Positioning method, device and readable storage medium for sidelink

Abstract

This application discloses a positioning method, an apparatus and a readable storage medium for sidelink, the method including: a first device transmitting first information including a positioning request signaling to one or more second devices, the first device transmitting a first positioning reference signal to the second device, the first device receiving a second positioning reference signal from the second device, and the first device obtaining a positioning calculation result of the first device according to a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal, or the first device receiving the positioning calculation result of the first device from the second device.

Description

[Technical field]

[0001] The present application relates to the technical field of communications, and more particularly to a positioning method, device and readable storage medium for sidelink.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to China Patent Application No. 202210472860.X, filed in China on April 29, 2022, the entire contents of which are incorporated herein by reference. [Background technology]

[0003] In the coverage of the cellular network, the base station transmits a cell-specific downlink positioning reference signal (PRS), and the terminal (UE: User Equipment) transmits an uplink sounding reference signal (SRS), and correspondingly, the terminal can measure the reference signal time difference (RSTD), or the reference signal receiving power (RSRP) of the downlink positioning reference signal (DL PRS), or the time difference between DL PRS reception and SRS transmission by the terminal, and the base station can measure the uplink relative time of arrival (RTOA), the RSRP of the SRS, the time difference between SRS reception by the next generation base station (gNB) and DL PRS transmission by the gNB, and angle measurements, etc. The position of the UE is calculated by processing the measurements.

[0004] Research and standardization work on sidelink positioning is being actively carried out. Sidelink is different from New Radio (NR) downlink and uplink. Its main application scenarios include indoor, outdoor, and tunnel areas. In outdoor and tunnel area scenarios, it is necessary to support positioning services with a moving speed as high as 250 km / h. Therefore, in order to apply sidelink positioning technology, it is necessary to redesign the corresponding positioning measurement flow between UEs. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide a positioning method, device, and readable storage medium for sidelink that can solve the problem that the corresponding positioning measurement flow between UEs needs to be redesigned to adapt to sidelink positioning technology. [Means for solving the problem]

[0006] In the first aspect, the first device transmitting first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device.

[0007] In a second aspect, a second device receiving first information from one or more first devices, the first information including positioning request signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0008] In a third aspect, the first device transmitting first information including position indication signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or the first device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0009] In a fourth aspect, a second device receiving first information from one or more first devices, the first information including position indication signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device.

[0010] In a fifth aspect, The first device includes a first transmitting module adapted to transmit first information including a positioning request signaling to one or more second devices; a first transceiver module, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device.

[0011] In a sixth aspect, the second device includes a first receiving module adapted to receive first information including a positioning request signaling from one or more first devices; a second transceiver module, used for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; The second device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtains the positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0012] In a seventh aspect, The first device includes a second transmitting module adapted to transmit first information including a positioning indication signaling to one or more second devices; a third transceiver module, which is used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains the positioning calculation result of the second device based on the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0013] In an eighth aspect, The second device includes a second receiving module adapted to receive first information including positioning indication signaling from one or more first devices; a fourth transceiver module for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device.

[0014] In a ninth aspect, a method includes a memory, a transceiver, and a processor, The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, the processor reading the computer program in the memory; The first device transmits first information including a positioning request signaling to one or more second devices; The first device transmits a first positioning reference signal to the second device, and the first device receives a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device.

[0015] In a tenth aspect, there is provided a positioning device for a sidelink, the positioning device comprising: a memory, a transceiver, and a processor; The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, the processor reading the computer program in the memory; receiving, at the second device, first information including position request signaling from one or more first devices; the second device receiving a first positioning reference signal from the first device, and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform an operation of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0016] In an eleventh aspect, a method for testing a wireless communication system includes a memory, a transceiver, and a processor, The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, the processor reading the computer program in the memory; a first device transmitting first information to one or more second devices, the first information including positioning indication signaling; The first device transmits a first positioning reference signal to the second device, and the first device receives a second positioning reference signal from the second device; The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains a positioning calculation result of the second device based on the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0017] In a twelfth aspect, a method for detecting a signal from a memory, a transceiver, and a processor, comprising: The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, the processor reading the computer program in the memory; a second device receiving first information from one or more first devices, the first information including positioning indication signaling; the second device receiving a first positioning reference signal from the first device, and the second device transmitting a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device.

[0018] In a thirteenth aspect, there is provided a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, realizes steps of a positioning method for a sidelink described in the first aspect, or realizes steps of a positioning method for a sidelink described in the second aspect, or realizes steps of a positioning method for a sidelink described in the third aspect, or realizes steps of a positioning method for a sidelink described in the fourth aspect.

[0019] In a fourteenth aspect, a chip is provided, comprising: a processor; and a communication interface, the communication interface being coupled to the processor, the processor executing a program or instruction to be used for implementing steps of a positioning method for a sidelink described in the first aspect, or for implementing steps of a positioning method for a sidelink described in the second aspect, or for implementing steps of a positioning method for a sidelink described in the third aspect, or for implementing steps of a positioning method for a sidelink described in the fourth aspect.

[0020] A fifteenth aspect provides a computer program / program product stored on a storage medium and executed by at least one processor to realize steps of a positioning method for a sidelink described in the first aspect, or to realize steps of a positioning method for a sidelink described in the second aspect, or to realize steps of a positioning method for a sidelink described in the third aspect, or to realize steps of a positioning method for a sidelink described in the fourth aspect.

[0021] In an embodiment of the present application, a first device sends first information to a second device to trigger a positioning flow, and the first device and the second device exchange a first positioning reference signal and a second positioning reference signal, and obtain a positioning calculation result according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, thereby realizing positioning measurement between UEs in a sidelink scenario. [Brief description of the drawings]

[0022] [Figure 1] 1 is a block diagram of a wireless communication system according to an embodiment of the present application. [Diagram 2] 1 is a flowchart 1 of a positioning method for sidelink according to an embodiment of the present application. [Diagram 3] 2 is a flowchart 2 of a positioning method for sidelink according to an embodiment of the present application. [Figure 4] 3 is a flowchart 3 of a positioning method for sidelink according to an embodiment of the present application. [Diagram 5]4 is a flowchart 4 of a positioning method for sidelink according to an embodiment of the present application. [Figure 6a] 1 is a flowchart 1 of an embodiment of the present application. [Figure 6b] 2 is a flowchart 2 of an embodiment of the present application. [Figure 6c] 3 is a flowchart 3 of an embodiment of the present application. [Figure 6d] 4 is a flowchart 4 of an embodiment of the present application. [Figure 6e] 5 is a flowchart 5 of an embodiment of the present application. [Figure 6f] 6 is a flowchart 6 of an embodiment of the present application. [Figure 6g] 7 is a flow chart 7 of an embodiment of the present application. [Figure 6h] 8 is a flow chart 8 of an embodiment of the present application. [Figure 6i] 9 is a flowchart 9 of an implementation example according to an embodiment of the present application. [Figure 7] FIG. 1 is a structural schematic diagram of a positioning device for a sidelink according to an embodiment of the present application. [Figure 8] FIG. 2 is a structural schematic diagram of a positioning device for a sidelink according to an embodiment of the present application. [Figure 9] FIG. 3 is a structural schematic diagram of a positioning device for a sidelink according to an embodiment of the present application. [Figure 10] FIG. 4 is a structural schematic diagram of a positioning device for a sidelink according to an embodiment of the present application. [Figure 11] FIG. 5 is a structural schematic diagram of a positioning device for a sidelink according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, the technical solutions of the embodiments of the present application will be described clearly with reference to the drawings of the embodiments of the present application, and it is obvious that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application are within the scope of protection of the present application.

[0024] In the specification and claims of this application, the terms "first", "second", etc. are used to distinguish between similar objects and are not intended to describe a particular order or sequence. Terms used in this manner are interchangeable where appropriate, such that the embodiments of this application may be practiced in other sequences than those illustrated or described herein, and it should be understood that objects distinguished by "first" and "second" are generally of the same type and do not limit the number of objects, e.g., the first object may be one or more. Also, in the specification and claims, "and / or" indicates at least one of the objects connected, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0025] It should be noted that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be applied to other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the techniques described can be applied to the above-mentioned systems and wireless technologies, as well as to other systems and wireless technologies. For illustrative purposes, a New Radio (NR) system will be described below, and NR terminology will be used in most of the following description, but these technologies may be used in other systems and wireless technologies, such as 6th Generation (6G) and 7th Generation (7G) systems. th The present invention can also be applied to applications other than NR system applications, such as NAND flash (Negative Generation) communication systems.

[0026] 1 shows a block diagram of a wireless communication system to which an embodiment of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12. The terminal 11 may be a mobile phone, a tablet personal computer, a laptop computer, a personal digital assistant (PDA), a palmtop computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a smart home (home equipment with a wireless communication function such as a refrigerator, a television, a washing machine, or furniture), a game machine, a personal computer (PC), a mobile internet device (MID), a mobile user equipment (MUE), a mobile user equipment (VUE), a smart home (home equipment with a wireless communication function such as a refrigerator, a television, a washing machine, or furniture), a game machine, a personal computer (PC), a mobile internet device (MID ... The network side device 12 may be a terminal side device such as a mobile computer, an automated teller machine or a self-service machine, and the wearable device includes a smart watch, a smart bracelet, a smart headphone, a smart glass, a smart accessory (such as a smart bracelet, a smart chain bracelet, a smart ring, a smart necklace, a smart anklet, a smart chain anklet, etc.), a smart wristband, a smart wear, etc. In addition, in the embodiment of the present application, the specific type of the terminal 11 is not limited. The network side device 12 may include an access network device or a core network device, and the access network device may be called a radio access network device, a radio access network (RAN), a radio access network function, or a radio access network unit.The access network equipment may include a base station, a Wireless Local Area Networks (WLAN) access point, or a WiFi node, and the base station may also be called a Node B, an evolved Node B (eNB), an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home B node, a home evolved B node, a transmitting receiving point (TRP), or other suitable terms in the field, as long as the same technical effect can be achieved, and the base station is not limited to a specific technical term. Note that in the embodiments of the present application, only a base station in an NR system is described as an example, and the specific type of the base station is not limited.The core network devices are: core network node, core network function, mobility management entity (MME), access and mobility management function (AMF), session management function (SMF), user plane function (UPF), policy control function (PCF), policy and charging rules function (PCRF), edge application server discovery function (EASDF), unified data management (UDM), unified data repository (UDR), home user server (HSS), centralized network configuration (CNC), network repository function (NRF), network exposure function (NEF), local NEF (Local NEF or L-NEF), binding support function (BSF), and network access function (LAN). The core network device may include at least one of, but is not limited to, a core network function (Function) and an application function (AF: Application Function). Note that in the embodiments of the present application, only a core network device in an NR system is described as an example, and a specific type of the core network device is not limited.

[0027] In order to better understand the technical solution of the present application, the following contents will be first described.

[0028] In the NR sidelink, the physical sidelink control channel (PSCCH) and the physical sidelink shared channel (PSSCH) adopt time division multiplexing (TDM) and frequency division multiplexing (FDM) methods. Second-stage system control information (2nd-stage SCI) is introduced and is borne by the PSSCH together with data. The 1st-stage SCI is borne by the PSCCH. It is used to indicate information such as the time-frequency resource position, priority, period, and corresponding modulation and coding scheme (MCS) occupied by the current transmission block TB, and no corresponding sidelink PRS is introduced.

[0029] NR positioning mainly introduces two types of reference signals for positioning: a downlink positioning reference signal (PRS) and an uplink sounding reference signal (SRS) for positioning.

