Positioning method, terminal and computer-readable storage medium

Abstract

The present application discloses a positioning method, an apparatus, a terminal, and a network side device, which belong to the field of communications technology. The positioning method of an embodiment of the present application includes: a location server terminal determining to perform sidelink positioning for a target terminal; the location server terminal obtaining information of candidate anchor terminals; the location server terminal determining at least one anchor terminal involved in positioning from the candidate anchor terminals; and the location server terminal interacting with the target terminal and / or at least one of the anchor terminals to perform positioning for the target terminal.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application filed on September 9, 2022, bearing application number 202211105835.4 and entitled "Positioning method, apparatus, terminal and network side equipment," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of communications technology, and specifically to a positioning method, apparatus, terminal, and network side equipment. [Background technology]

[0003] Long Term Evolution (LTE) systems support sidelink transmission, i.e., direct data transmission between terminals (User Equipment, UE) at the physical layer. LTE sidelink is broadcast-based and can be used to support basic security-based communications for vehicle-to-everything (V2X), but does not apply to other more advanced V2X services.

[0004] The 5G New Radio (NR) system will support more comprehensive service types by supporting more advanced sidelink transmission designs, such as unicast, multicast, or groupcast. Currently, for mobile network-based positioning technology, several types of positioning are supported, including: The base station transmits a downlink Positioning Reference Signal (PRS) and the UE performs measurements; The UE transmits an uplink positioning reference signal (e.g., a channel sounding reference signal (SRS)) and the base station performs measurements; The UE measures the signals of navigation satellites.

[0005] As can be seen from this, current positioning technologies perform positioning based on the reference signal of the Uu interface (i.e., the radio interface between the UE and the base station).

[0006] However, in addition to positioning based on the reference signal of the Uu interface, there is also a need to perform positioning based on the PC5 interface (i.e., the wireless interface between UEs) in scenarios such as V2X. For example, when a vehicle is not within the coverage range of a mobile network, sidelink positioning may be required. However, currently, no SL positioning method based on the PC5 interface is provided. Summary of the Invention [Problem to be solved by the invention]

[0007] The embodiments of the present application provide a positioning method, apparatus, terminal and network side equipment for realizing SL positioning based on PC5 interface. [Means for solving the problem]

[0008] According to a first aspect, there is provided a positioning method, the positioning method comprising: The location server terminal determines to perform sidelink positioning for the target terminal; and The location server terminal obtains information of candidate anchor terminals; The location server terminal determines at least one anchor terminal from the candidate anchor terminals to be involved in positioning; The location server terminal interacts with the target terminal and / or at least one of the anchor terminals to perform positioning for the target terminal.

[0009] According to a second aspect, there is provided a positioning method, the positioning method comprising: receiving, by the target terminal, a first message sent by the location server terminal to request information of candidate anchor terminals; the target terminal performs a candidate anchor terminal discovery process to obtain a first list of candidate anchor terminals; The target terminal sends a second message including the first list to the location server terminal.

[0010] According to a third aspect, there is provided a positioning method, the positioning method comprising: The network side device interacts with a location server terminal and provides the location server terminal with information of candidate anchor terminals.

[0011] According to a fourth aspect, there is provided a positioning device, the positioning device comprising: a first determination module for determining to perform sidelink positioning for a target terminal; a first information acquisition module for acquiring information of candidate anchor terminals; a second determination module for determining at least one anchor terminal involved in positioning from the candidate anchor terminals; and a positioning interaction module for interacting with the target terminal and / or at least one of the anchor terminals and performing positioning for the target terminal.

[0012] According to a fifth aspect, there is provided a positioning device, the positioning device comprising: a first receiving module for receiving a first message sent by a location server terminal to request information of candidate anchor terminals; a first discovery module for performing a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals; a first sending module for sending a second message including the first list to the location server terminal.

[0013] According to a sixth aspect, there is provided a positioning device, the positioning device comprising: an information providing module for interacting with the location server terminal and providing information of candidate anchor terminals to the location server terminal.

[0014] According to a seventh aspect, there is provided a terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method according to the first or second aspect.

[0015] According to an eighth aspect, there is provided a network side device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, realizing the steps of the method according to the third aspect.

[0016] According to a ninth aspect, there is provided a positioning system including a terminal and a network side device, wherein the terminal is used to perform steps of the positioning method described in the first or second aspect, and the network side device may be used to perform steps of the positioning method described in the third aspect.

[0017] According to a tenth aspect, there is provided a readable storage medium having a program or instructions stored thereon, the program or instructions, when executed by a processor, performing the steps of the method according to the first aspect, or performing the steps of the method according to the second aspect, or performing the steps of the method according to the third aspect.

[0018] According to an eleventh aspect, there is provided a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to execute a program or instructions to implement the method of the first aspect, or to implement the method of the second aspect, or to implement steps of the method of the third aspect.

[0019] According to a twelfth aspect, there is provided a computer program / program product, the computer program / program product being stored on a storage medium, the computer program / program product being executed by at least one processor to implement the steps of the method according to the first aspect, the second aspect or the third aspect.

[0020] According to a thirteenth aspect, an embodiment of the present application provides a positioning device, said device being used to perform the steps of the positioning method according to the first aspect, second aspect or third aspect. [Effects of the Invention]

[0021] In the embodiment of the present application, after the location server terminal determines to perform sidelink positioning for the target terminal, it can obtain information of candidate anchor terminals, thereby selecting at least one anchor terminal from the candidate anchor terminals to participate in the positioning, and further interacting with the target terminal and / or at least one anchor terminal involved in the positioning to perform the positioning process for the target terminal. Thus, the embodiment of the present application realizes the sidelink-based positioning process for the target terminal through information interaction between the location server terminal, the target terminal, and the anchor terminal, i.e., realizes positioning for a terminal through interaction between terminals, i.e., realizes sidelink positioning based on the PC5 interface in the embodiment of the present application. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied. [Figure 2] 1 is a schematic diagram of a positioning architecture based on the Uu interface in the related art; [Figure 3] 1 is an overall flowchart of positioning based on the Uu interface in the related art; [Figure 4] FIG. 1 is a schematic diagram of the protocol stack for the long term evolution positioning protocol (LPP). [Figure 5] 1 is a schematic diagram of the NR positioning protocol (NRPPa) protocol stack. [Figure 6] 1 is a schematic diagram of a positioning architecture to which the positioning method of an embodiment of the present application is applied; [Figure 7] 1 is a flowchart of a positioning method in an embodiment of the present application. [Figure 8] 1 is a schematic diagram of the location of a new protocol layer (i.e., SLPP layer) used for Sidelink positioning introduced in an embodiment of the present application. [Figure 9] 1 is a flowchart of another positioning method according to an embodiment of the present application. [Figure 10] 1 is a flowchart of another positioning method according to an embodiment of the present application. [Figure 11] 1 is a flowchart illustrating a specific embodiment of a positioning method according to an embodiment of the present application. [Figure 12] 2 is a second flowchart of a specific embodiment of the positioning method of the embodiment of the present application. [Figure 13] 3 is a third flowchart of a specific embodiment of the positioning method of the embodiment of the present application. [Figure 14] 4 is a fourth flowchart of a specific embodiment of the positioning method of the embodiment of the present application. [Figure 15] 5 is a fifth flowchart of a specific embodiment of the positioning method of the embodiment of the present application. [Figure 16] 6 is a sixth flowchart of a specific embodiment of the positioning method of the embodiment of the present application. [Figure 17] FIG. 2 is a structural block diagram of a positioning device in an embodiment of the present application; [Figure 18] FIG. 10 is a structural block diagram of another positioning device in an embodiment of the present application; [Figure 19] FIG. 10 is a structural block diagram of another positioning device in an embodiment of the present application; [Figure 20] FIG. 1 is a structural block diagram of a communication device in an embodiment of the present application; [Figure 21] FIG. 2 is a structural block diagram of a terminal in an embodiment of the present application; [Figure 22] FIG. 2 is a structural block diagram of a network-side device in an embodiment of the present application; [Figure 23]FIG. 10 is a structural block diagram of another network side device in an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0023] The following clearly and completely describes the technical solutions in the embodiments of the present application, in conjunction with the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application fall within the scope of protection of the present application.

[0024] The terms "first," "second," etc. in the specification and claims of this application are intended to distinguish between similar objects and are not intended to describe a particular order or sequence. It should be understood that terms used in this manner are interchangeable where appropriate, so that embodiments of this application may be performed in orders other than those illustrated or described herein, and that objects distinguished by "first" and "second" are generally of the same type and do not limit the number of objects; for example, a first object may be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the related objects.

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

[0026] 1 is a block diagram of a wireless communication system to which the embodiment of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12. Here, the terminal 11 may be a terminal-side device such as a mobile phone, a tablet personal computer, a laptop computer (also called a notebook computer), a personal digital assistant (PDA), a palmtop computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle-mounted equipment (VUE), a pedestrian-mounted equipment (PUE), a smart home (home devices with wireless communication capabilities, such as a refrigerator, television, washing machine, or furniture), a game console, a personal computer (PC), a teller machine, or a self-service machine, and the wearable device includes a smart watch, a smart band, a smart earphone, a smart glasses, a smart accessory (smart bracelet, smart bracelet, smart ring, smart necklace, smart anklet, smart wristband, smart wristband, smart clothing, etc.). It should be noted that the embodiments of the present application do not limit the specific type of the terminal 11. The network side equipment 12 may include access network equipment or core network equipment, where the access network equipment 12 may also be called radio access network equipment, radio access network (RAN), radio access network function or radio access network unit.The access network equipment 12 may include a base station, a WLAN access point, a WiFi node, or the like. 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 B node, a home evolved B node, a transmitting receiving point (TRP), or any other appropriate 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 addition, in the embodiments of this application, only base stations in an NR system are taken as examples, but the specific type of base station is not limited.

[0027] Core network devices include core network nodes, core network functions, mobility management entities (MMEs), access and mobility management functions (AMFs), session management functions (SMFs), user plane functions (UPFs), policy control functions (PCFs), policy and charging rules functions (PCRFs), edge application server discovery functions (EASDFs), unified data management (UDMs), unified data repository (UDRs), home subscriber servers (HSSs), centralized network configuration (CNCs), network repository functions (NRFs), network exposure functions (NEFs), local NEFs (or L-NEFs), binding support functions (BSFs), and application functions (Application Node Functions). The core network device may include, but is not limited to, at least one of a QoS Function (Function, AF), etc. Note that, although only core network devices in an NR system are used as examples in the embodiments of the present application, the specific type of core network device is not limited thereto.

[0028] To facilitate understanding of the positioning method of the embodiments of the present application, the related art will be described below.

[0029] According to a first aspect, the positioning based on the Uu interface comprises: Based on the positioning architecture shown in Figure 2, the overall positioning flow may be as shown in Figure 3, that is, the AMF receives a location service request for a terminal from a third party, a terminal, or itself. If the terminal is in a connection management idle state (CM-IDLE) at this time, the AMF pages the terminal to trigger the terminal to enter a connection management connected state (CM-CONNECTED) (i.e., the state corresponding to the terminal's air interface is the Radio Resource Control (RRC) connected state). The AMF then sends a location service request to the LMF, and the LMF determines a positioning method based on the Uu interface. This positioning method is divided into uplink-based positioning and downlink-based positioning. The LMF then initiates a specific positioning process to thereby obtain the location of the terminal.

[0030] In the positioning process, the LMF may need to interact with the terminal via the LPP protocol and / or with the base station via the NRPPa protocol, such as interaction capabilities, interaction positioning assistance data, interaction positioning measurement results, etc., so that the LMF sends a location service response to the AMF, carrying the location of the terminal.

[0031] Here, the LPP protocol stack is as shown in Figure 4, and the NR Positioning Protocol A (NRPPa) protocol stack is as shown in Figure 5. Specifically, in Figures 4 and 5, LPP is the Long Term Evolution Positioning Protocol, NAS is the Non-Access Stratum, RRC is the Radio Resource Control, PDCP is the Packet Data Convergence Protocol, RLC is the Radio Link Control Protocol, MAC is the Media Access Control, L1 is Layer 1, L2 is Layer 2, IP is the Internet Protocol, SCTP is the Stream Control Transmission Protocol, NGAP is the Next Generation Application Protocol, which is the application layer protocol of the N2 interface, TLS is the Transport Layer Security Protocol, TCP is the Transmission Control Protocol, HTTP is the Hypertext Transfer Protocol, and NRPPa is the NR Positioning Protocol.

[0032] The positioning method according to the embodiments of the present application will be described in detail below through several examples and application scenarios in conjunction with the drawings.

[0033] According to a first aspect, as shown in FIG. 7, which is a flowchart of a positioning method according to an embodiment of the present application, the method may include the following steps 701 to 704: Step 701: A location server terminal decides to perform sidelink positioning for a target terminal.

