positioning support information is transmitted to the second terminal.

[0037] In an embodiment of the present disclosure, the first terminal as a positioning initiator, after receiving a capability providing message returned from the second terminal, actively sends a positioning assistance information providing message to the second terminal to assist the second terminal in determining its own location information. In one possible implementation, the first terminal can provide at least one of positioning reference signal information and position calculation assistance information to the second terminal.

[0038] In step 303, a location information request message is sent to the second terminal.

[0039] Here, the location information request message requests the second terminal to provide a measurement result of measuring the location information of the second terminal.

[0040] In step 304, in response to receiving a location information providing message including the measurement result returned from the second terminal, location information of the second terminal is determined based on the first positioning assistance information and the measurement result.

[0041] In an embodiment of the present disclosure, after receiving the location information request message, the second terminal returns a location information provision message to the first terminal, and the first terminal can determine the location information of the second terminal based on the previously received first positioning assistance information and the measurement result included in the location information provision message. Specifically, the first terminal can determine absolute location information of the second terminal, for example, absolute GNSS coordinate information of the second terminal. Alternatively, the first terminal can determine relative location information of the second terminal, for example, relative coordinates, relative distance, relative angle, etc. of the second terminal with respect to a reference point. This reference point may be the first terminal or another terminal, and the present disclosure is not limited thereto.

[0042] In the above embodiment, the first terminal can interact with the second terminal in the sidelink based on the LPP protocol to determine the location information of the second terminal. The LPP protocol is extended to achieve the purpose of locating the terminal based on the LPP protocol in the sidelink.

[0043] In some optional embodiments, referring to FIG. 4, FIG. 4 is a flowchart of a positioning method shown in one embodiment, which can be applied to a first terminal, and the method may include the following steps 401 to 404.

[0044] In step 401, a capability request message including a first information element is sent to a second terminal.

[0045] In an embodiment of the present disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message requests the second terminal to provide positioning capabilities supported by the second terminal. The first terminal can send a RequestCapabilities message to the second terminal as a target device side in an LPP protocol, and the second terminal can receive the capability request message as a positioning server side in an LPP protocol.

[0046] The first IE (Information Element) is an information element added to the capability request message. In one possible implementation, the number of the first information elements is the same as the number of positioning capabilities supported by the requested second terminal, for example, the first terminal requests the second terminal to provide six types of positioning capabilities, and the number of the first information elements is also six. Different first information elements respectively request the second terminal to provide different positioning capabilities.

[0047] In one possible implementation form, the number of first information elements is one, i.e., the first terminal requests the second terminal to provide different positioning capabilities based on the information content contained in the one first information element added to the capability request message.

[0048] In step 402, in response to receiving a capability providing message returned from the second terminal, a positioning support information request message is sent to the second terminal based on positioning capability information in the capability providing message for indicating the positioning capabilities supported by the second terminal.

[0049] In an embodiment of the present disclosure, after receiving a capability request message sent from the first terminal, the second terminal may return a ProvideCapabilities message to the first terminal, where the capability providing message may include positioning capability information for indicating the positioning capability supported by the second terminal. The first terminal may send a RequestAssistanceData message to the second terminal based on the positioning capability information corresponding to the second terminal, where the positioning assistance information request message requests the second terminal to provide first positioning assistance information for assisting the first terminal in determining location information of the second terminal.

[0050] In step 403, in response to receiving a positioning assistance information providing message including the first positioning assistance information returned from the second terminal, the positioning assistance information providing message is transmitted to the second terminal.

[0051] In an embodiment of the present disclosure, after receiving the positioning assistance information request message, the second terminal may return a ProvideAssistanceData message to the first terminal, and after receiving the same, the first terminal may send a RequestLocationInformation message to the second terminal, where the location information request message requests the second terminal to provide a measurement result of measuring the location information of the second terminal.

[0052] In step 404, in response to receiving a location information providing message including the measurement result returned from the second terminal, location information of the second terminal is determined based on the first positioning assistance information and the measurement result.

[0053] In an embodiment of the present disclosure, after receiving the location information request message, the second terminal returns a ProvideLocationInformation message to the first terminal, and the first terminal can determine location information of the second terminal based on the previously received first positioning assistance information and the measurement result included in the location information providing message. Specifically, the first terminal can determine absolute location information of the second terminal, for example, absolute GNSS coordinate information of the second terminal. Alternatively, the first terminal can determine relative location information of the second terminal, for example, relative coordinates, relative distance, relative angle, etc. of the second terminal with respect to a reference point.

[0054] In the above embodiment, the first terminal can interact with the second terminal in the sidelink based on the LPP protocol to determine the location information of the second terminal. The LPP protocol is extended to achieve the purpose of locating the terminal based on the LPP protocol in the sidelink.

[0055] In some optional embodiments, referring to FIG. 5, FIG. 5 is a flowchart of a positioning method shown in an exemplary embodiment, which can be applied to a first terminal, and the method may include the following steps 501 to 505.

[0056] In step 501, a capability request indication field corresponding to a sidelink is added to a second information element of the capability request message.

[0057] In an embodiment of the present disclosure, the second terminal is a terminal that communicates with the first terminal via a sidelink, and the capability request message requests the second terminal to provide positioning capabilities supported by the second terminal. The first terminal can send a RequestCapabilities message to the second terminal as a target device side or a positioning server side in an LPP protocol, and the second terminal can receive the capability request message as a positioning server side or a target device side in an LPP protocol.

[0058] Here, the second information element is an information element in the capability request message that requests the device that has received the capability request message to provide the supported positioning capability. That is, the second information element may be an existing information element in the capability request message. The first terminal requests the second terminal to provide the positioning capability corresponding to the sidelink by adding the capability request indication field to the second information element.

[0059] For example, the second information element requests the positioning server to provide a positioning capability, in the capability request message, indicating whether or not the positioning server supports determining a measurement result based on a difference in the time at which a downlink positioning signal arrives at the terminal. When the capability request indication field is added to the second information element, the capability request field can request the second terminal in the sidelink to provide a positioning capability, indicating whether or not the second terminal supports determining a measurement result for the second terminal based on a difference in the time at which multiple positioning signals arrive at the second terminal.

[0060] In step 502, the capability request message including the indication field is sent to the second terminal.

[0061] In step 503, in response to receiving a capability provision message returned from the second terminal, a positioning support information request message is sent to the second terminal based on positioning capability information in the capability provision message for indicating the positioning capabilities supported by the second terminal.

[0062] In an embodiment of the present disclosure, after receiving a capability request message sent from the first terminal, the second terminal may return a ProvideCapabilities message to the first terminal, where the capability providing message may include positioning capability information for indicating the positioning capability supported by the second terminal. The first terminal may send a RequestAssistanceData message to the second terminal based on the positioning capability information corresponding to the second terminal, where the positioning assistance information request message requests the second terminal to provide first positioning assistance information for assisting the first terminal in determining location information of the second terminal.

[0063] In step 504, in response to receiving a positioning assistance information providing message including the first positioning assistance information returned from the second terminal, a location information request message is transmitted to the second terminal.

[0064] In an embodiment of the present disclosure, after receiving the positioning assistance information request message, the second terminal may return a ProvideAssistanceData message to the first terminal, and after receiving the same, the first terminal may send a RequestLocationInformation message to the second terminal, where the location information request message requests the second terminal to provide a measurement result of measuring the location information of the second terminal.

[0065] In step 505, in response to receiving a location information providing message including the measurement result returned from the second terminal, location information of the second terminal is determined based on the first positioning assistance information and the measurement result.

[0066] In an embodiment of the present disclosure, after receiving the location information request message, the second terminal returns a ProvideLocationInformation message to the first terminal, and the first terminal can determine location information of the second terminal based on the previously received first positioning assistance information and the measurement result included in the location information providing message. Specifically, the first terminal can determine the absolute position of the second terminal, for example, absolute GNSS coordinate information of the second terminal. Or, the first terminal can determine the relative position of the second terminal, for example, relative coordinates, relative distance, relative angle, etc. of the second terminal with respect to a reference point.

[0067] In the above embodiment, the first terminal can interact with the second terminal in the sidelink based on the LPP protocol to determine the location information of the second terminal. The LPP protocol is extended to achieve the purpose of locating the terminal based on the LPP protocol in the sidelink.

[0068] In some alternative embodiments, the positioning methods supported by the LPP protocol include at least one of the following: DL-TDOA (Downlink-Time Difference Of Arrival) method: This method measures the difference in the time it takes for positioning signals sent from multiple transmitting units such as TRPs (Transmission Reception Points) to arrive at a terminal, thereby enabling terminal positioning. UL-TDOA (Uplink-Time Difference Of Arrival) method. A terminal can transmit positioning signals such as TRP to multiple measurement units, and the measurement units position the terminal by calculating the time difference of arrival at the measurement units. Multi-RTT (Multi-Round Trip Time) method. A terminal and a measurement unit such as a TRP measure the time difference between the sending and receiving of a reference signal sent by the other party, and calculate the RTT between the terminal and the measurement unit based on the time difference. After receiving the RTTs of the terminal and multiple measurement units by this method, the terminal can be located. UL-AOA (Uplink-Angle Of Arrival) method. A terminal transmits a positioning signal to a measurement unit, and the measurement unit measures the arrival angle of the positioning signal. The terminal can be positioned by the AOA between the terminal and multiple measurement units. DL-AOD (DownLink-Angle Of Departure) method. The measurement unit transmits positioning signal beams in each direction, the terminal measures and reports the signal quality of each beam, and the measurement unit determines the AOD based on the strength of the reported signal quality of each beam. Carrier phase method: The terminal measures the phase of the carriers of the positioning signals transmitted from multiple measurement units, and locates the terminal based on the phase difference.

[0069] In addition, the LPP protocol also supports A-GNSS (Assisted-GNSS), Bluetooth, TBS (Terrestrial Beacon System), WiFi (Wireless Fidelity), sensor positioning methods, etc.

[0070] In addition, when applying the LPP protocol to position between sidelink terminals, the embodiments of the present disclosure can support other sidelink positioning methods in addition to supporting the above-mentioned conventional positioning method of the LPP protocol.