[0030] The downlink positioning reference signal (PRS) adopts the Gold sequence and introduces the design of PRS resource, PRS resource set, PRS positioning frequency layer, etc. The PRS resource frequency domain can adopt comb structure, and the time domain can occupy multiple consecutive OFDM symbols. It adopts single port, and the maximum bandwidth should be less than or equal to 272 PRBs, and the minimum bandwidth should be greater than or equal to 24 PRBs. PRS only supports periodic transmission.

[0031] The uplink sounding reference signal (SRS) for positioning adopts a ZC sequence, which can occupy multiple OFDM symbols continuously in the time domain, and also adopts a comb structure in the frequency domain, which supports multiple sounding reference signals (SRS)-positioning (POS) to be frequency-division multiplexed on the same orthogonal frequency division multiplexing (OFDM) symbol. Compared with the single-port and double-port transmission, the advantage of the single-port is to increase the power spectral density of the SRS-POS signal at the base station receiver side, thereby improving the coverage and quality of the SRS-POS signal. The maximum bandwidth supported in the frequency domain is 272RBs, and the minimum bandwidth is 4RBs. SRS-POS supports three types of resource type configurations: periodic, semi-persistent, and aperiodic.

[0032] NR positioning supports "Radio Access Technology Independent (RAT-independent)" positioning technologies, including Global Navigation Satellite System (GNSS) positioning, atmospheric pressure sensor positioning, WLAN positioning, inertial navigation positioning, Bluetooth® positioning, and ground beacon system positioning.

[0033] NR positioning will study "RAT-dependent" and hybrid positioning techniques to improve positioning accuracy. Regarding the main schemes, gNB periodically transmits downlink PRS (Positioning Reference Signal), supports DL (Downlink)-TDOA, DL-AoD (Angle of Departure) measurement, and E-CID (Enhanced Cell Identification) detection, and terminal transmits uplink SRS (Sounding Reference Symbol) for positioning, supports UL (Uplink)-TDOA, UL-AoA (Angle of Arrival) measurement, supports uplink and downlink combined RTT (Round Trip Time) measurement, and can perform positioning based on multi-hop RTT (Multi-RTT) measured by multiple base stations.

[0034] The entire positioning flow of NR / LTE positioning is managed and scheduled by the base station and the Location Management Function (LMF).

[0035] The disadvantages of the related art are as follows:

[0036] The cellular network positioning scheme in the related art requires interaction between the gNB and the LMF and is not supported in scenarios outside cellular coverage, whereas SL positioning performs distributed positioning processing and may work in scenarios outside cellular coverage, without interaction between the gNB and the LMF, which cannot be supported by the mechanisms in the related art.

[0037] Hereinafter, the positioning method for sidelink according to the embodiments of the present application will be described in detail with reference to the drawings through several embodiments and application scenarios thereof.

[0038] As shown in FIG. 2, an embodiment of the present application provides a positioning method for sidelink, in which the method is performed by a first device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the first device is a second device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and includes steps 201 to 203.

[0039] Step 201: A first device transmits first information including a positioning request signaling to one or more second devices.

[0040] In the embodiment of the present application, the first information includes a positioning request signaling, and is used to request the second device to assist the first device in positioning (or ranging). The first device may transmit the first information to one or more second devices, that is, the first device may request the one or more second devices to assist the first device in positioning (or ranging).

[0041] Step 202: A first device transmits a first positioning reference signal to a second device, and the first device receives a second positioning reference signal from the second device.

[0042] In an embodiment of the present application, the first device and the second device exchange positioning reference signals, and the first device transmits a first positioning reference signal (which may be abbreviated as the first PRS or the first SL-PRS, etc., and is not limited in this application) to the second device, and the second device transmits a second positioning reference signal (which may be abbreviated as the second PRS or the second SL-PRS, etc., and is not limited in this application) to the first device.

[0043] In addition, the specific information transmission sequence flow in which the first device and the second device exchange positioning reference signals may have various embodiments, which will be described in detail later.

[0044] Step 203: The first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device.

[0045] In an embodiment of the present application, the first device may obtain a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, i.e., the position calculation may be performed in the first device, or the first device may receive the positioning calculation result of the first device from the second device, i.e., the position calculation may be performed in the second device and then transmitted from the second device to the first device.

[0046] Specifically, the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal may be the transmission and reception time difference between the first positioning reference signal and the second positioning reference signal. That is, the first device measures the time difference between the first PRS transmission and the second PRS reception, and the second device measures the time difference between the second PRS transmission and the first PRS reception. The time differences measured by both devices are combined to calculate the round-trip time (RTT) between the first device and the second device, and a final positioning calculation is performed according to the round-trip time, thereby realizing a positioning method based on the RTT.

[0047] In an embodiment of the present application, a first device sends first information to a second device to trigger a positioning flow, and the first device and the second device exchange a first positioning reference signal and a second positioning reference signal, and obtain a positioning calculation result according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, thereby realizing positioning measurement between UEs in a sidelink scenario.

[0048] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, the positioning reference signal request signaling being used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag being used to distinguish the current information as a positioning request signaling; and (2) Identification information including at least one of destination identification information, source identification information, and a dialogue process ID, the dialogue process ID representing ID information of a current positioning flow, and since a first device may request positioning support from a plurality of second devices, identification information for determining a positioning reference signal to be measured and a corresponding second device based on the dialogue process ID, preventing a situation in which a correspondence error of the positioning reference signal occurs during a dialogue process with a plurality of second devices; (3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (4) positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0049] In addition, at least a portion of the information content of the first information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0050] In one possible embodiment, step 202 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a first device transmitting a first positioning reference signal to a second device; (2) The first device receives second information and a second positioning reference signal from the second device, the second information being feedback information of the first information.

[0051] In the embodiment of the present application, the information interaction flow between the first device and the second device is as follows: first, the first device transmits a first positioning reference signal to the second device, and the first positioning reference signal may be transmitted simultaneously with the first information or may not be transmitted simultaneously with the first information; next, the second device transmits second information and a second positioning reference signal to the first device, and the second information is feedback information of the first information; when the second device transmits the second information and the second positioning reference signal to the first device, the two may be transmitted simultaneously or non-simultaneously, that is, the second information and the second positioning reference signal may be transmitted together in the same slot or may be transmitted in different slots. This rule will also be followed when describing other steps of transmitting multiple pieces of information later, that is, they may be transmitted simultaneously or non-simultaneously, and redundant description will be omitted.

[0052] Step 203 of the first device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a step of a first device performing a positioning measurement according to the second information and / or a target positioning reference signal to obtain a first positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the first device receiving from the second device a second positioning measurement value measured by the second device via second information; (3) The first device includes a step of obtaining a positioning calculation result of the first device according to the second information and / or the target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values.

[0053] In an embodiment of the present application, in accordance with the above dialogue flow, the first device performs positioning calculation based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to obtain the positioning calculation result of the first device, and the measurement result of the first device measuring the first positioning reference signal and the second positioning reference signal is referred to as the first positioning measurement value, and the measurement result of the second device measuring the first positioning reference signal and the second positioning reference signal is referred to as the second positioning measurement value, and hereafter, this naming method will be followed and redundant explanations will be omitted.

[0054] In the process of the first device performing positioning measurement to obtain a first positioning measurement value, the first device performs measurement according to the first positioning reference signal and the second positioning reference signal, i.e., the first device may directly measure the first positioning reference signal and the second positioning reference signal, or the first device may perform measurement according to the second information, the first positioning reference signal and the second positioning reference signal, the second information may carry configuration information or auxiliary information related to the positioning measurement, and is used by the first device to perform the positioning measurement; similarly, in the process of the first device performing positioning calculation, the first device may perform positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform positioning calculation according to the second information, the first positioning measurement value and the second positioning measurement value, the second information may carry configuration information or auxiliary information related to the positioning calculation, and is used by the first device to perform the positioning measurement, or the second information may carry coordinate information, position information, etc. of the second device, and is used by the first device to perform positioning calculation in an absolute positioning scenario.

[0055] In one possible embodiment, step 202 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a step of receiving second information and a second positioning reference signal from a second device by a first device, the second information being feedback information of the first information; (2) a step of the first device transmitting fourth information and a first positioning reference signal to the second device, the fourth information being feedback information of the second information; (3) the first device receiving fifth information from the second device, the fifth information being feedback information of the fourth information; Step 203 of the first device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a first device performs a positioning measurement in response to the second information and / or the target positioning reference signal to obtain a first positioning measurement value; (2) a step of the first device receiving from the second device a second positioning measurement value measured by the second device according to the fifth information, in which the target positioning reference signal includes a first positioning reference signal and a second positioning reference signal; (3) The first device obtains a positioning calculation result of the first device according to the first target information and / or the target positioning measurement value, wherein the first target information is the second information or the fifth information, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0056] In the embodiment of the present application, correspondingly, the positioning calculation is executed in the first device, and the first device and the second device have a dialogue according to the above dialogue flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the positioning calculation is performed by the first device; specifically, the first device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform the positioning calculation according to the second information or the fifth information (the second information or the fifth information carries the coordinate information, position information, etc. of the second device, i.e., the second device may carry the coordinate information, position information, etc. of the second device when transmitting the second information, and the second device may carry the coordinate information, position information, etc. of the second device when transmitting the fifth information), the first positioning measurement value, and the second positioning measurement value.

[0057] Step 203 in which the first device receives the positioning calculation result of the first device from the second device includes: (1) a first device performs a positioning measurement in response to the second information and / or the target positioning reference signal to obtain a first positioning measurement value; (2) the first device transmitting the first positioning measurement value to the second device via fourth information; (3) The first device includes a step of receiving a positioning calculation result of the first device from the second device via the fifth information, wherein the positioning calculation result of the first device is obtained by the second device according to the fourth information and / or the target positioning measurement value, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0058] In an embodiment of the present application, correspondingly, the positioning calculation is performed in the second device, and the first device and the second device interact according to the above-mentioned interaction flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the second device performs the positioning calculation; specifically, the second device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the second device may perform the positioning calculation according to the fourth information, the first positioning measurement value and the second positioning measurement value, and then the second device transmits the positioning calculation result to the first device.

[0059] In addition, when the first device transmits the first SL-PRS, 1) The resource location for transmitting the first SL-PRS and / or the sequence generation of the first SL-PRS may have a certain associative relationship with the content of the first information / second information / fourth information and / or the resource location it occupies, and may be in the same bandwidth part (BWP) or in different BWPs.

[0060] 2) Or, the first device multiplexes the first information or the fourth information and the first SL-PRS in one or more physical channels in the same slot and transmits them, for example, the first or fourth information is borne by a PSCCH (1st stage SCI) or a PSSCH (2nd stage SCI or MAC Control Element (MAC CE)) or a positioning dedicated channel, the SL-PRS is multiplexed at the same time-frequency position as the PSSCH, and the overlapping position of the PSSCH and the SL-PRS adopts a rate matching or punctured mapping method.

[0061] 3) Or, the first device may send a corresponding first SL-PRS in combination with a specific SL-PRS resource selection process according to an SL-PRS configuration parameter, which is configured or pre-configured and obtained by the first information / second information / fourth information and / or higher layer parameters, or the SL-PRS configuration parameter in the first information / fourth information is used to indicate the situation in which the first SL-PRS specifically occupies a time-frequency resource position.

[0062] 4) The transmission of the SL-PRS may be limited to occupying at least N (≧3) consecutive OFDM symbols, and the SL-PRS is overlap-mapped on the first two symbols, the SL-PRS in the first symbol can be used for both AGC processing and positioning measurement, and the last symbol is a GP.

[0063] 5) If the SL-PRS is a periodic transmission, triggering by signaling is not required, whereas if the SL-PRS is a non-periodic transmission or semi-persistent transmission, triggering by the first / second / fourth information is required.

