Positioning method, terminal, and network device

Abstract

This application discloses a positioning method, a terminal, and a network device, belonging to the technical field of communications. The positioning method according to the embodiments of this application includes: a step in which a first terminal obtains a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function; and a step in which the first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of a Chinese patent application with the application number 202210880561.X filed in China on July 25, 2022, and all of its content is incorporated herein by reference.

[0002] This application belongs to the technical field of communications, and specifically relates to a positioning method, a terminal, and a network device.

Background Art

[0003] Currently, in some communication systems, the positioning of a terminal only supports a positioning method based on the Uu interface. In this method, specifically, after an Access and Mobility Management Function (AMF) receives a positioning service request for a certain terminal from a third party, the terminal itself, it sends the request to a Location Management Function (LMF). Then, the LMF starts a specific Uu - interface positioning process to obtain the location of the terminal. Since only the positioning method based on the Uu interface is supported, the positioning performance of the terminal is poor.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Embodiments of this application provide a positioning method, a terminal, and a network device that can solve the problem of poor positioning performance of the terminal.

Means for Solving the Problems

[0005] In a first aspect, a step in which a first terminal obtains a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function. The step in which the first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, and the like A positioning method is provided.

[0006] On a second aspect, a step in which a second terminal sends a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, and the like The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals. A positioning method is provided.

[0007] On a third aspect, a step in which a network device sends a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal, and the like A positioning method is provided.

[0008] On a fourth aspect, an acquisition module used to acquire a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, and the like An execution module used to execute a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, and the like A positioning device is provided.

[0009] On a fifth aspect, a transmission module used to send a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, including the transmission module 、 First The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals A positioning device is provided

[0010] On a sixth aspect, a first transmission module used to send a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal, including the first transmission module A positioning device is provided

[0011] On a seventh aspect, a terminal including a processor and a memory, where the memory stores a program or command executable by the processor, and when the program or command is executed by the processor, the steps of the positioning method on the first terminal side provided by the embodiments of the present application are realized

[0012] On an eighth aspect, a terminal including a processor and a communication interface, where the processor or the communication interface is used to obtain a sidelink positioning request, and the sidelink positioning request is used to request positioning of a target terminal Second The first terminal is a terminal that provides a sidelink positioning service function, and the communication interface is used to execute a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal

[0013] On the ninth aspect, a terminal includes a processor and a memory, and a program or command executable by the processor is stored in the memory. When the program or command is executed by the processor, the steps of the positioning method on the second terminal side provided by the embodiments of the present application are realized, and a terminal is provided.

[0014] On the tenth aspect, a terminal includes a processor and a communication interface. The communication interface is used to send a sidelink positioning request to a first terminal. The sidelink positioning request is used to request to position a target terminal. The first terminal is a terminal that provides a sidelink positioning service function Third A terminal is provided, where the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0015] On the 11 aspect, a network device includes a processor and a memory, and a program or command executable by the processor is stored in the memory. When the program or command is executed by the processor, the steps of the positioning method on the network device side provided by the embodiments of the present application are realized, and a network device is provided.

[0016] On the 12 aspect, a network device includes a processor and a communication interface. The communication interface is used to send a sidelink positioning request to a first terminal. The sidelink positioning request is used to request to position a target terminal. The first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal, and a network device is provided.

[0017] On the 13On the side, a program or command is stored. When the program or command is executed by a processor, the steps of the positioning method on the first terminal side provided by the embodiments of the present application are realized. Or, when the program or command is executed by a processor, the steps of the positioning method on the second terminal side provided by the embodiments of the present application are realized. Or, when the program or command is executed by a processor, the steps of the positioning method on the network device side provided by the embodiments of the present application are realized. A readable storage medium is provided.

[0018] First 14 On the side, it includes a combined processor and a communication interface. The processor is for realizing the positioning method on the first terminal side provided by the embodiments of the present application by executing a program or command. Or, the processor is for realizing the positioning method on the second terminal side provided by the embodiments of the present application by executing a program or command. Or, the processor is for realizing the Positioning positioning method on the network device side provided by the embodiments of the present application by executing a program or command. A chip is provided.

[0019] First 15 On the side, it is stored in a storage medium and is executed by at least one processor to realize the steps of the positioning method on the first terminal side provided by the embodiments of the present application. Or, it is executed by at least one processor to realize the steps of the positioning method on the second terminal side provided by the embodiments of the present application. Or, it is executed by at least one processor to realize the steps of the positioning method on the network device side provided by the embodiments of the present application. A computer program / program product is provided.

[0020] First 16 On the side, it includes a first terminal, a second terminal, and a network device. The FirstThe terminal can be used to execute the steps of the first terminal-side positioning method provided by the embodiments of the present application. The second terminal can be used to execute the steps of the second terminal-side positioning method provided by the embodiments of the present application. The network device can be used to execute the steps of the network device-side positioning method provided by the embodiments of the present application. A positioning system is provided.

Advantages of the Invention

[0021] In the embodiments of the present application, the first terminal obtains a sidelink positioning request, and the sidelink positioning request is used to request to position a target terminal. The first terminal is a terminal that provides a sidelink positioning service function. The first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal. In this way, by the first terminal that provides the sidelink positioning service function executing a sidelink positioning operation based on the sidelink positioning request, sidelink positioning can be supported and the positioning performance of the terminal can be improved.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Embodiments for Carrying Out the Invention

[0023] Hereinafter, with reference to the drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described. Of course, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the protection scope of the present application.

[0024] The terms "first", "second", etc. in the description and claims of this application are not for describing a specific order or sequence, but for distinguishing similar objects. It should be understood that when used in this way, these terms may be interchangeable in some cases so that the embodiments of this application can be implemented in an order other than that illustrated or described herein. Also, the objects distinguished by "first" and "second" are usually of the same type, and the number of objects is not limited. For example, the first object may be one or more. In the description and claims, "and / or" represents at least one of the connected objects, and the symbol " / " generally represents that the related objects before and after are in an "or" relationship.

[0025] It should be noted that the technology described in the embodiments of this application is not limited to being used in a Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system. It can also be used in 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 technical terms "system" and "network" in the embodiments of this application are often used interchangeably, and the described technology can be used not only in the above systems and wireless technologies, but also in other systems and wireless technologies. In the following description, for illustrative purposes, the New Radio (NR) system is described and NR terms are used in most of the following description. However, these technologies are for the 6th generation (6 thIt can also be applied to uses other than NR system applications such as the (6G) communication system.

[0026] FIG. 1 shows a block diagram of a wireless communication system to which the embodiments of the present application are applicable. The wireless communication system includes a terminal 11 and a network device 12. The terminal 11 may be a mobile phone, a tablet personal computer, a laptop computer (also called a notebook personal computer), a personal digital assistant (PDA), a palm top 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 appliances with wireless communication functions such as a refrigerator, a TV, a washing machine, or furniture), a game machine, a personal computer (PC), a cash dispenser, or a kiosk, etc. The wearable device includes a smart watch, a smart bracelet, smart earphones, smart glasses, smart accessories (such as a smart bangle, a smart chain bracelet, a smart ring, a smart necklace, a smart ankle bracelet, a smart anklet, etc.), a smart list band, smart wear, etc. In the embodiments of the present application, the specific type of the terminal 11 is not limited.

[0027] In the embodiments of the present application, sidelink (hereinafter simply referred to as SL) transmission can be performed between terminals 11. That is, data transmission between terminals 11 is directly performed at the physical layer. The SL transmission between terminals 11 may be broadcast, unicast, multicast, or multicast, etc. Further, all the terminals in the SL transmission can be all online or all offline, or some devices can be made online and some devices can be made offline. Here, "online" may refer to being within the coverage range of the communication network, and "offline" here may refer to being outside the coverage range of the communication network.

[0028] The network device 12 may include an access network device or a core network device, and the network device 12 is also referred to as a radio access network device, a radio access network (RAN), a radio access network function, or a radio access network unit. The network device 12 may include a base station, a wireless local area network (WLAN) access point, or a WiFi node, etc. The base station may 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 Node B, a home evolved Node B, a transmitting and receiving point (TRP), or any other suitable technical term in the field. As long as the same technical effect is achieved, the base station is not limited to a specific technical term. In the embodiments of the present application, only the base station in the NR system is taken as an example for description, and the specific type of the base station is not limited.The core network device may include, but is not limited to, at least one of a core network node, a core network function, a Mobility Management Entity (MME), an Access and Mobility Management Function (AMF), a Session Management Function (SMF), a User Plane Function (UPF), a Policy Control Function (PCF), a Policy and Charging Rules Function unit (PCRF), an Edge Application Server Discovery Function (EASDF), a Unified Data Management (UDM), a Unified Data Repository (UDR), a Home Subscriber Server (HSS), a Centralized network configuration (CNC), a Network Repository Function (NRF), a Network Exposure Function (NEF), a Local NEF (Local NEF or L-NEF), a Binding Support Function (BSF), an Application Function (AF), etc. In the embodiments of the present application, only the core network device in the NR system is taken as an example for description, and the specific type of the core network device is not limited.

[0029] In addition, the above system may include an LMF.

[0030] In the following, with reference to the drawings, the positioning method, terminal, and network device provided by the embodiments of the present application will be described in detail by means of several embodiments and their application scenarios.

[0031] FIG. 2 is a flowchart of the positioning method provided by the embodiments of the present application. As shown in FIG. 2, the following steps are included.

[0032] Step 201: The first terminal obtains a sidelink positioning request. The sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function.

[0033] The above sidelink positioning request may be sent from another device and received by the first terminal, or may be generated by the first terminal.

[0034] The statement that "the first terminal is a terminal that provides a sidelink positioning service function" may be understood as that the first terminal is a terminal that plays a role in controlling the execution of sidelink positioning in the sidelink positioning process. Therefore, the first terminal may be referred to as a positioning server terminal (Location Server UE) or a controlling UE.

[0035] In the embodiments of the present application, the sidelink positioning service function may refer to a function of controlling the execution of sidelink positioning. That is, sidelink positioning is controlled by a terminal that provides a sidelink positioning service function. For example, based on positioning QoS, the type of sidelink positioning method to be used, the terminals participating in positioning, and sidelink positioning setting information are determined.

[0036] Step 202: The first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal.

[0037] "Executing the sidelink positioning operation based on the above-described sidelink positioning requirement" may also be triggering sidelink positioning based on the above sidelink positioning requirement.