[0034] The positioning method of the embodiments of the present application can be applied to the sidelink positioning architecture shown in FIG. 6.

[0035] In the positioning architecture shown in Figure 6, the Location Server UE is a UE that provides positioning service functions and may be considered to play an essential role in a single sidelink positioning. The Location Server UE receives a positioning request carrying positioning quality of service (QoS) or triggers a sidelink positioning request itself, and then determines the positioning method to be used for sidelink positioning, positioning configuration information, which UE will participate in positioning as an anchor terminal (i.e., Anchor UE), etc. based on the positioning QoS.

[0036] In a sidelink positioning process, the Location Server UE may be a standalone UE or may also serve as a target UE (i.e., Target UE). Of course, the Target UE may also serve as a Location Server UE. In this case, the Location Server UE positions itself and may also serve as an anchor UE or a reference UE. For example, the Location Server UE assists in transmitting or measuring SL PRS. Here, the Reference UE is a location reference UE in relative positioning or range positioning. The Reference UE may be a standalone UE, one of the anchor UEs, or the Location Server UE.

[0037] Here, the positioning request may be sent by a third party UE or a Location Management Function (LMF) or an Access and Mobility Management Function (AMF).

[0038] In addition, in one sidelink positioning process, one UE may be a Location Server UE, and in another sidelink positioning process, this UE may not be a Location Server UE, but may be, for example, only an Anchor UE.

[0039] It should be noted that the Location Server UE plays a role in controlling the execution of sidelink positioning in a positioning process, and may have other names, such as controlling UE, which are not limited here.

[0040] Also, the target terminal (Target UE) is the target UE for positioning, and the positioning needs to obtain the absolute position, relative position or ranging of this UE. When the Location Server UE receives a request sent by another device, this target terminal is the terminal indicated by the positioning request, and when the Location Server UE autonomously triggers a positioning request, this target terminal is determined by the Location Server UE.

[0041] Step 702: The location server terminal obtains information of candidate anchor terminals.

[0042] Here, the anchor terminal may be a terminal whose location is known (or whose location can be known) and which is involved in transmitting sidelink positioning reference signals, or the anchor terminal may be a terminal whose location is known (or whose location can be known) and which is involved in measuring sidelink positioning reference signals.

[0043] That is, an anchor terminal (i.e., Anchor UE) is a UE that provides positioning assistance, for example, transmitting or measuring SL PRS. For absolute positioning, the Anchor UE is a UE whose location is known or whose location can be known. There may be one or more Anchor UEs, and a single Anchor UE need not be configured; for example, a Location Server UE may also serve as an Anchor UE. An Anchor UE may also be referred to as a UE whose location is known (located). Generally, a Roadside Unit (RSU) may be an Anchor UE.

[0044] It should be noted that the Location Server UE can also serve as an Anchor UE, so that in some scenarios, there may not be a separate Anchor UE and / or a separate Reference UE in the architecture shown in Figure 6. In addition, the Location Server UE may be the same UE as the Target UE or may be a different UE.

[0045] Step 703: The location server terminal determines at least one anchor terminal from the candidate anchor terminals to participate in positioning.

[0046] Here, the location server terminal may determine all of the candidate anchor UEs as anchor UEs involved in positioning, or may determine a sidelink positioning method based on positioning QoS and select UEs that support this positioning method from these candidate anchor UEs as anchor UEs involved in positioning, or may sort according to the magnitude of RSRP and select UEs with high RSRP (for example, greater than a certain threshold) as anchor UEs involved in positioning, or may select candidate anchor UEs that can establish a sidelink unicast connection with the location server UE from these candidate anchor UEs as anchor UEs involved in positioning.

[0047] Step 704: The location server terminal interacts with the target terminal and / or at least one of the anchor terminals, and performs positioning for the target terminal.

[0048] Here, the process of step 704 is The location server terminal interacts with the anchor UE involved in the positioning and configures the anchor UE to transmit the SL PRS; A location server terminal interacts with a target terminal and configures the target terminal to measure an SL PRS; A location server terminal receives a positioning measurement result sent by a target terminal; The location server terminal may determine location information of the target terminal based on the positioning measurement results.

[0049] Alternatively, step 704 may be A location server terminal interacts with a target terminal and configures the target terminal to transmit an SL PRS; The location server terminal interacts with the anchor UE involved in the positioning and configures the anchor UE to measure the SL PRS; The location server terminal receives the positioning measurement result sent by the anchor UE; The location server terminal may determine location information of the target terminal based on the positioning measurement results.

[0050] In addition, after the location server terminal receives a positioning request sent by another device, it executes the aforementioned steps 701 to 704 to obtain the location information of the target terminal, and then the location server terminal may further return the location information of the target terminal to the device that sent the positioning request, for example, it may carry the location information of the target terminal in a positioning response and return it to the device that sent the positioning request.

[0051] As can be seen from steps 701 to 704 above, in the embodiment of the present application, after the location server terminal determines to perform sidelink positioning for the target terminal, it can obtain information on candidate anchor terminals, thereby selecting at least one anchor terminal from the candidate anchor terminals to participate in the positioning, and further interacting with the target terminal and / or at least one anchor terminal involved in the positioning to perform the positioning process for the target terminal. Thus, the embodiment of the present application realizes the sidelink-based positioning process for the target terminal through information interaction between the location server terminal, the target terminal, and the anchor terminal, i.e., realizes positioning for a terminal through terminal-to-terminal interaction, i.e., realizes sidelink positioning based on the PC5 interface in the embodiment of the present application.

[0052] Optionally, the above step 702 "the location server terminal obtains information of candidate anchor terminals" may be: The location server terminal obtains information of the candidate anchor terminals from the target terminal; Or, The location server terminal interacts with a network side device to obtain information of the candidate anchor terminals.

[0053] As can be seen from this, the location server terminal may obtain information of candidate anchor terminals from the target terminal, or may obtain information of candidate anchor terminals from network side equipment, where the network side equipment may be core network equipment (e.g., AMF, LMF) or access network equipment (e.g., base station).

[0054] The process by which the location server terminal obtains information on the candidate anchor terminals from the target terminal or the network side device will be specifically described below.

[0055] Case 1: The location server terminal obtains the information of the candidate anchor terminal from the target terminal, which may be specifically Scheme 1-1 or Scheme 1-2 described below.

[0056] Method 1-1: Optionally, the location server terminal obtains information of the candidate anchor terminal from the target terminal, The location server terminal sends a first message to the target terminal to request the target terminal to obtain information of the candidate anchor terminal; receiving, by the location server terminal, a second message including the first list of candidate anchor terminals, sent by the target terminal in response to the first message; The location server terminal obtains information of the candidate anchor terminals based on the first list in the second message.

[0057] As can be seen from this, the location server terminal may send the above-mentioned first message to the target terminal to request information of candidate anchor terminals; in this way, after receiving the first message, the target terminal can trigger a flow to acquire candidate anchor terminals, and then return the acquired first list of candidate anchor terminals to the location server terminal in a second message.

[0058] Here, the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.

[0059] Optionally, the method further comprises: Step H1: If a sidelink unicast connection is not established between the location server terminal and the target terminal, the location server terminal performs a discovery process for the target terminal and / or a sidelink unicast connection establishment process with the target terminal; The location server terminal sending a first message to the target terminal includes: if the sidelink unicast connection between the location server terminal and the target terminal is successfully established, the location server terminal transmits the first message to the target terminal through the sidelink unicast connection between the location server terminal and the target terminal; The location server terminal receiving a second message transmitted by the target terminal in response to the first message includes: If the sidelink unicast connection between the location server terminal and the target terminal is successfully established, the location server terminal receives the second message via the sidelink unicast connection between the location server terminal and the target terminal.

[0060] Optionally, the method further comprises: Step H2: If the target terminal is not successfully discovered and / or the sidelink unicast connection between the location server terminal and the target terminal is not successfully established, the location server terminal may further include sending a positioning response message or a positioning failure message to the device that sent the positioning request, wherein first indication information is carried in the positioning response message or the positioning failure message, and the first indication information is used to indicate that the target terminal is not successfully discovered and / or the sidelink unicast connection between the location server terminal and the target terminal is not successfully established.

[0061] As can be seen from the above steps H1 to H2, in the embodiment of the present application, if the location server terminal has not established a sidelink unicast connection with the target terminal (for example, in a scenario of a request to position a target UE initiated by a third-party UE or a Location Management Function (LMF) or an Access and Mobility Management Function (AMF)), the location server terminal performs a target terminal discovery process and / or a sidelink unicast connection establishment process with the target terminal.

[0062] If the location server terminal does not find the target terminal or does not successfully establish a sidelink unicast connection with the target terminal, the location server terminal returns a positioning response message or a positioning failure message to the device that sent the positioning request, thereby terminating the flow. Here, the positioning response message or the positioning failure message may include a failure cause (i.e., the above-mentioned first indication information), and the failure cause may be one of: inability to execute, failure to find the target terminal, and failure to establish a unicast connection.

[0063] Optionally, the first message includes a target condition that the candidate anchor terminals must satisfy, and the candidate anchor terminals in the first list satisfy the target condition; Here, the target conditions include at least one of the following items A-1 to A-12: Section A-1: ​​Location information is known, Section A-2: Ability to obtain location information; Section A-3: Being in a specific state of movement; Section A-4: The reference signal received power RSRP measurement result is greater than a first preset threshold; Section A-5: Belonging to a particular terminal type; Section A-6: Having specific sidelink positioning capabilities; Section A-7: Within network coverage area; Section A-8: Being within a specific area; Clause A-9: Being in a specific Radio Resource Control (RRC) state; Section A-10: The PC5 interface resource is greater than a second preset threshold; Section A-11: Establishing a sidelink unicast connection with the target terminal; Section A-12: Must be on the designated device list.

[0064] Regarding the above items A-1 to A-2, for example, when it is necessary to obtain the absolute position of the target terminal, the anchor terminal involved in the positioning should be a terminal whose position is known or whose position can be known. In this case, the target condition includes the above item A-1 (i.e., the position information is known) or A-2 (the position information can be obtained); The "specific moving state" in the above paragraph A-3 may be, for example, a stationary state. The RSRP measurement result in the above section A-4 may be the RSRP of the radio signal of the Anchor UE measured by the Target UE, or may be the RSRP of the radio signal of the Target UE measured by the Anchor UE; Regarding paragraph A-5 above, the specific terminal type may be a Roadside Unit (RSU) or a Positioning Reference Unit (PRU); Regarding paragraph A-6 above, the specific sidelink positioning capability may include at least one of supporting a sidelink positioning method, supporting a sidelink measurement quantity, supporting transmission of SL-PRS, and supporting measurement of SL-PRS; The "specific area" in paragraph A-8 above may be the coverage area of ​​a cell or a cell in a cell list; The "specified RRC state" in paragraph A-9 above includes, for example, at least one of the RRC connected state and the RRC idle state. Regarding item A-12 above, that is, the first request message may include one UE list, for example, the UEs in this UE list may be road side units (RSUs) with fixed locations, and the terminals in the candidate anchor terminal list provided by the target terminal must be located in this UE list.

[0065] In addition, the target terminal may acquire candidate anchor UEs that satisfy the target conditions by adopting the following method 1-1.1, 1-1.2, or 1-1.3.

[0066] Method 1-1.1: The target UE broadcasts a discovery request message. After receiving the discovery request message, one or more UEs return a first response message to the target UE. The target UE selects a UE that satisfies the above target conditions from the UEs corresponding to the received first response message, and selects it as a candidate anchor UE.

[0067] Method 1-1.2: The target UE receives an announcement message broadcast by one or more UEs, where the announcement message includes parameter information of the UE. In this way, the target UE can select a UE that meets the above target conditions from the UEs that send the announcement message based on the parameter information in the announcement message, and select it as a candidate anchor UE.

[0068] Method 1-1.3: The target UE broadcasts a discovery request message, which carries the target conditions. Among the UEs that receive the discovery request message, a UE that meets the target conditions returns a first response message to the target UE. The target UE then selects the UE that corresponds to the received first response message as a candidate anchor UE.

[0069] Method 1-2: Optionally, the location server terminal determines to perform sidelink positioning for the target terminal by: The location server terminal receives a positioning request for requesting positioning for the target terminal; and determining, by the location server terminal in response to the positioning request, to perform sidelink positioning for the target terminal.

[0070] Optionally, the positioning request is transmitted by the target terminal, and the positioning request includes a first list of the candidate anchor terminals; The location server terminal obtaining information of the candidate anchor terminal from the target terminal includes: The location server terminal obtains information of the candidate anchor terminals based on the first list in the positioning request.