[0064] 6) The first / second / third / fourth / fifth information may be transmitted separately from the first SL-PRS or may be transmitted bound to the first SL-PRS.

[0065] In addition, when the second device transmits the second SL-PRS, 1) The resource location for transmitting the second SL-PRS and / or the sequence generation of the second SL-PRS may have a certain associative relationship with the content of the second information / first information and / or the resource location it occupies, which may be in the same BWP or in a different BWP.

[0066] 2) Alternatively, the second device multiplexes the second information and the second SL-PRS in one or more physical channels in the same slot and transmits them. The second information is borne by a PSCCH (1st stage SCI) or a PSSCH (2nd stage SCI or MAC CE) or a positioning channel, the SL-PRS is multiplexed at the same time and frequency position as the PSSCH, and the overlapping position of the PSSCH and the SL-PRS adopts a rate matching or punctured mapping method.

[0067] 3) Or, the second device may transmit a corresponding second SL-PRS in combination with a specific SL-PRS resource selection process according to an SL-PRS configuration parameter, which is configured or pre-configured and obtained by the second information / first information and / or higher layer parameters, or the SL-PRS configuration parameter in the second information is used to indicate the situation in which the second SL-PRS specifically occupies a time-frequency resource position.

[0068] 4) The transmission of the SL-PRS may be limited to occupying at least N (≧3) consecutive OFDM symbols, and the SL-PRS is overlap-mapped on the first two symbols, the SL-PRS in the first symbol can be used for both AGC processing and positioning measurement, and the last symbol is a GP.

[0069] 5) When the SL-PRS is a periodic transmission, triggering by signaling is not required, whereas when the SL-PRS is a non-periodic transmission or semi-persistent transmission, triggering by the first information or the second information is required.

[0070] 6) The first / second / third / fourth / fifth information may be transmitted separately from the second SL-PRS or may be transmitted bound to the second SL-PRS.

[0071] For the subsequent related description regarding the first device transmitting the first SL-PRS and the second device transmitting the second SL-PRS, the above description may be referred to, and duplicate description will be omitted.

[0072] In one possible embodiment, the information contents of the second information, the fourth information and the fifth information appearing in the above described dialogue flow are: (1) At least a portion of the third information; (2) Positioning measurements; and (3) a timestamp of the positioning measurement; and (4) an indication of the quality of the positioning measurements; (5) positioning measurement value identification information; and (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; (1.3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0073] In addition, like the first information, at least a portion of the information content of the second information, fourth information and fifth information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content can be included in the second information, fourth information and fifth information, and the remaining portion is configured or pre-configured by higher layer parameters. The contents of the second information, the fourth information, and the fifth information may be the same or different, but here we will limit only the contents that may be included in the second information, the fourth information, and the fifth information.

[0074] The positioning measurement type may indicate the measurement that needs to be measured, such as SL-PRS RSRP, device SL-PRS transmit / receive time difference, relative time of arrival (RTOA), reference signal time difference (RSTD), angle of arrival (AOA), angle of departure (AOD), etc.

[0075] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, associated identity information of the first device or the second device, and the like.

[0076] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between when the first device as a reference and other adjacent first devices transmit positioning reference signals) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0077] The positioning method or capability information is used to indicate the method to be used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, AOD positioning, etc.; the positioning type information is used to distinguish the current positioning method into relative positioning, distance measurement and absolute positioning; The measurement window instruction information includes start position information and period information of the measurement window, the positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement quantities to perform auxiliary positioning; The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of the SL-PRS, configuration information of the SL-PRS, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the positioning measurement value of the device, and the SL-PRS positioning measurement value reporting granularity of the device.

[0078] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, a number of symbols occupied by the time domain, an SL-PRS time domain period, a number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied by the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and a SL-PRS priority information.

[0079] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0080] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning indication signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0081] The SL-PRS configuration parameter set may indicate a SL-PRS related configuration transmitted by the first device and / or the second device.

[0082] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0083] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0084] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0085] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0086] The quality indication of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution) and a number of error sampling points.

[0087] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as a reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0088] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information. (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by upper layer parameters, or a pre-configured time domain reference point; (2) if the target information supports retransmission, no time interval information is carried in the retransmitted target information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) The granularity of the time interval information satisfies at least one of the following: a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe.

[0089] In one possible embodiment, if the feedback delay bound information is carried in the target information or the higher layer parameters configure or pre-configure the feedback delay bound information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The method is: (1) a first device receiving feedback information corresponding to target information from a second device within feedback delay bound information; (2) the first device completes the entire positioning flow within the feedback delay bound information; Specifically, in step (1), If the first information includes feedback delay bound information, the first device receives second information from the second device within the feedback delay bound information; If the second information includes feedback delay bound information, the first device transmits the fourth information to the second device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the first device receives fifth information from the second device within the feedback delay bound information; The feedback delay limit information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time-domain reference point of the feedback delay bound information is a time-domain reference point configured or preconfigured by higher layer parameters or carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) the target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is Universal Time Coordinated (UTC) time; (6) if the target information supports retransmission and feedback delay bound information is carried in the retransmitted target information, the target time domain reference point of the feedback delay bound information is the slot position of the first information retransmission; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) When the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the implementation of feedback delay bound information.

[0090] In one possible embodiment, the method comprises: (1) a step of the first device causing the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to an instruction of the measurement window indication information; (4) the first device further includes at least one of the steps of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signal associated with the positioning measurement; and (1.3) Positioning measurement ID.

[0091] When multiple second devices assist the first device in performing positioning measurements, by taking into consideration transmitting positioning measurement values ​​corresponding to the second devices, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0092] In one possible embodiment, the step 201 of the first device transmitting the first information to one or more second devices comprises: the first device transmitting the first information to one or more second devices by a third device; In an embodiment of the present application, in a scenario where a third device is present to assist in the positioning interaction between the first device and the second device, the first device may transmit the first information to the third device.

[0093] The method is: The method further includes a step of the first device transmitting a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal to the third device, and receiving a positioning calculation result of the first device from the third device.

[0094] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning dialogue between the first device and the second device, the first device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0095] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device and the second device perform an interaction of a positioning reference signal, and the interaction processing with the information and the measurement values ​​is both performed by the third device.

[0096] The third device may specifically be a Location Management Function (LMF) or other network elements, and the embodiment of the present application does not limit the specific type of the third device.

[0097] As shown in FIG. 3, an embodiment of the present application provides a positioning method for sidelink, in which the method is performed by a second device, which may be specifically a terminal, and correspondingly, the counterpart device that communicates and interacts with the second device is a first device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and includes steps 301 to 303.

[0098] Step 301: A second device receives first information including a positioning request signaling from one or more first devices.

[0099] Step 302: The second device receives a first positioning reference signal from the first device, and the second device transmits a second positioning reference signal to the first device.

[0100] Step 303: The second device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtains the positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0101] The flow of the method by the second device shown in Figure 3 is the flow of the counterpart device corresponding to the method by the first device shown in Figure 2, so the information, parameters, information content, etc. listed below can be understood by referring to the relevant explanation of the method by the first device described above, and duplicate explanations of the method by the second device will be omitted.

[0102] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, the positioning reference signal request signaling being used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag being used to distinguish the current information as a positioning request signaling; and (2) Identification information including at least one of destination identification information, source identification information, and a dialogue process ID, the dialogue process ID representing ID information of a current positioning flow, and since a first device may request positioning support from a plurality of second devices, identification information for determining a positioning reference signal to be measured and a corresponding second device based on the dialogue process ID, preventing a situation in which a correspondence error of the positioning reference signal occurs during a dialogue process with a plurality of second devices; (3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (4) positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0103] In addition, at least a portion of the information content of the first information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0104] In one possible embodiment, step 302 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device includes: (1) the second device receives a first positioning reference signal from the first device; (2) the second device transmits second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; The step 303 of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device includes: (1) a second device performs positioning measurements according to the first information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the second device transmitting the second positioning measurement value to the first device via the second information.

[0105] In one possible embodiment, step 302 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device includes: (1) a step of transmitting second information and a second positioning reference signal from a second device to a first device, the second information being feedback information of the first information; (2) a step of the second device receiving fourth information and a first positioning reference signal from the first device, the fourth information being feedback information of the second information; (3) The second device transmits fifth information to the first device, the fifth information being feedback information of the fourth information.

[0106] In one possible embodiment, the step 303 of transmitting the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal from the second device to the first device comprises: a second device performing positioning measurements according to the fourth information and / or the target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device via the fifth information; Step 303 of the second device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device, (1) a step of a second device performing positioning measurement according to the fourth information and / or a target positioning reference signal to obtain a second positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the second device receiving from the first device the first positioning measurement value measured by the first device via the fourth information; (3) the second device obtains a positioning calculation result of the first device according to the fourth information and / or the target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; (4) The second device includes a step of transmitting the positioning calculation result of the first device to the first device using the fifth information.

[0107] In one possible embodiment, the information contents of the second information, the fourth information and the fifth information appearing in the above described dialogue flow are: (1) At least a portion of the third information; (2) Positioning measurements; and (3) a timestamp of the positioning measurement; and (4) an indication of the quality of the positioning measurements; (5) positioning measurement value identification information; and (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; (1.3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0108] In addition, like the first information, at least a portion of the information content of the second information, fourth information and fifth information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content can be included in the second information, fourth information and fifth information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0109] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the time interval information is: (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by upper layer parameters, or a pre-configured time domain reference point; (2) if the target information supports retransmission, no time interval information is carried in the retransmitted target information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) the granularity of the time interval information includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0110] In one possible embodiment, if the feedback delay bound information is carried in the target information or the higher layer parameters configure or pre-configure the feedback delay bound information, the method comprises: (1) a first device receiving feedback information corresponding to target information from a second device within feedback delay bound information; (2) the first device completes the entire positioning flow within the feedback delay bound information; Specifically, in step (1), If the first information includes feedback delay bound information, the second device transmits the second information to the first device within the feedback delay bound information; If the second information includes feedback delay bound information, the second device transmits fourth information to the first device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the second device transmits the fifth information to the first device within the feedback delay bound information; The feedback delay limit information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time-domain reference point of the feedback delay bound information is a time-domain reference point configured or preconfigured by higher layer parameters or carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) the target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and feedback delay bound information is carried in the retransmitted target information, the target time domain reference point of the feedback delay bound information is the slot position of the first information retransmission; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) When the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the implementation of feedback delay bound information.

[0111] In one possible embodiment, the method comprises: (1) a step of the first device causing the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to an instruction of the measurement window indication information; (4) the first device further includes at least one of the steps of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signal associated with the positioning measurement; and (1.3) Positioning measurement ID.

[0112] When multiple second devices assist the first device in performing positioning measurements, by taking into consideration transmitting positioning measurement values ​​corresponding to the second devices, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0113] In one possible embodiment, the step 201 of the second device receiving the first information from one or more first devices comprises: The second device is connected to one or more third devices by a third device. 1 receiving first information from a device; The method is: The method further includes a step of the second device transmitting a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal to the third device, the third device obtaining a positioning calculation result of the first device, and the third device transmitting the positioning calculation result of the first device to the first device.

[0114] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning dialogue between the first device and the second device, the second device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0115] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device and the second device perform an interaction of a positioning reference signal, and the interaction processing with the information and the measurement values ​​is both performed by the third device.

[0116] The third device may specifically be an LMF or other network elements, and the embodiment of the present application does not limit the specific type of the third device.

[0117] As shown in FIG. 4, an embodiment of the present application provides a positioning method for sidelink, in which the method is performed by a first device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the first device is a second device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and includes steps 401 to 403.