[0038] Also, "executing the sidelink positioning operation based on the above-described sidelink positioning requirement" may be executing sidelink positioning using the sidelink positioning protocol (SideLink Positioning Protocol, SLPP) based on the above sidelink positioning requirement.

[0039] The above SLPP is a positioning protocol newly defined in the embodiments of the present application. This protocol defines a new protocol layer for Sidelink positioning. This protocol layer is used for positioning message exchange between the location server UE and the target UE and the anchor UE, or when the location server UE is the target UE, this protocol layer is used for positioning message exchange between the target UE and the anchor UE. Alternatively, this protocol layer is used for positioning message exchange between the location server UE and the target UE and the Reference UE, or when the location server UE is the target UE, this protocol layer is used for positioning message exchange between the target UE and the Reference UE. The sidelink positioning protocol stack of the above SLPP may be as shown in Figure 3. In Figure 3, the SLPP layer is a protocol layer newly introduced for sidelink positioning and is a layer immediately above the Packet Data Convergence Protocol (PDCP) layer. Note that the sidelink positioning protocol stack shown in Figure 3 is only an example for illustration. For example, in some embodiments, SLPP is a layer immediately above the PC5 Radio Resource Control (RRC) layer or the Vehicle-to-Everything (V2X) layer. Note that the name of the sidelink positioning protocol used for sidelink positioning in the embodiments of the present application is not limited to SLPP. For example, in some embodiments, it may be directly called the sidelink positioning protocol.

[0040] In the embodiments of the present application, through the above steps, it is possible to realize that a first terminal providing a sidelink positioning service function executes a sidelink positioning operation based on the sidelink positioning request, thereby supporting sidelink positioning and improving the positioning performance of the terminal.

[0041] As an alternative embodiment, the step in which the first terminal obtains a sidelink positioning request includes the step in which the first terminal receives a first sidelink positioning request from a network device, and the step in which the first terminal receives a second sidelink positioning request from a second terminal via a sidelink unicast connection, and the step in which the first terminal itself generates a third sidelink positioning request, and includes one of them.

[0042] Here, the above network device may be an LMF or an AMF.

[0043] When the above network device is an LMF, the first sidelink positioning request message may be an LTE positioning protocol (LPP) message or a location service (LCS) message. Services

[0044] When the above network device is an AMF, the above first sidelink positioning request message may be a non-access stratum (NAS) message.

[0045] The above second sidelink positioning request may be a message transmitted between the first terminal and the second terminal via a sidelink unicast connection. For example, the above second sidelink positioning request It may be at least one of a sidelink positioning protocol message, a PC5-signalling (S) message, and a PC5 radio resource control (RRC) message.

[0046] The third sidelink positioning request generated by the first terminal itself may be an inter-layer message within the first terminal, that is, a sidelink positioning request generated within the terminal. For example, an internal positioning request is generated within the terminal and passed to the sidelink positioning protocol layer of the first terminal.

[0047] In this embodiment, it is realized that a plurality of devices can all trigger sidelink positioning, whereby sidelink positioning can be applied to more scenarios.

[0048] As an alternative embodiment, the above sidelink positioning request includes at least one of positioning quality of service (QoS) and the identifier information of the target terminal.

[0049] The above positioning QoS may include at least one of positioning accuracy and positioning delay.

[0050] The above identifier information of the target terminal may be a terminal identifier (UE ID) of the target terminal. Specifically, It may be at least one of identifiers of a target terminal such as a Layer 2 identifier (L2 ID), an application terminal identifier (Application UE ID), an S-Temporary Mobile Subscription Identifier (S-TMSI), an International Mobile Subscriber Identity (IMSI), or a Subscription Permanent Identifier (SUPI).

[0051] In this embodiment, with the above positioning QoS, the first terminal can obtain the positioning accuracy and positioning delay to be achieved, and with the above identifier information of the target terminal, the target terminal that requires positioning can be quickly determined.

[0052] Note that in some embodiments, the sidelink positioning requirement may not include the above positioning QoS. For example, the above positioning QoS may be defined by a protocol, or preset by the network side, or negotiated in advance between terminals. In some embodiments, the above sidelink positioning requirement may not include the above identifier information of the target terminal. For example, when the above first terminal is the above target terminal, the sidelink positioning requirement may not include the identifier information of the target terminal. Then, the first terminal can directly determine itself as the target terminal.

[0053] Optionally, the above method further includes a step in which the first terminal determines at least one of a sidelink positioning method, positioning setting information, an anchor terminal participating in positioning, and a reference terminal participating in positioning based on the positioning QoS. The anchor terminal is a terminal with a known position that participates in the transmission of sidelink positioning reference signals, or the anchor terminal is a terminal with a known position that participates in the measurement of sidelink positioning reference signals. The reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0054] The above sidelink positioning method is used to indicate how to perform positioning in the sidelink positioning process. For example, a delay type of positioning method such as positioning based on time difference of arrival or round-trip delay difference is adopted, and for example, a phase type of positioning method such as positioning based on signal arrival phase difference is adopted.

[0055] The above positioning setting information may be positioning assistance information such as the setting information of sidelink positioning reference signals.

[0056] The positioning architecture in this embodiment may be as shown in FIG. 4. In FIG. 4, a first terminal (i.e., Location Server UE), a target terminal (target UE), an anchor terminal (anchor UE) or a reference terminal (Reference UE) is included. Note that in some embodiments, the Location Server UE may be a separate terminal, or the Location Server UE may be the target terminal, or the Location Server UE may be the anchor terminal or the reference terminal.

[0057] Here, the Location Server UE is a terminal that provides a positioning service function, and it is considered to play an essential role in a single sidelink positioning. The location server UE receives a sidelink positioning request carrying positioning QoS, or it itself triggers the need for sidelink positioning, and based on the positioning QoS, determines the sidelink positioning method, positioning setting information, the terminal participating in positioning as an anchor UE, etc. used for sidelink positioning. In a single sidelink positioning process, the Location Server UE may play a single role (terminal), or may also play the role of the target UE (in this case, the location server UE positions itself) or the Assistant / Reference UE (for example, the location server UE assists in the transmission or measurement of the sidelink positioning reference signal (SL PRS)).

[0058] Note that in a single sidelink positioning process, the UE may function as the location server UE, and in another sidelink positioning process, this UE may not function as the location server UE. For example, it may only function as an anchor UE.

[0059] The target UE is the target terminal for positioning, and for positioning, it is necessary to obtain the absolute position, relative position, or ranging of the terminal.

[0060] The anchor UE is a terminal that provides positioning assistance, such as transmitting or measuring SL PRS. In the case of absolute positioning, the anchor UE is a terminal whose position is known or a terminal that can know its position. There may be one or more anchor UEs, or there may be no separate anchor UE. For example, the location server UE may also serve as the anchor UE. The anchor UE is also called the located UE or the assisting UE.

[0061] The reference UE is a terminal that serves as a position reference for relative positioning or ranging positioning. The reference UE may be a separate UE, or one of the anchor UEs or the location server UE.

[0062] Note that since the location server UE may also serve as the anchor UE, in the above architecture, depending on the scenario, there may be no separate anchor UE and / or separate reference UE.

[0063] Note that the location server UE can establish a sidelink unicast connection with the target UE and the anchor UE (or reference UE) to communicate. A sidelink unicast connection may not be established between the target UE and the anchor UE (or reference UE), but it is still possible for one of them to transmit SL PRS via the PC5 interface and the other to measure the SL PRS of the PC5 interface.

[0064] Note that in some embodiments, the above reference terminal 、s may be indicated by an idelink positioning request.

[0065] In some embodiments, the location server UE receives a positioning request carrying positioning QoS and the target UE ID, or the location server UE itself is triggered to need to position the target UE or itself (i.e., the location server UE is also the target UE), and then the location server UE identifies or determines the anchor UE participating in the positioning based on information such as positioning QoS, determines the sidelink positioning method, and then the location server UE executes sidelink positioning using the sidelink positioning protocol to obtain the sidelink positioning result. Specifically, the exchange of sidelink positioning protocol messages between the location server UE and the target UE, and the Anchor UE includes at least one of the provision of positioning assistance information (e.g., used for the measurement or transmission of configured SL PRS), the request for location information, the reception of sidelink positioning measurement results, etc.

[0066] In the above embodiments, based on the positioning QoS, at least one of the sidelink positioning method, positioning setting information, anchor terminal participating in the positioning, and reference terminal participating in the positioning can be determined, so that the overhead of network - side setting can be reduced by not setting at least one of them.

[0067] Optionally, the sidelink positioning request further includes at least one of the type of positioning, information of the reference terminal, information of the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known location that participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal with a known location that participates in the measurement of the sidelink positioning reference signal. The reference terminal is a location reference terminal in relative positioning or ranging positioning. The sidelink positioning measurement result information is used to assist in the positioning of the target terminal.

[0068] The above positioning type may be absolute positioning, relative positioning, or ranging positioning.

[0069] The above information of the reference terminal may be the identifier information of the reference terminal. Also, when the positioning type is relative positioning or ranging positioning, the above information of the reference terminal can implicitly indicate that the positioning type is relative positioning or ranging positioning.

[0070] The above information of the candidate anchor terminal is used to assist the first terminal in selecting an anchor terminal. The above information of the candidate anchor terminal may be used to indicate a list of candidate anchor terminals. These candidate anchor terminals may be terminals near the target terminal, for example, terminals that the terminal can receive its sidelink signal, such as terminals that the terminal can receive its sidelink positioning reference signal (SL PRS), or terminals that were identified but not selected in the discovery process of the first terminal.

[0071] The above sidelink positioning measurement result information may be the sidelink positioning measurement result of the measured target terminal. For example, for a positioning request initiated by the target terminal, it may be the sidelink positioning measurement result obtained by the target terminal when starting the positioning request. With the sidelink positioning measurement result information, the positioning delay of the target terminal can be reduced. For example, in some embodiments, the positioning result of the target terminal can be directly calculated based on the sidelink positioning measurement result information. Or, in some embodiments, based on the sidelink positioning measurement result information, an approximate position can be determined, thereby setting a more appropriate positioning method or positioning setting information, and performing a sidelink positioning operation based on the determined content.

[0072] In some embodiments, the sidelink positioning request may carry a container, which may include an SLPP message carrying sidelink positioning measurement result information.