[0071] In the embodiment of the present disclosure, the capability request message may request the second terminal to provide additional positioning capabilities other than the above positioning capabilities. These positioning capabilities include, but are not limited to, at least one of the following (1) to (7):

[0072] (1) A first positioning capability indicating whether the second terminal supports positioning the second terminal based on at least one round trip time RTT between the first terminal and the second terminal.

[0073] Here, the first positioning capability includes Sidelink RTT, Sidelink single sided RTT, Sidelink double sided RTT, and Sidelink multi-RTT.

[0074] The main difference between RTT and multi-RTT is that RTT only measures the round trip time between one first terminal and one second terminal, i.e., only measures the round trip time between two terminals, while multi-RTT measures the round trip time between multiple first terminals and one second terminal. In the present disclosure, SL RTT will be used to represent RTT and multi-RTT, and in the embodiments of the present disclosure, RTT includes sidelink single RTT and sidelink double RTT, where sidelink single RTT refers to measuring the positioning signal round trip time based on the first terminal or the second terminal, and sidelink double RTT refers to measuring the positioning signal round trip time based on the first terminal and the second terminal, respectively.

[0075] (2) A second positioning capability, whether the second terminal supports positioning the second terminal based on at least one angle of arrival.

[0076] Here, the second positioning capability includes Sidelink AOA and UL-AOA, and in the embodiment of the present disclosure, a signal transmitted by each terminal to another terminal is referred to as an uplink signal, and a signal received by each terminal from another terminal is referred to as a downlink signal. Sidelink AOA may refer to the arrival angle when a positioning signal transmitted by a second terminal to a first terminal arrives at the first terminal, and UL-AOA may refer to the arrival angle when each of positioning signals transmitted by a second terminal to multiple first terminals arrives at the first terminal. In the embodiment of the present disclosure, hereinafter, Sidelink AOA and UL-AOA are represented by SL AOA.

[0077] (3) A third positioning capability, whether the second terminal supports positioning the second terminal based on at least one transmission angle.

[0078] Here, the third positioning capability includes Sidelink AOD and DL-AOD, where Sidelink AOD refers to the transmission angle of a positioning signal transmitted from one first terminal to a second terminal in different directions, and DL-AOD refers to the transmission angle of a positioning signal transmitted from multiple first terminals to a second terminal in at least one direction. Hereinafter, Sidelink AOD and DL-AOD are represented as SL AOD.

[0079] (4) A fourth positioning capability indicating whether the second terminal supports positioning of the second terminal based on the carrier phase of a positioning signal transmitted from the first terminal.

[0080] The fourth positioning capability includes Sidelink carrier phase and sidelink multi-carrier phase, where the carrier phase refers to measuring the carrier phase of one first terminal and one second terminal, and the multi-carrier phase refers to measuring the carrier phase between multiple first terminals and one second terminal. Hereinafter, the SL carrier phase represents the Sidelink carrier phase and the sidelink multi-carrier phase, and at the same time, the SL carrier phase represents the uplink carrier phase and the downlink carrier phase.

[0081] (5) A fifth positioning capability, which is whether the second terminal supports positioning of the second terminal based on the difference in time at which positioning signals transmitted from multiple first terminals arrive at multiple second terminals.

[0082] The fifth positioning capability can be expressed as SL DL-TDOA.

[0083] (6) A sixth positioning capability indicating whether the second terminal supports positioning of the second terminal based on the difference in time at which a positioning signal transmitted from the second terminal arrives at multiple of the first terminals.

[0084] The sixth positioning capability can be expressed as SL UL-TDOA.

[0085] (7) A seventh positioning capability, which is whether the second terminal supports positioning the second terminal based on a target positioning scheme in a side link.

[0086] The target positioning method includes at least one of an assisted global positioning satellite system positioning method, a Bluetooth positioning method, a terrestrial beacon system positioning method, a radio-fidelity positioning method, and a sensor positioning method.

[0087] The above is an exemplary description. When a first terminal supporting the LPP protocol sends a capability request message to a second terminal supporting the LPP protocol, the positioning capabilities supported by the second terminal requested by the capability request message all fall within the scope of protection of the present disclosure.

[0088] In the above embodiment, in the sidelink, the second terminal can support at least one of the positioning capabilities, and the purpose of one terminal obtaining the positioning capabilities supported by the other terminal through signaling between terminals in the sidelink is achieved, which is highly practicable.

[0089] In some optional embodiments, the capability provision message returned from the second terminal may provide positioning capability information indicating whether the second terminal supports positioning using at least one of A-GNSS, BT positioning, TBS positioning, WiFi positioning, sensor positioning, UL-TDOA, DL-TDOA, AOA, AOD, and Multi-RTT.

[0090] In addition, in an embodiment of the present disclosure, when the capability request message requests the second terminal to provide the seventh positioning capability, the positioning capability information corresponding to the seventh positioning capability in the capability provision message returned from the second terminal may be used to indicate whether the second terminal supports transmitting the first positioning support information determined by the target positioning scheme via a sidelink.

[0091] In one possible implementation, the positioning capability information includes sidelink A-GNSS information indicating whether the second terminal supports transmission of A-GNSS assistance information over the sidelink, where the A-GNSS assistance information includes, but is not limited to, at least one of ephemeris information, RTK (Real-time kinematic) information, etc.

[0092] In one possible implementation, the positioning capability information includes SL WiFi information indicating whether the second terminal supports transmission of WiFi assistance information via sidelink, where the WiFi assistance information includes, but is not limited to, an AP ID (Access Point ID), AP location information, etc.

[0093] In one possible implementation, the positioning capability information includes SL TBS information indicating whether the second terminal supports transmission of TBS support information via sidelink, where the TBS support information includes, but is not limited to, an MBS transmitter ID, an MBS transmitter location information, etc.

[0094] In one possible implementation, the positioning capability information includes SL sensor information indicating whether the second terminal supports transmission of sensor assistance information via sidelink, where the sensor assistance information includes, but is not limited to, reference point position, air pressure, temperature, etc.

[0095] In some optional embodiments, the positioning capability information corresponding to the SL RTT in the capability providing message includes at least one of positioning signal capability information corresponding to the SL RTT positioning capability and positioning measurement capability information corresponding to the SL RTT positioning capability.

[0096] Specifically, the positioning signal capability information corresponding to the SL RTT positioning capability includes at least one of first RTT capability information corresponding to the second terminal transmitting a positioning reference signal, and second RTT capability information corresponding to the second terminal receiving a positioning reference signal.

[0097] Here, the first RTT capability information includes at least one of first capability information of the second terminal in each sidelink frequency band and second capability information of the second terminal in each sidelink carrier aggregation combination. Specifically, the first capability information may include a bandwidth list supported by the second terminal in each sidelink frequency band, and the second capability information may include a maximum number of configurable positioning reference signal resources supported by the second terminal in each bandwidth portion BWP.

[0098] The second RTT capability information includes at least one of sidelink frequency band information supported by the second terminal and sidelink frequency band combination information supported by the second terminal. The sidelink frequency band information supported by the second terminal includes at least one of a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band and a bandwidth list supported by the second terminal in each sidelink frequency band.

[0099] The positioning measurement capability information corresponding to the SL RTT positioning capability includes at least one of the following: the maximum number of transmission and reception time difference measurements supported by the second terminal in each sidelink frequency range, and whether the second terminal supports RSRP (Reference Signal Receiving Power) measurement in each sidelink frequency band. Currently, there are two sidelink FRs (Frequency Ranges), FR1 and FR2.

[0100] In some selectable embodiments, the positioning capability information corresponding to the SL AOA in the capability providing message includes at least one of positioning signal capability information corresponding to the SL AOA positioning capability and positioning measurement capability information corresponding to the SL AOA positioning capability, and the positioning capability information corresponding to the SL AOA positioning capability in the capability providing message further includes first antenna capability information corresponding to the SL AOA positioning capability.

[0101] Specifically, the positioning signal capability information corresponding to the SL AOA positioning capability includes at least one of sidelink frequency band information supported by the second terminal and sidelink frequency band combination information supported by the second terminal, where the sidelink frequency band information supported by the second terminal includes at least one of a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band and a bandwidth list supported by the second terminal in each sidelink frequency band.

[0102] The positioning measurement capability information corresponding to the SL AOA positioning capability includes at least one of a maximum number of angle-of-arrival measurements supported by the second terminal in each sidelink frequency range and a first frequency band list indicating the angle-of-arrival measurement capability, where the first frequency band list indicates whether the second terminal supports simultaneous measurement of the angle-of-arrival and at least one first measurement in each sidelink frequency band in the first frequency band list. In the embodiment of the present disclosure, the first measurement is a measurement different from the angle-of-arrival, including but not limited to SL DL-TDOA, SL Multi-RTT, SL RTT, SL carrier phase, etc.

[0103] Here, the first antenna capability information indicates the number of receiving antennas of the second terminal.

[0104] In some alternative embodiments, the positioning capability information corresponding to the SL AOD in the capability providing message includes at least one of positioning signal capability information corresponding to the SL AOD positioning capability and positioning measurement capability information corresponding to the SL AOD positioning capability, and the positioning capability information corresponding to the SL AOD positioning capability in the capability providing message further includes second antenna capability information corresponding to the SL AOD positioning capability.

[0105] Specifically, the positioning signal capability information corresponding to the SL AOD positioning capability includes at least one of sidelink frequency band information supported by the second terminal and sidelink frequency band combination information supported by the second terminal, where the sidelink frequency band information supported by the second terminal includes at least one of a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band and a bandwidth list supported by the second terminal in each sidelink frequency band.

[0106] The positioning measurement capability information corresponding to the SL AOD positioning capability includes, but is not limited to, at least one of the following: a maximum number of positioning signal RSRP measurement quantities supported by the second terminal in each sidelink frequency range; and a second frequency band list indicating a transmission angle measurement capability, where the second terminal indicates whether or not it supports simultaneous measurement of a transmission angle and at least one second measurement quantity in each sidelink frequency band in the second frequency band list, and indicates whether or not the second terminal supports RSRP measurement in at least one sidelink frequency range.