[0118] Step 401: A first device transmits first information including positioning indication signaling to one or more second devices.

[0119] In the embodiment of the present application, the first information includes positioning instruction signaling, and is used for instructing the second device that the first device assists the second device in positioning (or ranging). One or more first devices may transmit the first information to the second device, that is, one or more first devices may assist the second device in positioning (or ranging).

[0120] Step 402: A first device transmits a first positioning reference signal to a second device, and the first device receives a second positioning reference signal from the second device.

[0121] In an embodiment of the present application, the first device and the second device exchange positioning reference signals, and the first device transmits a first positioning reference signal (which may be abbreviated as the first PRS or the first SL-PRS, etc., and is not limited in this application) to the second device, and the second device transmits a second positioning reference signal (which may be abbreviated as the second PRS or the second SL-PRS, etc., and is not limited in this application) to the first device.

[0122] In addition, the specific information transmission sequence flow in which the first device and the second device exchange positioning reference signals may have various embodiments, which will be described in detail later.

[0123] Step 403: The first device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or the first device obtains the positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0124] In an embodiment of the present application, the first device may transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, and the positioning calculation may be performed by the second device, i.e., the position calculation may be performed in the second device, or the first device may obtain the positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, i.e., the position calculation may be performed in the first device, and then the positioning calculation result may be transmitted to the second device.

[0125] Specifically, the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal may be the transmission and reception time difference between the first positioning reference signal and the second positioning reference signal, that is, the first device measures the time difference between the first PRS transmission and the second PRS reception, and the second device measures the time difference between the second PRS transmission and the first PRS reception, and the time differences measured by both are combined to calculate the RTT between the first device and the second device, and the final positioning calculation is performed according to the round-trip time, thereby realizing a positioning method based on the RTT.

[0126] In one possible embodiment, the first information is: (1) Signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag, the positioning reference signal indication signaling being used to notify a second device that the first device can assist the second device in positioning or ranging, and the positioning indication flag being used to distinguish the current information as a positioning indication signaling; (2) Identification information including at least one of destination identification information, source identification information, and a dialogue process ID, the dialogue process ID representing ID information of a current positioning flow, and since a first device may request positioning support from a plurality of second devices, identification information for determining a positioning reference signal to be measured and a corresponding second device based on the dialogue process ID, preventing a situation in which a correspondence error of the positioning reference signal occurs during a dialogue process with a plurality of second devices; (3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (4) positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0127] In addition, at least a portion of the information content of the first information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0128] In one possible embodiment, step 402 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device includes the steps of: (1) a step of receiving second information and a second positioning reference signal from a second device by a first device, the second information being feedback information of the first information; (2) The first device transmits fourth information and the first positioning reference signal to the second device, the fourth information being feedback information of the second information.

[0129] In the embodiment of the present application, the information interaction flow between the first device and the second device is as follows: first, the second device transmits the second information and the second positioning reference signal to the first device, and the two may be transmitted simultaneously or not simultaneously, i.e., the second information and the second positioning reference signal may be transmitted together in the same slot or in different slots. Note that the same rule will be followed when describing other steps of transmitting multiple pieces of information later, i.e., the two may be transmitted simultaneously or not simultaneously, and redundant description will be omitted. After receiving the second information and the second positioning reference signal, the first device transmits the fourth information and the first positioning reference signal to the second device, and the two may be transmitted simultaneously or not simultaneously.

[0130] Step 403 in which the first device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device includes: (1) a step of a first device performing a positioning measurement according to the second information and / or a target positioning reference signal to obtain a first positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the first device transmitting the first positioning measurement value to the second device via the fourth information.

[0131] In the embodiment of the present application, in accordance with the above dialogue flow, the first device measures the first and second positioning reference signals to obtain a first positioning measurement value, and then transmits the first positioning measurement value to the second device. Note that the measurement result of the first device measuring the first and second positioning reference signals is called the first positioning measurement value, and the measurement result of the second device measuring the first and second positioning reference signals is called the second positioning measurement value, and hereafter, this naming method will be followed to omit redundant description.

[0132] In the process in which the first device performs positioning measurement to obtain a first positioning measurement value, the first device performs measurement according to the first positioning reference signal and the second positioning reference signal, i.e., the first device may directly measure the first positioning reference signal and the second positioning reference signal, or the first device may perform measurement according to second information, the first positioning reference signal and the second positioning reference signal, and the second information may carry configuration information or auxiliary information related to the positioning measurement, which is used by the first device to perform the positioning measurement.

[0133] In the embodiment of the present application, the positioning calculation may be performed in the second device correspondingly, and after the second device receives the first positioning measurement value from the first device, the second device performs the positioning calculation according to the first positioning measurement value and the second positioning measurement value measured by the second device. In the process of the second device performing the positioning calculation, the second device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the second device performs the positioning calculation according to the first information or the fourth information, and the first positioning measurement value and the second positioning measurement value, and the first information or the fourth information may carry configuration information or auxiliary information related to the positioning calculation, which is used by the second device to perform the positioning measurement, or the first information or the fourth information may carry the coordinate information, position information, etc. of the first device, which is used by the second device to perform the positioning calculation in the absolute positioning scenario.

[0134] In one possible embodiment, step 402 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device includes the steps of: (1) a first device transmitting a first positioning reference signal to a second device; (2) a step of the first device receiving second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; (3) the first device transmits fourth information to the second device, the fourth information being feedback information of the second information; Step 403 in which the first device transmits the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device includes: (1) a step of a first device performing a positioning measurement according to the second information and / or a target positioning reference signal to obtain a first positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the first device transmitting the first positioning measurement value to the second device via fourth information; Step 403 of the first device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device, (1) a step of a first device performing a positioning measurement according to the second information and / or a target positioning reference signal to obtain a first positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the first device receiving from the second device a second positioning measurement value measured by the second device via second information; (3) the first device obtains a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; (4) The first device includes a step of transmitting the positioning calculation result of the second device to the second device using the fourth information.

[0135] In an embodiment of the present application, corresponding to this, the positioning calculation is executed in the first device, and the first device and the second device dialogue according to the above dialogue flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the first device performs the positioning calculation; specifically, the first device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform the positioning calculation according to the second information, the first positioning measurement value, and the second positioning measurement value.

[0136] In one possible embodiment, the information content of the second and fourth information in the above described dialogue flow is: (1) At least a portion of the third information; (2) Positioning measurements; and (3) a timestamp of the positioning measurement; and (4) an indication of the quality of the positioning measurements; (5) positioning measurement value identification information; and (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; (1.2) identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; (1.3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0137] In addition, like the first information, at least a portion of the information content of the second information and the fourth information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the second information and the fourth information, and the remaining portion may be configured or pre-configured by higher layer parameters.

[0138] The positioning metric type may include indicating the metric that needs to be measured, for example, SL-PRS RSRP, device SL-PRS transmit / receive time difference, RTOA, RSTD, Angle of Arrival (AOA), AOD, etc.

[0139] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, associated identity information of the first device or the second device, and the like.

[0140] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between when the first device as a reference and other adjacent first devices transmit positioning reference signals) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0141] The positioning method or capability information is used to indicate the method to be used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, or AOD positioning.

[0142] The positioning type information is used to distinguish the current positioning method into relative positioning, ranging, and absolute positioning.

[0143] The measurement window indication information includes start position information and period information of the measurement window.

[0144] The positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement quantities and perform assisted positioning.

[0145] The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of the SL-PRS, configuration information of the SL-PRS, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the positioning measurement value of the device, and the SL-PRS positioning measurement value reporting granularity of the device.

[0146] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, a number of symbols occupied by the time domain, an SL-PRS time domain period, a number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied by the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and a SL-PRS priority information.

[0147] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0148] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning indication signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0149] The SL-PRS configuration parameter set may indicate a SL-PRS related configuration transmitted by the first device and / or the second device.

[0150] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0151] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0152] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0153] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0154] The quality indication of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution) and a number of error sampling points.

[0155] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as a reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0156] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information. (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by upper layer parameters, or a pre-configured time domain reference point; (2) if the target information supports retransmission, no time interval information is carried in the retransmitted target information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) The granularity of the time interval information satisfies at least one of the following: a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe.

[0157] In one possible embodiment, if the feedback delay bound information is carried in the target information or the higher layer parameters configure or pre-configure the feedback delay bound information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The method is: (1) a first device receiving feedback information corresponding to target information from a second device within feedback delay bound information; (2) the first device completes the entire positioning flow within the feedback delay bound information; Specifically, in step (1), If the first information includes feedback delay bound information, the first device receives second information from the second device within the feedback delay bound information; If the second information includes feedback delay bound information, the first device transmits the fourth information to the second device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the first device receives fifth information from the second device within the feedback delay bound information; The feedback delay limit information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time-domain reference point of the feedback delay bound information is a time-domain reference point configured or preconfigured by higher layer parameters or carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) the target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and feedback delay bound information is carried in the retransmitted target information, the target time domain reference point of the feedback delay bound information is the slot position of the first information retransmission; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) When the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the implementation of feedback delay bound information.

[0158] In one possible embodiment, the method comprises: (1) a step of the first device causing the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to an instruction of the measurement window indication information; (4) the first device further includes at least one of the steps of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signal associated with the positioning measurement; and (1.3) Positioning measurement ID.

[0159] Considering that when multiple first devices assist a second device in performing positioning measurements, the first and second devices need to transmit corresponding positioning measurement values ​​to the second devices, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0160] In one possible embodiment, the step 201 of the first device transmitting the first information to one or more second devices comprises: The first device includes transmitting the first information to one or more second devices by the third device.

[0161] In an embodiment of the present application, in a scenario where a third device is present to assist in the positioning interaction between the first device and the second device, the first device may transmit the first information to the third device.

[0162] The method is: The method further includes a step of the first device transmitting a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal to the third device, and receiving a positioning calculation result of the first device from the third device.

[0163] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning dialogue between the first device and the second device, the first device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0164] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device and the second device perform an interaction of a positioning reference signal, and the interaction processing with the information and the measurement values ​​is both performed by the third device.

[0165] As shown in FIG. 5, an embodiment of the present application provides a positioning method for sidelink, in which the method is performed by a second device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the second device is a first device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and includes steps 501 to 503.

[0166] Step 501: A second device receives first information including positioning indication signaling from one or more first devices.

[0167] Step 502: The second device receives a first positioning reference signal from the first device, and the second device transmits a second positioning reference signal to the first device.

[0168] Step 503: The second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device.

[0169] The flow of the method by the second device shown in Figure 5 is the flow of the counterpart device corresponding to the method by the first device shown in Figure 4, so the information, parameters, information content, etc. listed below can be understood by referring to the relevant explanation of the method by the first device described above, and duplicate explanations of the method by the second device will be omitted.