[0071] It can be seen from this that if the positioning request received by the location server terminal is sent by a target terminal, the positioning request may carry the candidate anchor terminals obtained by the target terminal; that is, if the positioning request is from a target terminal, the target terminal has performed an anchor terminal discovery process within a recent certain period of time to obtain relevant information of the candidate anchor terminals, and if this information is still valid, the information of the candidate anchor terminals may be carried in the positioning request, thereby reducing the positioning delay.

[0072] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information includes at least one of the following items B-1 to B-13: Section B-1: Terminal Identifier, Section B-2: Terminal index, Section B-3: RRC status, Section B-4: Serving cell identifier information; Section B-5: Registered Access and Mobility Management Function AMF information, Section B-6: Sidelink positioning capability information; Section B-7: Sidelink positioning reference signal (PRS) transmission setting information; Section B-8: Sidelink resource configuration, Section B-9: Sidelink resource allocation scheme; Section B-10: Resource scheduling type when the sidelink resource allocation method is Mode 1; Section B-11: Geolocation; Section B-12: Related RSRP Measurement Results, Section B-13: Movement status.

[0073] Regarding item B-1 above, the terminal identifier may include, for example, at least one of a temporary UE identification number (SAE-Temporary Mobile Subscription Identifier, S-TMSI), an International Mobile Subscriber Identity (IMSI), a user permanent identifier (SU bscription Permanent Identifier, SUPI), a Cell-Radio Network Temporary Identifier (C-RNTI), a sidelink layer 2 identifier (SL layer2 ID), and an application layer UE ID.

[0074] Regarding the terminal index in the above section B-2, one terminal index is assigned to each candidate anchor terminal to facilitate subsequent interactions; The RRC state in the above paragraph B-3 may include at least one of an RRC connected state, an RRC idle state, and an RRC inactive state; Regarding paragraph B-4 above, the serving cell identifier information may include at least one of a frequency point of the serving cell, a physical cell identifier (PCI), and a global cell identifier (CGI), Regarding paragraph B-5 above, the registered AMF information may include at least one of a Public Land Mobile Network (PLMN) ID of the current service, an AMF ID of the registered AMF, Regarding paragraph B-6 above, the sidelink positioning capability information may include at least one of: whether the sidelink positioning reference signal (SL-PRS) transmission is supported; whether the SL-PRS measurement is supported; supported sidelink positioning methods; and whether the UE can provide its own position. Regarding the "sidelink PRS transmission configuration information" in section B-7 above, the anchor terminal transmits the SL PRS on the resources indicated by this configuration information, Regarding paragraph B-8 above, the sidelink resource configuration includes at least one of currently used sidelink resources and sidelink resources configured by the base station; Regarding the above item B-9, this is used to indicate whether the terminal's sidelink resource allocation method is mode 1 (mode1) or mode 2 (mode2).

[0075] Here, NR V2X defines two resource allocation modes: mode 1, in which the base station schedules resources; and mode 2, in which the UE itself determines which resources to use for transmission, where resource information may come from a base station broadcast message or pre-configured information. When the UE operates within the base station range and an RRC connection exists with the base station, the resource allocation mode may be mode 1 and / or mode 2. When the UE operates within the base station range but does not have an RRC connection with the base station, the resource allocation mode is only mode 2. When the UE is out of the base station range, the resource allocation mode is only mode 2, and V2X transmission is performed based on, for example, pre-configured information.

[0076] Regarding clause B-10 above, this is used to indicate which of the following resource scheduling types is used when the terminal's sidelink resource allocation method is Mode 1: dynamic scheduling, where resources are dynamically scheduled by the base station; configured grant type 1, where the resource configured by the base station is a periodic resource and can be used directly; configured grant type 2, where the resource configured by the base station is a periodic resource and can only be used after this resource is activated;

[0077] The "geographical location information" in paragraph B-11 above may be, for example, latitude and longitude information, The "related RSRP measurement result" in section B-12 above is the RSRP related to the candidate anchor terminal, and the RSRP related to the candidate anchor terminal may include the RSRP of the candidate anchor terminal's wireless signal measured by the target terminal, or may be the RSRP of the target terminal's wireless signal measured by the candidate anchor terminal.

[0078] When the location server terminal obtains candidate anchor terminals from the target terminal, the candidate anchor terminals are identified by the target terminal performing a discovery process, i.e., when the candidate anchor terminals are located in the vicinity of the target terminal, the anchor terminals involved in positioning finally selected by the location server terminal are located in the vicinity of the target terminal, and thus the location server terminal may be too far away from some anchor terminals involved in positioning, which may cause a problem that the location server terminal cannot establish a sidelink unicast connection with these anchor terminals to communicate.

[0079] To solve the above problem, the following method 1, method 2, or method 3 can be adopted: Method 1: Optionally, the method comprises: the location server terminal performing a discovery process and / or a sidelink unicast connection establishment process for each terminal in the first list; The location server terminal determines at least one anchor terminal involved in positioning from the candidate anchor terminals, The method further includes the location server terminal determining at least one anchor terminal involved in positioning from a first type of terminal in the first list, wherein the first type of terminal is a terminal that has successfully discovered the location server terminal and / or successfully established a sidelink unicast connection.

[0080] As can be seen from this, after receiving the second message sent by the target terminal, the location server terminal may perform a discovery process for the candidate anchor terminals carried in the second message (i.e., the candidate anchor terminals in the first list), or may attempt to establish a sidelink unicast connection with these candidate anchor terminals (if the location server terminal has not yet established a sidelink unicast connection with the candidate anchor terminals). In this way, when selecting anchor terminals to be involved in positioning, the anchor terminals to be involved in positioning are selected from the candidate anchor terminals that can successfully discover or establish a sidelink unicast connection.

[0081] Method 2: Optionally, before the location server terminal sends a first message to the target terminal, the method includes: The location server terminal further includes performing a candidate anchor terminal discovery process to obtain a second list of candidate anchor terminals; Here, the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered, the first message includes the second list, and the candidate anchor terminals included in the first list are terminals that the target terminal in the second list has successfully discovered.

[0082] It can be seen from this that before sending the first message to the target terminal, the location server terminal may first perform a discovery process of candidate anchor terminals to obtain a second list of candidate anchor terminals, and then carry the second list in the first message and send it to the target terminal. In this way, after receiving the second message, the target terminal can further perform a discovery process on the UEs in the second list to identify the candidate anchor terminals, and then put the list of candidate anchor terminals obtained at this time (i.e., the first list) into a second message and send it to the location server terminal. That is, the candidate anchor terminals included in the second message are UEs that can be discovered by both the target terminal and the location service terminal.

[0083] Method 3: Optionally, the location server terminal interacts with the anchor terminal by: the location server terminal interacting with the anchor terminal via the target terminal; Or, If the sidelink unicast connection between the location server terminal and the anchor terminal is successfully established, the location server terminal interacts with the anchor terminal through the sidelink unicast connection between the location server terminal and the anchor terminal.

[0084] As can be seen from this, when there are multiple anchor terminals involved in positioning, the target terminal may transfer interaction information between the location server terminal and each anchor terminal involved in positioning; For some anchor terminals involved in positioning, the location server terminal may transfer information for interaction with the target terminal, and for some other anchor terminals involved in positioning, the location server terminal may establish a sidelink unicast connection to realize communication with them. For example, after selecting anchor terminals involved in positioning, the location server terminal may first attempt to discover or establish a sidelink unicast connection with each anchor terminal involved in positioning, and only for anchor terminals that fail to be discovered or for which a unicast connection is not established, the target terminal may transfer the information; otherwise, the location server terminal may directly interact with the anchor terminal via a sidelink unicast connection.

[0085] Here, by transferring interaction information between the location server terminal and the anchor terminal via the target terminal, it is possible to solve the problem that "the location server terminal cannot establish a sidelink unicast connection with some anchor terminals involved in positioning and communicate with these anchor terminals because the distance between the location server terminal and these anchor terminals is too far."

[0086] Optionally, the location server terminal interacting with the anchor terminal via the target terminal includes: The location server terminal sends a third message to the target terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; The location server terminal receives a sixth message sent by the target terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes a fifth message sent by the anchor terminal to the location server terminal.

[0087] As can be seen from this, when the location server terminal needs to send a fourth message to the anchor terminal, the location server terminal first sends a third message carrying the fourth message to the target terminal, and then the target terminal sends a ninth message to the anchor terminal, where the ninth message includes a third container, and the third container includes the fourth message. That is, the target terminal sends the ninth message carrying the fourth message that the location server terminal needs to send to the anchor terminal to the anchor terminal. Here, the third message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message, and the ninth message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message.

[0088] Also, when the anchor terminal needs to send a fifth message to the location server terminal, the anchor terminal first sends a tenth message to the target positioning terminal, where the tenth message includes a fourth container, and the fourth container includes a fifth message that the anchor terminal needs to send to the location server terminal, so that the target terminal sends a sixth message carrying the fifth message to the location server terminal, where the tenth message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message.

[0089] Also, in the process in which the location server terminal interacts with the anchor terminal through the target terminal, the target terminal is used to forward a message, and if the message received by the target terminal contains a container, the target terminal does not need to decode this container.

[0090] It should be noted that the SLPP message may be a message of the newly introduced sidelink positioning protocol, or may be a message of the LPP protocol.

[0091] Here, the newly introduced SLPP protocol layer is used for sidelink positioning, and this protocol layer is used for a location server terminal to exchange positioning messages with a target terminal and an anchor terminal. For example, as shown in Figure 8, the SLPP layer is a protocol layer used for the newly introduced sidelink positioning and is located above the PDCP layer. As can be understood, SLPP may be located above PC5 RRC or PC5-S. Here, PHY in Figure 8 represents the physical layer.

[0092] Optionally, the third message may include a message to be sent to one or more anchor terminals.

[0093] Optionally, for each anchor terminal, the third message may include one or more messages to send to this anchor terminal, thereby saving positioning delay and signaling overhead.

[0094] It should be noted that the target terminal may determine the corresponding anchor terminal based on the identifier or index of the anchor terminal in the third message. If a sidelink unicast connection is not established between the target terminal and the anchor terminal, the target terminal may establish a sidelink unicast connection with the anchor terminal. If the unicast connection establishment fails, the target terminal may further send a failure message to the location server terminal, and the failure message may carry a cause value, which is used to indicate a delivery failure or a unicast connection establishment failure. Here, the anchor terminal that fails to establish a sidelink unicast connection with the target terminal cannot participate in the positioning process.

[0095] Case 2: The location server terminal obtains the information of the candidate anchor terminal from the network side device, which may be specifically the following method 2-1 or method 2-2.

[0096] Method 2-1: Optionally, the location server terminal interacts with a network side device to obtain information of the candidate anchor terminal; The location server terminal sends a first request message to the network side device to request the network side device to obtain information of the candidate anchor terminal; The location server terminal sends a seventh request message including a third list of the candidate anchor terminals, the seventh request message being sent by the network side device in response to the first request message; The location server terminal obtains information of the candidate anchor terminals based on the third list in the seventh message.

[0097] As can be seen from this, the location server terminal may send the above-mentioned first request message to the network side equipment to request information of candidate anchor terminals; in this way, after receiving the first request message, the network side equipment can return the third list of candidate anchor terminals to the location server terminal in a seventh message.

[0098] Here, the network side device may be, for example, an LMF or an AMF or a base station, that is, the LMF or the AMF or the base station may store information of candidate anchor terminals, for example, obtained by an Operation, Administration and Maintenance (OAM) system, and after the LMF or the AMF or the base station receives the first request message sent by the location server terminal, it may obtain a third list of candidate anchor terminals based on the information of the candidate anchor terminals stored therein, and then carry the third list in a seventh message to be returned to the location server terminal.

[0099] Optionally, the network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a non-access stratum NAS message.

[0100] Optionally, the seventh message is one of an LPP message, an LCS message, an NAS message, and a dedicated RRC message.

[0101] Optionally, the first request message includes location information of the location server terminal, and the candidate anchor terminals in the third list are determined based on the location information of the location server terminal.

[0102] Here, the location information of the location server terminal may be longitude and latitude information or the current serving cell ID of the location server terminal.

[0103] As can be seen from this, when the location server terminal sends a first request message to the network side equipment to request it to obtain information about candidate anchor terminals, it may carry its own location information in the first request message and send it to the network side equipment. In this way, the network side equipment can determine candidate anchor terminals based on the location information of the location server terminal (for example, select candidate anchor terminals within a certain distance range from the location server terminal, or candidate anchor terminals in the same serving cell as the location server terminal and adjacent serving cells), thereby reducing unnecessary signaling overhead, and then send the third list of candidate anchor terminals determined based on the location information of the location server terminal to the location server terminal in the seventh message.