[0073] In the above embodiments, since the above sidelink positioning request includes at least one of the above, the first terminal does not need to separately execute at least one of the above determination operations, and can quickly obtain the sidelink positioning result of the target terminal.

[0074] As an alternative embodiment, the sidelink positioning operation includes receiving a sidelink positioning measurement result transmitted by the target terminal, receiving a sidelink position result transmitted by the target terminal, receiving a sidelink positioning measurement result transmitted by an anchor terminal, receiving a sidelink position result transmitted by an anchor terminal, and includes at least one of the above.

[0075] Here, the sidelink positioning measurement result transmitted by the above target terminal may be a sidelink positioning measurement result obtained by the target terminal measuring a positioning reference signal transmitted by an anchor terminal or a reference terminal. In this case, the first terminal further calculates based on the sidelink positioning measurement result to obtain the positioning result of the target terminal.

[0076] The sidelink position result transmitted by the above target terminal may be a sidelink position result obtained by the target terminal measuring and calculating a positioning reference signal transmitted by an anchor terminal or a reference terminal. In this case, the first terminal may directly use the sidelink position result as the positioning result of the target terminal, or may further calculate based on the sidelink position result to obtain the positioning result of the target terminal.

[0077] The sidelink positioning measurement result transmitted by the above anchor terminal may be a sidelink positioning measurement result obtained by the anchor terminal measuring the positioning reference signal transmitted by the target terminal. In this case, the first terminal further obtains the positioning result of the target terminal by calculating based on the sidelink positioning measurement result.

[0078] The sidelink position result transmitted by the above anchor terminal may be a sidelink position result obtained by the anchor terminal measuring and calculating the positioning reference signal transmitted by the target terminal. In this case, the first terminal may directly use the sidelink position result as the positioning result of the target terminal, or may further calculate based on the sidelink position result to obtain the positioning result of the target terminal.

[0079] Note that in some embodiments, the reference terminal may be the anchor terminal. Therefore, the sidelink positioning measurement result and sidelink position result transmitted by the above anchor terminal may be the sidelink positioning measurement result and sidelink position result transmitted by the reference terminal.

[0080] In this embodiment, the positioning result of the target terminal can be determined by at least one of the above sidelink positioning measurement results or sidelink position results.

[0081] Optionally, the sidelink positioning operation further includes at least one of: acquiring the sidelink positioning ability of the target terminal; acquiring the sidelink positioning ability of the anchor terminal; transmitting a sidelink positioning setting to the target terminal; transmitting a sidelink positioning setting to the anchor terminal.

[0082] The above sidelink positioning capability can represent the sidelink positioning capability provided in the terminal. The sidelink positioning capability may include, for example, which sidelink positioning methods are supported, whether the transmission of sidelink reference signals is supported, and whether the measurement of sidelink reference signals is supported, etc.

[0083] The above sidelink positioning setting may be, for example, the setting of sidelink positioning reference signals such as resource setting, power setting, etc.

[0084] As an alternative embodiment, before the first terminal executes a sidelink positioning operation based on the sidelink positioning request, the method further includes: the first terminal executing a discovery process of the target terminal; the first terminal establishing a sidelink unicast connection with the target terminal; the first terminal executing a discovery process of an anchor terminal; the first terminal establishing a sidelink unicast connection with the anchor terminal; and further includes at least one of the above.

[0085] The above "executing a discovery process of an anchor terminal" is to avoid as much as possible the waste of resources caused by the situation that the anchor terminal transmits SL PRS but the target terminal cannot measure it, or the target terminal transmits SL PRS but the anchor terminal UE cannot measure it. The first terminal can execute sidelink communication (by establishing a sidelink unicast connection) and can receive the SL PRS of the target terminal, or the transmitted SL PRS can be received by the target terminal, and a terminal can be selected. Alternatively, it may be to select an anchor terminal with specific sidelink positioning capabilities.

[0086] In this embodiment, since the first terminal, the target terminal, and the anchor terminal have established a sidelink unicast connection, the reliability of sidelink positioning can be improved.

[0087] Note that in some embodiments, before the first terminal receives a sidelink positioning request, the first terminal may already have established a sidelink unicast connection with the target terminal and / or the anchor terminal.

[0088] Also, in this embodiment, at least one of the above may be included in the sidelink positioning operation. That is, the above sidelink positioning operation may further include at least one of the above.

[0089] As an alternative embodiment, the method includes a step in which the first terminal transmits a first sidelink positioning response under a first condition, and the first sidelink positioning response is further used to indicate that sidelink positioning has failed, wherein the first condition includes the target terminal not being discovered, and a failure to successfully establish a sidelink unicast connection with the target terminal, in other words, a failure to establish a sidelink unicast connection with the target terminal, including at least one of them.

[0090] The above-mentioned "transmitting the first sidelink positioning response" may be to transmit the first sidelink positioning response to the LMF, AMF, or the second terminal, and the above first sidelink positioning response may be at least one of a sidelink positioning protocol message, a PC5-S message, a PC5 RRC message, an LPP message, or a NAS message.

[0091] In some embodiments, the above first sidelink positioning response may include failure cause information on the failure of sidelink positioning. For example, the failure cause may be infeasible, failure to discover the target terminal, or failure to establish a unicast connection, etc.

[0092] In this embodiment, in the first condition, by transmitting the above first sidelink positioning response to indicate the failure of sidelink positioning, the overhead caused by the LMF, AMF, or the second terminal waiting for the positioning result of the target terminal is reduced.

[0093] As an alternative embodiment, after the step in which the first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain the positioning result of the target terminal, the method includes: A step in which the first terminal transmits a second sidelink positioning response, where the second sidelink positioning response is used to indicate the positioning result of the target terminal. PU Further includes.

[0094] In this embodiment, when the sidelink positioning for the target terminal is successful, the first terminal may transmit a second sidelink positioning response to the LMF, AMF, or the second terminal to indicate the positioning result of the target terminal. And the above second sidelink positioning response is: It may be at least one of a sidelink positioning protocol message, a PC5-S message, a PC5 RRC message, an LPP message, or an NAS message.

[0095] As an alternative embodiment, the first terminal is the target terminal, or The first terminal is a terminal different from the target terminal, and the step in which the first terminal obtains a sidelink positioning request includes: A step in which the first terminal receives a sidelink positioning request transmitted by the target terminal.

[0096] Here, when the first terminal is the target terminal, the sidelink positioning request may be obtained by receiving what is transmitted by the LMF, AMF, or the second terminal, or may be generated by the first terminal itself.

[0097] The above-mentioned "the first terminal is a terminal different from the target terminal, and the first terminal receives the sidelink positioning request transmitted by the target terminal" may mean that after the target terminal receives the sidelink positioning request transmitted by the LMF, AMF, or the second terminal, or after the target terminal itself generates the sidelink positioning request, the target terminal transmits the sidelink positioning request to the above-mentioned first terminal.

[0098] In this embodiment, by supporting the transmission of the sidelink positioning request by the target terminal, the flexibility of sidelink positioning is improved.

[0099] As an alternative embodiment, when the first terminal is the target terminal, the method includes a step in which the first terminal reports capability information to a network device, where the capability information is used to represent at least one of a sidelink positioning capability and a capability of a sidelink positioning service function.

[0100] The above-mentioned "reporting capability information to a network device" may mean transmitting the capability information to the LMF or AMF so that the LMF or AMF can accurately and quickly discover the terminal providing the sidelink positioning service function.

[0101] Optionally, the method further includes The step in which the first terminal receives the instruction information transmitted by the network device, where the instruction information is further used to instruct reporting of the capability information.

[0102] The above instruction information may be transmitted via an LPP message or an NAS message.

[0103] In this embodiment, the network device may transmit the above instruction information to a plurality of terminals, and each terminal reports the capability information to the network device to indicate whether it has the sidelink positioning capability and the capability of the sidelink positioning service function of each terminal.

[0104] In this embodiment, in order to report the capability information via the above instruction information, on-demand reporting of the capability information is realized, and the overall overhead of the communication system is reduced.

[0105] In some other embodiments, the terminal may voluntarily report the capability information to the network device.

[0106] In the embodiment of the present application, the first terminal obtains a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides a sidelink positioning service function, and the first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal. In this way, by the first terminal that provides the sidelink positioning service function executing the sidelink positioning operation based on the sidelink positioning request, sidelink positioning can be supported and the positioning performance of the terminal can be improved.

[0107] FIG. 5 is a flowchart of another positioning method provided by the embodiment of the present application. As shown in FIG. 5, the following steps are included.

[0108] Step 501: The second terminal sends a sidelink positioning request to the first terminal. The sidelink positioning request is used to request positioning of the target terminal, and the first terminal is a terminal that provides a sidelink positioning service function.

[0109] Here, the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0110] Optionally, the sidelink positioning request is At least one of a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control (RRC) message.

[0111] Optionally, the sidelink positioning request Includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0112] Optionally, the sidelink positioning request Further includes at least one of a type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information, The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal, The reference terminal is a position reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0113] Optionally, before the step of the second terminal sending a sidelink positioning request to the first terminal, the method The step in which the second terminal receives a fourth sidelink positioning request transmitted by a network device, where the fourth sidelink positioning request further includes at least one of positioning QoS, information of a reference terminal, information of candidate anchor terminals, and information of the first terminal.

[0114] In this embodiment, when the network device requests sidelink positioning from the second terminal and the second terminal does not have a sidelink positioning service function, it can be realized that the second terminal transmits the sidelink positioning request in step 501 to the first terminal.

[0115] Optionally, when the sidelink positioning request transmitted to the first terminal and the fourth sidelink positioning request include positioning QoS, the delay requirement of the positioning QoS included in the sidelink positioning request transmitted to the first terminal is lower than the delay requirement of the positioning QoS included in the fourth sidelink positioning request.

[0116] Here, regarding "the delay requirement of the positioning QoS included in the sidelink positioning request transmitted to the first terminal is lower than the delay requirement of the positioning QoS included in the fourth sidelink positioning request", the difference in delay may also be the difference between the time when the network device transmits the fourth sidelink positioning request and the time when the LMF receives a location request. This is because the network device has performed positioning based on Uu and may have consumed a certain time budget.

[0117] In this embodiment, since the delay requirement of the sidelink positioning request transmitted by the second terminal is lower than the delay requirement of the received sidelink positioning request, it is ensured that the delay of the final sidelink positioning meets the positioning requirements, and the reliability of the sidelink positioning can be improved.