[0170] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, the positioning reference signal request signaling being used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag being used to distinguish the current information as a positioning request signaling; and (2) Identification information including at least one of destination identification information, source identification information, and a dialogue process ID, the dialogue process ID representing ID information of a current positioning flow, and since a first device may request positioning support from a plurality of second devices, identification information for determining a positioning reference signal to be measured and a corresponding second device based on the dialogue process ID, preventing a situation in which a correspondence error of the positioning reference signal occurs during a dialogue process with a plurality of second devices; (3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (4) positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0171] In addition, at least a portion of the information content of the first information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0172] In one possible embodiment, step 502 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device includes: (1) a step of transmitting second information and a second positioning reference signal from a second device to a first device, the second information being feedback information of the first information; (2) a step of the second device receiving fourth information and a first positioning reference signal from the first device, the fourth information being feedback information of the second information; Step 503 of the second device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a step of a second device performing positioning measurement according to the fourth information and / or a target positioning reference signal to obtain a second positioning measurement value, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the second device receiving from the first device the first positioning measurement value measured by the first device via the fourth information; (3) the second device determines a second target according to the second target information and / or the target positioning measurements; 2 obtaining a positioning calculation result of the device, wherein the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0173] In one possible embodiment, step 502 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device includes: (1) a second device receiving a first positioning reference signal from a first device; (2) a step of the second device transmitting second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; (3) the second device receiving fourth information from the first device, the fourth information being feedback information of the second information; Step 503 of the second device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a second device performs positioning measurements according to the first information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the second device receiving from the first device the first positioning measurement value measured by the first device via the fourth information; (3) the second device obtains a positioning calculation result of the second device according to the second target information and / or the target positioning measurement value, the second target information being the first information or the fourth information, and the target positioning measurement value including the first positioning measurement value and the second positioning measurement value; Step 503 of the second device receiving the positioning calculation result of the second device from the first device includes: (1) a second device performs positioning measurements according to the first information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including a first positioning reference signal and a second positioning reference signal; (2) the second device transmitting second positioning measurements to the first device via second information; (3) The second device includes a step of receiving a positioning calculation result of the second device from the first device via the fourth information, wherein the positioning calculation result of the second device is obtained by the first device according to the second information and / or the target positioning measurement value, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0174] In one possible embodiment, the information content of the second and fourth information appearing in the above described dialogue flow is: (1) At least a portion of the third information; (2) Positioning measurements; and (3) a timestamp of the positioning measurement; and (4) an indication of the quality of the positioning measurements; (5) positioning measurement value identification information; and (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; (1.2) identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; (1.3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0175] In addition, like the first information, at least a portion of the information content of the second information and the fourth information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the second information and the fourth information, and the remaining portion may be configured or pre-configured by higher layer parameters.

[0176] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the time interval information is: (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by upper layer parameters, or a pre-configured time domain reference point; (2) if the target information supports retransmission, no time interval information is carried in the retransmitted target information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) the granularity of the time interval information includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0177] In one possible embodiment, if the feedback delay bound information is carried in the target information or the higher layer parameters configure or pre-configure the feedback delay bound information, the method comprises: (1) a first device receiving feedback information corresponding to target information from a second device within feedback delay bound information; (2) the first device completes the entire positioning flow within the feedback delay bound information; Specifically, in step (1), If the first information includes feedback delay bound information, the second device transmits the second information to the first device within the feedback delay bound information; If the second information includes feedback delay bound information, the second device transmits fourth information to the first device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the second device transmits the fifth information to the first device within the feedback delay bound information; The feedback delay limit information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time-domain reference point of the feedback delay bound information is a time-domain reference point configured or preconfigured by higher layer parameters or carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) the target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and feedback delay bound information is carried in the retransmitted target information, the target time domain reference point of the feedback delay bound information is the slot position of the first information retransmission; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) When the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the implementation of feedback delay bound information.

[0178] In one possible embodiment, the method comprises: (1) a step of the first device causing the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to an instruction of the measurement window indication information; (4) the first device further includes at least one of the steps of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signal associated with the positioning measurement; and (1.3) Positioning measurement ID.

[0179] Considering that when multiple first devices assist a second device in performing positioning measurements, the first and second devices need to transmit corresponding positioning measurement values ​​to the second devices, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0180] In one possible embodiment, the step 501 of the second device receiving first information from one or more first devices comprises: The second device is connected to one or more third devices by a third device. 1 receiving first information from a device; The method is: The method further includes a step of the second device transmitting a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal to the third device, and receiving a positioning calculation result of the second device from the third device.

[0181] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning dialogue between the first device and the second device, the second device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0182] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device and the second device perform an interaction of a positioning reference signal, and the interaction processing with the information and the measurement values ​​is both performed by the third device.

[0183] The third device may specifically be an LMF or other network elements, and the embodiment of the present application does not limit the specific type of the third device.

[0184] The technical solution of the present application will be described below with reference to specific examples.

[0185] Example 1: The first information includes positioning request signaling, that is, the second device assists the first device in positioning. As shown in Figures 6a and 6b, Figure 6a corresponds to the case where one second device (UE2) assists the first device (UE1), and Figure 6b corresponds to the case where multiple second devices (UE2, UE3, UE4) assist the first device (UE1). The specific flow is as follows:

[0186] Step 1: A first device transmits first information (positioning request signaling) to request a second device to assist in ranging or positioning, and at the same time, requests the second device to transmit an SL-PRS.

[0187] Step 2: After receiving the positioning request signaling, one or more second devices determine a positioning method to be used in the positioning process according to the content of the positioning request signaling, and transmit a second SL-PRS according to a SL-PRS resource selection process or based on higher layer parameters / pre-configuration parameters and the first information.

[0188] If the SL-PRS of the second device is a periodic transmission, there is no need to trigger, and if the SL-PRS of the second device is a non-periodic or semi-persistent transmission, it needs to be triggered by the first information or the second information. The specific transmission start position depends on the content of the first or second information.

[0189] If the positioning process is used for absolute positioning, the second information should carry the contents of positioning assistance information, etc. In addition, the time domain positions of the SL-PRS transmitted from multiple second devices may be limited to be within a limited window or to multiplex the same time domain resource.

[0190] The second information may further include contents such as SL-PRS search assistance information and measurement window indication information.

[0191] Step 3: The first device completes receiving the second SL-PRS and transmitting the first SL-PRS according to the second information and the higher layer parameters or the pre-configured parameters, and measures the transmission and reception time difference of the SL-PRS. If the second device supports position calculation assistance, it may report the positioning measurement value to the second device through the fourth information; otherwise, it does not need to report the positioning measurement value to the second device.

[0192] If the SL-PRS of the first device is a periodic transmission, there is no need to trigger, and if the SL-PRS of the first device is a non-periodic or semi-persistent transmission, it needs to be triggered by the second information or the fourth information. The specific transmission start position depends on the content of the second or fourth information.

[0193] The fourth information may further include contents such as SL-PRS search assistance information and measurement window indication information.

[0194] Step 4: The second device completes corresponding positioning measurements according to the fourth information and the first SL-PRS. If the second device supports positioning and the first device reports corresponding positioning measurements, the second device may perform positioning and feed back the results to the first device. Otherwise, the second device reports the positioning measurements to the first device.

[0195] Step 5: The first device completes position calculation by combining the SL-PRS transmission and reception time difference measured by itself, the SL-PRS transmission and reception time difference reported by the second device, and the positioning assistance data.

[0196] In addition, in order to avoid affecting accuracy when calculating the position, the measured values ​​of the SL-PRS transmission and reception time difference of the two devices must correspond to SL-PRS of the same pair or SL-PRS that are close in distance in the time domain.

[0197] Example 2: The first information includes positioning request signaling, that is, the second device assists the first device in positioning. As shown in Figure 6c, Figure 6c corresponds to the case where one second device (UE2) assists the first device (UE1). For the case where multiple second devices assist the first device, Figure 6b and Figure 6c can be combined to understand the case, and the specific flow is as follows:

[0198] Step 1: A first device transmits first information (positioning request signaling), and the first device further transmits a first SL-PRS to request a second device to support its RTT positioning.

[0199] Step 2: The second device receives the first SL-PRS according to the first information and / or the higher layer parameters or the pre-configured parameters, measures the transmission and reception time difference of the SL-PRS, and reports the measurement result to the first device.

[0200] In an absolute positioning scenario, one or more second devices need to report measurement information and positioning aiding information, so in the case of periodic or semi-persistent transmission of SL-PRS, the time domain positions of the SL-PRSs measured by each second device may be different, or the distance between the time domain positions of the SL-PRSs measured may be too large, resulting in a decrease in the positioning accuracy of the first device. In order to solve this problem,

[0201] By limiting the measurement interval of the second device using the first information, it is possible to ensure that the time domain positions of the SL-PRS measured by multiple second devices are the same or the measurement intervals are maintained within a certain window.

[0202] Alternatively, the second device may report multiple measurement quantities and also report the measurement timestamp + the timestamp of the corresponding SL-PRS (or the time domain location information of the corresponding SL-PRS: subframe number + slot number, etc.), thereby ensuring that the first device can select the corresponding measurement result from the multiple positioning measurement results reported by the multiple second devices and perform position calculation.

[0203] Step 3: The first device uses the second information to receive the second SL-PRS and measure the SL-PRS transmission and reception time difference, calculates its position, and completes ranging or positioning.

[0204] In addition, in order to avoid affecting accuracy when calculating the position, the measured values ​​of the SL-PRS transmission and reception time difference of the two devices must correspond to SL-PRS of the same pair or SL-PRS that are close in distance in the time domain.

[0205] Example 3: The first information includes positioning request signaling, that is, the second device assists the first device in positioning. As shown in Figure 6d, Figure 6d corresponds to the case where one second device (UE2) assists the first device (UE1), and for the case where multiple second devices assist the first device, Figure 6b and Figure 6d can be combined to understand, and the specific flow is as follows:

[0206] The flow of Figure 6d differs from the flow of Figure 6c in that the final position calculation is performed in the second device, the first device transmits PRS measurements to the second device via the fourth information, the second device performs the position calculation, and then transmits the calculation results to the first device via the fifth information.

[0207] Example 4: The first information includes positioning instruction signaling, that is, the first device assists the second device in positioning. As shown in Figure 6e, Figure 6e corresponds to the case where one first device (UE1) assists the second device (UE2), and for the case where multiple first devices assist the second devices, Figure 6b and Figure 6e can be combined to understand, and the specific flow is as follows:

[0208] Step 1: The first device transmits first information (positioning command signaling) to notify the second device that the first device can provide the second device with a positioning function. The first information may include SL-PRS request signaling, positioning request / positioning instruction flag, destination identification information, source identification information, SL-PRS configuration parameters, positioning measurement type information, positioning assistance information, SL-PRS search assistance information, and positioning method / capability information.

[0209] Step 2: After receiving the positioning command signaling, the second device triggers an RTT positioning flow, transmits second information to the first device, and triggers transmission of a second SL-PRS.

[0210] The second information may include SL-PRS request signaling, positioning request / positioning indication flag, destination identification information, source identification information, feedback delay bound information, SL-PRS configuration parameters, positioning method / capability information, time interval information, time domain reference point, and measurement window indication information, etc.

[0211] Step 3: After receiving the second information, the first device transmits the first SL-PRS and receives the second SL-PRS according to the second information or the upper layer parameters / pre-configured parameters, and the fourth information carries the SL-PRS transmission and reception time difference, positioning aiding information, a timestamp associated with the measurement value, and positioning measurement value identification information, etc.

[0212] Step 4: After receiving the fourth information, the second device receives the first SL-PRS according to the fourth information or the upper layer parameters / pre-configured parameters, and uses the content of the fourth information to complete the measurement of the transmission and reception time difference of the SL-PRS. Then, it performs position calculation and completes ranging or positioning.

[0213] In addition, in order to avoid affecting accuracy when calculating the position, the measured values ​​of the SL-PRS transmission and reception time difference of the two devices must correspond to SL-PRS of the same pair or SL-PRS that are close in distance in the time domain.

[0214] Example 4: The first information includes positioning instruction signaling, that is, the first device assists positioning by the second device, as shown in Figure 6f, Figure 6f corresponds to the case where one first device (UE1) assists the second device (UE2), and for the case where multiple first devices assist the second devices, Figure 6b and Figure 6f can be combined to understand, and the specific flow is as follows:

[0215] The flow of Figure 6f differs from the flow of Figure 6e in that the final position calculation is performed in the first device, the second device transmits PRS measurements to the first device via the fifth information, the first device performs a position calculation, and then transmits the calculation results to the second device via the sixth information.