[0104] Method 2-2: Optionally, the location server terminal interacts with a network side device to obtain information of the candidate anchor terminal; The location server terminal receives a system information message sent by the network side equipment, the system information message including a third list of the candidate anchor terminals; The location server terminal obtains information of the candidate anchor terminals based on the third list in the system information message.

[0105] Here, the network side equipment may be, for example, a base station, that is, the base station may broadcast the third list of candidate anchor terminals in a system message of the cell, so that the location server terminal can receive it.

[0106] Furthermore, the system information message may be a positioning system information block (posSIB) or a conventional system information block (SIB) message.

[0107] Optionally, the information of the anchor terminal included in the system information message is encrypted information; The location server terminal obtaining information of the candidate anchor terminals based on the third list in the system information message, If a predetermined private key is stored in the location server terminal, the location server terminal decrypts the encrypted information in the system information message using the predetermined private key to obtain the third list; The location server terminal obtains information of the candidate anchor terminals based on the third list.

[0108] As can be seen from this, in an embodiment of the present application, the information of the candidate anchor terminals (e.g., the third list) carried in the system information message may be encrypted so that only a location server terminal having the corresponding private key (e.g., an authenticated location server terminal) can accurately decrypt it.

[0109] Optionally, the seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: Section C-1: Terminal identifier; Section C-2: Geolocation information; Section C-3: Sidelink positioning capability information; Section C-4: Serving cell identifier information; Section C-5: Sidelink PRS transmission setting information.

[0110] Regarding item C-1 above, the terminal identifier may include, for example, at least one of S-TMSI, IMSI, SUPI, C-RNTI, SL Layer 2 ID, and Application Layer UE ID.

[0111] The "geographical location information" in the above paragraph C-2 may be, for example, latitude and longitude information. Regarding the above paragraph C-3, the sidelink positioning capability information may include at least one of whether or not the UE supports transmission of SL-PRS, whether or not it supports measurement of SL-PRS, supported sidelink positioning methods, and whether or not it can provide its own position; Regarding clause C-4 above, the serving cell identifier information may include at least one of a frequency point, PCI, and CGI of the serving cell; Regarding the "sidelink PRS transmission configuration information" in section C-5 above, the anchor terminal transmits the SL PRS on the resources indicated by this configuration information.

[0112] Optionally, the third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighboring cells of the serving cell of the location server terminal.

[0113] As can be seen from this, the third list that the network side equipment (e.g., LMF or AMF or base station) feeds back to the location server terminal may include anchor terminals in the current serving cell of the location server terminal, and may also include anchor terminals in the current serving cell of the location server terminal and neighboring cells.

[0114] According to a second aspect, as shown in FIG. 9, which is a flowchart of a positioning method according to an embodiment of the present application, the method may include the following steps 901 to 903: Step 901: The target terminal receives a first message sent by the location server terminal.

[0115] Wherein, the first message is used to request information of candidate anchor terminals, and the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.

[0116] The positioning method of the embodiments of the present application can be applied to the sidelink positioning architecture shown in FIG. 6.

[0117] In the positioning architecture shown in Figure 6, the Location Server UE is a UE that provides positioning service functions and may be considered to play an essential role in a single sidelink positioning. The Location Server UE receives a positioning request carrying positioning quality of service (QoS) or triggers a sidelink positioning request itself, and then determines the positioning method to be used for sidelink positioning, positioning configuration information, which UE will participate in positioning as an anchor terminal (i.e., Anchor UE), etc. based on the positioning QoS.

[0118] In a sidelink positioning process, the Location Server UE may be a standalone UE or may also serve as a target UE (i.e., Target UE). Of course, the Target UE may also serve as a Location Server UE. In this case, the Location Server UE positions itself and may also serve as an anchor UE or a reference UE. For example, the Location Server UE assists in transmitting or measuring SL PRS. Here, the Reference UE is a location reference UE in relative positioning or range positioning. The Reference UE may be a standalone UE, one of the anchor UEs, or the Location Server UE.

[0119] Here, the target terminal is the target terminal for which the location server terminal performs sidelink positioning, i.e., the target terminal (Target UE) is the target UE of positioning, and the positioning needs to obtain the absolute position, relative position, or ranging of this UE. When the Location Server UE receives a request sent by another device, this target terminal is the terminal indicated by the positioning request. If the Location Server UE autonomously triggers a positioning request, this target terminal is determined by the Location Server UE.

[0120] The anchor terminal may also be a terminal whose location is known (or whose location can be known) and which is involved in transmitting sidelink positioning reference signals, or the anchor terminal may be a terminal whose location is known (or whose location can be known) and which is involved in measuring sidelink positioning reference signals.

[0121] Step 902: The target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals.

[0122] Step 903: The target terminal sends a second message to the location server terminal.

[0123] Here, the second message includes the first list.

[0124] As can be seen from the above steps 901 to 903, the location server terminal may send the above first message to the target terminal to request information of candidate anchor terminals; in this way, after receiving the first message, the target terminal can trigger a flow to acquire candidate anchor terminals, and then return the acquired first list of candidate anchor terminals to the location server terminal in a second message.

[0125] The implementation process of step 902, “the target terminal performs a discovery process for candidate anchor terminals to obtain a first list of candidate anchor terminals”, is described in detail below. For example, it can be implemented as follows: Method 3-1: Optionally, the target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals; The target terminal broadcasts a discovery request message to request discovery of candidate anchor terminals; The target terminal receives a first response message to the discovery request message, and obtains information of the candidate anchor terminals based on the terminals corresponding to the received first response message; The target terminal obtains the first list based on information of the candidate anchor terminals.

[0126] Optionally, the first message includes target conditions that the candidate anchor terminal must meet; Obtaining information of the candidate anchor terminals based on terminals corresponding to the first response message received by the target terminal includes: The method includes determining, as the information of the candidate anchor terminal, information of a terminal that satisfies the target condition among the terminals corresponding to the first response message received by the target terminal.

[0127] It can be seen from this that the target UE may broadcast a discovery request message. In this way, after receiving the discovery request message, the UE will return a first response message to the target UE. The target UE will select a UE that satisfies the above target condition from the UEs corresponding to the received first response message, and select it as a candidate anchor UE.

[0128] As can be understood, the target terminal may further select some terminals that satisfy the target condition among the terminals corresponding to the received first response message as candidate anchor terminals.

[0129] Method 3-2: Optionally, the target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals; The target terminal receives an announce message broadcast by the terminal, the announce message including parameter information of the terminal; The target terminal obtains information of the candidate anchor terminals based on the terminals corresponding to the received announce message; The target terminal obtains the first list based on information of the candidate anchor terminals.

[0130] Optionally, the first message includes target conditions that the candidate anchor terminal must meet; The target terminal obtains information of the candidate anchor terminal based on a terminal corresponding to the received announce message, The method includes determining, as the information of the candidate anchor terminal, information of a terminal that satisfies the target condition among terminals corresponding to the announce message received by the target terminal.

[0131] As can be seen from this, the Target UE can receive an announcement message broadcast by a UE, where the announcement message includes parameter information of the UE. In this way, the Target UE can select a UE that meets the above target conditions from the UEs that send the announcement message based on the parameter information in the announcement message, and select it as a candidate Anchor UE.

[0132] As can be understood, the target terminal may further select some terminals that satisfy the target condition among the terminals corresponding to the received announce message as candidate anchor terminals.

[0133] It should be mentioned here that the terminal parameter information included in the Announce message may include at least one of the following items D-1 to D-8: Section D-1: Anchor UE capability; Section D-2: Location information is known, Section D-3: Ability to obtain location information; Section D-4: Being in a specific state of movement; Section D-5: Belonging to a particular terminal type; Section D-6: Having specific sidelink positioning capabilities; Section D-7: Within network coverage area; Clause D-8: Being in a specific radio resource control (RRC) state.

[0134] Method 3-3: Optionally, the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition; The target terminal receives a first response message to the discovery request message, and acquires information of the candidate anchor terminal based on a terminal corresponding to the received first response message, The target terminal receives the first response message transmitted by a terminal that satisfies the target condition, and determines information of the terminal corresponding to the received first response message as information of the candidate anchor terminal.

[0135] As can be seen from this, the target UE may broadcast a discovery request message, which carries the above target conditions. Among the UEs that receive the discovery request message, when a UE that satisfies the above target conditions returns a first response message to the target UE, the target UE will determine the UE corresponding to the received first response message as a candidate anchor UE.

[0136] Optionally, the target conditions include at least one of the following items A-1 to A-12: Section A-1: ​​Location information is known, Section A-2: Ability to obtain location information; Section A-3: Being in a specific state of movement; Section A-4: The reference signal received power RSRP measurement result is greater than a first preset threshold; Section A-5: Belonging to a particular terminal type; Section A-6: Having specific sidelink positioning capabilities; Section A-7: Within network coverage area; Section A-8: Being within a specific area; Clause A-9: Being in a specific Radio Resource Control (RRC) state; Section A-10: The PC5 interface resource is greater than a second preset threshold; Section A-11: Establishing a sidelink unicast connection with the target terminal; Section A-12: Must be on the designated device list.

[0137] Here, for the relevant descriptions of each item in the above items A-1 to A-12, please refer to the above contents, and no further explanation will be given here.

[0138] Optionally, the method further comprises: The method further includes the target terminal sending a positioning request to the location server terminal, the positioning request including the first list.

[0139] It can be seen from this that if the positioning request received by the location server terminal is sent by a target terminal, the positioning request may carry the candidate anchor terminals obtained by the target terminal; that is, if the positioning request is from a target terminal, the target terminal has performed an anchor terminal discovery process within a recent certain period of time to obtain relevant information of the candidate anchor terminals, and if this information is still valid, the information of the candidate anchor terminals may be carried in the positioning request, thereby reducing the positioning delay.

[0140] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information includes at least one of the following items B-1 to B-13: Section B-1: Terminal Identifier, Section B-2: Terminal index, Section B-3: RRC status, Section B-4: Serving cell identifier information; Section B-5: Registered Access and Mobility Management Function AMF information, Section B-6: Sidelink positioning capability information; Section B-7: Sidelink positioning reference signal (PRS) transmission setting information; Section B-8: Sidelink resource configuration, Section B-9: Sidelink resource allocation scheme; Section B-10: Resource scheduling type when the sidelink resource allocation method is Mode 1; Section B-11: Geolocation; Section B-12: Related RSRP Measurement Results, Section B-13: Movement status.

[0141] Here, for the relevant descriptions of each item in the above items B-1 to B-13, please refer to the above contents, and no further explanation will be given here.

[0142] When the location server terminal obtains candidate anchor terminals from the target terminal, the candidate anchor terminals are identified by the target terminal performing a discovery process, i.e., when the candidate anchor terminals are located in the vicinity of the target terminal, the anchor terminals involved in positioning finally selected by the location server terminal are located in the vicinity of the target terminal, and thus the location server terminal may be too far away from some anchor terminals involved in positioning, which may cause a problem that the location server terminal cannot establish a sidelink unicast connection with these anchor terminals to communicate.

[0143] To solve the above problem, the following method 4-1 or 4-2 can be adopted: Method 4-1: Optionally, the first message includes a second list, and the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered; The target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, The target terminal performs a candidate anchor terminal discovery process on the terminals in the second list to obtain the first list of candidate anchor terminals.

[0144] It can be seen from this that before sending the first message to the target terminal, the location server terminal may first perform a discovery process of candidate anchor terminals to obtain a second list of candidate anchor terminals, and then carry the second list in the first message and send it to the target terminal. In this way, after receiving the second message, the target terminal can further perform a discovery process on the UEs in the second list to identify the candidate anchor terminals, and then put the list of candidate anchor terminals obtained at this time (i.e., the first list) into a second message and send it to the location server terminal. That is, the candidate anchor terminals included in the second message are UEs that can be discovered by both the target terminal and the location service terminal.

[0145] Method 4-2: Optionally, the method further comprises: The method further includes the target terminal transferring messages for interaction between the location server terminal and at least one anchor terminal involved in positioning.

[0146] Here, by transferring interaction information between the location server terminal and the anchor terminal via the target terminal, it is possible to solve the problem that "the location server terminal cannot establish a sidelink unicast connection with some anchor terminals involved in positioning and communicate with these anchor terminals because the distance between the location server terminal and these anchor terminals is too far."

[0147] Optionally, the target terminal forwarding a message for interaction between the location server terminal and the anchor terminal includes: The target terminal receives a third message sent by the location server terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; The target terminal determines the anchor terminal based on identifier information or an index of the anchor terminal, and sends a ninth message to the anchor terminal, where the ninth message includes a third container, and the third container includes the fourth message.