[0107] In the embodiment of the present disclosure, the sidelink frequency range includes FR1 and FR2. The second measurement quantity is a measurement quantity different from the transmission angle, including but not limited to at least one of SL DL-TDOA, SL Multi-RTT, SL RTT, SL carrier phase, etc. Whether the second terminal supports RSRP measurement in at least one sidelink frequency range may specifically be whether the second terminal supports RSRP measurement in FR2.

[0108] The second antenna capability information indicates the number of transmit antennas of the second terminal.

[0109] In some optional embodiments, the positioning capability information corresponding to SL DL-TDOA in the capability providing message includes at least one of positioning signal capability information corresponding to SL DL-TDOA positioning capability and positioning measurement capability information corresponding to SL DL-TDOA positioning capability.

[0110] Specifically, the positioning signal capability information corresponding to the SL DL-TDOA positioning capability includes at least one of sidelink frequency band information supported by the second terminal and sidelink frequency band combination information supported by the second terminal. The sidelink frequency band information supported by the second terminal includes at least one of a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band and a bandwidth list supported by the second terminal in each sidelink frequency band.

[0111] The positioning measurement capability information corresponding to the SL DL-TDOA positioning capability includes at least one of: a maximum number of reference signal time difference RTSD measurements supported by the second terminal in each sidelink frequency range; and whether the second terminal supports RSRP measurement in each sidelink frequency range, where the sidelink frequency range may include FR1 and FR2.

[0112] In some alternative embodiments, the positioning capability information corresponding to SL UL-TDOA in the capability provision message includes at least one of positioning signal capability information corresponding to SL UL-TDOA positioning capability and positioning measurement capability information corresponding to SL UL-TDOA positioning capability.

[0113] The positioning signal capability information corresponding to the SL UL-TDOA positioning capability includes at least one of third capability information of sidelink frequency bands supported by the second terminal and fourth capability information in sidelink carrier aggregation combinations supported by the second terminal, where the third capability information includes a bandwidth list supported by the second terminal in each sidelink frequency band, and the fourth capability information includes a maximum number of configurable positioning reference signal resources supported by the second terminal in each BWP (Bandwidth Part).

[0114] In some alternative embodiments, the positioning capability information corresponding to the SL carrier phase in the capability provision message includes at least one of positioning signal capability information corresponding to the SL carrier phase positioning capability and positioning measurement capability information corresponding to the SL carrier phase positioning capability.

[0115] Specifically, the positioning signal capability information corresponding to the SL carrier phase positioning capability may include at least one of sidelink frequency band information supported by the second terminal and sidelink frequency band combination information supported by the second terminal, where the sidelink frequency band information supported by the second terminal includes at least one of a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band and a bandwidth list supported by the second terminal in each sidelink frequency band.

[0116] The positioning measurement capability information corresponding to the SL carrier phase positioning capability may include at least one of a maximum number of carrier phase measurement quantities supported by the second terminal in each sidelink frequency range and a third frequency band list indicating carrier phase measurement capability, where the third frequency band list indicates whether the second terminal supports simultaneous measurement of carrier phase and at least one third measurement quantity in each sidelink frequency band in the third frequency band list, where the third measurement quantity is a measurement quantity different from the carrier phase, including but not limited to at least one of SL DL-TDOA, SL Multi-RTT, SL RTT, SL AOD, and SL AOA.

[0117] In the above embodiment, the capability provision message may include multiple additional types of positioning capability information, which achieves the purpose of exchanging positioning capability information between terminals in the sidelink and is highly available.

[0118] In some optional embodiments, the first terminal as a positioning initiator may send a positioning support information request message to the second terminal based on the positioning capability information in the capability provision message returned from the second terminal.

[0119] Here, when the capability request message requests the second terminal to provide the seventh positioning capability, the information content included in the positioning support information request message sent by the first terminal may be the same as the information content in the related technology.

[0120] For example, when a capability request message requests the second terminal to provide A-GNSS positioning capability, the information content requesting SL A-GNSS assistance information included in the positioning assistance information request message is the same as the GNSS-CommonAssistDataReq (GNSS common assistance information request), GNSS-GenericAssistDataReq (GNSS generic assistance information request), and GNSS-PeriodicAssistDataReq (GNSS periodic assistance information request) in the related standards, and detailed explanations are omitted here.

[0121] When the capability request message requests the second terminal to provide WiFi positioning capability, the information content requesting SL WiFi support information included in the positioning support information request message is the same as requestedAD (requested address), visibleAPs (available access points), and wlan-AP-StoredData (wireless local area network access point stored data) in the related criteria, and detailed description is omitted here.

[0122] When the capability request message requests the second terminal to provide TBS positioning capability, the information content requesting SL TBS assistance information included in the positioning assistance information request message is the same as mbs-AlmanacAssistanceDataReq (mobile station ephemeris assistance information request) and mbs-AcquisitionAssistanceDataReq (mobile station acquisition assistance information request) in the related standards, and detailed description is omitted here.

[0123] When the capability request message requests the second terminal to provide at least one of the first positioning capability to the sixth positioning capability, the positioning assistance information request message sent from the first terminal is used to request the second terminal to provide at least an information type of the first positioning assistance information.

[0124] Here, the information type of the first positioning assistance information includes any one of positioning signal assistance information, position calculation assistance information, sidelink synchronization signal block configuration information, and error assistance information.

[0125] Here, when the capability request message requests the second terminal to provide the first positioning capability, the positioning assistance information request message transmitted from the first terminal requests the second terminal to provide at least an information type of first positioning assistance information, and the information type of the first positioning assistance information may include downlink positioning signal assistance information, uplink positioning signal assistance information, position calculation assistance information, sidelink synchronization signal block configuration information, and error assistance information. When the capability request message requests the second terminal to provide the second positioning capability, the third positioning capability, the fourth positioning capability, or the fifth positioning capability, the information type of the first positioning assistance information includes any one of positioning signal assistance information, position calculation assistance information, sidelink synchronization signal block configuration information, and error assistance information.

[0126] In the above embodiment, the first terminal can send a positioning assistance information request message to the second terminal as a positioning initiator, and the positioning assistance information request message can request the second terminal to provide at least the information type of the first positioning assistance information, so as to facilitate the first terminal to subsequently assist in determining the location information of the second terminal, thereby achieving the purpose of positioning the terminal based on the interaction between the terminals in the side link. In some optional embodiments, the second terminal can send a positioning assistance information provision message to the first terminal as a positioning server side or a target device side, and the positioning assistance information provision message includes the first positioning assistance information requested by the first terminal.

[0127] Specifically, the content of the assistance information for SL A-GNSS, SL wifi, SL TBS, Slsensor, etc. may be the same as that of the assistance information for A-GNSS, wifi, TBS, and sensor in ProvideAssistanceData (assistance information provision data) in the related standard TS37.355, and detailed explanations will be omitted here.

[0128] The first positioning assistance information corresponding to the SL RTT positioning capability includes at least one of positioning signal assistance information corresponding to the SL RTT, position calculation assistance information corresponding to the SL RTT, sidelink synchronization signal block configuration information corresponding to the SL RTT, and error type assistance information corresponding to the SL RTT.

[0129] Specifically, when the second terminal provides positioning signal support information corresponding to the SL RTT, the second terminal may use any one of the following methods.

[0130] The first scheme provides positioning signal assistance information based on each sidelink frequency range.

[0131] In response, the positioning signal assistance information included in the positioning assistance information provision message instructs the second terminal to provide first positioning signal assistance information for a positioning signal based on each sidelink frequency range.

[0132] The first positioning signal assistance information may include at least one of a positioning signal identifier, an Absolute Radio Frequency Channel Number (ARFCN) value corresponding to a reference point of the positioning signal, starting PRB (Physical Resource Block) position information of the positioning signal relative to the reference point, subcarrier spacing information of the positioning signal, positioning signal bandwidth information, comb size information of the positioning signal, and cyclic prefix information of the positioning signal.

[0133] Here, the reference point of the positioning signal refers to point A of the positioning signal, and point A is a reference point defined in NR (New Radio). The comb size refers to the comb size, and can take a predetermined value according to the protocol agreement.

[0134] In the second scheme, positioning signal assistance information is provided based on each BWP within each sidelink frequency range.

[0135] In response, the positioning signal assistance information included in the positioning assistance information provision message instructs the second terminal to provide second positioning signal assistance information for a positioning signal based on each BWP in each sidelink frequency range.

[0136] The second positioning signal assistance information includes at least one of sidelink BWP configuration information and sidelink BWP resource pool configuration information.

[0137] Here, the sidelink BWP configuration information includes at least one of a position and a bandwidth of the sidelink BWP, a subcarrier spacing and a cyclic prefix, length symbol information of the sidelink BWP, start symbol information of the sidelink BWP, sidelink physical broadcast channel (PBSCH) configuration information of the sidelink BWP, and DC component parameter information of the sidelink BWP.

[0138] The sidelink BWP resource pool configuration information may include SL BWP receiving resource pool configuration information and SL BWP transmitting resource pool configuration information.

[0139] The information content of the SL BWP transmitting resource pool setting information is basically similar to the information content of the SL BWP receiving resource pool setting information, and the embodiment of the present disclosure takes the SL BWP receiving resource pool setting information as an example.

[0140] In one possible implementation, the SL BWP receiving resource pool configuration information can be multiplexed in a sidelink resource pool information element.

[0141] In one possible implementation, the SL BWP receiving resource pool setting information may be used to set a positioning reference signal designated resource pool, i.e., to set a resource pool dedicated to the newly defined reference signal.

[0142] The SL BWP receiving resource pool setting information is used to set at least one of the following: starting resource block position information, the number of resource blocks, the comb size, the sub-channel size and sub-channel data, sidelink time domain resource information, measurement power control information, area setting information, sidelink preemption enablement information, and setting information selectable by a sidelink terminal, of the positioning reference signal designated resource pool.

[0143] Here, the sidelink time domain resource information may be configured in the form of a bitmap. Configuration information selectable by a sidelink terminal includes, but is not limited to, at least one of a sensing window, a selectionWindowList, and a ResourceReservePeriodList.