[0216] Example 5: The first information includes positioning instruction signaling, that is, the first device assists positioning by the second device, as shown in Figure 6g, Figure 6g corresponds to the case where one first device (UE1) assists the second device (UE2), and for the case where multiple first devices assist the second devices, Figure 6b and Figure 6g can be combined to understand, and the specific flow is as follows:

[0217] The flow in Figure 6g differs from the flow in Figure 6e in that the second device transmits PRS measurement values ​​to the first device via the fifth information, the first device performs a position calculation, and then transmits the PRS measurement values ​​or calculation results to the second device via the sixth information.

[0218] The information content of the sixth piece of information appearing in the dialogue flow described above is as follows: (1) At least a portion of the third information; (2) Positioning measurements; and (3) a timestamp of the positioning measurement; and (4) an indication of the quality of the positioning measurements; (5) positioning measurement value identification information; and (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; (1.3) positioning reference signal configuration information including at least one of a positioning reference signal configuration parameter, a time interval information, and a time domain reference point; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0219] In addition, like the first information, at least a portion of the information content of the sixth information may be configured or pre-configured by higher layer parameters, i.e., only a portion of the information content may be included in the sixth information, and the remaining portion is configured or pre-configured by higher layer parameters.

[0220] The positioning metric type may include indicating the metric that needs to be measured, for example, SL-PRS RSRP, device SL-PRS transmit / receive time difference, RTOA, RSTD, AOA, AOD, etc.

[0221] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, associated identity information of the first device or the second device, and the like.

[0222] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between when the first device as a reference and other adjacent first devices transmit positioning reference signals) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0223] The positioning method or capability information is used to indicate the method to be used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, or AOD positioning.

[0224] The positioning type information is used to distinguish the current positioning method into relative positioning, ranging, and absolute positioning.

[0225] The measurement window indication information includes start position information and period information of the measurement window.

[0226] The positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement quantities and perform assisted positioning.

[0227] The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of the SL-PRS, configuration information of the SL-PRS, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the positioning measurement value of the device, and the SL-PRS positioning measurement value reporting granularity of the device.

[0228] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, a number of symbols occupied by the time domain, an SL-PRS time domain period, a number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied by the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and a SL-PRS priority information.

[0229] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0230] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning indication signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0231] The SL-PRS configuration parameter set may indicate a SL-PRS related configuration transmitted by the first device and / or the second device.

[0232] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0233] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0234] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0235] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0236] The quality indication of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution) and a number of error sampling points.

[0237] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as a reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0238] Example 6: The first information includes positioning instruction signaling, that is, the first device assists the second device in positioning, and as shown in Figure 6h, Figure 6h corresponds to the case where one first device (UE1) assists the second device (UE2), and for the case where multiple first devices assist the second devices, Figure 6b and Figure 6h can be combined to understand, and the specific flow is as follows:

[0239] Step 1: The first device transmits the first information (positioning command signaling) to inform the second device that the first device can provide the positioning function to the second device. The first device also transmits the first SL-PRS.

[0240] The first information is a positioning instruction signaling, and may include a SL-PRS instruction signaling, a positioning request / positioning instruction flag, a destination identification information, a source identification information, a SL-PRS configuration parameter, a positioning assistance information, a SL-PRS search assistance information, a positioning method / capability information, a time interval information, and a time domain reference point; The SL-PRS periods of the multiple first devices are the same or close together, and the time domain locations of the SL-PRS are relatively close together or occupy the same slots.

[0241] Step 2: The second device receives the first information, receives the first SL-PRS according to the first information and the higher layer parameters or the pre-configured parameters, transmits the second SL-PRS, and completes the measurement of the SL-PRS transmission and reception time difference. If the first device supports position calculation, the second device may further report the positioning measurement to the first device.

[0242] The second information may include SL-PRS indication signaling, destination identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, time interval information, time domain reference points, positioning measurement values, time stamps associated with the measurement values ​​(including a system frame number and a slot number, and used to indicate the validity time of the current measurement value), a quality indication of the measurement value, and positioning measurement value identification information.

[0243] Step 3: The first device receives the second information, receives a second SL-PRS according to the second information and the higher layer parameters or the pre-configured parameters, and measures the SL-PRS transmission and reception time difference. If the first device supports position calculation and receives the measurement amount reported from the second device, the first device performs position calculation around the second device and feeds back the result to the second device. Otherwise, the first device feeds back only the positioning measurement amount to the second device through the fourth information.

[0244] The fourth information includes at least the positioning auxiliary information, the positioning measurement value, a timestamp associated with the measurement value (including a system frame number and a slot number, and used to indicate the validity time of the current measurement value), an indication of the quality of the measurement value, and positioning measurement value identification information.

[0245] Step 4: The second device receives the fourth information and completes the positioning process.

[0246] In addition, in order to avoid affecting accuracy when calculating the position, the measured values ​​of the SL-PRS transmission and reception time difference of the two devices must correspond to SL-PRS of the same pair or SL-PRS that are close in distance in the time domain.

[0247] Example 6: Referring to FIG. 6i, the specific flow of the positioning flow when LMF exists in SL-Positioning is as follows:

[0248] This scenario is mainly applied to absolute positioning, for example, the anchor node is an RSU, the SL-PRS transmission parameters of each anchor node RSU are periodic continuous transmission, and the resources occupied by the SL-PRS of each anchor node are orthogonal. However, the SL-PRS configuration parameters of the anchor node RSU are not limited to those pre-configured, and may be transmitted and configured by the SL-PRS determined in the LMF configuration or SL-PRS dedicated resource selection process. In the above method, the first device needs to be notified of the corresponding SL-PRS configuration parameters.

[0249] (1) The first device requests the Location service (first information) from the LMF.

[0250] (2) One or more second devices (anchor node RSUs) interact with the LMF to exchange information necessary for positioning, such as positioning aiding information and SL-PRS configuration parameter sets.

[0251] To determine the anchor node, a dialogue flow is required between the first and second devices.

[0252] (3) Based on the positioning methods / capabilities supported by the first and second devices, the LMF determines the positioning method (TDOA, AOA / AOD, RTT, etc.) to be used in this positioning flow, and determines the auxiliary information, positioning measurement type, and positioning type required for the corresponding method.

[0253] (4) At this time, the first device can transmit the SL-PRS, but since there is no scheduling by the base station, the resource configuration of the SL-PRS is as follows: a. The first device performs SL-PRS resource selection based on the sensing result and the SL-PRS configuration parameter information determined by the first device itself; b. The LMF determines the SL-PRS resource configuration information of the first device, and is similar to LMF scheduling (sends the SL-PRS configuration parameters to the first device).

[0254] (5) The first device is: a. It can determine the activation time of the SL-PRS by itself and then inform the LMF of the configuration information and the activation time; b. The LMF may activate the transmission of the SL-PRS.

[0255] (6) The LMF notifies the second device of an SL-PRS measurement and notifies the second device to transmit the SL-PRS configuration information and related measurement information to the corresponding first device; or Alternatively, there is no need to inform the second device of specific SL-PRS configuration information, and the transmission and reception of the SL-PRS is similar to the resource allocation process in the R16 stage.

[0256] (7) The transmission of the SL-PRS by the first device and the second device may be a periodic, aperiodic, or semi-persistent transmission.

[0257] (8) The LMF provides assistance data to the first device, e.g., sends SL-PRS configuration information related to the second device to the first device and informs the first device of all relevant information required for the SL-PRS (e.g., positioning measurement quantity types) measurements.

[0258] (9) The LMF requests the first device to perform an RTT measurement, including measurements of SL-PRS configuration information used for the SL-PRS transmission and reception time, the device's SL-PRS transmission and reception time difference reporting granularity, and the like.

[0259] Note: The steps (6 / 7 / 9) are not necessarily in chronological order, especially when the SL-PRS is a periodic transmission.

[0260] (10) The first device and the second device measure the SL-PRS transmission and reception time difference, RSRP, SNR / SINR, etc. of the received SL-PRS according to the received information.

[0261] (11) The first device reports the measurement results, such as the contents of the second information or fourth information, to the LMF.

[0262] (12) The second device reports the measurement results, such as the contents of the second information or the fourth information, to the LMF.

[0263] (13) The LMF combines the measurement results and the positioning aiding information of each device to calculate the position, and feeds back the positioning result to the first device, completing the positioning flow.

[0264] In the positioning method for sidelink according to the embodiment of the present application, the execution subject may be a positioning device for sidelink. In the embodiment of the present application, the positioning device for sidelink according to the embodiment of the present application will be described by taking as an example that the positioning device for sidelink executes the positioning method for sidelink.

[0265] Referring to FIG. 7 , an embodiment of the present application provides a positioning device 700 for sidelink, The first device includes a first transmitting module 701, which is used for transmitting first information including a positioning request signaling to one or more second devices; a first transceiver module 702, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; The first device includes a first positioning module 703 used to obtain a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device includes a first positioning module 703 used to receive the positioning calculation result of the first device from the second device.

[0266] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0267] Optionally, the first transceiver module: the first device transmitting the first positioning reference signal to the second device; the first device receives second information and the second positioning reference signal from the second device, the second information being feedback information of the first information; The first positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The first device receives from the second device a second positioning measurement value measured by the second device according to the second information; The first device is used to obtain a positioning calculation result of the first device according to the second information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0268] Optionally, the first transceiver module: The first device receives second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; The first device transmits fourth information and the first positioning reference signal to the second device, and the fourth information is feedback information of the second information; The first device receives fifth information from the second device, the fifth information being feedback information of the fourth information; The first positioning module is the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; The first device receives from the second device a second positioning measurement value measured by the second device according to the fifth information, and the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; the first device obtains a positioning calculation result of the first device according to first target information and / or target positioning measurement values, the first target information being the second information or the fifth information, and the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The first positioning module is the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; the first device transmitting the first positioning measurement value to the second device via the fourth information; The first device receives a positioning calculation result of the first device from the second device using the fifth information, and the positioning calculation result of the first device is obtained by the second device according to the fourth information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0269] Optionally, the information content of the second information, the fourth information, and the fifth information is: At least a part of the third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0270] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0271] Optionally, the device may further include a step of: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; and completing an entire positioning flow within the feedback delay bound information. the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time-domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0272] Optionally, the device further comprises: the first device causes the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the first device further includes a second processing module adapted to at least one of: cause the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurement value; and a positioning measurement ID.

[0273] Optionally, the first transmitting module: the first device is used by a third device to transmit the first information to one or more of the second devices; The first transceiver module includes: The first device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and to receive the positioning calculation result of the first device from the third device.

[0274] Referring to FIG. 8 , an embodiment of the present application provides a positioning device 800 for sidelink, The second device includes a first receiving module 801, which is used to receive first information including a positioning request signaling from one or more first devices; a second transceiver module 802, used for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; The second device includes a second positioning module 803, which is used for transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or for the second device to obtain a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device.

[0275] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0276] Optionally, the second transceiver module is the second device receiving the first positioning reference signal from the first device; the second device transmits second information and the second positioning reference signal to the first device, the second information being feedback information of the first information; The second positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The second device is adapted to transmit the second positioning measurement value to the first device via the second information.

[0277] Optionally, the second transceiver module is The second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; The second device receives fourth information and the first positioning reference signal from the first device, and the fourth information is feedback information of the second information; The second device transmits fifth information to the first device, the fifth information being feedback information of the fourth information; The second positioning module is the second device performs positioning measurements according to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; the second device is used to transmit the second positioning measurement value to the first device according to the fifth information; The second positioning module is the second device performs positioning measurements according to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; The second device receives from the first device a first positioning measurement value measured by the first device according to the fourth information; The second device obtains a positioning calculation result of the first device according to the fourth information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The second device is used to transmit the positioning calculation result of the first device to the first device using the fifth information.