[0148] As can be seen from this, when the location server terminal needs to send a fourth message to the anchor terminal, the location server terminal first sends a third message carrying the fourth message to the target terminal, and then the target terminal sends a ninth message to the anchor terminal, where the ninth message includes a third container, and the third container includes the fourth message. That is, the target terminal sends the ninth message carrying the fourth message that the location server terminal needs to send to the anchor terminal to the anchor terminal. Here, the third message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message, and the ninth message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message.

[0149] Optionally, the third message may include a message to be sent to one or more anchor terminals.

[0150] Optionally, for each anchor terminal, the third message may include one or more messages to send to this anchor terminal, thereby saving positioning delay and signaling overhead.

[0151] It should be noted that the target terminal may determine the corresponding anchor terminal based on the identifier or index of the anchor terminal in the third message. If a sidelink unicast connection is not established between the target terminal and the anchor terminal, the target terminal may establish a sidelink unicast connection with the anchor terminal. If the unicast connection establishment fails, the target terminal may further send a failure message to the location server terminal, and the failure message may carry a cause value, which is used to indicate a delivery failure or a unicast connection establishment failure. Here, the anchor terminal that fails to establish a sidelink unicast connection with the target terminal cannot participate in the positioning process.

[0152] Optionally, the target terminal forwarding a message for interaction between the location server terminal and the anchor terminal includes: The target terminal receives a tenth message sent by the anchor terminal, where the tenth message includes a fourth container, and the fourth container includes a fifth message sent by the anchor terminal to the location server terminal; and The target terminal further includes sending a sixth message to the location server terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message.

[0153] It can be seen from this that when the anchor terminal needs to send a fifth message to the location server terminal, the anchor terminal first sends a tenth message to the target positioning terminal, where the tenth message includes a fourth container, and the fourth container includes the fifth message that the anchor terminal needs to send to the location server terminal, so that the target terminal sends a sixth message carrying the fifth message to the location server terminal, where the tenth message is one of an SLPP message, a PC5 RRC message, and a PC5 signaling (i.e., PC5-S) message.

[0154] Also, in the process in which the location server terminal interacts with the anchor terminal through the target terminal, the target terminal is used to forward a message, and if the message received by the target terminal contains a container, the target terminal does not need to decode this container.

[0155] It should be noted that the SLPP message may be a message of the newly introduced sidelink positioning protocol or a message of the LPP protocol. Here, the newly introduced SLPP protocol layer is used for sidelink positioning, and this protocol layer is used by a location server terminal to exchange positioning messages with a target terminal and an anchor terminal. For example, as shown in FIG. 8, the SLPP layer is a protocol layer used for the newly introduced sidelink positioning and is located above the PDCP layer. It can be understood that the SLPP may be located above the PC5 RRC or PC5-S.

[0156] According to a third aspect, as shown in FIG. 10, which is a flowchart of a positioning method according to an embodiment of the present application, the method may include the following step 1001: Step 1001: A network side device interacts with a location server terminal and provides information of candidate anchor terminals to the location server terminal.

[0157] It can be seen from this that in the embodiment of the present application, the network side equipment may provide information of candidate anchor terminals to the location server terminal, so that the location server terminal can select at least one anchor terminal involved in positioning from the candidate anchor terminals, and further interact with the target terminal and / or at least one anchor terminal involved in positioning, and perform a positioning process for the target terminal.

[0158] The process in which the network side device provides the location server terminal with information on the candidate anchor terminals will be specifically described below, as shown in Method 5-1 or Method 5-2 below.

[0159] Method 5-1: optionally, the network side device interacts with a location server terminal and provides the location server terminal with information on candidate anchor terminals; The network side device receives a first request message sent by a location server terminal to request acquisition of the candidate anchor terminal; The network side device responds to the first request message and sends a seventh message to the location server terminal, where the seventh message includes a third list of the candidate anchor terminals.

[0160] As can be seen from this, the location server terminal may send the above-mentioned first request message to the network side equipment to request information of candidate anchor terminals; in this way, after receiving the first request message, the network side equipment can return the third list of candidate anchor terminals to the location server terminal in a seventh message.

[0161] Here, the network side device may be, for example, an LMF, an AMF, or a base station. That is, the LMF, the AMF, or the base station may store information of candidate anchor terminals, for example, obtained by an OAM system. After the LMF, the AMF, or the base station receives the first request message sent by the location server terminal, it may obtain a third list of candidate anchor terminals based on the information of the candidate anchor terminals stored therein, and then carry the third list in a seventh message to be returned to the location server terminal.

[0162] Optionally, the network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a non-access stratum NAS message.

[0163] Optionally, the seventh message is one of an LPP message, an LCS message, an NAS message, and a dedicated RRC message.

[0164] Optionally, the first request message includes location information of the location server terminal, and the candidate anchor terminals in the third list are determined based on the location information of the location server terminal.

[0165] Here, the location information of the location server terminal may be longitude and latitude information or the current serving cell ID of the location server terminal.

[0166] As can be seen from this, when the location server terminal sends a first request message to the network side equipment to request it to obtain information about candidate anchor terminals, it may carry its own location information in the first request message and send it to the network side equipment. In this way, the network side equipment can determine candidate anchor terminals based on the location information of the location server terminal (for example, select candidate anchor terminals within a certain distance range from the location server terminal, or candidate anchor terminals in the same serving cell as the location server terminal and adjacent serving cells), thereby reducing unnecessary signaling overhead, and then send the third list of candidate anchor terminals determined based on the location information of the location server terminal to the location server terminal in the seventh message.

[0167] Method 5-2: Optionally, the network side device interacts with a location server terminal and provides the location server terminal with information on candidate anchor terminals; The network side device transmits a system information message including a third list of the candidate anchor terminals.

[0168] Here, the network side equipment may be, for example, a base station, that is, the base station may broadcast the third list of candidate anchor terminals in a system message of the cell, so that the location server terminal can receive it.

[0169] Furthermore, the system information message may be a posSIB or a conventional SIB message.

[0170] Optionally, before the network side device transmits the system information message, the method further comprises: The method further includes the network side device encrypting the information of the anchor terminal included in the system information message using a predetermined secret key.

[0171] As can be seen from this, in an embodiment of the present application, the information of the candidate anchor terminals (e.g., the third list) carried in the system information message may be encrypted so that only a location server terminal having the corresponding private key (e.g., an authenticated location server terminal) can accurately decrypt it.

[0172] Optionally, the seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: Section C-1: Terminal identifier; Section C-2: Geolocation information; Section C-3: Sidelink positioning capability information; Section C-4: Serving cell identifier information; Section C-5: Sidelink PRS transmission setting information.

[0173] Here, the relevant descriptions in the above items C-1 to C-5 may refer to the above contents, and will not be further explained here.

[0174] Optionally, the third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighboring cells of the serving cell of the location server terminal.

[0175] As can be seen from this, the third list that the network side equipment (e.g., LMF or AMF or base station) feeds back to the location server terminal may include anchor terminals in the current serving cell of the location server terminal, and may also include anchor terminals in the current serving cell of the location server terminal and neighboring cells.

[0176] To sum up, specific embodiments of the positioning method in the examples of the present application may be as described in the following embodiments 1 and 2.

[0177] Embodiment 1: The Location Server UE obtains candidate anchor UE information from the Target UE. For example, the Location Server UE requests the Target UE to provide candidate anchor UE information, and the Target UE performs an anchor UE discovery process and transmits the candidate anchor UE information to the Location Server UE, or the Target UE actively transmits the candidate anchor UE information to the Location Server UE. In this way, the Location Server UE can determine one or more anchor UEs involved in sidelink positioning based on the obtained candidate anchor UE information. In this manner, the anchor UEs involved in positioning can all measure and obtain the SL PRS transmitted by the Target UE, or the Target UE can measure the SL PRS transmitted by the anchor UEs involved in positioning, thereby reducing unnecessary radio resource overhead or signaling overhead.

[0178] The specific flow, as shown in FIG. 11, includes steps 111 to 118 as follows: Step 111: The Location Server UE receives a positioning request or is triggered by the Location Server UE itself, and needs to position the Target UE or itself (ie the Location Server UE is also the Target UE).

[0179] Here, the positioning request carries the positioning QoS and the target UE ID, and the positioning QoS may include the positioning accuracy and the positioning delay.

[0180] In addition, the positioning requirements are Sidelink Positioning Protocol (i.e., SLPP) messages; PC5 signaling (i.e., PC5-S) messages; PC5 RRC message, Location Service (LCS) messages, LPP message and The message may be one of the following: a NAS message;

[0181] Optionally, the positioning request may further include a first list of candidate anchor UEs. Optionally, the positioning request may further include first terminal information of one or more candidate anchor UEs (here, the specific content included in the first terminal information will be described in the following step 115), thereby reducing positioning delay. That is, if the positioning request is from a target UE, the target UE may perform an anchor UE discovery process within a recent certain period of time to obtain relevant information of the candidate anchor UEs, and if this information is still valid, may carry the candidate anchor UE information in the positioning request.

[0182] Step 112 (optional step): If the Location Server UE does not establish a sidelink unicast connection with the Target UE (e.g., in a scenario where a request to position the Target UE is initiated by a third-party UE or a Location Management Function (LMF) or an Access and Mobility Management Function (AMF)), the Location Server UE performs a Target UE discovery process and / or a sidelink unicast connection establishment process with the Target UE.

[0183] If the Location Server UE does not find the Target UE or does not successfully establish a sidelink unicast connection with the Target UE, the Location Server UE returns a Positioning Response message or a Positioning Failure message to the device that sent the positioning request, thereby terminating the process. The Positioning Response message or the Positioning Failure message may include a failure reason, which may be one of: inability to execute, failure to find the Target UE, or failure to establish a unicast connection.

[0184] Step 113 (optional step): The Location Server UE sends a first message to the Target UE through a sidelink unicast connection, where the first message is used to request candidate Anchor UEs.

[0185] Here, the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.

[0186] Optionally, the first message may carry a target condition to indicate the condition that the candidate anchor UE must meet. By providing the target condition, the Location Server UE can obtain a suitable anchor UE for the current sidelink positioning.

[0187] Here, the target condition may include at least one of the following: The location information is known, The ability to obtain location information; being in a particular state of motion (e.g., stationary); The reference signal received power (RSRP) measurement result is greater than a first preset threshold (here, the RSRP measurement result may be the RSRP of the radio signal of the anchor UE measured by the target UE, or may be the RSRP of the radio signal of the target UE measured by the anchor UE). Belonging to a particular terminal type (where this particular terminal type may be a Roadside Unit (RSU) or a Positioning Reference Unit (PRU)); Having specific sidelink positioning capabilities (wherein the specific sidelink positioning capabilities may include at least one of supporting a sidelink positioning method, supporting a sidelink measurement quantity, supporting transmission of SL-PRS, and supporting measurement of SL-PRS). be within network coverage area, Being within a specific area (this specific area can be a single cell or a list of cells) Being in a specified RRC state (e.g., the RRC state includes at least one of an RRC connected state and an RRC idle state). The PC5 interface resource is greater than a preset threshold; A sidelink unicast connection has been established with the target UE; Being in a specified terminal list (i.e., the first message includes a UE list, for example, the UEs in this UE list may be RSUs with fixed locations, or may be candidate Anchor UEs identified by the Location Server UE through a discovery process).

[0188] Step 114: The Target UE performs an Anchor UE discovery process to find a candidate Anchor UE that meets the above target conditions.

[0189] Here, the Target UE may acquire candidate Anchor UEs that satisfy the target conditions using Scheme 1, Scheme 2, or Scheme 3 described below.

[0190] Method 1: The target UE broadcasts a discovery request message. After receiving the discovery request message, one or more UEs return a first response message to the target UE. The target UE selects a UE that satisfies the above target conditions from the UEs corresponding to the received first response message, and selects it as a candidate anchor UE.

[0191] Method 2: The target UE receives an announcement message broadcast by one or more UEs, where the announcement message includes parameter information of the UE. In this way, the target UE may select a UE that satisfies the above target condition from the UEs that send the announcement message based on the parameter information in the announcement message, and select it as a candidate anchor UE.

[0192] Method 3: The target UE broadcasts a discovery request message, which carries the target conditions. Among the UEs that receive the discovery request message, a UE that meets the target conditions returns a first response message to the target UE. The target UE then selects the UE that corresponds to the received first response message as a candidate anchor UE.

[0193] Here, the discovery request message may be a PC5-D message, for example, a direct discovery solicitation, and the first response message may be a direct discovery response, or the discovery request message may be a message introduced into the sidelink positioning protocol, which is broadcast and used to discover candidate anchor UEs.

[0194] Step 115: The Target UE sends a second message to the Location Server UE, where the second message carries the first list of candidate Anchor UEs.

[0195] Alternatively, the second message is a response message to the first message, and the second message may be one of an SLPP message, an LPP message, or a PC5 RRC message.