[0144] The location calculation assistance information corresponding to the SL RTT includes, but is not limited to, at least one of location coordinates of the second terminal, reference time information of the second terminal, and antenna information of the second terminal, where the reference time information of the second terminal includes at least one of a reference signal identifier, an ARFCN value, a system frame number, and a world time, and the antenna information of the second terminal includes at least one of the number of antennas and an antenna shape.

[0145] Here, the antenna shape indicates the antenna configuration shape, and if the antenna configuration shape is a straight line, the corresponding related information includes the length of the antenna interval, if the antenna configuration shape is a circle, the corresponding related information includes the circle radius information, if the antenna configuration shape is a rectangle, the corresponding related information includes the length and width information of the rectangle, and if the antenna configuration shape is a square, the corresponding related information includes the side length information of the square.

[0146] The SL SSB (Synchronization Signal and PBCH block) configuration information corresponding to the SL RTT is used to set at least one of the sidelink synchronization signal identifier SL-SSID, the ARFCN value, the sidelink synchronization signal block power, the subcarrier spacing of the sidelink synchronization signal block, the half-frame index, an offset of the first synchronization signal within a sidelink synchronization signal block period with respect to the start position of said synchronization signal block period, and an indication of the time interval between two adjacent synchronization signal blocks within said synchronization signal block period.

[0147] Here, the ARFCN value is the frequency point value.

[0148] In the embodiment of the present disclosure, since SSB supports a fixed period of 160 ms, there is no need to configure periodicity information for SSB, and there is no need to configure the system frame number offset for SL SSB, and the parameter does not exist in sidelink.

[0149] The error type assistance information corresponding to the SL RTT includes any one of the following: assistance information is not supported, assistance information is supported but unavailable, positioning signal configuration is not present or unavailable, and other undefined error information. Here, the absence of positioning signal configuration may refer to the fact that positioning signal resources, etc. are not configured.

[0150] The first positioning support information corresponding to the SL AOA positioning capability includes at least one of positioning signal support information corresponding to the SL AOA, position calculation support information corresponding to the SL AOA, sidelink synchronization signal block configuration information corresponding to the SL AOA, and error type support information corresponding to the SL AOA. Here, the specific information content of the first positioning support information corresponding to the SL AOA positioning capability is similar to the specific information content of the first positioning support information corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0151] The first positioning support information corresponding to the SL AOD positioning capability includes at least one of: positioning signal support information corresponding to the SL AOD, position calculation support information corresponding to the SL AOD, sidelink synchronization signal block configuration information corresponding to the SL AOD, and error type support information corresponding to the SL AOD. Here, the specific information content of the first positioning support information corresponding to the SL AOD positioning capability is similar to the specific information content of the first positioning support information corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0152] The first positioning support information corresponding to the SL DL-TDOA positioning capability includes at least one of positioning signal support information corresponding to the SL DL-TDOA, position calculation support information corresponding to the SL DL-TDOA, sidelink synchronization signal block configuration information corresponding to the SL DL-TDOA, and error type support information corresponding to the SL DL-TDOA. Here, the specific information content of the first positioning support information corresponding to the SL DL-TDOA positioning capability is similar to the specific information content of the first positioning support information corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0153] The first positioning assistance information corresponding to the SL UL-TDOA positioning capability includes at least one of positioning signal assistance information corresponding to the SL UL-TDOA, position calculation assistance information corresponding to the SL UL-TDOA, sidelink synchronization signal block configuration information corresponding to the SL UL-TDOA, and error type assistance information corresponding to the SL UL-TDOA. Here, the specific information content of the first positioning assistance information corresponding to the SL UL-TDOA positioning capability is similar to the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0154] The first positioning assistance information corresponding to the SL carrier phase positioning capability includes at least one of positioning signal assistance information corresponding to the SL carrier phase, position calculation assistance information corresponding to the SL carrier phase, sidelink synchronization signal block configuration information corresponding to the SL carrier phase, and error type assistance information corresponding to the SL carrier phase. Here, the specific information content of the first positioning assistance information corresponding to the SL carrier phase positioning capability is similar to the specific information content of the first positioning assistance information corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0155] In the above embodiment, the second terminal can return a positioning assistance information provision message to the first terminal to assist the first terminal in determining location information of the second terminal, thereby achieving the purpose of positioning the terminal based on the LPP protocol in the sidelink.

[0156] In some alternative embodiments, the first terminal may proactively send a positioning assistance information providing message including the second positioning assistance information to the second terminal to assist the second terminal in determining its own location information. The information content of the second positioning assistance information is similar to the information content of the first positioning assistance information, and detailed description thereof will be omitted here.

[0157] In some alternative embodiments, the first terminal transmits a location information request message to the second terminal as a target device for initiating positioning.

[0158] The location information request message includes at least one of, but is not limited to, a first common information element corresponding to any one of the positioning capabilities and a first specified information element requesting a measurement result of measuring the location information of the second terminal based on a different positioning capability. Specifically, the first common information element includes at least one of a location information type, a report trigger condition for triggering a report of the measurement result, a periodic report condition for periodically reporting the measurement result, environmental information for indicating a sidelink environment between the second terminal and the first terminal, and service quality information.

[0159] Here, the location information type includes, but is not limited to, at least one of locationEstimateRequired, locationMeasurementsRequired, locationEstimatePreferred, and locationMeasurementsPreferred.

[0160] The report trigger conditions for triggering the reporting of the measurement results may include, but are not limited to, at least one of the following: an SL distance and / or RTT change amount exceeds a corresponding first threshold; an SL relative position (which can be distinguished as a horizontal relative position and / or a vertical relative position between the first terminal and the second terminal) change amount exceeds a corresponding second threshold; an SL angle change amount (which can be distinguished as a horizontal angle and / or a vertical angle) exceeds a corresponding third threshold; an SL speed change amount (which can be distinguished as a horizontal speed and / or a vertical speed) of the second terminal on the sidelink exceeds a corresponding fourth threshold; and an SL positioning signal RSRP change amount exceeds a corresponding fifth threshold.

[0161] The periodic reporting conditions include, but are not limited to, at least one of the number of reports and the reporting interval.

[0162] The environmental information can indicate any one of BadArea (area in a bad environment), NotBadArea (area in a good environment), and MixedArea (mixed area).

[0163] The service quality information includes at least one of the following, but is not limited to: horizontal accuracy, whether or not a vertical coordinate is required, vertical coordinate accuracy, ResponseTime, velocityRequest, information indicating the distance accuracy between the second terminal and the first terminal, information indicating the horizontal angle accuracy between the second terminal and the first terminal, instruction information indicating whether or not a vertical angle is required, and information indicating the vertical angle accuracy between the second terminal and the first terminal.

[0164] The information content of the first specified information element requesting measurement results corresponding to the SL A-GNSS, SL wifi, SL TBS, and SL sensor positioning capabilities is the same as the information content of the information element requesting measurement results corresponding to the A-GNSS, wifi, TBS, and sensor positioning capabilities in the related technology, and detailed explanations will be omitted here.

[0165] The first specified information element requesting measurement results corresponding to the SL RTT positioning capability may be used to request at least one of the following: SL Rx-Tx time difference measurement, positioning signal RSRP, assistance information availability, maximum number of sidelink transmission and reception time difference measurements, and time granularity factor of transmission and reception time difference reporting.

[0166] Here, the assistance information availability indicates whether additional positioning signal assistance information can be requested. Here, the additional positioning signal assistance information refers to other positioning signal assistance information than the positioning signal assistance information already requested by the terminal. The timingReportingGranularityFactor of the transmission / reception time difference report can indicate the interval of the report.

[0167] The first specified information element requesting measurement results corresponding to SL AOA positioning capability may be used to request assistance information availability, where the assistance information availability indicates whether additional positioning signal assistance information can be requested, where the additional positioning signal assistance information refers to other positioning signal assistance information than the positioning signal assistance information already requested by the terminal.

[0168] The first specified information element requesting measurement results corresponding to the SL AOD positioning capability may be used to request at least one of aiding information availability and a maximum number of positioning signal RSRP measurements, where aiding information availability indicates whether additional positioning signal aiding information can be requested.

[0169] The first specification information element for requesting measurement results corresponding to SL DL-TDOA positioning capability does not need to support transmitting the measurement results to the remote party to calculate the position. In addition, the first specification information element for the measurement results corresponding to SL DL-TDOA positioning capability may be used to request the following assistance information availability, where the assistance information availability indicates whether additional positioning signal assistance information can be requested.

[0170] The information content requested by the first specified information element requesting measurement results corresponding to the SL UL-TDOA positioning capability is the same as the information content requested by the first specified information element requesting measurement results corresponding to the SL RTT positioning capability, and therefore a detailed description thereof will be omitted here.

[0171] The first specified information element requesting measurement results corresponding to SL carrier phase positioning capability is used to request at least one of the following: sidelink carrier phase measurements, positioning signal RSRP, assistance information availability, maximum number of sidelink carrier phase measurements, and time granularity factor for reporting sidelink carrier phase measurements, where the positioning signal RSRP is the measurement that is requested to be measured by the second terminal.

[0172] In the above embodiment, the first terminal can send a location information request message to the second terminal to request the second terminal to determine its own location information, thereby achieving the purpose of positioning the terminal based on the LPP protocol in the sidelink.

[0173] In some alternative embodiments, the second terminal may act as a positioning server and send a location information provision message to the first terminal, which receives the message via a sidelink.

[0174] Here, the location information providing message includes at least one of a second common information element corresponding to any one of the positioning capabilities and a second designation information element providing a measurement result of measuring the location information of the second terminal based on a different positioning capability. Specifically, the second common information element may include at least one of information indicating a location coordinate obtained by performing a location estimation on the second terminal, information indicating a speed obtained by performing a speed estimation on the second terminal, location error information indicating a cause of positioning failure, and location source information indicating a positioning capability used correspondingly when determining the measurement result, but is not limited thereto.