[0118] Optionally, when the second terminal and the target terminal are the same terminal, and the target terminal does not provide a positioning service function, the method further comprises: a step in which the second terminal determines the first terminal.

[0119] Optionally, the method further comprises: a step in which the second terminal reports capability information to a network device, where the capability information is used to represent at least one of: sidelink positioning capability; and whether it has the capability of the sidelink positioning service function.

[0120] Optionally, the method further comprises: a step in which the second terminal receives indication information sent by the network device, where the indication information is used to indicate reporting the capability information.

[0121] Optionally, before the step in which the second terminal sends a sidelink positioning request to the first terminal, the method further comprises: a step in which the second terminal establishes a sidelink unicast connection with the first terminal. PU It further comprises.

[0122] It should be noted that this embodiment corresponds to the embodiment of the second terminal in the embodiment shown in FIG. 2. For its specific embodiment, reference may be made to the relevant description of the embodiment shown in FIG. 2. To avoid duplicate description, the description is omitted in this embodiment.

[0123] FIG. 6 is a flowchart of another positioning method provided by an embodiment of the present application. As shown in FIG. 6, the following steps are included.

[0124] Step 601: The network device sends a sidelink positioning request to the first terminal. The sidelink positioning request is used to request positioning of the target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal.

[0125] Optionally, the network device is a Location Management Function (LMF), and the sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a Location Service (LCS) message. Or, the network device is an Access and Mobility Management Function (AMF), and the sidelink positioning request message is a Non-Access Stratum (NAS) message.

[0126] Optionally, the sidelink positioning request includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0127] Optionally, the sidelink positioning request further includes at least one of the type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0128] Optionally, the method further includes the step of the network device receiving a first sidelink positioning response sent by the first terminal, where the first sidelink positioning response indicates a first positioning result of the target terminal.

[0129] Optionally, the method includes a step of the network device receiving, under a first condition, a first sidelink positioning response transmitted by the first terminal, where the first sidelink positioning response is used to indicate that sidelink positioning has failed. The first condition includes at least one of: the target terminal not being discovered; and failure to successfully establish a sidelink unicast connection with the target terminal.

[0130] Optionally, the first sidelink positioning response includes failure cause information indicating that sidelink positioning has failed.

[0131] Optionally, the method includes a step of the network device receiving first capability information reported by the first terminal, where the first capability information is used to represent at least one of: sidelink positioning capability; and whether the device has the capability of sidelink positioning service functions.

[0132] Optionally, the method includes a step of the network device transmitting indication information to the first terminal, where the indication information is used to instruct the first terminal to report capability information.

[0133] Optionally, the step of the network device transmitting a sidelink positioning request to the first terminal includes a step of the network device transmitting a sidelink positioning request to the first terminal under a second condition. The second condition includes: when the target terminal is in an idle state, the network device failing to page the target terminal; The positioning based on the Uu interface of the target terminal by the network device has failed, and the positioning accuracy of the second positioning result, which is the positioning result of the positioning based on the Uu interface of the target terminal by the network device, does not meet the predetermined requirements, and at least one of the following: the first terminal has the ability of the sidelink positioning service function.

[0134] In this embodiment, when the paging of the network device to the target terminal fails, the sidelink positioning for the target terminal is started. Also, when the positioning based on the Uu interface fails, or when the positioning result of the positioning based on the Uu interface does not meet the predetermined requirements, the sidelink positioning for the target terminal can be started. Also, when the first terminal has the ability of the sidelink positioning service function, the sidelink positioning for the target terminal can be started. Therefore, the positioning performance is improved.

[0135] Note that this embodiment corresponds to the embodiment of the network device shown in FIG. 2. For its specific embodiment, reference may be made to the related description of the embodiment shown in FIG. 2. To avoid duplicate descriptions, the description is omitted in this embodiment.

[0136] Hereinafter, the method provided by the embodiments of the present application will be exemplarily described with multiple embodiments. Specifically, it is as follows.

[0137] Example 1: As shown in FIG. 7, this embodiment includes the following steps.

[0138] Step 0: The location server UE receives a positioning request carrying positioning QoS and the target UE ID, or the location server UE itself triggers the need to position the target UE or itself (i.e., the location server UE is also the target UE). The positioning QoS may include positioning accuracy and positioning latency. The target UE ID may be the L2 ID of the target UE, Application UE ID, S-TMSI, IMSI, or SUPI, etc.

[0139] Scenario 1: UE1 has established a sidelink unicast connection with the location server UE, and UE1 sends a positioning request message to the location server UE via the sidelink unicast connection. UE1 may be the target UE or another UE as a third party. The positioning request message may be a Sidelink positioning protocol (for the convenience of description, called SLPP in this embodiment) message, a PC5-S message, or a PC5 RRC message.

[0140] Scenario 2: The location server UE receives a positioning request sent by the LMF. The positioning request may be an LCS message or an LPP message. For example, by introducing a new message for the transmission of the positioning request from the LMF to the location server UE into the LPP protocol, the location server UE is required to perform sidelink positioning on the target UE.

[0141] Scenario 3: The location server UE receives the positioning request sent by the AMF, which may be an NAS message. That is, by introducing a new message for the transmission of the positioning request from the AMF to the location server UE into the NAS protocol, the location server UE is required to perform sidelink positioning on the target UE.

[0142] In addition to carrying the positioning QoS and the target UE ID, the positioning request message may include any of the following combinations. Type of positioning. The type of positioning may include, for example, absolute positioning, relative positioning / ranging positioning. Reference UE information (when the type of positioning is relative positioning / ranging positioning). This information can also implicitly indicate that the type of positioning is relative positioning / ranging positioning. Candidate anchor UE information indicating a list of candidate anchor UEs. These UEs may be UEs in the vicinity of the target UE (for example, UEs from which the target UE can receive its sidelink signal (e.g., SL PRS signal), or UEs identified but not selected in the discovery process of the location server UE), and this list is used to assist the location server UE in selecting an anchor UE. Sidelink positioning measurement result information (for example, for a positioning request initiated by the target UE, the sidelink positioning measurement results obtained by the target UE when starting the positioning request). This reduces the positioning delay. Optionally, the positioning request message may carry a container, and the container may include an SLPP message carrying the sidelink positioning measurement result information.

[0143] Step 1 (Optional step): If the location server UE has not established a sidelink unicast connection with the target UE (which may occur, for example, in a positioning request scenario for the target UE initiated by a third-party UE, LMF, or AMF), the location server UE performs a discovery process and / or a sidelink unicast connection establishment process for the target UE. Specifically, the following solutions are possible.

[0144] Solution 1: The location server UE discovers the target UE by sending a PC5-discovery (D) message, for example, discovers the target UE by sending a direct discovery solicitation message.

[0145] Solution 2: The location server UE sends a PC5-S message such as a direct link establishment request, for example, and the message carries the UE ID of the target UE. Specifically, when the UE ID of the target UE is the SL layer 2 ID, as the target layer 2 ID corresponding to the message, the SL layer 2 ID of the target UE is used (that is, the upper 8 bits of the SL layer 2 ID are carried in the sub-header of the SL MAC PDU corresponding to the message, and the lower 16 bits of the SL layer 2 ID are carried in the SCI corresponding to the message), or the target UE ID is carried in the information element of the message, and as the target layer 2 ID corresponding to the message, the layer 2 ID corresponding to the sidelink positioning service is used.

[0146] Solution 3: Introduce a new SLPP message into the SLPP protocol for use in discovering the target UE and / or establishing a sidelink unicast connection with the target UE. Since it is a newly introduced SLPP message, the SLPP message can support multiple types of target UE IDs to support each of the above scenarios.

[0147] If the location server UE fails to discover the target UE or fails to establish a sidelink unicast connection with the target UE, the location server UE returns a positioning response message or a positioning failure message. The positioning response message or the positioning failure message may include a failure cause, which may be infeasible, failure to discover the target UE, or failure to establish a unicast connection, etc. The process ends.

[0148] Step 2 (Optional step): The location server UE discovers / determines an anchor UE that participates in positioning based on information such as positioning QoS. For example, by selecting a UE that can communicate via sidelink (by establishing a sidelink unicast connection) with the location server UE and can receive the SL PRS of the target UE or the transmitted SL PRS can be received by the target UE, waste of resources can be avoided as much as possible (avoiding the situation where the anchor UE transmits the SL PRS but the target UE cannot measure it, or the target UE transmits the SL PRS but the anchor UE cannot measure it), and for example, selecting an anchor UE whose sidelink positioning capability matches the positioning QoS.

[0149] The process of discovering or establishing a sidelink unicast connection is similar to Step 1, but the corresponding message does not contain the target UE ID. Instead, it differs from Step 1 in that it may include an anchor UE screening condition, which may be that the anchor UE meets a specific sidelink positioning capability.

[0150] Optionally, if candidate anchor UE information is carried in Step 1, the location server UE selects from these candidate anchor UEs or preferentially selects these candidate anchor UEs.

[0151] In subsequent steps, the location server UE executes an SLPP positioning process, which, for example, is the location server UEExchange of sidelink positioning capabilities with the target UE and / or the anchor UE (i.e., the location server UE obtains the sidelink positioning capabilities of the target UE and / or the anchor UE from the target UE and / or the anchor UE), determination of sidelink positioning methods and sidelink positioning settings (positioning assistance information) based on positioning QoS, and transmission of sidelink positioning settings to the target UE and the anchor UE. Optionally, the target UE and / or the anchor UE request the acquisition of SL PRS resources from the base station. The target UE and the anchor UE transmit or measure the SL-PRS and report the measurement results or position results to the location server UE. In the case of measurement results, the location server UE calculates the position result based on the measurement results and includes the position result in the positioning response message and returns it to the initiator of the positioning request. The positioning response message and the positioning request message are messages of the same protocol layer. For example, if the positioning request message is an SLPP message, the positioning response message is an SLPP message, and if the positioning request message is a PC5-S message, the positioning response message is a PC5-S message. Here, the positioning response message may be At least one of a sidelink positioning protocol message, a PC5-S message, a PC5 RRC message, an LPP message, or an NAS message.