[0278] Optionally, the information content of the second information, the fourth information, and the fifth information is: At least a part of the third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0279] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0280] Optionally, the device may further include a step of: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the second device transmitting feedback information corresponding to the target information within the feedback delay bound information to the second device; and completing an entire positioning flow within the feedback delay bound information. the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0281] Optionally, the device further comprises: the second device causes the second information and / or the fifth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the second device further includes a fourth processing module adapted for at least one of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurement value; and a positioning measurement ID.

[0282] Optionally, the first receiving module is The second device is connected to one or more of the third devices. 1 and receiving the first information from a device; The second transceiver module is The second device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, the third device obtains the positioning calculation result of the first device, and the third device is used to transmit the positioning calculation result of the first device to the first device.

[0283] Referring to FIG. 9 , an embodiment of the present application provides a positioning device 900 for sidelink, The first device includes a second transmitting module 901, which is used for transmitting first information including positioning indication signaling to one or more second devices; a third transceiver module 902, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; The first device includes a third positioning module 903, which is used for transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or for the first device to obtain a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device.

[0284] Optionally, the first information comprises: signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0285] Optionally, the third transceiver module: The first device receives second information and the second positioning reference signal from the second device, and the second information is feedback information of the first information; the first device transmits fourth information and the first positioning reference signal to the second device, the fourth information being feedback information of the second information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The first device is adapted to transmit the first positioning measurement value to the second device via the fourth information.

[0286] Optionally, the third transceiver module: the first device transmitting the first positioning reference signal to the second device; The first device receives second information and the second positioning reference signal from the second device, and the second information is feedback information of the first information; The first device transmits fourth information to the second device, and the fourth information is feedback information of the second information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the first device transmits the first positioning measurement value to the second device according to the fourth information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The first device receives from the second device a second positioning measurement value measured by the second device according to the second information; The first device obtains a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The first device is used to transmit the positioning calculation result of the second device to the second device using the fourth information.

[0287] Optionally, the information content of the second information and the fourth information is: At least a part of the third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0288] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0289] Optionally, the device may further include a step of: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; the first device further includes a fifth processing module used for at least one of: completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time-domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0290] Optionally, the device further comprises: the first device causes the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the first device further includes a sixth processing module adapted to at least one of: cause the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurement value; and a positioning measurement ID.

[0291] Optionally, the second transmission module: the first device is used by a third device to transmit the first information to one or more of the second devices; The third transceiver module is The first device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, the third device obtains the positioning calculation result of the second device, and the third device is used to transmit the positioning calculation result of the second device to the second device.

[0292] As shown in FIG. 10, an embodiment of the present application provides a positioning device 1000 for a sidelink, The second device includes a second receiving module 1001, which is used for receiving first information including positioning indication signaling from one or more first devices; a fourth transceiver module 1002, which is used for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; The second device includes a fourth positioning module 1003 used to obtain a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device includes a fourth positioning module 1003 used to receive the positioning calculation result of the second device from the first device.

[0293] Optionally, the first information comprises: signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0294] Optionally, the fourth transceiver module: The second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; the second device receives fourth information and the first positioning reference signal from the first device, the fourth information being feedback information of the second information; The fourth positioning module is the second device performs positioning measurements according to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; The second device receives from the first device a first positioning measurement value measured by the first device according to the fourth information; The second device determines the target position in response to the second target information and / or the target positioning measurements. 2 The present invention is used for obtaining a positioning calculation result of an equipment, wherein the second target information is the first information or the fourth information, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0295] Optionally, the fourth transceiver module: the second device receiving the first positioning reference signal from the first device; The second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; The second device receives fourth information from the first device, the fourth information being feedback information of the second information; The fourth positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The second device receives from the first device a first positioning measurement value measured by the first device according to the fourth information; the second device obtains a positioning calculation result of the second device according to second target information and / or target positioning measurement values, the second target information being the first information or the fourth information, and the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The fourth positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the second device transmitting the second positioning measurement value to the first device via the second information; The second device receives a positioning calculation result of the second device from the first device via the fourth information, and the positioning calculation result of the second device is obtained by the first device according to the second information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0296] Optionally, the information content of the second information and the fourth information is: At least a part of the third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0297] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0298] Optionally, the device may further include a step of: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the second device transmitting feedback information corresponding to the target information within the feedback delay bound information to the second device; and completing an entire positioning flow within the feedback delay bound information. the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0299] Optionally, the device further comprises: the second device causes the second information and / or the fifth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the second device further includes an eighth processing module adapted for at least one of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurement value; and a positioning measurement ID.

[0300] Optionally, the second receiving module is The second device is connected to one or more of the third devices. 1 and receiving the first information from a device; The fourth transceiver module is The second device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and to receive the positioning calculation result of the second device from the third device.

[0301] The positioning device for sidelink in the embodiment of the present application may be an electronic device, such as an electronic device having an operating system, or may be a component in an electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other device other than a terminal. For example, the terminal may include, but is not limited to, the types of terminal 11 listed above, and the other device may be a server, a network attached storage (NAS), etc., and is not particularly limited in the embodiment of the present application.

[0302] The positioning device for sidelink according to the embodiments of the present application can realize each process realized in the method embodiments of Figures 2 to 6i and achieve the same technical effects, and in order to avoid repetition, duplicate descriptions will be omitted here.

[0303] As shown in FIG. 11 , an embodiment of the present application provides a positioning device for a sidelink, comprising: It includes a transceiver 1110 that is used to transmit and receive data under the control of the processor 1100 .

[0304] In FIG. 11, the bus architecture may include any number of buses and bridges connected to each other, specifically, one or more processors, including processor 1100, and memory, including memory 1120, are linked together by various circuits. The bus architecture may also link various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface. The transceiver 1110 may be multiple elements, i.e., includes a transmitter and a receiver, and provides a unit that communicates with various other devices over a transmission medium, which includes transmission media such as wireless channels, wired channels, and optical cables. For different user equipment, the user interface 1130 may be an interface that allows external or internal attachment of the required equipment, and the connected equipment includes, but is not limited to, a keypad, a display, a speaker, a microphone, and a joystick.

[0305] The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1100 when performing operations.

[0306] Optionally, the processor 1100 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or a Complex Programmable Logic Device (CPLD), and the processor may employ a multi-core architecture.

[0307] The processor is adapted to call the computer program stored in the memory and execute the method according to any one of the embodiments of the present application according to the obtained executable instructions. The processor and the memory may be physically separated.

[0308] When functioning as a first device, the device shown in FIG. 11 can perform the steps of the method associated with the first device in FIGS. 2 to 6i. The processor reads the computer program in the memory; The first device transmits first information including a positioning request signaling to one or more second devices; The first device transmits a first positioning reference signal to the second device, and the first device receives a second positioning reference signal from the second device; The first device is used to perform an operation of obtaining a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device is used to perform an operation of receiving the positioning calculation result of the first device from the second device.

[0309] Alternatively, the processor reads a computer program in the memory, a first device transmitting first information to one or more second devices, the first information including positioning indication signaling; The first device transmits a first positioning reference signal to the second device, and the first device receives a second positioning reference signal from the second device; The first device is used to perform an operation of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or the first device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0310] When the device shown in Fig. 11 functions as the second device, it can execute the steps of the method related to the second device in Fig. 2 to Fig. 6i. Specifically, the relevant explanation of the above-mentioned method may be referred to, and the duplicated explanation will be omitted here.

[0311] The processor reads the computer program in the memory; receiving, at the second device, first information including position request signaling from one or more first devices; the second device receiving a first positioning reference signal from the first device, and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform an operation of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0312] Alternatively, the processor reads a computer program in the memory, a second device receiving first information from one or more first devices, the first information including positioning indication signaling; the second device receiving a first positioning reference signal from the first device, and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform an operation of obtaining a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device is used to perform an operation of receiving the positioning calculation result of the second device from the first device.

[0313] An embodiment of the present application further provides a readable storage medium, in which a program or instruction is stored, and when the program or instruction is executed by a processor, each process of the embodiment of the positioning method for sidelink described above can be realized and the same technical effect can be achieved, and redundant description will be omitted here to avoid repetition.

[0314] The processor is the processor of the terminal according to the above embodiment. The readable storage medium includes a computer readable storage medium such as a computer read only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0315] The embodiment of the present application further provides a chip, the chip including a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to execute a program or instruction to realize each process of the embodiment of the positioning method for sidelink, and the same technical effect can be achieved, and the redundant description will be omitted here to avoid repetition. It should be understood that the chip mentioned in the embodiment of the present application may also be called a system level chip, a system chip, a chip system, a system on chip, etc.

[0316] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium, and when the computer program / program product is executed by at least one processor, it can realize each process of the embodiment of the positioning method for sidelink described above and achieve the same technical effects, and redundant description will be omitted here to avoid repetition.

[0317] It should be understood that the division of each module above is merely a division of logical functions, and in actual implementation, all or part of them may be integrated into one physical entity or physically separated. All of these modules may be implemented in the form of software called by a processing element, or in the form of hardware, and some of the modules may be implemented in the form of software called by a processing element, or in the form of hardware. For example, the determination module may be a separately established processing element, or may be integrated into a specific chip of the above device, or may be stored in the memory of the above device in the form of program code and called by a specific processing element of the above device to perform the functions of the above determination module. The implementation of other modules is similar. Also, all or part of these modules may be integrated together or implemented separately. The processing element described herein may be an integrated circuit having signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

[0318] For example, each module, unit, sub-unit, or sub-module may be configured as one or more integrated circuits implementing the above methods, such as one or more application specific integrated circuits (ASICs), one or more microprocessors (DSPs), or one or more field programmable gate arrays (FPGAs). For example, when the specific modules are realized by a processing element scheduling a program code, the processing element may be a general-purpose processor such as a central processing unit (CPU), or another processor capable of calling a program code. For example, these modules may be integrated together and realized in the form of a system-on-a-chip (SOC).

[0319] The terms "first," "second," and the like in the specification and claims of the present application are used to distinguish between similar objects and do not necessarily describe a particular order or sequence. It should be understood that the data used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein may be performed, for example, in an order other than that shown or described herein. The terms "comprise," "have," and any variations thereof are also intended to cover a non-exclusive inclusion, such that, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units that are specifically recited, but may include other steps or units that are not specifically recited or that are inherent to the process, method, product, or apparatus. The specification and claims also use "and / or" to indicate at least one of the connected objects, such as A and / or B and / or C to indicate the seven cases of A only, B only, C only, both A and B, both B and C, both A and C, and the presence of A, B, and C. Similarly, "at least one of A and B" as used in the specification and claims should be understood as "the presence of only A, only B, or both A and B."

[0320] It should be noted that, in this specification, the terms "comprise", "include", or any other variants are intended to cover a non-exclusive inclusion, whereby a process, method, article, or apparatus that includes a set of elements includes not only those elements, but also other elements not expressly listed, or includes elements inherent to the process, method, article, or apparatus. Absent further limitations, an element qualified by the phrase "includes a" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. It should also be noted that the scope of the methods and apparatus in the embodiments of this application is not limited to performing functions according to the order shown or discussed, and may further include performing functions substantially simultaneously or according to the reverse order depending on such functions, for example, a method described may be performed according to an order different from that described, and various steps may be added, omitted, or combined. Also, features described with reference to some examples may be combined in other examples.