[0196] Optionally, the second message further carries first terminal information of one or more candidate Anchor UEs.

[0197] Wherein, for each candidate anchor UE, the first terminal information of the candidate anchor UE includes at least one of the following: UE ID, which may include at least one of S-TMS, IMSI, SUPI, C-RNTI, SL Layer 2 ID, Application Layer UE ID; UE index (each candidate anchor UE is assigned one UE index to facilitate subsequent interactions); an RRC state (which may include at least one of an RRC connected state, an RRC idle state, and an RRC inactive state); Serving cell ID (which may include at least one of the frequency point, PCI, and CGI of the serving cell); Registered AMF information (which may include at least one of the PLMN ID of the current service and the AMF ID of the registered AMF); Sidelink positioning capability (which may include at least one of whether it supports SL-PRS transmission, whether it supports SL-PRS measurement, supported sidelink positioning methods, and whether it can provide its own location); sidelink PRS transmission configuration information, in which the anchor UE transmits the SL PRS on resources indicated by the configuration information; a sidelink resource configuration including the sidelink resources currently used by the Anchor UE and / or the sidelink resources configured for the Anchor UE by the base station; Sidelink resource allocation schemes including mode1 and mode2; a resource scheduling type when the sidelink resource allocation mode of the candidate anchor UE is mode 1 (i.e., when the sidelink resource allocation mode of the candidate anchor UE is mode 1, the first terminal information may further specifically include the resource scheduling type: dynamic scheduling, in which resources are dynamically scheduled by the base station; configured grant type 1, in which resources configured by the base station are periodic resources and can be used directly; configured grant type 2, in which resources configured by the base station are periodic resources and can only be used after activation); For example, geographic location information, which is longitude and latitude information, RSRP measurement results related to the candidate anchor UE (the RSRP related to the candidate anchor UE may include the RSRP of the radio signal of the candidate anchor UE measured by the target UE, or may be the RSRP of the radio signal of the target UE measured by the candidate anchor UE); Moving state.

[0198] Step 116: The Location Server UE can determine the Anchor UE to participate in the positioning based on the above first terminal information of the candidate Anchor UE and information such as positioning QoS.

[0199] For example, each candidate anchor UE is an anchor UE involved in positioning, Or, determine a sidelink positioning method based on the positioning QoS, and select a UE that supports this positioning method from these candidate anchor UEs as an anchor UE involved in positioning; Alternatively, after sorting according to the magnitude of RSRP, select UEs with high RSRP (for example, larger than a certain threshold) and set them as anchor UEs involved in positioning. Alternatively, the location server UE selects a candidate anchor UE from these candidate anchor UEs that can establish a sidelink unicast connection with the location server UE, and sets the candidate anchor UE as the anchor UE involved in positioning.

[0200] Step 117: The Location Server UE performs a sidelink positioning process.

[0201] Here, this sidelink positioning process may include the Location Server UE interacting with the Target UE and the Anchor UE involved in the positioning, respectively, such as configuring the Anchor UE to transmit the SL PRS and configuring the Target UE to measure the SL PRS, or configuring the Target UE to transmit the SL PRS and configuring the Anchor UE to measure the SL PRS, and the Location Server UE receiving the positioning measurement results sent by the Anchor UE or the Target UE, etc.

[0202] Step 118: The Location Server UE obtains the location result of the Target UE, and calculates the location of the Target UE, for example, based on the positioning measurement result, and sends a positioning response message carrying the location result of the Target UE.

[0203] In this embodiment 1, the candidate anchor UEs are identified by the target UE performing a discovery process. That is, if the candidate anchor UEs are in the vicinity of the target UE, the anchor UEs finally selected by the location server UE to participate in positioning may be in the vicinity of the target UE and may be too far away from some anchor UEs involved in positioning by the location server UE, so there may be a problem that the location server UE cannot establish a sidelink unicast connection and communicate with these anchor UEs in step 117.

[0204] To solve the above problem, the following method 1 or method 2 may be adopted: Method 1: From these candidate Anchor UEs obtained from the Target UE, the Location Server UE selects candidate Anchor UEs that can establish a sidelink unicast connection with the Location Server UE, thereby further selecting Anchor UEs from these UEs to participate in positioning, and further avoiding the above problem.

[0205] Specifically, for example, the Location Server UE performs a discovery process on the candidate Anchor UEs carried in the second message or attempts to establish a sidelink unicast connection with these candidate Anchor UEs after step 115 and before step 116. Thus, when performing step 116, the Location Server UE selects an Anchor UE to participate in positioning from the candidate Anchor UEs that can successfully discover or establish a sidelink unicast connection; Or, For example, before the above-mentioned step 113, the Location Server UE first performs a candidate anchor UE discovery process to obtain a second list of candidate anchor UEs, and thereby carries the second list in a first message and sends it to the Target UE when performing the above-mentioned step 113. Thus, when performing the above-mentioned step 114, the Target UE further performs a discovery process on the UEs in the second list to identify candidate anchor UEs, and thus, when performing the above-mentioned step 115, it puts the list of candidate anchor UEs obtained in step 114 (i.e., the first list) into a second message and sends it to the Location Server UE, i.e., the candidate anchor UEs included in the second message are UEs that can be discovered by both the Target UE and the Location Server UE. Thus, when performing the above-mentioned step 116, it selects anchor UEs to be involved in positioning from the candidate anchor UEs included in the second message.

[0206] It should be noted here that the above method 1 may have too few Anchor UEs, which may reduce the positioning accuracy and even prevent positioning from being performed.

[0207] Method 2: The Location Server UE may interact with the Anchor UE involved in positioning through the Target UE, that is, the Target UE transfers the interaction information between the Location Server UE and the Anchor UE involved in positioning, that is, the Location Server UE first sends a message to the Target UE and indicates which Anchor UE the message should be sent to, and the Target UE then sends the message to the corresponding Anchor UE.

[0208] Here, if there are multiple Anchor UEs involved in the positioning, the Target UE may transmit interaction information between the Location Server UE and each Anchor UE involved in the positioning; For some Anchor UEs involved in positioning, the Target UE may forward information for interaction with the Location Server UE; for other Anchor UEs involved in positioning, the Location Server UE may establish a sidelink unicast connection to communicate with them. For example, after selecting the Anchor UEs involved in positioning, the Location Server UE may first attempt to discover or establish a sidelink unicast connection with each Anchor UE involved in positioning; for Anchor UEs that fail to be discovered or that fail to establish a unicast connection, the Target UE may forward the information; otherwise, the Location Server UE may directly interact with them via a sidelink unicast connection.

[0209] In addition, the process of transferring interaction information between the Target UE and the Location Server UE and one of the Anchor UEs involved in positioning may be as shown in FIG. 12, specifically including the following steps 121 to 126: Step 121: If the Location Server UE needs to send a fourth message (for example, an SLPP message) to the Anchor UE, the Location Server UE sends a third message to the Target UE, and the third message is used to convey the fourth message to be sent to the Anchor UE.

[0210] Here, the third message includes the UE ID or UE index of the Anchor UE and one Container (i.e., a container, and the Target UE does not decode the content of this container), and this Container corresponds to the fourth message sent to this Anchor UE, and the third message may be an SLPP message or a PC5 RRC or PC5-S message.

[0211] Also, for each Anchor UE, there is one corresponding UE ID or UE index of this Anchor UE.

[0212] Optionally, the third message may include a message to be sent to one or more Anchor UEs.

[0213] Optionally, for each Anchor UE, the third message may include one or more messages to be sent to this Anchor UE, thereby saving positioning delay and signaling overhead.

[0214] Step 122: The Target UE determines the corresponding Anchor UE according to the UE ID or UE index of the (each) Anchor UE in the third message.

[0215] Step 123: If a sidelink unicast connection is not established between the Target UE and this Anchor UE, the Target UE establishes a sidelink unicast connection with this Anchor UE. If the unicast connection establishment fails, the Target UE sends a failure message to the Location Server UE, and the failure message may carry a cause value, which is used to indicate a delivery failure or a unicast connection establishment failure.

[0216] Step 124: The Target UE sends a ninth message to the Anchor UE through the sidelink unicast connection between the Target UE and the Anchor UE, where the ninth message is used to send the fourth message from the Location Server UE to the Anchor UE. The ninth message may be an SLPP message, a PC5 RRC message, or a PC5-S message. The ninth message includes a Container, which corresponds to the SLPP message in step 1, i.e., the fourth message sent by the Location Server UE to the Anchor UE.

[0217] Step 125: If the Anchor UE needs to send a fifth message (e.g., an SLPP message) to the Location Server UE, the Anchor UE sends a tenth message to the Target UE, and the tenth message is used to convey the fifth message to be sent to the Location Server UE.

[0218] Here, the tenth message includes one Container, and this Container corresponds to the fifth message. The tenth message may be an SLPP message, a PC5 RRC message, or a PC5-S message.

[0219] Step 126: The Target UE sends a sixth message to the Location Server UE, where the sixth message is used to send the fifth message from the Anchor UE to the Location Server UE. The sixth message includes the UE ID or UE index of the Anchor UE and a Container, where the Container corresponds to the fifth message sent to the Location Server UE.

[0220] Here, the Location Server UE knows which Anchor UE sent the message based on the UE ID or UE index of the Anchor UE.

[0221] Embodiment 2: The Location Server UE obtains information of one or more candidate Anchor UEs from a network side device (e.g., an LMF, an AMF, or a base station), and then selects an Anchor UE to participate in positioning from these candidate Anchor UEs. For example, the Location Server UE may select a candidate Anchor UE in the vicinity of the Location Server UE as an Anchor UE to participate in positioning, or may select an Anchor UE to participate in positioning based on the capability of the Target UE.

[0222] In this embodiment, the Anchor UE (e.g., RSU) may assume that it always transmits the SL PRS for positioning, and its SL PRS transmission configuration may not be controlled by the Location Server UE, and the Anchor UE does not need to perform measurements, while the Target UE always performs SL PRS measurements and does not need to transmit the SL PRS. Therefore, the Location Server UE does not perform sidelink communication with the Anchor UE, and only needs to obtain related information of the candidate Anchor UE from the network side device.

[0223] The specific flow, as shown in FIG. 13, includes steps 131 to 136 as follows: Step 131: Before or after receiving a positioning request, the Location Server UE obtains a third list of candidate Anchor UEs from the LMF or base station or AMF.

[0224] Optionally, the Location Server UE may further obtain second terminal information of the candidate Anchor UE from the LMF or the base station or the AMF.

[0225] Here, the second terminal information of each candidate anchor UE is: an identity of the UE, which may include, for example, at least one of an SL layer 2 ID, an Application Layer UE ID, an S-TMSI, an IMSI, a SUPI, and a C-RNTI; For example, location information such as longitude and latitude information, Positioning ability information; Serving cell ID; The SL PRS transmission configuration may include at least one of the following: a transmission resource pool configuration for the SL PRS, an SL PRS periodicity / resource position, and an SL PRS resource repetition factor.

[0226] Specifically, the method by which the Location Server UE obtains information of one or more candidate Anchor UEs from an LMF or AMF base station will be described in detail later.

[0227] Step 132: The Location Server UE determines one or more Anchor UEs to participate in the positioning based on the information of one or more candidate Anchor UEs obtained in step 131.

[0228] Here, the Location Server UE itself may be an Anchor UE.

[0229] Also, for example, it may be determined that all candidate anchor UEs are involved in positioning, Alternatively, considering that the Target UE is in the vicinity of the Location Server UE, the Location Server UE may select an Anchor UE that may be within a certain distance of the Location Server UE to participate in positioning. For example, assuming that the maximum distance of SL PRS transmission is 200 meters, the Location Server UE may select an Anchor UE that is within 400 meters of itself as an Anchor UE to participate in positioning. Since the Location Server UE and the Target UE are within 200 meters, and the Anchor UE involved in positioning must be within 200 meters of the Target UE, the distance between the Location Server UE and the Anchor UE involved in positioning cannot exceed 400 meters, otherwise the Target UE will not be able to receive the SL PRS of the Anchor UE. Alternatively, considering the positioning capability of the anchor UE, a candidate anchor UE that has positioning capability and supports a positioning method may be selected as the anchor UE to participate in positioning.

[0230] Step 133: The Location Server UE sends the SL PRS measurement configuration corresponding to each Anchor UE to the Target UE.

[0231] It should be noted here that for the Target UE, it is the SL PRS measurement configuration, and for the Anchor UE, it is the SL PRS transmission configuration.

[0232] Step 134: The target UE measures the SL PRS according to the received SL PRS measurement configuration to obtain an SL PRS measurement result.

[0233] Step 135: The Target UE sends the SL PRS measurement result to the Location Server UE.

[0234] Step 136: The Location Server UE calculates the Target UE location based on the SL PRS measurement result.