[0152] Example 2: This embodiment will be described by taking a sidelink location request triggered by the LMF as an example. The sidelink positioning process triggered by the LMF mainly includes that the LMF determines to trigger sidelink positioning and the LMF sends a positioning request message to the target UE. The positioning request message may be an LPP message. The message carries positioning QoS. The target UE either performs sidelink positioning on itself as a location server UE (if the target UE has the ability to be a location server UE), or the target UE finds a location server UE and sends a sidelink positioning request (the positioning request carries QoS) to the location server UE to request the location server UE to perform positioning on the target UE itself. In this embodiment, the LMF only provides the QoS of sidelink positioning, and the specific sidelink positioning method, sidelink positioning settings, etc. are determined by the Location server UE. As shown in FIG. 8, the following steps are included.

[0153] Step 1: The LMF receives a location request (from the AMF) for the target UE. The location request carries positioning QoS, and the positioning QoS includes an accuracy requirement and a positioning delay requirement. The LMF determines to trigger sidelink positioning for the target UE. For example, after the LMF performs Uu based positioning and the positioning result does not meet the positioning QoS requirements (for example, if the positioning fails or the accuracy is insufficient), the LMF determines to trigger sidelink positioning for the target UE.

[0154] Step 2: The LMF transmits to the target UE an LPP message carrying positioning QoS, such as a sidelink location request. The LPP message is a newly introduced LPP message in the LPP protocol (herein called sidelink location request), and is used by the LMF to request the UE to obtain location information based on the sidelink positioning of the UE. At this time, the LMF functions only as a positioning client, and the function of the location server is fulfilled by the terminal, so that the coupling degree between sidelink positioning and Uu positioning can be reduced, and the complexity of the protocol can be reduced.

[0155] Optionally, the sidelink location request message may further carry candidate anchor UE information, location server UE information, etc. to assist in determining the location server UE or anchor UE that performs sidelink positioning this time.

[0156] Optionally, if the target UE has the capabilities of a location server UE, the LMF transmits a sidelink location request message to the target UE. That is, only the lower A lt1 solution in FIG. 8 is supported ( AThis is because the lt2 solution has a longer positioning delay and may not meet the positioning delay requirement. In the positioning process based on the Uu interface, the LMF can obtain whether the target UE has the capabilities of the location server UE. For example, the target UE can carry information about whether it has the capabilities of the location server UE in the Provide Capabilities message of the LPP message. Optionally, the LMF can carry the indication information in the Request Capabilities message of the LPP message and instruct the target UE to report information about its sidelink positioning capabilities or whether it has the capabilities of the location server UE. The specific process is as shown in Figure 9.

[0157] Optionally, the positioning QoS in the sidelink location request may be different from the positioning QoS in the positioning request received by the LMF in step 1. For example, the delay requirement in the positioning QoS in step 2 is the value obtained by subtracting a certain value from the delay requirement in the positioning QoS in step 1, and this value may be the difference between the time when the LMF sends the sidelink location request and the time when the LMF receives the location request. This is because the LMF has performed Uu-based positioning and may have consumed a certain time budget.

[0158] Step 3 (Alt1): After the target UE receives the sidelink positioning request message from the LMF, the target UE executes the sidelink positioning process as the location server UE to obtain the sidelink positioning result of the target UE. This process may include the discovery of the anchor UE and / or the unicast establishment process with the anchor UE. For details, refer to the relevant description in Embodiment 1, and the description is omitted here.

[0159] Note that in Alt1, UE1 in the figure functions as an anchor UE, and the anchor UE may be one or more.

[0160] Then, skip to Step 8.

[0161] Step 4 (Alt2): After receiving the sidelink positioning request message from the LMF, the Target UE determines that it does not function as a location server UE itself (for example, it does not have the capabilities of a location server UE). The Target UE determines a location server UE, and if the target UE has not yet established a sidelink unicast connection with the location server UE, it establishes a sidelink unicast connection with the location server UE. Here, optionally, the operation of the Target UE determining a location server UE may include the discovery and selection process of the location server UE.

[0162] Steps 5 and 6: The Target UE sends a sidelink location request message to the location server UE to request the positioning of the target UE. The Location server UE executes the sidelink positioning process to obtain the positioning result of the target UE. For details, refer to Embodiment 1.

[0163] Note that in Alt2, UE1 in the figure functions as a location server UE, but the anchor UE is not shown, and the anchor UE may be one or more.

[0164] Step 7: The Location server UE sends a sidelink location response message carrying the sidelink positioning result of the target UE to the target UE.

[0165] Step 8: The target UE sends a sidelink location response message, an LPP message carrying the sidelink positioning result of the target UE, to the LMF. Then, the LMF sends a location response message carrying the positioning result to the AMF.

[0166] Example 3: In this example, mainly the sidelink positioning request triggered by the AMF will be described. In this example, the sidelink positioning process triggered by the AMF mainly includes the following as shown in FIG. 10.

[0167] The AMF determines to trigger sidelink positioning (for example, when the target UE is in the idle state, the AMF fails to page the target UE, and positioning based on the Uu interface cannot be performed). The AMF sends a sidelink positioning request message to one or more UEs (for example, the location server UE), and the positioning request message may be an NAS message. The message carries the positioning QoS and the target UE ID. The UE that receives the sidelink positioning request message performs sidelink positioning for the target UE to obtain a sidelink positioning result, and then the UE sends an NAS message sidelink location response carrying the sidelink positioning result to the AMF. For the specific sidelink positioning process, reference may be made to Example 1.

[0168] In the embodiments of the present application, positioning based on the PC5 interface may be realized as follows.

[0169] The location server UE receives a positioning request carrying positioning QoS and the target UE ID, or the location server UE itself triggers the need to position the target UE or itself. Then, the location server UE identifies or determines the anchor UE participating in the positioning based on information such as positioning QoS, and also determines the positioning method. Subsequently, the location server UE performs sidelink positioning using the sidelink positioning protocol to obtain the sidelink positioning result.

[0170] The location server UE receives a positioning request message sent by another UE via a sidelink unicast connection. The positioning request message may be a Sidelink positioning protocol message, a PC5 - S message, or a PC5 RRC message.

[0171] The location server UE receives a positioning request sent by the LMF (for example, when the positioning result based on Uu does not meet the positioning QoS). The positioning request may be an LPP message.

[0172] The UE causes the Provide Capabilities message of the LPP message to carry information about whether it has the capabilities of the location server UE.

[0173] The LMF causes the Request Capabilities message of the LPP message to carry indication information, instructing to report information about whether the UE has sidelink positioning capabilities or the capabilities of the location server UE.

[0174] The location server UE receives a positioning request sent by the AMF (for example, when the AMF fails to page the target UE). The positioning request may be a NAS message.

[0175] In addition to carrying the positioning QoS and the target UE ID, the positioning request message may include any combination of the type of positioning, Reference UE information, candidate anchor UE information, and sidelink positioning measurement result information.

[0176] The location server UE executes the target UE discovery process and / or the sidelink unicast connection establishment process. If the location server UE fails to discover the target UE or fails to establish a sidelink unicast connection with the target UE, the location server UE returns a positioning response message, which may include a failure cause, such as a discovery failure or a failure to establish a unicast connection.

[0177] Since the embodiments of the present application disclose the complete architecture and process of sidelink positioning, sidelink positioning can be adapted to various positioning scenarios.

[0178] FIG. 11 is a structural diagram of a positioning device provided by an embodiment of the present application. As shown in FIG. 11, the positioning device 1100 includes an acquisition module 1101 used to acquire a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, and an execution module 1102 used to execute a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal.

[0179] The above device corresponds to the above first terminal, or the above first terminal includes the above device.

[0180] Optionally, the acquisition module 1101 Receiving a first sidelink positioning request from a network device, and Receiving a second sidelink positioning request from a second terminal via a sidelink unicast connection, and Generating a third sidelink positioning request by itself, and is used for one of them.

[0181] Optionally, the network device is a Location Management Function (LMF), and the first sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a Location Service (LCS) message, or the network device is an Access and Mobility Management Function (AMF), and the first sidelink positioning request message is a Non-Access Stratum (NAS) message, or the second sidelink positioning request is at least one of a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 Radio Resource Control (RRC) message.

[0182] Optionally, the sidelink positioning request includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0183] Optionally, the device further includes a decision module used to determine at least one of a sidelink positioning method, positioning configuration information, an anchor terminal participating in positioning, and a reference terminal participating in positioning based on the positioning QoS, where the anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal, and the reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0184] ​Optionally, the sidelink positioning request further includes at least one of a positioning type, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning. The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0185] Optionally, the sidelink positioning operation includes receiving a sidelink positioning measurement result transmitted by the target terminal, receiving a sidelink position result transmitted by the target terminal, receiving a sidelink positioning measurement result transmitted by an anchor terminal, receiving a sidelink position result transmitted by an anchor terminal, and includes at least one of these.

[0186] Optionally, the sidelink positioning operation further includes acquiring the sidelink positioning capability of the target terminal, acquiring the sidelink positioning capability of the anchor terminal, transmitting a sidelink positioning setting to the target terminal, transmitting a sidelink positioning setting to the anchor terminal, and includes at least one of these.

[0187] Optionally, the device includes a first execution module used to execute a discovery process of the target terminal, A first establishment module used to establish a sidelink unicast connection with the target terminal; A second execution module used to execute the discovery process of the anchor terminal; It further includes at least one of a second establishment module used to establish a sidelink unicast connection with the anchor terminal.

[0188] Optionally, the device A first transmission module used to transmit a first sidelink positioning response under a first condition, where the first sidelink positioning response is a first transmission module used to indicate that sidelink positioning has failed RU It further includes The first condition is That the target terminal has not been discovered, and That the establishment of a sidelink unicast connection with the target terminal has not been successful, including at least one of them.

[0189] Optionally, the first sidelink positioning response includes failure cause information indicating that sidelink positioning has failed.

[0190] Optionally, the device A second transmission module used to transmit a second sidelink positioning response, where the second sidelink positioning response further includes a second transmission module used to indicate the positioning result of the target terminal.

[0191] Optionally, the first terminal is the target terminal, Or, The first terminal is a terminal different from the target terminal, and the step of the first terminal obtaining a sidelink positioning request is The step of the first terminal receiving a sidelink positioning request transmitted by the target terminal.

[0192] Optionally, when the first terminal is the target terminal, the apparatus includes a reporting module used to report capability information to a network device, where the capability information is used to represent at least one of sidelink positioning capability and the capability of the sidelink positioning service function.