[0321] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be realized by software and a necessary general-purpose hardware platform, and of course can be realized by hardware, and in many cases, the former is a more preferred embodiment. Based on this understanding, the essence of the technical solution of the present application or the part that contributes to the related art can be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for causing a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods described in each embodiment of the present application.

[0322] Although the embodiments of the present application have been described above with reference to the drawings, the present application is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Those skilled in the art can create various forms based on the suggestions of the present application without departing from the spirit of the present application and the scope of protection of the claims, and all of these forms fall within the scope of protection of the present application.

Claims

1. the first device transmitting first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device.

2. The first information is signaling type information of the first information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information, the positioning measurement configuration information including at least one of positioning measurement type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

3. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: the first device transmitting the first positioning reference signal to the second device; the first device receiving second information and the second positioning reference signal from the second device, the second information being feedback information of the first information; The step of the first device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the first device performs positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the first device receiving from the second device a second positioning measurement value measured by the second device according to the second information; 2. The method of claim 1, further comprising: a step of the first device obtaining a positioning calculation result of the first device in response to the second information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values.

4. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: a step of receiving second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; a step of transmitting fourth information and a first positioning reference signal from the first device to the second device, the fourth information being feedback information of the second information; The first device receives fifth information from the second device, the fifth information being feedback information of the fourth information; The step of the first device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the first device performing positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; a step of receiving a second positioning measurement value measured by the second device from the second device according to the fifth information, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; The first device obtains a positioning calculation result of the first device according to first target information and / or target positioning measurement values, the first target information being the second information or the fifth information, and the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The step of receiving the positioning calculation result of the first device from the second device by the first device includes: the first device performing positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; the first device transmitting the first positioning measurement value to the second device via the fourth information; 2. The method of claim 1, comprising: a step of the first device receiving a positioning calculation result of the first device from the second device via the fifth information, wherein the positioning calculation result of the first device is obtained by the second device in response to the fourth information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values.

5. The information contents of the second information, the fourth information, and the fifth information are as follows: At least a portion of third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

6. If time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, the time interval information is When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The method according to claim 2 or 5, wherein the target information is at least one of the first information, the second information, the fourth information and the fifth information.

7. If the feedback delay bound information is carried in the target information or if the higher layer parameters configure or pre-configure the feedback delay bound information, the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; the first device completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of a feedback time of the target information; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

8. the first device causes the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; ensuring that the first device and the second device measure a first positioning reference signal and a second positioning reference signal in the same measurement window according to an indication of the measurement window indication information; the first device further comprising at least one of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurements; and a positioning measurement ID.

9. The step of transmitting first information from the first device to one or more second devices includes: the first device transmitting the first information to one or more of the second devices by a third device; The method comprises: The method of claim 1 , further comprising a step of the first device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and receiving a positioning calculation result of the first device from the third device.

10. a second device receiving first information from one or more first devices, the first information including position request signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; a step of the second device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or a step of the second device obtaining a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device.

11. The first information is signaling type information of the first information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information, the positioning measurement configuration information including at least one of positioning measurement type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

12. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: the second device receiving the first positioning reference signal from the first device; the second device transmitting second information and the second positioning reference signal to the first device, the second information being feedback information of the first information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device includes: the second device performing positioning measurements in response to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; The method of claim 10, further comprising the step of: the second device transmitting the second positioning measurement to the first device via the second information.

13. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: a step of transmitting second information and the second positioning reference signal from the second device to the first device, the second information being feedback information of the first information; a step of receiving fourth information and the first positioning reference signal from the first device, the fourth information being feedback information of the second information; The second device transmits fifth information to the first device, the fifth information being feedback information of the fourth information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device includes: the second device performing positioning measurements in response to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; the second device transmitting the second positioning measurement value to the first device via the fifth information; The step of the second device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device, the second device performing positioning measurements in response to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; the second device receiving from the first device a first positioning measurement value measured by the first device via the fourth information; the second device obtaining a positioning calculation result of the first device according to the fourth information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The method of claim 10 , further comprising: the second device transmitting the positioning calculation result of the first device to the first device via the fifth information.

14. The information contents of the second information, the fourth information, and the fifth information are as follows: At least a portion of third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

15. If time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, the time interval information is When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; 15. The method of claim 11 or 14, wherein the target information is at least one of the first information, the second information, the fourth information and the fifth information.

16. If the feedback delay bound information is carried in the target information or if the higher layer parameters configure or pre-configure the feedback delay bound information, the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; the second device completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

17. the second device causes the second information and / or the fifth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; ensuring that the first device and the second device measure a first positioning reference signal and a second positioning reference signal in the same measurement window according to an indication of the measurement window indication information; the second device further includes any one of the steps of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurements; and a positioning measurement ID.

18. The step of receiving first information from one or more first devices by the second device includes: the second device receiving the first information from one or more of the second devices by a third device; The method comprises: The method of claim 10, further comprising the steps of: the second device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device; the third device obtaining a positioning calculation result of the first device; and the third device transmitting the positioning calculation result of the first device to the first device.

19. The first device transmits first information including positioning indication signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; a step of the first device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or a step of the first device obtaining a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device.

20. The first information is signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

21. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: a step of receiving second information and the second positioning reference signal from the second device, the second information being feedback information of the first information; the first device transmitting fourth information and the first positioning reference signal to the second device, the fourth information being feedback information of the second information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal from the first device to the second device includes: the first device performs positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; 20. The method of claim 19, comprising the first device transmitting the first positioning measurement to the second device in the fourth information.

22. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: the first device transmitting the first positioning reference signal to the second device; a step of receiving second information and the second positioning reference signal from the second device, the second information being feedback information of the first information; The first device transmits fourth information to the second device, the fourth information being feedback information of the second information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal from the first device to the second device includes: the first device performs positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the first device transmitting the first positioning measurement value to the second device via the fourth information; The step of the first device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device, the first device performs positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the first device receiving from the second device a second positioning measurement value measured by the second device according to the second information; the first device obtaining a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The method of claim 19 , further comprising: the first device transmitting the positioning calculations of the second device to the second device via the fourth information.

23. The information contents of the second information and the fourth information are At least a portion of third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

24. If time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, the time interval information is When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; 24. A method according to claim 20 or 23, wherein the target information is at least one of the first information, the second information, the fourth information and the fifth information.

25. If the feedback delay bound information is carried in the target information or if the higher layer parameters configure or pre-configure the feedback delay bound information, The second device transmits feedback information corresponding to the target information to the first device within the feedback delay bound information; the second device completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; and if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

26. the first device causes the fourth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; ensuring that the first device and the second device measure a first positioning reference signal and a second positioning reference signal in the same measurement window according to an indication of the measurement window indication information; the first device further comprising at least one of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurements; 24. The method of claim 23, comprising at least one of: a. a positioning measurement ID.

27. The step of transmitting first information from the first device to one or more second devices includes: the first device transmitting the first information to one or more of the second devices by a third device; The method comprises:

20. The method of claim 19, further comprising the steps of: the first device transmitting a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal to the third device; the third device obtaining a positioning calculation result of the second device; and the third device transmitting the positioning calculation result of the second device to the second device.

28. a second device receiving first information from one or more first devices, the first information including positioning indication signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device.

29. The first information is signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

30. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: a step of transmitting second information and the second positioning reference signal from the second device to the first device, the second information being feedback information of the first information; the second device receiving fourth information and the first positioning reference signal from the first device, the fourth information being feedback information of the second information; The step of the second device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the second device performing positioning measurements in response to the fourth information and / or a target positioning reference signal to obtain second positioning measurement values, the target positioning reference signal including the first positioning reference signal and the second positioning reference signal; the second device receiving from the first device a first positioning measurement value measured by the first device via the fourth information; 29. The method of claim 28, comprising: a step of the second device obtaining a positioning calculation result of the first device in response to second target information and / or target positioning measurement values, wherein the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

31. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: the second device receiving the first positioning reference signal from the first device; a step of transmitting second information and the second positioning reference signal from the second device to the first device, the second information being feedback information of the first information; The second device receives fourth information from the first device, the fourth information being feedback information of the second information; The step of the second device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the second device performing positioning measurements in response to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the second device receiving from the first device a first positioning measurement value measured by the first device via the fourth information; The second device obtains a positioning calculation result of the second device according to second target information and / or target positioning measurement values, the second target information being the first information or the fourth information, and the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The step of receiving the positioning calculation result of the second device from the first device by the second device includes: the second device performing positioning measurements in response to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signal and the second positioning reference signal; the second device transmitting the second positioning measurement values ​​to the first device via the second information; 29. The method of claim 28, comprising: a step of the second device receiving a positioning calculation result of the second device from the first device by the fourth information, the positioning calculation result of the second device being obtained by the first device in response to the second information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values.

32. The information contents of the second information and the fourth information are At least a portion of third information; Positioning measurements; and a timestamp of said positioning measurements; an indication of quality of said positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation capability indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

33. If time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, the time interval information is When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by higher layer parameters, or a pre-configured time domain reference point; if the target information supports retransmission, the time interval information is not carried in the retransmitted target information; 33. A method according to claim 29 or 32, wherein the target information is at least one of the first information, the second information, the fourth information and the fifth information.

34. If the feedback delay bound information is carried in the target information or if the higher layer parameters configure or pre-configure the feedback delay bound information, The second device transmits feedback information corresponding to the target information to the first device within the feedback delay bound information; the second device completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The feedback delay bound information is The feedback delay limit information is an upper limit of the target information feedback time; a target time domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is a time domain reference point carried in the target information; 33. The method of claim 32, wherein if the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

35. the second device causes the second information and / or the fifth information to carry a positioning measurement value identification information, the positioning measurement value identification information being used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; ensuring that the first device and the second device measure a first positioning reference signal and a second positioning reference signal in the same measurement window according to an indication of the measurement window indication information; The second device further includes any one of the steps of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first and / or second positioning reference signal associated with the positioning measurements; 33. The method of claim 32, comprising at least one of: a. a positioning measurement ID.

36. The step of receiving first information from one or more first devices by the second device includes: the second device receiving the first information from one or more of the second devices by a third device; The method comprises:

30. The method of claim 28, further comprising the step of the second device transmitting the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the third device, and receiving the positioning calculation results of the second device from the third device.

37. The first device includes a first transmitting module adapted to transmit first information including a positioning request signaling to one or more second devices; a first transceiver module, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; A positioning device for a sidelink, comprising: a first positioning module used for the first device to obtain a positioning calculation result of the first device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or for the first device to receive the positioning calculation result of the first device from the second device.

38. The second device includes a first receiving module adapted to receive first information including a positioning request signaling from one or more first devices; a second transceiver module, used for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; a second positioning module used for the second device to transmit the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the first device, or for the second device to obtain a positioning calculation result of the first device based on the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmit the positioning calculation result of the first device to the first device.

39. The first device includes a second transmitting module adapted to transmit first information including positioning indication signaling to one or more second devices; a third transceiver module, which is used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; and a third positioning module used for the first device to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or for the first device to obtain a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and to transmit the positioning calculation result of the second device to the second device.

40. The second device includes a second receiving module adapted to receive first information including positioning indication signaling from one or more first devices; a fourth transceiver module, which is used for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; A positioning device for a sidelink including: a fourth positioning module used for the second device to obtain a positioning calculation result of the second device based on the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or for the second device to receive the positioning calculation result of the second device from the first device.

41. A readable storage medium having a program or instructions stored therein, which, when executed by a processor, realizes steps of a positioning method for a sidelink according to any one of claims 1 to 9, or realizes steps of a positioning method for a sidelink according to any one of claims 10 to 18, or realizes steps of a positioning method for a sidelink according to any one of claims 19 to 27, or realizes steps of a positioning method for a sidelink according to any one of claims 28 to 36.

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