[0235] Hereinafter, in this embodiment, a method in which the Location Server UE obtains information of one or more candidate Anchor UEs from an LMF or AMF base station will be specifically described.

[0236] Method 1: As shown in FIG. 14, the process in which the Location Server UE obtains information of one or more candidate Anchor UEs from the LMF or AMF includes the following steps 141 to 142.

[0237] Step 141: The Location Server UE sends a first request message to request the LMF or AMF to obtain Anchor UE information.

[0238] Here, the first request message may be an LCS message, for example, a Mobile Originated Location Request (MO-LR) message initiated by the terminal, and carries indication information for instructing the first request message to request acquisition of candidate anchor UE information, and the first request message may be an LPP message or a NAS message.

[0239] Optionally, the first request message carries location information of the Location Server UE, where the location information may be longitude and latitude information, or may be a current serving cell ID of the Location Server UE.

[0240] Step 142: If the LMF or AMF stores information of candidate Anchor UEs (for example, obtained by an Operation, Administration and Maintenance (OAM) system), the LMF or AMF sends a seventh message to the Location Server UE, and the seventh message carries a third list of candidate Anchor UEs.

[0241] Here, this seventh message may be an LPP message, an LCS message, or an NAS message.

[0242] Optionally, the seventh message may further carry the second terminal information of the candidate anchor UE, where the specific content included in the second terminal information may refer to the above and will not be further described herein.

[0243] Optionally, the LMF or AMF may further determine which candidate Anchor UE information to have the seventh message carry based on the location information of the Location Server UE, for example, selecting a candidate Anchor UE within a certain distance range of the Location Server UE, or selecting a candidate Anchor UE in the same serving cell as the Location Server UE and in adjacent serving cells, thereby reducing unnecessary signaling overhead.

[0244] Method 2: As shown in FIG. 15, the process in which a Location Server UE obtains information of one or more candidate Anchor UEs from a base station includes steps 151 to 153 as follows:

[0245] Step 151: The Location Server UE enters a connected state.

[0246] Step 152 (optional step): The Location Server UE sends a second request message to the base station.

[0247] Here, the second request message may be an RRC message, for example, a Sidelink UE Information message, and this second request message carries instruction information for instructing to request to acquire candidate anchor UE information.

[0248] Step 153: If the base station stores candidate anchor UE information (for example, obtained by the OAM system), the base station sends an eighth message to the Location Server UE, and the eighth message carries a third list of candidate anchor UEs.

[0249] Optionally, the eighth message may further carry the second terminal information of the candidate anchor UE, where the specific content included in the second terminal information may refer to the above and will not be further described herein.

[0250] Optionally, the eighth message may be a dedicated RRC message.

[0251] Optionally, the third list carried in the eighth message may include Anchor UEs in the current serving cell, or may include Anchor UEs in the current serving cell and a neighboring cell.

[0252] Method 3: As shown in FIG. 16 , the process in which a Location Server UE obtains information of one or more candidate Anchor UEs from a base station includes steps 161 to 162 as follows: Step 161: The base station broadcasts a third list of candidate anchor UEs in a system information message of the cell; Here, this third list may include anchor UEs in the current serving cell, or may include anchor UEs in the current serving cell and neighboring cells.

[0253] In addition, the second terminal information of the candidate anchor UE may be further carried in the system information message, where the specific content included in the second terminal information may refer to the above and will not be further described here.

[0254] Furthermore, the system information message may be a posSIB or a conventional SIB.

[0255] Step 162: The Location Server UE obtains candidate Anchor UEs by reading the system information of the serving cell.

[0256] Optionally, the information of the candidate Anchor UEs (including the third list and / or the second terminal information) carried in the system information message may be encrypted so that only UEs with the corresponding private key (e.g., authenticated Location Server UEs) can correctly decrypt it.

[0257] Note that Figures 11 to 16 only list important information transmitted or important operations performed at each step, and the above content can be referred to for the specific content of each step in Figures 11 to 16.

[0258] The positioning method according to the embodiment of the present application may be performed by a positioning device. In the embodiment of the present application, the positioning device according to the embodiment of the present application will be described by taking the positioning device as an example of performing the positioning method.

[0259] According to a fourth aspect, an embodiment of the present application provides a positioning device applied to a location server terminal, as shown in FIG. 17, the positioning device comprises: a first determination module 171 for determining to perform sidelink positioning for a target terminal; a first information acquisition module 172 for acquiring information of candidate anchor terminals; a second determination module 173 for determining at least one anchor terminal involved in positioning from the candidate anchor terminals; and a positioning interaction module 174 for interacting with the target terminal and / or at least one of the anchor terminals and performing positioning for the target terminal.

[0260] Optionally, the first information acquisition module 172: a first acquisition sub-module for acquiring information of the candidate anchor terminal from the target terminal; Or, A second acquisition sub-module is included for interacting with a network side device to acquire information of the candidate anchor terminal.

[0261] Optionally, the first acquisition sub-module specifically: sending a first message to the target terminal to request it to obtain information about the candidate anchor terminal; receiving a second message including the first list of candidate anchor terminals, the second message being sent by the target terminal in response to the first message; and obtaining information about the candidate anchor terminals based on the first list in the second message.

[0262] Optionally, the device comprises: a first processing module for performing a discovery process of the target terminal and / or a sidelink unicast connection establishment process with the target terminal if a sidelink unicast connection is not established between the location server terminal and the target terminal; The first acquisition sub-module specifically sends a first message to the target terminal: used to transmit the first message to the target terminal via the sidelink unicast connection between the location server terminal and the target terminal when the sidelink unicast connection between the location server terminal and the target terminal is successfully established; The first acquisition sub-module specifically receives a second message sent by the target terminal in response to the first message. If the sidelink unicast connection between the location server terminal and the target terminal is successfully established, the sidelink unicast connection between the location server terminal and the target terminal is used to receive the second message.

[0263] Optionally, the device comprises: and a second transmitting module for transmitting a positioning response message or a positioning failure message to a device transmitting the positioning request if the target terminal is not successfully discovered and / or the sidelink unicast connection between the location server terminal and the target terminal is not successfully established, wherein first indication information is carried in the positioning response message or the positioning failure message, and the first indication information is used to indicate that the target terminal is not successfully discovered and / or the sidelink unicast connection between the location server terminal and the target terminal is not successfully established.

[0264] Optionally, the first message includes a target condition that the candidate anchor terminals must satisfy, and the candidate anchor terminals in the first list satisfy the target condition; Here, the target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; and Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and and being in a specified terminal list.

[0265] Optionally, the first determination module 171 specifically: receiving a positioning request to request positioning for the target terminal; and determining to perform sidelink positioning for the target terminal in response to the positioning request.

[0266] Optionally, the positioning request is transmitted by the target terminal, and the positioning request includes a first list of the candidate anchor terminals; The first acquisition sub-module specifically includes: It is used to obtain information of the candidate anchor terminals based on the first list in the positioning request.

[0267] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state and Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission setting information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Related RSRP measurements and and a movement state.

[0268] Optionally, the device comprises: a second processing module for performing a discovery process and / or a sidelink unicast connection establishment process for the terminals in the first list, respectively; The second determination module 173 specifically: is used to determine at least one anchor terminal involved in positioning from a first type of terminal in the first list, where the first type of terminal is a terminal that has successfully discovered the location server terminal and / or successfully established a sidelink unicast connection.

[0269] Optionally, the device comprises: and a third processing module for performing a discovery process of candidate anchor terminals to obtain a second list of candidate anchor terminals before the first acquisition sub-module sends the first message to the target terminal; Here, the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered, the first message includes the second list, and the candidate anchor terminals included in the first list are terminals that the target terminal in the second list has successfully discovered.

[0270] Optionally, the positioning interaction module 174: a first interaction submodule for interacting with the anchor terminal via the target terminal; Or, and a second interaction submodule for interacting with the anchor terminal through the sidelink unicast connection between the location server terminal and the anchor terminal when the sidelink unicast connection between the location server terminal and the anchor terminal is successfully established.

[0271] Optionally, the first interaction sub-module: Sending a third message to the target terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; and receiving a sixth message sent by the target terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes a fifth message sent by the anchor terminal to the location server terminal.

[0272] Optionally, the second acquisition sub-module specifically: Sending a first request message to the network side device to request the network side device to acquire information of the candidate anchor terminal; receiving a seventh message including a third list of the candidate anchor terminals, the seventh message being sent by the network side device in response to the first request message; and obtaining information of the candidate anchor terminals based on the third list in the seventh message.

[0273] Optionally, the first request message includes location information of the location server terminal, and the candidate anchor terminals in the third list are determined based on the location information of the location server terminal.

[0274] Optionally, the network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a non-access stratum NAS message.

[0275] Optionally, the seventh message is one of an LPP message, an LCS message, an NAS message, and a dedicated RRC message.

[0276] Optionally, the second acquisition sub-module specifically: receiving a system information message sent by the network side device, the system information message including a third list of the candidate anchor terminals; and obtaining information of the candidate anchor terminals based on the third list in the system information message.

[0277] Optionally, the information of the anchor terminal included in the system information message is encrypted information; Specifically, the second acquisition sub-module acquires the information of the candidate anchor terminals according to the third list in the system information message. if a predetermined private key is stored, decrypting the encrypted information in the system information message using the predetermined private key to obtain the third list; and obtaining information about the candidate anchor terminals based on the third list.

[0278] Optionally, the seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: A terminal identifier; Geolocation information; Sidelink positioning capability information; Serving cell identifier information; and sidelink PRS transmission configuration information.

[0279] Optionally, the third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighboring cells of the serving cell of the location server terminal.

[0280] The positioning device in the embodiments of the present application may be an electronic device, such as an electronic device having an operating system, or may be a component of the electronic device, such as an integrated circuit or chip. The electronic device may be a terminal. Exemplarily, the terminal may include, but is not limited to, the types of terminals 11 listed above, and the embodiments of the present application are not specifically limited thereto.

[0281] The positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method of Figure 7 and achieve the same technical effect, and will not be further described here to avoid repetition of description.

[0282] According to a fifth aspect, an embodiment of the present application provides a positioning device for use in a target terminal, as shown in FIG. 18, the positioning device includes: a first receiving module 181 for receiving a first message sent by a location server terminal to request information of candidate anchor terminals; a first discovery module 182 for performing a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals; a first sending module 183 for sending a second message including the first list to the location server terminal.

[0283] Optionally, the first discovery module 182 specifically: broadcasting a discovery request message to request discovery of candidate anchor terminals; receiving a first response message to the discovery request message, and obtaining information of the candidate anchor terminals based on the terminals corresponding to the received first response message; obtaining the first list based on information of the candidate anchor terminals; Or, receiving an announce message broadcast by the terminal, the announce message including parameter information of the terminal; Obtaining information of the candidate anchor terminals based on the terminals corresponding to the received announce message; The first list is obtained based on the information of the candidate anchor terminals.

[0284] Optionally, the first message includes target conditions that the candidate anchor terminal must meet; The first discovery module 182 specifically obtains information about the candidate anchor terminals based on the terminals corresponding to the first response message or the announcement message received by the first discovery module 182. Among the terminals corresponding to the received first response message or the announcement message, information on the terminal that satisfies the target condition is used to determine the information on the candidate anchor terminal.

[0285] Optionally, the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition; The first discovery module 182 receives a first response message to the discovery request message, and obtains information of the candidate anchor terminal according to the terminal corresponding to the received first response message, specifically: It is used to receive the first response message sent by a terminal that satisfies the target condition, and to determine the information of the terminal corresponding to the received first response message as the information of the candidate anchor terminal.

[0286] Optionally, the target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; and Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and and being in a specified terminal list.

[0287] Optionally, the device comprises: The location server further includes a third sending module for sending a positioning request including the first list to the location server terminal.

[0288] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state and Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission setting information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Related RSRP measurements and and a movement state.

[0289] Optionally, the first message includes a second list, and the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered; Specifically, the first discovery module 182: A candidate anchor terminal discovery process is performed on the terminals in the second list to obtain the first list of candidate anchor terminals.

[0290] Optionally, the device comprises: The location server terminal further includes a forwarding module for forwarding messages interacting between the location server terminal and at least one anchor terminal involved in positioning.

[0291] Optionally, the transfer module specifically: receiving a third message sent by the location server terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; determining the anchor terminal based on identifier information or an index of the anchor terminal, and sending a ninth message to the anchor terminal, wherein the ninth message includes a third container and the third container includes the fourth message.

[0292] Optionally, the transfer module further comprises: receiving a tenth message sent by the anchor terminal, wherein the tenth message includes a fourth container, and the fourth container includes a fifth message sent by the anchor terminal to the location server terminal; Sending a sixth message to the location server terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message.