[0193] Optionally, the apparatus further includes a receiving module used to receive instruction information sent by the network device, where the instruction information is used to instruct reporting the capability information.

[0194] The positioning performance of the terminal can be improved by the above positioning apparatus.

[0195] The positioning apparatus in the embodiments of the present application may be an electronic device, for example, an electronic device having an operating system, or a component in an electronic device, for example, an integrated circuit or a chip. The electronic device may be a terminal or other device other than a terminal. Exemplarily, the terminal may include the types of terminals listed in the embodiments of the present application, but is not limited thereto. Other devices may be a server, a network attached storage (NAS), etc., and are not specifically limited in the embodiments of the present application.

[0196] The positioning apparatus provided by the embodiments of the present application realizes each process realized by the method embodiment shown in FIG. 2, and can achieve the same technical effect. To avoid repetition, the description is omitted here.

[0197] FIG. 12 is a structural diagram of another positioning apparatus provided by the embodiments of the present application. As shown in FIG. 12, the positioning apparatus 1200 A transmission module 1201 used to send a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal includes the transmission module 1201 which is a terminal providing a sidelink positioning service function. The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0198] The above device corresponds to the above second terminal, or the above second terminal includes the above device.

[0199] Optionally, the sidelink positioning request is at least one of a sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control (RRC) message.

[0200] Optionally, the sidelink positioning request includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0201] Optionally, the sidelink positioning request further includes at least one of a type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in the transmission of a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in the measurement of a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning. The sidelink positioning measurement result information is used to assist in the positioning of the target terminal.

[0202] Optionally, the device A first receiving module used to receive a fourth sidelink positioning request transmitted by a network device, wherein the fourth sidelink positioning request further includes a first receiving module including at least one of positioning QoS, information of a reference terminal, information of a candidate anchor terminal, and information of the first terminal.

[0203] Optionally, when the sidelink positioning request transmitted to the first terminal and the fourth sidelink positioning request include positioning QoS, the delay requirement of the positioning QoS included in the sidelink positioning request transmitted to the first terminal is lower than the delay requirement of the positioning QoS included in the fourth sidelink positioning request.

[0204] Optionally, when the second terminal and the target terminal are the same terminal and the target terminal does not provide a positioning service function, the device further includes a determination module used to determine the first terminal.

[0205] Optionally, the device is a reporting module used to report capability information to a network device, wherein the capability information is used to represent at least one of sidelink positioning capability and whether it has the capability of the sidelink positioning service function, and further includes a reporting module.

[0206] Optionally, the device is a second receiving module used to receive instruction information transmitted by the network device, wherein the instruction information further includes a second receiving module used to instruct to report the capability information.

[0207] Optionally, the device further includes an establishment module used to establish a sidelink unicast connection with the first terminal.

[0208] The positioning performance of the terminal can be improved by the above positioning device.

[0209] The positioning device in the embodiment of the present application may be an electronic device, for example, an electronic device having an operating system, or a member in the electronic device, for example, an integrated circuit or a chip. The electronic device may be a terminal or other device other than the terminal. Exemplarily, the terminal may include the types of terminals recited in the embodiments of the present application, but is not limited thereto. Other devices may be a server, a network attached storage (NAS), etc., and are not specifically limited in the embodiments of the present application.

[0210] The positioning device provided by the embodiment of the present application realizes each process realized by the embodiment of the method shown in FIG. 5, and can achieve the same technical effect. To avoid duplication, the description is omitted here.

[0211] FIG. 13 is a structural diagram of another positioning device provided by the embodiment of the present application. As shown in FIG. 13, the positioning device 1300 includes A first transmission module 1301 used to transmit a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal, including the first transmission module 1301.

[0212] The above device corresponds to the above network device, or the above network device includes the above device.

[0213] Optionally, the network device is a Location Management Function (LMF), and the sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a Location Service (LCS) message. Alternatively, the network device is an Access and Mobility Management Function (AMF), and the sidelink positioning request message is a Non-Access Stratum (NAS) message.

[0214] Optionally, the sidelink positioning request includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0215] Optionally, the sidelink positioning request further includes at least one of a sidelink positioning method, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0216] Optionally, the device is a first receiving module used to receive a first sidelink positioning response transmitted by the first terminal, and the first sidelink positioning response further includes a first receiving module that indicates a first positioning result of the target terminal.

[0217] Optionally, the device is a second receiving module used to receive a first sidelink positioning response transmitted by the first terminal under a first condition, and the first sidelink positioning response further includes a second receiving module used to indicate that sidelink positioning has failed. The first condition is that the target terminal has not been discovered, and / or that the establishment of a sidelink unicast connection with the target terminal has not been successful, including at least one of them.

[0218] Optionally, the first sidelink positioning response includes failure cause information on the failure of sidelink positioning.

[0219] Optionally, the device further includes a third receiving module used to receive first capability information reported by the first terminal, where the first capability information is used to represent at least one of a sidelink positioning capability and whether it has a capability of a sidelink positioning service function.

[0220] Optionally, the device further includes a second transmitting module used to transmit indication information to the first terminal, where the indication information is used to instruct reporting of capability information.

[0221] Optionally, the step of the network device transmitting a sidelink positioning request to the first terminal includes the step of the network device transmitting a sidelink positioning request to the first terminal under a second condition, where the second condition is that when the target terminal is in an idle state, the network device has failed to page the target terminal, the network device has failed in positioning based on the Uu interface of the target terminal, the positioning accuracy of a second positioning result, which is the positioning result of positioning based on the Uu interface of the target terminal by the network device, does not meet the predetermined requirements, including at least one of the first terminal having the ability of sidelink positioning service function.

[0222] The positioning performance of the terminal can be improved by the above positioning device.

[0223] In the embodiments of the present application Positioning The device may be an electronic device, for example, an electronic device having an operating system, or a member in an electronic device, for example, an integrated circuit or a chip. The electronic device may be a network device.

[0224] Provided by the embodiments of the present application Positioning The device realizes each process realized by the embodiment of the method shown in FIG. 5, and can achieve the same technical effect. For the sake of avoiding duplication, the description is omitted here.

[0225] Optionally, as shown in FIG. 14, the embodiments of the present application further provide a communication device 1400 including a processor 1401 and a memory 1402, and the memory 1402 stores programs or commands executable by the processor 1401. For example, when the communication device 1400 is the first terminal, when the program or command is executed by the processor 1401, each step of the embodiment of the above positioning method on the first terminal side is realized, and the same technical effect can be achieved. When the communication device 1400 is the second terminal, when the program or command is executed by the processor 1401, each step of the embodiment of the above positioning method on the second terminal side is realized, and the same technical effect can be achieved. When the communication device 1400 is a network device, when the program or command is executed by the processor 1401, each step of the embodiment of the above method on the network device side Positioning is realized, and the same technical effect can be achieved. For the sake of avoiding duplication, the description is omitted here.

[0226] An embodiment of the present application further provides a terminal including a processor and a communication interface. When the terminal is a first terminal, the processor or the communication interface is used to obtain a sidelink positioning request, and the sidelink positioning request is used to request to position a target terminal. The first terminal is a terminal that provides a sidelink positioning service function, and the communication interface is used to execute a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal. When the terminal is a second terminal, the communication interface is used to send a sidelink positioning request to the first terminal, and the sidelink positioning request is used to request to position a target terminal. The first terminal is a terminal that provides a sidelink positioning service function, and the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0227] The embodiment of the terminal corresponds to the embodiment of the above method on the terminal side. Each implementation process and implementation method of the embodiment of the above method can be applied to the embodiment of the terminal, and the same technical effect can be achieved. Specifically, FIG. 15 is a schematic diagram of a hardware configuration for implementing the terminal of the embodiment of the present application.

[0228] The terminal 1500 includes at least some of the members such as a high-frequency unit 1501, a network module 1502, an audio output unit 1503, an input unit 1504, a sensor 1505, a display unit 1506, a user input unit 1507, an interface unit 1508, a memory 1509, and a processor 1510, but is not limited thereto.

[0229] A person skilled in the art would understand that the terminal 1500 may further include a power source (e.g., a battery) for supplying power to each component. The power source is logically connected to the processor 1510 via a power management system, so that the power management system can realize functions such as charging and discharging management and power consumption management. It is understandable that the structure of the terminal shown in FIG. 15 does not limit the terminal, and the terminal may include more or fewer components than shown, or a combination of some components, or different component arrangements, which will not be described herein for brevity.

[0230] It should be understood that in the embodiments of the present application, the input unit 1504 may include a graphics processing unit (GPU) 15041 for processing still image or video image data acquired by an image capture device (e.g., a camera) in a video capture mode or an image capture mode, and a microphone 15042. The display unit 1506 may include a display panel 15061, and the display panel 15061 may be arranged in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1507 includes at least one of a touch panel 15071 and other input devices 15072. The touch panel 15071 is also called a touch screen. The touch panel 15071 may include two parts: a touch detection device and a touch controller. The other input devices 15072 may include, but are not limited to, a physical keyboard, function buttons (e.g., volume control buttons, switch buttons, etc.), a trackball, a mouse, and an operation lever, which will not be described herein for brevity.

[0231] In the embodiments of the present application, after receiving downlink data from a network device, the high-frequency unit 1501 can transmit and process it to the processor 1510. Also, the high-frequency unit 1501 can transmit uplink data to the network device. Usually, the high-frequency unit 1501 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0232] The memory 1509 can be used to store software programs or commands and various data. The memory 1509 may mainly include a first storage area for storing programs or commands and a second storage area for storing data. The first storage area can store an operating system, applications or commands required for at least one function (such as a voice playback function, an image playback function, etc.). Also, the memory 1509 may include a volatile memory or a non-volatile memory, or may include both a volatile memory and a non-volatile memory. The non-volatile memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDRSDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), or a Direct Rambus RAM (DRRAM). The memory 1509 in the embodiments of the present application includes these memories and any other suitable type of memory, but is not limited thereto.

[0233] Processor 1510 may include one or more processing units. Optionally, the processor 1510 may integrate an application processor mainly handling operations related to an operating system, a user interface, applications, etc., and a modem processor such as a baseband processor mainly processing wireless communication signals. It is understandable that the above modem processor may not be integrated into the processor 1510.

[0234] When the above terminal is the first terminal, Processor 1510 or the RF unit 1501 is used to obtain a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal providing a sidelink positioning service. Processor 1510 or the RF unit 1501 is used to perform a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal.