[0175] Here, the location coordinates may be geolocation coordinates. The speed estimate may include, but is not limited to, the horizontal speed, vertical speed, uncertainty, etc. of the first terminal. The location error information may be used to indicate the cause of the positioning failure. The location source information includes, but is not limited to, at least one of A-GNSS, WLAN, BT, TBS, sensor, DL-TDOA, DL-AOD, motion-sensor. To this base, SL carrier phase, SL RTT, SL UL-AOA, SL multi-RTT, SL UL-TDOA, etc. are added.

[0176] The information content of the second specified information element providing measurement results corresponding to the SL A-GNSS, SL wifi, SL TBS, and SL sensor positioning capabilities is the same as the information content of the information element providing measurement results corresponding to the A-GNSS, wifi, TBS, and sensor positioning capabilities in the related technology, and detailed explanations will be omitted here.

[0177] In an embodiment of the present disclosure, the second specified information element providing a measurement result corresponding to the SL RTT positioning capability includes at least one of positioning measurement information and positioning measurement error information.

[0178] Here, the SL RTT positioning measurement information includes at least one of a sidelink positioning signal identity, a sidelink synchronization signal identity, a Layer 2 identity of the second terminal, an ARFCN value, a timestamp, other additional measurement quantities corresponding to the SL RTT positioning capability, a positioning signal RSRP result, a sidelink timing quality, and a path list indicating at least one of the measurement values ​​and timing qualities of other additional paths, where layer 2 refers to layer 2, which is usually a data link layer.

[0179] The SL RTT positioning measurement error information indicates at least one of a server side error, an undefined error, missing aiding information, measurement inability, missing position calculation aiding information, missing, changed or expired positioning signal setting, and inability to transmit positioning signal.

[0180] Here, the sidelink positioning signal identification information includes at least one of a sidelink positioning signal resource set identification information, a sidelink positioning signal resource identifier, and a sidelink positioning signal identifier. Other additional measurements corresponding to the SL RTT positioning capability include a receive-transmit time difference. The sidelink timing quality may include uncertainty or resolution.

[0181] In the embodiment of the present disclosure, the second specification information element providing the measurement result corresponding to the SL AOA positioning capability does not need to be provided.

[0182] In an embodiment of the present disclosure, the second specified information element for providing a measurement result corresponding to the SL AOD positioning capability includes at least one of SL AOD positioning measurement information and SL AOD positioning measurement error information, and the second specified information element may further include AOD position information, and may further include a valid SL timestamp or UTC (Universal Time Coordinated) corresponding to the AOD position information.

[0183] Specifically, the SL AOD positioning measurement information includes at least one of a sidelink positioning signal identification information, a sidelink synchronization signal identification information, a Layer 2 identification information of the second terminal, an ARFCN value, a timestamp, a positioning signal RSRP result, and other additional measurement quantities.

[0184] Here, the sidelink positioning signal identification information includes at least one of a sidelink positioning signal resource set identification information, a sidelink positioning signal resource identifier, and a sidelink positioning signal identifier. The other additional measurement quantities include at least one of a positioning signal resource and resource set identifier, a timestamp, a positioning signal RSRP difference to the additional positioning signal RSRP measurement, and a positioning signal receiving beam identifier, but are not limited to these.

[0185] The SL AOD positioning measurement error information indicates at least one of a server side error, an undefined error, missing aiding information, measurement failure, missing position calculation aiding information, missing positioning signal setting, changed or expired, and failure to transmit positioning signal.

[0186] In the embodiments of the present disclosure, an information element providing a measurement result corresponding to the SL DL-TDOA positioning capability does not need to be provided, and when the measurement result corresponding to the SL DL-TDOA positioning capability needs to be sent to an LMF (Location Management Function) device, the information content of the information element is the same as the information content of a second specified information element providing a measurement result corresponding to the SL AOD positioning capability, and detailed description thereof is omitted here.

[0187] In an embodiment of the present disclosure, the second specified information element providing a measurement result corresponding to the SL UL-TDOA positioning capability includes at least one of SL UL-TDOA positioning signal measurement information and SL UL-TDOA positioning signal measurement error information.

[0188] Wherein, the SL UL-TDOA positioning signal measurement information includes at least one of sidelink reference positioning signal identification information, where the sidelink reference positioning signal identification information includes at least one of a sidelink reference positioning signal resource set identification information, a sidelink reference positioning signal resource identifier, and a sidelink reference positioning signal identifier.

[0189] The SL UL-TDOA positioning signal measurement error information includes at least one of the following: a server side error, an undefined error, missing aiding information, measurement failure, missing position calculation aiding information, missing positioning signal setting, changed or expired, and failure to transmit positioning signal.

[0190] In addition, the second specified information element providing the measurement result corresponding to the SL UL-TDOA positioning capability may further include the measurement result corresponding to the SL UL-TDOA positioning capability, and may include at least one of, but is not limited to, a sidelink positioning signal identity, a sidelink synchronization signal identity, a Layer 2 identity of the second terminal, an ARFCN value, a timestamp, an RTOA measurement value, a positioning signal RSRP result, a sidelink timing quality, and a path list indicating at least one of the measurement values ​​and timing qualities of other additional paths.

[0191] Here, the sidelink positioning signal identification information includes, but is not limited to, at least one of a positioning signal resource set identifier, a positioning signal resource identifier, and a positioning signal identifier. The RTOA measurement value refers to a measurement value corresponding to the SL UL-TDOA positioning capability being the relative time length of the start point of the received positioning signal with respect to a preset reference time point.

[0192] In an embodiment of the present disclosure, the second specified information element providing a measurement result corresponding to the SL carrier phase positioning capability includes at least one of SL carrier phase positioning signal measurement information and SL carrier phase positioning signal measurement error information.

[0193] Here, the SL carrier phase positioning signal measurement information includes reference positioning signal identification information.

[0194] Here, the sidelink reference positioning signal identification information includes, but is not limited to, at least one of a reference positioning signal resource set identifier, a reference positioning signal resource identifier, and a reference positioning signal identifier.

[0195] The SL carrier phase positioning signal measurement error information includes at least one of a server side error, an undefined error, missing aiding information, measurement failure, missing position calculation aiding information, missing positioning signal setting, changed or expired, and failure to transmit the positioning signal.

[0196] The second specified information element providing the measurement result corresponding to the SL carrier phase positioning capability further includes the measurement result corresponding to the SL carrier phase positioning capability and includes at least one of, but is not limited to, a sidelink positioning signal identification, a sidelink synchronization signal identification, a Layer 2 identification of the second terminal, an ARFCN value, a timestamp, a carrier phase measurement value, a positioning signal RSRP result, a sidelink timing quality, and a path list indicating at least one of the measurement values ​​and timing qualities of other additional paths.

[0197] Here, the sidelink positioning signal identification information includes at least one of a positioning signal resource set identifier, a positioning signal resource identifier, and a positioning signal identifier.

[0198] In the above embodiment, The following further describes the positioning method provided by the present disclosure from the second terminal side, where the second terminal may be a terminal different from the first terminal in the sidelink that supports the LPP protocol and functions as a positioning server side or a target device side.

[0199] An embodiment of the present disclosure provides a positioning method, and referring to FIG. 6, FIG. 6 is a flowchart of a positioning method shown in an exemplary embodiment, which can be applied to a second terminal, and the method may include the following steps 601 to 604.

[0200] In step 601, in response to receiving a capability request message sent from a first terminal, a capability provision message is sent to the first terminal.

[0201] Here, the first terminal is a terminal that communicates with the second terminal via a sidelink, the capability request message requests the second terminal to provide positioning capabilities supported by the second terminal, and the capability provision message includes positioning capability information for indicating the positioning capabilities supported by the second terminal.

[0202] In step 602, in response to receiving a positioning assistance information request message transmitted by the first terminal based on the positioning capability information, a positioning assistance information provision message including first positioning assistance information is transmitted to the first terminal.

[0203] Here, the positioning support information request message requests the second terminal to provide first positioning support information, and the first positioning support information assists the first terminal in determining a measurement result of positioning the second terminal.

[0204] In step 603, in response to receiving a location information request message sent from the first terminal, position the second terminal based on the positioning capability supported by the second terminal, and determine a measurement result.

[0205] Here, the location information request message requests the second terminal to determine the measurement result.

[0206] In step 604, a location information providing message including the measurement result is sent to the first terminal.

[0207] In the above embodiment, terminal positioning can be performed between terminals based on the LPP protocol, and the LPP protocol is extended to achieve the objective of positioning a terminal based on the LPP protocol in a side link.

[0208] In some alternative embodiments, after sending a capability providing message to the first terminal, the second terminal may receive a positioning assistance information providing message, which includes second positioning assistance information, spontaneously sent by the first terminal, where the second positioning assistance information assists the second terminal in determining the location information of the second terminal. A specific implementation is similar to the implementation shown in FIG. 3, and detailed description is omitted here.

[0209] In some alternative embodiments, the positioning capabilities requested by the capability request message received by the second terminal are the same as the positioning capabilities requested by the capability request message described on the first terminal side, and will not be described in detail here.

[0210] After receiving the capability request message, the second terminal may send a capability provision message to the first terminal, where if the capability request message requests the second terminal to provide the seventh positioning capability, the positioning capability information corresponding to the seventh positioning capability in the capability provision message indicates whether the second terminal supports transmitting first positioning support information determined by the target positioning scheme via a sidelink.

[0211] When the capability request message requests the second terminal to provide any one of the positioning capabilities other than the seventh positioning capability, the positioning capability information corresponding to the different positioning capabilities in the capability provision message includes at least one of positioning signal capability information corresponding to the different positioning capabilities and positioning measurement capability information corresponding to the different positioning capabilities. Specific information contents of the positioning signal capability information and the positioning measurement capability information are the same as the information contents of the positioning signal capability information and the positioning measurement capability information described on the first terminal side, and detailed description thereof will be omitted here.

[0212] Furthermore, after receiving the capability providing message transmitted from the second terminal, the first terminal transmits a positioning assistance information request message to the second terminal based on positioning capability information included in the capability providing message for indicating positioning capabilities supported by the second terminal, and when the capability request message requests the second terminal to provide any one of positioning capabilities other than the seventh positioning capability, the positioning assistance information request message is used to request the second terminal to provide at least an information type of the first positioning assistance information, where the information type of the first positioning assistance information includes any one of positioning signal assistance information, position calculation assistance information, sidelink synchronization signal block configuration information, and error type assistance information.