[0235] Optionally, the step of obtaining the sidelink positioning request includes receiving a first sidelink positioning request from a network device, receiving a second sidelink positioning request from a second terminal via a sidelink unicast connection, or generating a third sidelink positioning request by itself.

[0236] Optionally, the network device is a Location Management Function (LMF), and the first sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a Location Service (LCS) message. Or, the network device is an Access and Mobility Management Function (AMF), and the first sidelink positioning request message is a Non-Access Stratum (NAS) message. Or, the second sidelink positioning request is At least one of a sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0237] Optionally, the sidelink positioning request Includes at least one of positioning service quality QoS and identifier information of the target terminal.

[0238] Optionally, the processor 1510 further Based on the positioning QoS, Used to determine at least one of a sidelink positioning method, positioning configuration information, an anchor terminal participating in positioning, and a reference terminal participating in positioning, The anchor terminal is a terminal with a known position that participates in the transmission of sidelink positioning reference signals, or the anchor terminal is a terminal with a known position that participates in the measurement of sidelink positioning reference signals, The reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0239] Optionally, the sidelink positioning request Further includes at least one of the type of positioning, information of the reference terminal, information of the candidate anchor terminal, and sidelink positioning measurement result information, The anchor terminal is a terminal with a known position that participates in the transmission of sidelink positioning reference signals, or the anchor terminal is a terminal with a known position that participates in the measurement of sidelink positioning reference signals, The reference terminal is a position reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in the positioning of the target terminal.

[0240] Optionally, the sidelink positioning operation Receiving the sidelink positioning measurement result transmitted by the target terminal, Receiving the sidelink position result transmitted by the target terminal; Receiving the sidelink positioning measurement result transmitted by the anchor terminal; Including at least one of receiving the sidelink position result transmitted by the anchor terminal.

[0241] Optionally, the sidelink positioning operation further includes: Obtaining the sidelink positioning capability of the target terminal; Obtaining the sidelink positioning capability of the anchor terminal; Transmitting sidelink positioning settings to the target terminal; Transmitting sidelink positioning settings to the anchor terminal; including at least one of these.

[0242] Optionally, before the first terminal executes the sidelink positioning operation based on the sidelink positioning request, the high-frequency unit 1501 further: Executing the discovery process of the target terminal; Establishing a sidelink unicast connection with the target terminal; Executing the discovery process of the anchor terminal; Used for at least one of establishing a sidelink unicast connection with the anchor terminal.

[0243] Optionally, the high-frequency unit 1501 further: In a first condition, used to transmit a first sidelink positioning response, and the first sidelink positioning response is used to indicate that the sidelink positioning has failed, The first condition includes: The target terminal has not been discovered; At least one of the failure to successfully establish a sidelink unicast connection with the target terminal.

[0244] Optionally, the first sidelink positioning response includes failure cause information indicating a failure in sidelink positioning.

[0245] Optionally, after the first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, the high-frequency unit 1501 further is used to transmit a second sidelink positioning response, and the second sidelink positioning response is used to indicate the positioning result of the target terminal.

[0246] Optionally, the first terminal is the target terminal, or the first terminal is a terminal different from the target terminal, and the step in which the first terminal obtains a sidelink positioning request includes the step of the first terminal receiving a sidelink positioning request transmitted by the target terminal.

[0247] Optionally, when the first terminal is the target terminal, the high-frequency unit 1501 further is used to report capability information to a network device, and the capability information represents at least one of sidelink positioning capability and capability of a sidelink positioning service function.

[0248] Optionally, the high-frequency unit 1501 is further used to receive indication information transmitted by the network device, and the indication information is used to indicate reporting of the capability information.

[0249] When the above terminal is a second terminal, The high-frequency unit 1501 is used to transmit a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function. The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0250] Optionally, the sidelink positioning request is At least one of a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0251] Optionally, the sidelink positioning request Includes at least one of positioning service quality QoS and identifier information of the target terminal.

[0252] Optionally, the sidelink positioning request Further includes at least one of a type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in the transmission of a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in the measurement of a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning. The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0253] Optionally, before the step of the second terminal transmitting the sidelink positioning request to the first terminal, the high-frequency unit 1501 further Is used to receive a fourth sidelink positioning request transmitted by a network device, and the fourth sidelink positioning request is It includes at least one of positioning QoS, information of a reference terminal, information of a candidate anchor terminal, and information of the first terminal.

[0254] Optionally, when the sidelink positioning request sent to the first terminal and the fourth sidelink positioning request include positioning QoS, the delay requirement of the positioning QoS included in the sidelink positioning request sent to the first terminal is lower than the delay requirement of the positioning QoS included in the fourth sidelink positioning request.

[0255] Optionally, when the second terminal and the target terminal are the same terminal and the target terminal does not provide a positioning service function, the processor 1510 or the high-frequency unit 1501 is further used to determine the first terminal.

[0256] Optionally, the high-frequency unit 1501 is further used to report capability information to a network device, and the capability information is used to represent at least one of sidelink positioning capability and whether it has the capability of a sidelink positioning service function. used to represent at least one of sidelink positioning capability and whether it has the capability of a sidelink positioning service function.

[0257] Optionally, the high-frequency unit 1501 is further used to receive indication information sent by the network device, and the indication information is used to instruct reporting the capability information.

[0258] Optionally, before the step in which the second terminal sends a sidelink positioning request to the first terminal, the high-frequency unit 1501 is further used to establish a sidelink unicast connection with the first terminal.

[0259] The positioning performance of the terminal can be improved by the above terminal.

[0260] An embodiment of the present application is a network device including a processor and a communication interface. The communication interface is used to send a sidelink positioning request to a first terminal. The sidelink positioning request is used to request positioning of a target terminal. The first terminal is a terminal providing a sidelink positioning service function, or the first terminal is the target terminal. The present application further provides a network device. An embodiment of the network device corresponds to an embodiment of the method on the network device side above. Each implementation process and realization method of the embodiment of the method above can be applied to the embodiment of the network device, and the same technical effect can be achieved.

[0261] Specifically, an embodiment of the present application further provides a network-side device. As shown in FIG. 16, the network-side device 1600 includes a processor 1601, a network interface 1602, and a memory 1603. The network interface 1602 is, for example, a common public radio interface (CPRI).

[0262] Specifically, the network-side device 1600 according to an embodiment of the present application further includes commands or programs stored in the memory 1603 and executable by the processor 1601. The processor 1601 calls the commands or programs in the memory 1603 to execute the method executed by each module shown in FIG. 13, and the same technical effect can be achieved. To avoid repetition, the description is omitted here.

[0263] The network interface 1602 is used to send a sidelink positioning request to a first terminal. The sidelink positioning request is used to request positioning of a target terminal. The first terminal is a terminal providing a sidelink positioning service function, or the first terminal is the target terminal.

[0264] Optionally, the network device is a Location Management Function (LMF), and the sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a Location Service (LCS) message. Alternatively, the network device is an Access and Mobility Management Function (AMF), and the sidelink positioning request message is a Non-Access Stratum (NAS) message.

[0265] Optionally, the sidelink positioning request includes at least one of positioning service quality of service (QoS) and identifier information of the target terminal.

[0266] Optionally, the sidelink positioning request further includes at least one of a type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0267] Optionally, network interface 1602 is further used to receive a first sidelink positioning response transmitted by the first terminal, and the first sidelink positioning response indicates a first positioning result of the target terminal.

[0268] Optionally, network interface 1602 is further used to receive a first sidelink positioning response transmitted by the first terminal under a first condition, and the first sidelink positioning response is used to indicate that sidelink positioning has failed. The first condition is that the target terminal was not discovered, and at least one of the failure to successfully establish a sidelink unicast connection with the target terminal.

[0269] Optionally, the first sidelink positioning response includes failure cause information indicating that sidelink positioning has failed.

[0270] Optionally, network interface 1602 is further used to receive first capability information reported by the first terminal, where the first capability information is used to represent at least one of a sidelink positioning capability and a capability of a sidelink positioning service function.

[0271] Optionally, network interface 1602 is further used to send indication information to the first terminal, where the indication information is used to instruct reporting of capability information.

[0272] Optionally, the step of sending a sidelink positioning request to the first terminal includes, under a second condition, the step of sending a sidelink positioning request to the first terminal, where the second condition includes at least one of: the network device failing to page the target terminal when the target terminal is in an idle state; the network device failing to perform positioning based on the Uu interface of the target terminal; the positioning accuracy of a second positioning result, which is the positioning result of positioning based on the Uu interface of the target terminal by the network device, not meeting a predefined requirement; and the first terminal having a capability of a sidelink positioning service function.

[0273] The above network device can improve the positioning performance of the terminal.

[0274] Embodiments of the present application further provide a readable storage medium in which a program or command is stored, and when the program or command is executed by a processor, the steps of the positioning method provided by the embodiments of the present application are realized.

[0275] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes, for example, computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disk, or optical disk.

[0276] Embodiments of the present application also provide a chip, the chip includes a combined processor and a communication interface, and the processor is for realizing each process of the embodiments of the above positioning method by executing a program or command, and can achieve the same technical effect. To avoid repetition, the description is omitted here.

[0277] It should be understood that the chip described in the embodiments of the present application is also called a system-on-chip, system chip, chip system, or SoC, etc.

[0278] Embodiments of the present application also provide a computer program / program product, the computer program / program product is stored in a storage medium, and when executed by at least one processor, each process of the embodiments of the above positioning method is realized, and the same technical effect can be achieved. To avoid repetition, the description is omitted here.

[0279] Embodiments of the present application include a first terminal, a second terminal, and a network device, the FirstThe terminal can be used to execute the steps of the first terminal-side positioning method provided by the embodiments of the present application. The second terminal can be used to execute the steps of the second terminal-side positioning method provided by the embodiments of the present application. The network device can be used to execute the steps of the network device-side positioning method provided by the embodiments of the present application. A positioning system is provided.

[0280] Note that in this specification, the term "including", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus that includes a series of elements includes not only those elements but also other elements not expressly listed or elements inherent to such a process, method, article or apparatus. Without further limitation, an element limited by the description "including one..." does not exclude the further presence of another identical element in the process, method, article or apparatus that includes the element. Also, it should be pointed out that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing functions in the order shown or discussed herein, and depending on the related functions, may further include performing functions substantially simultaneously or in the reverse order. For example, the above methods may be executed in an order different from the described order, and further, each step may be added, omitted, or combined. Also, features described with reference to some examples may be combined with other examples.

[0281] From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiments can be realized in the form of a combination of software and a necessary general-purpose hardware platform. Of course, it may also be realized by hardware, but in many cases the former is a more preferred embodiment. Based on such an opinion, the technical solution of the present application or the part that contributes to the related technology can be embodied as a computer software product, and the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) includes several commands for executing the methods described in the embodiments of the present application.

[0282] As described above, the embodiments of the present application have been described with reference to the drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Based on the suggestions of the present application, many forms that those skilled in the art can achieve without departing from the spirit of the present application and the protection scope of the claims all belong to the protection scope of the present application.

Claims

1. A step in which a first terminal obtains a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function; A step in which the first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, and includes: A positioning method.

2. The step in which the first terminal obtains a sidelink positioning request is: A step in which the first terminal receives a first sidelink positioning request from a network device; A step in which the first terminal receives a second sidelink positioning request from a second terminal via a sidelink unicast connection; The positioning method according to claim 1, including one of the steps in which the first terminal itself generates a third sidelink positioning request.

3. The network device is a Location Management Function (LMF), and the first sidelink positioning request message is an LTE positioning protocol (LPP) message or a Location Service (LCS) message; Or, the network device is an Access and Mobility Management Function (AMF), and the first sidelink positioning request message is a Non-Access Stratum (NAS) message; Or, the second sidelink positioning request is: At least one of a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 Radio Resource Control (RRC) message. The positioning method according to claim 2.

4. The sidelink positioning request includes: At least one of positioning service quality of service (QoS) and identifier information of the target terminal. The positioning method according to claim 3.

5. The first terminal further includes a step of determining at least one of a sidelink positioning method, positioning setting information, an anchor terminal participating in positioning, and a reference terminal participating in positioning based on the positioning QoS; The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal. The reference terminal is a position reference terminal in relative positioning or ranging positioning. The positioning method according to claim 4.

6. The sidelink positioning requirement further includes at least one of a positioning type, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose position is known and participates in the transmission of sidelink positioning reference signals, or the anchor terminal is a terminal whose position is known and participates in the measurement of sidelink positioning reference signals. The reference terminal is a position reference terminal in relative positioning or ranging positioning. The sidelink positioning measurement result information is used to assist in positioning the target terminal. The positioning method according to claim 4.

7. The sidelink positioning operation receives a sidelink positioning measurement result transmitted by the target terminal, receives a sidelink position result transmitted by the target terminal, receives a sidelink positioning measurement result transmitted by an anchor terminal, receives a sidelink position result transmitted by an anchor terminal, and includes at least one of them. The positioning method according to any one of claims 1 to 6.

8. The sidelink positioning operation acquires the sidelink positioning ability of the target terminal, acquires the sidelink positioning ability of the anchor terminal, transmits a sidelink positioning setting to the target terminal, transmits a sidelink positioning setting to the anchor terminal, and further includes at least one of them. The positioning method according to claim 7.

9. Before the step of the first terminal performing a sidelink positioning operation based on the sidelink positioning requirement, the step of the first terminal performing a discovery process of the target terminal, the step of the first terminal establishing a sidelink unicast connection with the target terminal, the step of the first terminal performing a discovery process of an anchor terminal, the step of the first terminal establishing a sidelink unicast connection with the anchor terminal, and further includes at least one of them. The positioning method according to any one of claims 1 to 6.

10. The step in which the first terminal transmits a first sidelink positioning response under a first condition, where the first sidelink positioning response is further used to indicate that sidelink positioning has failed. The first condition is that the target terminal has not been discovered, and that the establishment of a sidelink unicast connection with the target terminal has not been successful. The positioning method according to any one of claims 1 to 6, including at least one of the above.

11. The positioning method according to claim 10, wherein the first sidelink positioning response includes failure cause information indicating that sidelink positioning has failed.

12. After the step in which the first terminal executes a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, The step in which the first terminal transmits a second sidelink positioning response, where the second sidelink positioning response is further used to indicate the positioning result of the target terminal. The positioning method according to any one of claims 1 to 6.

13. The first terminal is the target terminal, or the first terminal is a terminal different from the target terminal, and the step in which the first terminal obtains a sidelink positioning request includes the step in which the first terminal receives a sidelink positioning request transmitted by the target terminal. The positioning method according to any one of claims 1 to 6.

14. When the first terminal is the target terminal, The step in which the first terminal reports capability information to a network device, where the capability information is used to represent at least one of sidelink positioning capability and the capability of the sidelink positioning service function. The positioning method according to any one of claims 1 to 6.

15. The step in which the first terminal receives indication information transmitted by the network device, where the indication information is further used to indicate reporting the capability information. The positioning method according to claim 14.

16. A step in which a second terminal transmits a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function, wherein the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals, Positioning method.

17. The sidelink positioning request is The positioning method according to claim 16, which is at least one of a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control (RRC) message.

18. The sidelink positioning request is The positioning method according to claim 17, which includes at least one of positioning service quality (QoS) and identifier information of the target terminal.

19. The sidelink positioning request is further includes at least one of a type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information, wherein the anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal, the reference terminal is a position reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal. The positioning method according to claim 18.

20. Before the step in which the second terminal transmits the sidelink positioning request to the first terminal, a step in which the second terminal receives a fourth sidelink positioning request transmitted by a network device, where the fourth sidelink positioning request further includes a step of including at least one of positioning QoS, information of a reference terminal, information of a candidate anchor terminal, and information of the first terminal. The positioning method according to claim 16.

21. When the sidelink positioning request transmitted to the first terminal and the fourth sidelink positioning request include positioning QoS, the delay requirement of the positioning QoS included in the sidelink positioning request transmitted to the first terminal is lower than the delay requirement of the positioning QoS included in the fourth sidelink positioning request. The positioning method according to claim 20.

22. When the second terminal and the target terminal are the same terminal and the target terminal does not provide a positioning service function, The positioning method according to any one of claims 16 to 21, further including the step in which the second terminal determines the first terminal.

23. The step in which the second terminal reports capability information to a network device, where the capability information is used to represent at least one of sidelink positioning capability and whether it has the capability of the sidelink positioning service function. The method further includes the step of The positioning method according to claim 22.

24. The step in which the second terminal receives instruction information transmitted by the network device, where the instruction information is used to instruct reporting the capability information. The method further includes the step of The positioning method according to claim 23.

25. Before the step in which the second terminal transmits a sidelink positioning request to the first terminal, The positioning method according to claim 22, further including the step in which the second terminal establishes a sidelink unicast connection with the first terminal.

26. The step in which a network device transmits a sidelink positioning request to a first terminal, where the sidelink positioning request is used to request positioning a target terminal, and the first terminal is a terminal providing a sidelink positioning service function or the first terminal is the target terminal. Positioning method.

27. The network device is a location management function LMF, and the sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Or, the network device is an access and mobility management function AMF, and the sidelink positioning request message is a non-access stratum NAS message. The positioning method according to claim 26.

28. The sidelink positioning requirement is the positioning method according to claim 27, including at least one of positioning service quality QoS and identifier information of the target terminal.

29. The sidelink positioning requirement is further including at least one of the type of positioning, information of a reference terminal, information of a candidate anchor terminal, and sidelink positioning measurement result information, wherein the anchor terminal is a terminal with a known position that participates in transmitting a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measuring a sidelink positioning reference signal, the positioning method according to claim 28, wherein the reference terminal is a position reference terminal in relative positioning or ranging positioning.

30. The step of the network device receiving a first sidelink positioning response transmitted by the first terminal, the first sidelink positioning response further including the step of indicating a first positioning result of the target terminal. The positioning method according to any one of claims 26 to 29.

31. The step of the network device receiving a first sidelink positioning response transmitted by the first terminal under a first condition, the first sidelink positioning response further including the step of being used to indicate that sidelink positioning has failed, wherein the first condition includes at least one of the fact that the target terminal has not been discovered, and the fact that the establishment of a sidelink unicast connection with the target terminal has not been successful. The positioning method according to any one of claims 26 to 29.

32. The positioning method according to claim 31, wherein the first sidelink positioning response includes failure cause information indicating that sidelink positioning has failed.

33. The step of the network device receiving first capability information reported by the first terminal, the first capability information further including the step of being used to represent at least one of sidelink positioning capability and whether it has the capability of sidelink positioning service functions. The positioning method according to any one of claims 26 to 29.

34. The step in which the network device transmits instruction information to the first terminal, the instruction information further includes a step used to instruct reporting of capability information The positioning method according to claim 33

35. The step in which the network device transmits a sidelink positioning request to the first terminal is The network device includes a step of transmitting a sidelink positioning request to the first terminal under a second condition The second condition is When the target terminal is in an idle state, the network device fails to page the target terminal The network device fails to perform positioning based on the Uu interface of the target terminal The positioning accuracy of a second positioning result, which is the positioning result of positioning based on the Uu interface of the target terminal by the network device, does not meet the predetermined requirements The first terminal has the capability of a sidelink positioning service function. The positioning method according to any one of claims 26 to 29 includes at least one of the above

36. An acquisition module used to acquire a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is an acquisition module of a terminal that provides a sidelink positioning service function An execution module used to execute a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal, and includes A positioning device

37. A transmission module used to transmit a sidelink positioning request to the first terminal, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a transmission module of a terminal that provides a sidelink positioning service function The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals A positioning device

38. A first transmission module used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal, and the first transmission module includes A positioning device.

39. Including a processor and a memory, wherein a program or command executable by the processor is stored in the memory, and when the program or command is executed by the processor, the steps of the positioning method according to any one of claims 1 to 15 are realized, or when the program or command is executed by the processor, the steps of the positioning method according to any one of claims 16 to 25 are realized. A terminal.

40. Including a processor and a memory, wherein a program or command executable by the processor is stored in the memory, and when the program or command is executed by the processor, the steps of the positioning method according to any one of claims 26 to 35 are realized. A network device.

41. A readable storage medium in which a program or command is stored, and when the program or command is executed by a processor, the steps of the positioning method according to any one of claims 1 to 15 are realized, or when the program or command is executed by the processor, the steps of the positioning method according to any one of claims 16 to 25 are realized, or when the program or command is executed by the processor, the steps of the positioning method according to any one of claims 26 to 35 are realized.

Images