[0213] After receiving the positioning support information request message, the second terminal transmits a positioning support information provision message to the first terminal, and can provide the first positioning support information to the first terminal through the positioning support information provision message. Here, the second terminal provides the first positioning support information in any one of the following manners:

[0214] In the first scheme, the second terminal transmits first positioning assistance information to instruct the second terminal to provide positioning signals based on each sidelink frequency range.

[0215] Here, the specific information content of the first positioning assistance information has already been described in the first terminal, and therefore will not be described in detail here.

[0216] In the second scheme, the second terminal transmits the first positioning assistance information to instruct the second terminal to provide positioning signals based on each BWP in each sidelink frequency range.

[0217] Here, the specific information content of the first positioning assistance information has already been described in the first terminal, and thus a detailed description thereof will be omitted here.

[0218] Furthermore, after receiving the positioning assistance information provision message transmitted from the second terminal, the first terminal transmits a location request message to the second terminal, where the location information request message includes at least one of a first common information element corresponding to any one of the positioning capabilities and a first specification information element requesting a measurement result corresponding to a different positioning capability.

[0219] Here, the information contents of the first common information element and the first specified information element are explained on the first terminal side, and detailed explanations are omitted here.

[0220] After receiving the location request message, the second terminal determines a measurement result for the first terminal based on its own positioning capability, and sends a location information providing message including the measurement result to the first terminal. Here, the location information providing message includes at least one of a second common information element corresponding to any one of the positioning capabilities and a second specific information element providing a measurement result corresponding to a different positioning capability. The specific information content is described on the first terminal side, and a detailed description is omitted here.

[0221] In the above embodiment, terminal positioning can be performed between terminals based on the LPP protocol, and the LPP protocol is extended to achieve the objective of positioning a terminal based on the LPP protocol in a side link.

[0222] In some alternative embodiments, refer to FIG. 7, which is a flow chart of a positioning method according to one embodiment, which may include the following steps 701-708.

[0223] In step 701, a first terminal sends a capability request message to a second terminal.

[0224] Here, the first terminal and the second terminal communicate over a sidelink, and the capability request message requests the second terminal to provide a positioning capability supported by the second terminal.

[0225] In step 702, the second terminal sends a capability provision message to the first terminal.

[0226] Here, the capability provision message includes positioning capability information for indicating a positioning capability supported by the second terminal.

[0227] In step 703, the first terminal sends a positioning assistance information request message to the second terminal based on the positioning capability information.

[0228] Here, the positioning assistance information request message requests the second terminal to provide first positioning assistance information that assists the first terminal in determining location information of the second terminal.

[0229] In step 704, the second terminal transmits a positioning assistance information provision message including the first positioning assistance information to the first terminal.

[0230] In step 705, the first terminal sends a location information request message to the second terminal.

[0231] Here, the location information request message requests the second terminal to determine a measurement result of measuring the location information of the second terminal.

[0232] In step 706, the second terminal positions the second terminal based on the positioning capabilities supported by the second terminal to determine a measurement result.

[0233] In step 707, the second terminal transmits a location information providing message including the measurement result to the first terminal.

[0234] In step 708, the first terminal determines location information of the second terminal based on the first positioning assistance information and the measurement results.

[0235] Here, the location information determined by the first terminal may be absolute location information of the second terminal, or relative location information of the second terminal with respect to a reference point.

[0236] In the above embodiment, terminal positioning can be performed between terminals based on the LPP protocol, and the LPP protocol is extended to achieve the objective of positioning a terminal based on the LPP protocol in a side link.

[0237] In addition, one of the two terminals in the side link can be the device side of the LPP protocol, for example, the first terminal in the above embodiment, and the other can be the positioning server side of the LPP protocol, for example, the second terminal in the above embodiment. Alternatively, the two terminals communicate as both device sides to achieve the purpose of positioning the terminals based on the LPP protocol in the side link.

[0238] Of course, one terminal may also be the device side and the positioning server side respectively, and in this way, it can communicate with one or more other terminals as the device side and the server side at the same time, thus achieving the purpose of positioning the terminal based on the LPP protocol in the sidelink.

[0239] Corresponding to the embodiment of the method for implementing function application described above, the present disclosure provides an embodiment of an apparatus for implementing function application.

[0240] 8, FIG. 8 is a block diagram of a positioning device shown in an exemplary embodiment, the device being applied to a first terminal, the first transmitting module 801 configured to transmit a capability request message to a second terminal, the second terminal being a terminal communicating with the first terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, and a second transmitting module 802 configured to transmit a positioning support information request message to the second terminal based on positioning capability information for indicating the positioning capabilities supported by the second terminal in the capability providing message in response to receiving a capability providing message returned from the second terminal, the second transmitting module 802 configured to transmit a positioning support information request message to the second terminal based on positioning capability information for indicating the positioning capabilities supported by the second terminal in the capability providing message, the positioning support information request message being received based on the first positioning support information. the first positioning assistance information assisting the first terminal in determining location information of the second terminal; a third transmitting module 803 configured to transmit a location information request message to the second terminal in response to receiving a location information providing message returned from the second terminal and including the first positioning assistance information, the location information request message requesting the second terminal to provide a measurement result of measuring the location information of the second terminal; and a determination module 804 configured to determine the location information of the second terminal based on the first positioning assistance information and the measurement result in response to receiving a location information providing message returned from the second terminal and including the measurement result.

[0241] 9, FIG. 9 is a block diagram of a positioning device shown in an exemplary embodiment, the device is applied to a second terminal, and includes a fourth transmitting module 901 configured to transmit a capability providing message to the first terminal in response to receiving a capability request message transmitted from the first terminal, the first terminal being a terminal that communicates with the second terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, the capability providing message including positioning capability information for indicating the positioning capabilities supported by the second terminal, and a fourth transmitting module 901 configured to transmit a positioning support information providing message including first positioning support information in response to receiving a positioning support information request message transmitted by the first terminal based on the positioning capability information. a fifth transmitting module 902 configured to transmit to the first terminal, wherein the positioning assistance information request message requests the second terminal to provide the first positioning assistance information, and the first positioning assistance information assists the first terminal in determining a measurement result for positioning the second terminal; a positioning module 903 configured to position the second terminal based on the positioning capabilities supported by the second terminal in response to receiving a location information request message transmitted from the first terminal, and determine a measurement result, wherein the location information request message requests the second terminal to determine the measurement result; and a sixth transmitting module 904 configured to transmit a location information providing message including the measurement result to the first terminal.

[0242] Regarding the device embodiment, it basically corresponds to the method embodiment, so please refer to the description of the method embodiment for the relevant part. The above-described device embodiment is illustrative, and the units described as separate components above may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed in multiple network units. According to actual needs, some or all of the modules can be used to achieve the purpose of the solution of the present disclosure. Those skilled in the art can understand and implement it without any creativity.

[0243] Accordingly, the present disclosure further provides a computer-readable storage medium having a computer program stored therein, the computer program being used to execute the positioning method described in any one of the above on the first terminal or second terminal side.

[0244] Accordingly, the present disclosure further provides a positioning device, the device comprising a processor and a memory for storing instructions executable by the processor, wherein the processor is used to execute the positioning method described in any one of the above on the first terminal or second terminal side.

[0245] 10 is a block diagram of a positioning device 1000 shown in an exemplary embodiment. For example, the positioning device 1000 may be a terminal such as a mobile phone, a tablet, an e-book reader, a multimedia playback device, a wearable device, an in-vehicle user equipment, an ipad, a smart TV, etc.

[0246] Referring to FIG. 10, the positioning device 1000 may include one or more components: a processing component 1002, a memory 1004, a power component 1006, a multimedia component 1008, an audio component 1010, an input / output (I / O) interface 1012, a sensor component 1016, and a communication component 1018.

[0247] The processing component 1002 typically controls the overall operation of the positioning device 1000, such as operations related to display, phone calls, data communication, camera operation, and recording operation. The processing component 1002 can include one or more processors 1020 to execute instructions to complete all or some steps of the above-mentioned methods. The processing component 1002 can also include one or more modules to facilitate the interaction of the processing component 1002 with other components. For example, the processing component 1002 can include a multimedia module to facilitate the interaction of the processing component 1002 with the multimedia component 1008. The processing component 1002 can also read executable instructions from a memory to implement the steps of the channel monitoring method provided by each of the above-mentioned embodiments.

[0248] The memory 1004 is configured to store various types of data to support operation on the positioning device 1000. Examples of these data include instructions for any application programs or methods operated on the positioning device 1000, contact data, phone book data, messages, photos, videos, etc. The memory 1004 can be implemented with any type of volatile or non-volatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0249] The power component 1006 provides power to the various components of the positioning device 1000. The power component 1006 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the positioning device 1000.

[0250] The multimedia component 1008 includes a screen that provides an output interface between the positioning device 1000 and a user. In some embodiments, the multimedia component 1008 includes a front camera and / or a rear camera. When the device 1000 is in an operational mode, such as a photo mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front and rear cameras may have a fixed optical lens system or focal length and optical zoom function.

[0251] The audio component 1010 is configured to output and / or input audio signals. For example, the audio component 1010 includes one microphone (MIC) configured to receive an external audio signal when the positioning device 1000 is in an operation mode such as a calling mode, a recording mode, or a voice recognition mode. The received audio signal can be further stored in the memory 1004 or can be transmitted via the communication component 1018. In some embodiments, the audio component 1010 further includes one speaker for outputting the audio signal.

[0252] The I / O interface 1012 provides an interface between the processing component 1002 and a peripheral interface module, which may be a keyboard, a click wheel, buttons, etc. These buttons include, but are not limited to, a home page button, volume buttons, a start button, and a lock button.

[0253] The sensor component 1016 includes one or more sensors to provide status assessment of each aspect for the positioning device 1000. For example, the sensor component 1016 can detect the on / off state of the positioning device 1000, the relative positioning of components, such as the display and keypad of the positioning device 1000, and the sensor component 1016 can further detect changes in the position of the positioning device 1000 or one of the components of the device 400, whether there is contact between the user and the positioning device 1000, the orientation or acceleration / deceleration of the positioning device 1000, and changes in the temperature of the positioning device 1000. The sensor component 1016 may include a proximity sensor configured to detect whether an object is present nearby without any physical contact. The sensor component 1016 may further include an optical sensor for use in imaging applications, such as a CMOS or CCD image sensor. In some embodiments, the sensor component 1016 may further include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0254] The communication component 1018 is configured to facilitate wired or wireless communication between the positioning device 1000 and other devices. The positioning device 1000 can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 5G, 6G, or a combination thereof. In one exemplary embodiment, the communication component 1018 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 1018 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra-Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0255] In an exemplary embodiment, the positioning device 1000 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processors (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic elements to perform the channel monitoring method described in any one of the above terminal sides.

[0256] In an exemplary embodiment, a non-transitory computer readable storage medium including instructions is further provided, for example, a memory 1004 including instructions, which can be executed by the processor 1020 of the positioning device 1000 to complete the above method. For example, the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a tape, a floppy disk, an optical data storage device, etc.

[0257] Those skilled in the art can easily envision other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any modifications, uses or adaptations of the present invention, including the general principles of the present invention and including common general knowledge or commonly used technical means in the art not disclosed in this disclosure. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0258] It should be understood that the present disclosure is limited to the exact construction described above and illustrated in the drawings, and various modifications and variations can be made without departing from the scope of the present disclosure, which is limited only by the appended claims.

Claims

1. A positioning method, the method being applied to a first terminal, sending a capability request message to a second terminal, the second terminal being a terminal communicating with the first terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal; In response to receiving a capability providing message returned from the second terminal, sending a positioning support information request message to the second terminal based on positioning capability information in the capability providing message for indicating a positioning capability supported by the second terminal, the positioning support information request message requesting the second terminal to provide first positioning support information, and the first positioning support information assisting the first terminal in determining location information of the second terminal; a step of transmitting a location information request message to the second terminal in response to receiving a location information providing message including the first location information returned from the second terminal, the location information request message requesting the second terminal to provide a measurement result of measuring the location information of the second terminal; In response to receiving a location information providing message including the measurement result returned from the second terminal, determining location information of the second terminal based on the first positioning assistance information and the measurement result. A positioning method comprising:

2. The method comprises: sending a positioning assistance information providing message to the second terminal, the positioning assistance information including second positioning assistance information, the second positioning assistance information assisting the second terminal in determining location information of the second terminal; 2. The method according to claim 1, wherein the positioning method is a method for determining a position of a vehicle.

3. The step of transmitting a capability request message to the second terminal includes: transmitting the capability request message including a first information element to the second terminal, the first information element being an information element requesting the second terminal to provide at least one positioning capability supported by the second terminal; 2. The method according to claim 1, wherein the positioning method is a method for determining a position of a vehicle.

4. The step of transmitting a capability request message to the second terminal includes: adding a capability request indication field corresponding to a sidelink to a second information element of the capability request message, the second information element being an information element requesting a device receiving the capability request message to provide supported positioning capabilities in the capability request message; sending the capability request message including the indication field to the second terminal.

2. The method according to claim 1, wherein the positioning method is a method for determining a position of a vehicle.

5. The positioning capability requested by the capability request message to the second terminal is A first positioning capability indicating whether the second terminal supports positioning the second terminal based on at least one round trip time (RTT) between the first terminal and the second terminal; A second positioning capability indicating whether the second terminal supports positioning the second terminal based on at least one arrival angle, the arrival angle being an angle at which a positioning signal transmitted from the second terminal arrives at the first terminal; A third positioning capability indicating whether the second terminal supports positioning of the second terminal based on at least one transmission angle, the transmission angle being an angle when the first terminal transmits a positioning signal beam to the second terminal; A fourth positioning capability indicating whether the second terminal supports positioning of the second terminal based on a carrier phase of a positioning signal transmitted from the first terminal; A fifth positioning capability indicating whether the second terminal supports positioning of the second terminal based on a difference in time when positioning signals transmitted from a plurality of the first terminals arrive at the second terminal; A sixth positioning capability indicating whether the second terminal supports positioning the second terminal based on a difference in time at which a positioning signal transmitted from the second terminal arrives at a plurality of the first terminals; A seventh positioning capability indicating whether the second terminal supports positioning the second terminal based on a target positioning method in a side link, the target positioning method including at least one of an auxiliary global navigation satellite system positioning method, a Bluetooth positioning method, a terrestrial beacon system positioning method, a radio-fidelity positioning method, and a sensor positioning method; 2. The method according to claim 1, wherein the positioning method is a method for determining a position of a vehicle.

6. When the capability request message requests the second terminal to provide the seventh positioning capability, the positioning capability information corresponding to the seventh positioning capability in the capability provision message indicates whether the second terminal supports transmitting first positioning support information determined by the target positioning scheme via a sidelink.

6. The method according to claim 5,

7. When the capability request message requests the second terminal to provide any one of the positioning capabilities other than the seventh positioning capability, the positioning capability information corresponding to the different positioning capabilities in the capability provision message is: Positioning signal capability information corresponding to different positioning capabilities; and positioning measurement capability information corresponding to different positioning capabilities.

6. The method according to claim 5,

8. Positioning signal capability information corresponding to the first positioning capability, First RTT capability information corresponding to the second terminal transmitting a positioning reference signal; and second RTT capability information corresponding to the second terminal receiving the positioning reference signal. The positioning method according to claim 7 .

9. The first RTT capability information is First capability information of the second terminal in each sidelink frequency band; and second capability information of the second terminal in each sidelink carrier aggregation combination. The positioning method according to claim 8 .

10. The first capability information is A list of bandwidths supported by the second terminal in each sidelink frequency band; The second capability information is The second terminal includes a maximum number of configurable positioning reference signal resources supported in each bandwidth portion (BWP); The positioning method according to claim 8 .

11. The second RTT capability information is Sidelink frequency band information supported by the second terminal; and sidelink frequency band combination information supported by the second terminal. The positioning method according to claim 8 .

12. Positioning signal capability information corresponding to the second positioning capability, the third positioning capability, the fourth positioning capability, or the sixth positioning capability, Sidelink frequency band information supported by the second terminal; and sidelink frequency band combination information supported by the second terminal. The positioning method according to claim 7 .

13. The sidelink frequency band information supported by the second terminal is a maximum number of reference signal resources supported by the second terminal in each resource set of each sidelink frequency band; and a list of bandwidths supported by the second terminal in each sidelink frequency band; 13. The method according to claim 11 or 12.

14. Positioning signal capability information corresponding to the fifth positioning capability: Third capability information of a sidelink frequency band supported by the second terminal; and and fourth capability information in sidelink carrier aggregation combinations supported by the second terminal. The positioning method according to claim 7 .

15. The third capability information is A list of bandwidths supported by the second terminal in each sidelink frequency band; The fourth capability information is Including a maximum number of configurable positioning reference signal resources supported by the second terminal in each BWP; 15. The method of claim 14.

16. Positioning measurement capability information corresponding to the first positioning capability, a maximum number of transmission and reception time difference measurements supported by the second terminal in each sidelink frequency range; Whether the second terminal supports measuring a reference signal received power (RSRP) in each sidelink frequency band. The positioning method according to claim 7 .

17. Positioning measurement capability information corresponding to the second positioning capability, a maximum number of angle of arrival measurements that the second terminal supports in each sidelink frequency range; and a first frequency band list for indicating angle of arrival measurement capability, the first frequency band list indicating whether the second terminal supports simultaneous measurement of an angle of arrival and at least one first measurement quantity in each sidelink frequency band in the first frequency band list, the first measurement quantity being a measurement quantity different from the angle of arrival; The positioning method according to claim 7 .

18. The capability provision message further includes first antenna capability information corresponding to the second positioning capability, the first antenna capability information indicating a number of receiving antennas of the second terminal. The positioning method according to claim 7 .

19. Positioning measurement capability information corresponding to the third positioning capability, a maximum number of positioning signal RSRP measurements supported by the second terminal in each sidelink frequency range; and a second frequency band list for indicating a transmission angle measurement capability, the second frequency band list indicating whether the second terminal supports simultaneous measurement of a transmission angle and at least one second measurement quantity in each sidelink frequency band in the second frequency band list, the second measurement quantity being a measurement quantity different from the transmission angle; whether the second terminal supports RSRP measurement in at least one sidelink frequency range; The positioning method according to claim 7 .

20. The capability provision message further includes second antenna capability information corresponding to the third positioning capability, the second antenna capability information indicating a number of transmitting antennas of the second terminal. The positioning method according to claim 7 .

21. The positioning measurement capability information corresponding to the fourth positioning capability is a maximum number of reference signal time difference (RTSD) measurements that the second terminal supports in each sidelink frequency range; and Whether the second terminal supports measurement of RSRP in each sidelink frequency range. The positioning method according to claim 7 .

22. The positioning measurement capability information corresponding to the fifth positioning capability is a maximum number of relative time length measurements supported by the second terminal in each sidelink frequency range, the relative time length indicating a time difference from a start time point at which the second terminal receives a positioning signal to a preset reference time point; Whether the second terminal supports measurement of RSRP in each sidelink frequency range. The positioning method according to claim 7 .

23. The positioning measurement capability information corresponding to the sixth positioning capability is a maximum number of carrier phase measurements that the second terminal supports in each sidelink frequency range; and a third frequency band list for indicating carrier phase measurement capability, the third frequency band list indicating whether the second terminal supports simultaneous measurement of carrier phase and at least one third measurement quantity in each sidelink frequency band in the third frequency band list, the third measurement quantity being a measurement quantity different from the carrier phase; The positioning method according to claim 7 .

24. When the capability request message requests the second terminal to provide any one of the positioning capabilities other than the seventh positioning capability, the positioning support information request message is used to request the second terminal to provide at least the information type of the first positioning support information; The information type of the first positioning assistance information is the positioning signal assistance information, the position calculation assistance information, the sidelink synchronization signal block configuration information, and the error type assistance information; 6. The method according to claim 5,

25. The positioning signal assistance information in the positioning assistance information provision message is first positioning signal support information for instructing the second terminal to provide a positioning signal based on each sidelink frequency range; and second positioning signal assistance information for instructing the second terminal to provide a positioning signal based on each BWP in each sidelink frequency range.

25. The method of claim 24.

26. The first positioning signal assistance information is A positioning signal identifier; and an Absolute Radio Channel Number (ARFCN) value corresponding to the reference point of the positioning signal; Starting physical resource block (PRB) position information of the positioning signal relative to the reference point; Subcarrier spacing information of the positioning signal; Positioning signal bandwidth information; Comb size information of the positioning signal; and cyclic prefix information of the positioning signal.

26. The method of claim 25.

27. The second positioning signal assistance information is Side link BWP configuration information; sidelink BWP resource pool configuration information; 26. The method of claim 25.

28. The sidelink BWP configuration information includes At least one of a position and bandwidth of a sidelink BWP, a subcarrier spacing, and a cyclic prefix; length symbol information of the sidelink BWP; Start symbol information of sidelink BWP; Sidelink Physical Broadcast Channel (PBSCH) configuration information of the sidelink BWP; and DC component parameter information of the sidelink BWP.

28. The method of claim 27.

29. The sidelink BWP resource pool configuration information multiplexes sidelink resource pool information elements, or The sidelink resource pool configuration information configures a positioning reference signal-designated resource pool, and the sidelink resource pool configuration information configures at least one of starting resource block position information, a resource block number, a comb size, a subchannel size and subchannel data, sidelink time domain resource information, measurement power control information, area configuration information, sidelink preemption enablement information, and configuration information selectable by a sidelink terminal, of the positioning reference signal-designated resource pool.

28. The method of claim 27.

30. The position calculation assistance information is The position coordinates of the second terminal; time reference information of the second terminal, the time reference information including at least one of a reference signal identifier, an ARFCN value, a system frame number, and a universal time; and antenna information of the second terminal, the antenna information including at least one of the number of antennas and related information corresponding to the antenna shape.

25. The method of claim 24.

31. The sidelink synchronization signal block configuration information comprises: setting at least one of a sidelink synchronization signal identifier, an ARFCN value, a sidelink synchronization signal block power, a sidelink synchronization signal block subcarrier spacing, a half-frame index, an offset of a first synchronization signal within a sidelink synchronization signal block period with respect to the start of said synchronization signal block period, and an indication of a time interval between two adjacent synchronization signal blocks within said synchronization signal block period.

25. The method of claim 24.

32. The error type assistance information is Any one of the following error information may be included: assistance information is not supported; assistance information is supported but unavailable; no or unavailable positioning signal configuration; and other undefined error information.

25. The method of claim 24.

33. The location information request message includes: A first common information element corresponding to any one of the positioning capabilities; A first specification information element requesting a measurement result of measuring the location information of the second terminal based on different positioning capabilities.

6. The method according to claim 5,

34. The first common information element is A location type; a report trigger condition that triggers a report of the measurement result; a periodic reporting condition for periodically reporting the measurement result; Environmental information indicating a sidelink environment between the second terminal and the first terminal; and quality of service information.

34. The method of claim 33.

35. The report trigger condition is: a round trip time change in the side link exceeds a corresponding first threshold; and A phase position change amount between the second terminal and the first terminal in a side link exceeds a corresponding second threshold; and an angle change amount in the side link exceeds a corresponding third threshold; and A speed change amount of the second terminal in a side link exceeds a corresponding fourth threshold; and a sidelink positioning signal RSRP change exceeds a corresponding fifth threshold; The service quality information is Information indicating a distance accuracy between the second terminal and the first terminal; Information indicating a horizontal angle accuracy between the second terminal and the first terminal; and an indication indicating whether a vertical angle is required; and information indicating a vertical angle accuracy between the second terminal and the first terminal.

35. The method of claim 34.

36. The first specification information element for requesting a measurement result corresponding to the first positioning capability or the fifth positioning capability includes: A sidelink transmission / reception time difference measurement; A positioning signal RSRP; assistance information availability, which indicates whether additional positioning signal assistance information can be requested; a maximum number of sidelink transmission / reception time difference measurements; a time granularity factor for transmission / reception time difference reporting; 34. The method of claim 33.

37. a first specification information element for requesting measurement results corresponding to the second positioning capability or the fourth positioning capability requests assistance information availability, and the assistance information availability indicates whether additional positioning signal assistance information can be requested; 34. The method of claim 33.

38. The first specification information element for requesting a measurement result corresponding to the third positioning capability includes: assistance information availability, which indicates whether additional positioning signal assistance information can be requested; and a maximum number of positioning signal RSRP measurements; 34. The method of claim 33.

39. The first specification information element for requesting a measurement result corresponding to the sixth positioning capability includes: a sidelink carrier phase measurement; and A positioning signal RSRP; assistance information availability, which indicates whether additional positioning signal assistance information can be requested; a maximum number of sidelink carrier phase measurements; a time granularity factor for sidelink carrier phase measurement reporting; 34. The method of claim 33.

40. The location information providing message includes: A second common information element corresponding to any one of the positioning capabilities; and and a second specification information element for providing a measurement result of measuring the location information of the second terminal based on a different positioning capability.

6. The method according to claim 5,

41. The second common information element is Information indicating location coordinates obtained by performing location estimation on the second terminal; information indicating a speed obtained by performing a speed estimation on the second terminal; position error information indicating the cause of the positioning failure; and location source information indicating a positioning capability correspondingly used in determining said measurement results.

41. The method of claim 40.

42. A second specification information element for providing a measurement result corresponding to any one of the first positioning capability, the third positioning capability, the fourth positioning capability, the fifth positioning capability, or the sixth positioning capability, positioning measurement information; and positioning measurement error information; 41. The method of claim 40.

43. The positioning measurement information is a sidelink positioning signal identification information or a sidelink reference positioning signal identification information; A sidelink synchronization signal identification information; and Layer 2 identification information of the second terminal; and ARFCN value; and A time stamp and A positioning signal RSRP result; Other additional measurements and Sidelink timing quality; a path list indicating at least one of measurements and timing quality of other additional paths; 43. The method of claim 42.

44. The positioning measurement error information is indicating at least one of a server-side error, an undefined error, missing aiding information, measurement failure, missing position calculation aiding information, missing, changed or expired positioning signal setting, and failure to transmit positioning signals; 43. The method of claim 42.

45. The second specified information element further includes measurement results corresponding to different positioning capabilities; The measurement result includes at least one of a sidelink positioning signal identification information and a Layer 2 identification information of the second terminal.

43. The method of claim 42.

46. A positioning method, the method being applied to a second terminal, transmitting a capability provision message to a first terminal in response to receiving a capability request message transmitted from the first terminal, the first terminal being a terminal that communicates with the second terminal via a side link, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, and the capability provision message including positioning capability information for indicating positioning capabilities supported by the second terminal; a step of transmitting a positioning support information providing message including first positioning support information to the first terminal in response to receiving a positioning support information request message transmitted by the first terminal based on the positioning capability information, the positioning support information request message requesting the second terminal to provide the first positioning support information, and the first positioning support information assisting the first terminal in determining a measurement result of positioning the second terminal; In response to receiving a location information request message sent from the first terminal, positioning the second terminal based on the positioning capabilities supported by the second terminal to determine a measurement result, the location information request message requesting the second terminal to determine the measurement result; and transmitting a location information provision message including the measurement result to the first terminal. A positioning method comprising:

47. The method comprises: receiving a positioning assistance information providing message including second positioning assistance information transmitted from the first terminal, the second positioning assistance information assisting the second terminal in determining location information of the second terminal; 47. The method of claim 46.

48. A positioning device, the device being applied to a first terminal, a first transmission module configured to transmit a capability request message to a second terminal, the second terminal being a terminal communicating with the first terminal via a sidelink, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal; a second transmitting module configured to, in response to receiving a capability providing message returned from the second terminal, transmit a positioning support information request message to the second terminal based on positioning capability information in the capability providing message for indicating a positioning capability supported by the second terminal, where the positioning support information request message requests the second terminal to provide first positioning support information, and the first positioning support information assists the first terminal in determining location information of the second terminal; a third sending module configured to send a location information request message to the second terminal in response to receiving a location information providing message including the first positioning assistance information returned from the second terminal, the location information request message requesting the second terminal to provide a measurement result of measuring the location information of the second terminal; a determination module configured to determine location information of the second terminal based on the first positioning assistance information and the measurement result in response to receiving a location information providing message including the measurement result returned from the second terminal. A positioning device characterized by:

49. A positioning device, the device being applied to a second terminal; a fourth transmission module configured to transmit a capability provision message to a first terminal in response to receiving a capability request message transmitted from the first terminal, the first terminal being a terminal that communicates with the second terminal via a side link, the capability request message requesting the second terminal to provide positioning capabilities supported by the second terminal, and the capability provision message including positioning capability information for indicating positioning capabilities supported by the second terminal; a fifth sending module configured to send a positioning assistance information providing message including first positioning assistance information to the first terminal in response to receiving a positioning assistance information request message sent by the first terminal based on the positioning capability information, the positioning assistance information request message requests the second terminal to provide the first positioning assistance information, and the first positioning assistance information assists the first terminal in determining a measurement result of positioning the second terminal; a positioning module configured to, in response to receiving a location information request message sent from the first terminal, position the second terminal based on the positioning capabilities supported by the second terminal and determine a measurement result, the location information request message requesting the second terminal to determine the measurement result; and a sixth transmission module configured to transmit a location information providing message including the measurement result to the first terminal. A positioning device characterized by:

50. A computer-readable storage medium having a computer program stored thereon, The computer program executes the positioning method according to any one of claims 1 to 47. A computer-readable storage medium comprising:

51. A positioning device, comprising: A processor; a memory for storing instructions executable by a processor; The processor is configured to execute the positioning method according to any one of claims 1 to 47. A positioning device characterized by:

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