[0293] The positioning device in the embodiments of the present application may be an electronic device, such as an electronic device having an operating system, or may be a component of the electronic device, such as an integrated circuit or chip. The electronic device may be a terminal. Exemplarily, the terminal may include, but is not limited to, the types of terminals 11 listed above, and the embodiments of the present application are not specifically limited thereto.

[0294] The positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method of Figure 9 and achieve the same technical effect, and will not be further described here to avoid repetition of description.

[0295] According to a sixth aspect, an embodiment of the present application provides a positioning device for use in a network side device, as shown in FIG. 19, the positioning includes: It includes an information providing module 191 for interacting with a location server terminal and providing information of candidate anchor terminals to the location server terminal.

[0296] Optionally, the information providing module 191 specifically: receiving a first request message sent by a location server terminal to request acquisition of the candidate anchor terminal; and transmitting a seventh message to the location server terminal in response to the first request message, the seventh message including the third list of candidate anchor terminals.

[0297] Optionally, the network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a non-access stratum NAS message.

[0298] Optionally, the seventh message is one of an LPP, an LCS message, an NAS message, and a dedicated RRC message.

[0299] Optionally, the information providing module 191 specifically: Transmit a system information message, where the system information message includes the third list of candidate anchor terminals.

[0300] Optionally, the device comprises: The information providing module may further include an encryption module for encrypting information about the anchor terminal included in the system information message using a predetermined secret key before transmitting the system information message.

[0301] Optionally, the seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: A terminal identifier; Geolocation information; Sidelink positioning capability information; Serving cell identifier information; and sidelink positioning reference signal (PRS) transmission configuration information.

[0302] Optionally, the third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighboring cells of the serving cell of the location server terminal.

[0303] The positioning device in the embodiments of the present application may be an electronic device, such as an electronic device having an operating system, or may be a component of the electronic device, such as an integrated circuit or chip. The electronic device may be a network side device. Exemplarily, the network side device may include, but is not limited to, the types of network side device 12 listed above, and the embodiments of the present application are not specifically limited thereto.

[0304] The positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method of Figure 10 and achieve the same technical effect, and will not be further described here to avoid repetition of description.

[0305] Optionally, as shown in FIG. 20 , an embodiment of the present application further provides a communication device 2000, which includes a processor 2001 and a memory 2002, and the memory 2002 stores a program or instruction executable on the processor 2001. For example, if the communication device 2000 is a terminal, when the program or instruction is executed by the processor 2001, it can realize each step of the embodiment of the positioning method described in the first or second aspect, and achieve the same technical effect. If the communication device 2000 is a network-side device, when the program or instruction is executed by the processor 2001, it can realize each step of the embodiment of the positioning method described in the third aspect, and achieve the same technical effect. To avoid repetition, further description will not be given here.

[0306] The embodiment of the present application further provides a terminal, and as shown in FIG. 21, is a hardware structural schematic diagram of the terminal for implementing the embodiment of the present application.

[0307] The terminal 2100 includes at least some components such as, but not limited to, a radio frequency unit 2101, a network module 2102, an audio output unit 2103, an input unit 2104, a sensor 2105, a display unit 2106, a user input unit 2107, an interface unit 2108, a memory 2109, and a processor 2110.

[0308] As will be understood by those skilled in the art, the terminal 2100 may further include a power source (e.g., a battery) for powering each component, and the power source may be logically connected to the processor 2110 by a power management system, thereby enabling the power management system to realize functions such as charge / discharge management and power consumption management. The terminal structure shown in Figure 21 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than those shown, or a combination of some components, or a different arrangement of components, which will not be further described here.

[0309] It should be understood that in the embodiment of the present application, the input unit 2104 may include a graphics processing unit (GPU) 21041 and a microphone 21042, and the graphics processor 21041 processes image data of still or video images captured by an image capture device (e.g., a camera) in a video capture mode or an image capture mode. The display unit 2106 may include a display panel 21061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 2107 includes at least one of a touch panel 21071 and other input devices 21072. The touch panel 21071 is also called a touch screen. The touch panel 21071 may include two parts: a touch detection device and a touch controller. The other input devices 21072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control buttons, switch buttons, etc.), a trackball, a mouse, and a control lever, which will not be further described herein.

[0310] In the embodiment of the present application, the radio frequency unit 2101 can receive downlink data from the network side device and then transmit the data to the processor 2110 for processing, and can also transmit uplink data to the network side device. Generally, the radio frequency unit 2101 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0311] The memory 2109 may be used to store software programs or instructions and various data. The memory 2109 may include a first storage area that mainly stores programs or instructions and a second storage area that stores data. Here, the first storage area may store an operating system, an application program or instructions necessary for at least one function (e.g., an audio playback function, an image playback function, etc.), etc. The memory 2109 may include volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Here, the nonvolatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DRRAM). Memory 2109 in embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.

[0312] The processor 2110 may include one or more processing units, and optionally, the processor 2110 integrates an application processor and a modem processor, where the application processor mainly processes operations related to the operating system, user interface, and application programs or instructions, and the modem processor mainly processes wireless communication signals, such as a baseband processor. As can be appreciated, the modem processor does not have to be integrated into the processor 2110.

[0313] When the terminal 2100 is a location server terminal, the processor 2110 is used for determining to perform sidelink positioning for a target terminal, obtaining information of candidate anchor terminals, and determining at least one anchor terminal involved in the positioning from the candidate anchor terminals; The radio frequency unit 2101 is used to interact with the target terminal and / or at least one of the anchor terminals to perform positioning for the target terminal.

[0314] Optionally, the processor 2110 may obtain the information of the candidate anchor terminals by specifically: obtaining information of the candidate anchor terminals from the target terminal; Or, The radio frequency unit 2101 is used to control the interaction with the network side equipment and obtain the information of the candidate anchor terminals.

[0315] Optionally, the processor 2110 obtaining the information of the candidate anchor terminals from the target terminal specifically includes: Controlling the radio frequency unit 2101 to send a first message to the target terminal to request the target terminal to acquire information of the candidate anchor terminal; Controlling the radio frequency unit 2101 to receive a second message including the first list of candidate anchor terminals, the second message being sent by the target terminal in response to the first message; and obtaining information about the candidate anchor terminals based on the first list in the second message.

[0316] Optionally, the processor 2110 further if a sidelink unicast connection is not established between the location server terminal and the target terminal, for performing a discovery process of the target terminal and / or a sidelink unicast connection establishment process with the target terminal; Specifically, the radio frequency unit 2110 sends a first message to the target terminal: used to transmit the first message to the target terminal via the sidelink unicast connection between the location server terminal and the target terminal when the sidelink unicast connection between the location server terminal and the target terminal is successfully established; Specifically, the radio frequency unit 2101 receives the second message transmitted by the target terminal in response to the first message. If the sidelink unicast connection between the location server terminal and the target terminal is successfully established, the sidelink unicast connection between the location server terminal and the target terminal is used to receive the second message.

[0317] Optionally, the radio frequency unit 2101 further comprises: If the processor 2110 is not successful in discovering the target terminal and / or is not successful in establishing a sidelink unicast connection between the location server terminal and the target terminal, it is used to send a positioning response message or a positioning failure message to the device sending the positioning request, wherein first indication information is carried in the positioning response message or the positioning failure message, and the first indication information is used to indicate that the target terminal was not successfully discovered and / or that a sidelink unicast connection between the location server terminal and the target terminal was not successfully established.

[0318] Optionally, the first message includes a target condition that the candidate anchor terminals must satisfy, and the candidate anchor terminals in the first list satisfy the target condition; Here, the target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; and Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and and being in a specified terminal list.

[0319] Optionally, the processor 2110 determining to perform sidelink positioning on the target terminal specifically includes: Controlling the radio frequency unit 2101 to receive a positioning request for requesting positioning for the target terminal; and determining to perform sidelink positioning for the target terminal in response to the positioning request.

[0320] Optionally, the positioning request is transmitted by the target terminal, and the positioning request includes a first list of the candidate anchor terminals; Specifically, the processor 2110 obtains the information of the candidate anchor terminals from the target terminal. It is used to obtain information of the candidate anchor terminals based on the first list in the positioning request.

[0321] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state and Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission setting information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Related RSRP measurements and and a movement state.

[0322] Optionally, the processor 2110 further each for performing a discovery process and / or a sidelink unicast connection establishment process for the terminals in the first list; The processor 2110 specifically determines at least one anchor terminal involved in positioning from the candidate anchor terminals by: is used to determine at least one anchor terminal involved in positioning from a first type of terminal in the first list, where the first type of terminal is a terminal that has successfully discovered the location server terminal and / or successfully established a sidelink unicast connection.

[0323] Optionally, before the radio frequency unit 2101 transmits the first message to the target terminal, the processor 2110 further performing a candidate anchor terminal discovery process to obtain a second list of candidate anchor terminals; Here, the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered, the first message includes the second list, and the candidate anchor terminals included in the first list are terminals that the target terminal in the second list has successfully discovered.

[0324] Optionally, the radio frequency unit 2101 interacts with the anchor terminal specifically by: interacting with the anchor terminal via the target terminal; Or, If the sidelink unicast connection between the location server terminal and the anchor terminal is successfully established, the sidelink unicast connection between the location server terminal and the anchor terminal is used to interact with the anchor terminal.

[0325] Optionally, the radio frequency unit 2101 interacts with the anchor terminal via the target terminal by: Sending a third message to the target terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; receiving a sixth message sent by the target terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message sent by the anchor terminal to the location server terminal.

[0326] Optionally, the processor 2110 controls the radio frequency unit 2101 to interact with a network side device to obtain the information of the candidate anchor terminal, specifically: Controlling the radio frequency unit 2101 to send a first request message to the network side device to request the network side device to acquire information of the candidate anchor terminal; Controlling the radio frequency unit 2101 to receive a seventh message, which is sent by the network side device in response to the first request message and includes a third list of the candidate anchor terminals; and obtaining information of the candidate anchor terminals based on the third list in the seventh message.

[0327] Optionally, the first request message includes location information of the location server terminal, and the candidate anchor terminals in the third list are determined based on the location information of the location server terminal.

[0328] Optionally, the network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a non-access stratum NAS message.

[0329] Optionally, the seventh message is one of an LPP message, an LCS message, an NAS message, and a dedicated RRC message.

[0330] Optionally, the processor 2110 controls the radio frequency unit 2101 to interact with a network side device to obtain the information of the candidate anchor terminal, specifically: Controlling the radio frequency unit 2101 to receive a system information message sent by the network side equipment, the system information message including the third list of candidate anchor terminals; and obtaining information of the candidate anchor terminals based on the third list in the system information message.

[0331] Optionally, the information of the anchor terminal included in the system information message is encrypted information; Specifically, the processor 2110 obtaining the information of the candidate anchor terminals based on the third list in the system information message includes: if a predetermined private key is stored, decrypting the encrypted information in the system information message using the predetermined private key to obtain the third list; and obtaining information about the candidate anchor terminals based on the third list.

[0332] Optionally, the seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: A terminal identifier; Geolocation information; Sidelink positioning capability information; Serving cell identifier information; and sidelink PRS transmission configuration information.

[0333] Optionally, the third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighboring cells of the serving cell of the location server terminal.

[0334] When the terminal 2100 is a target terminal, the radio frequency unit 2101 is used to receive a first message sent by a location server terminal, where the first message is used to request information of candidate anchor terminals; The processor 2110 is used to perform a candidate anchor terminal discovery process to obtain a first list of candidate anchor terminals; The radio frequency unit 2101 is used to send a second message to the location server terminal, where the second message includes the first list.

[0335] Optionally, the processor 2110 may perform a candidate anchor terminal discovery process to obtain a first list of candidate anchor terminals, specifically by: Controlling the radio frequency unit 2101 to broadcast a discovery request message for requesting discovery of candidate anchor terminals; Controlling the radio frequency unit 2101 to receive a first response message to the discovery request message, and obtain information of the candidate anchor terminal according to the terminal corresponding to the received first response message; obtaining the first list based on information of the candidate anchor terminals; Or, Controlling the radio frequency unit 2101 to receive an announcement message broadcast by the terminal, the announcement message including parameter information of the terminal; Obtaining information of the candidate anchor terminals based on the terminals corresponding to the received announce message; and obtaining the first list based on information of the candidate anchor terminals.

[0336] Optionally, the first message includes target conditions that the candidate anchor terminal must meet; The processor 2110 specifically obtains information of the candidate anchor terminals according to the terminals corresponding to the first response message or the announcement message received by the processor 2110. Among the terminals corresponding to the received first response message or the announcement message, information on the terminal that satisfies the target condition is used to determine the information on the candidate anchor terminal.

[0337] Optionally, the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition; The processor 2110 controls the radio frequency unit 2101 to receive a first response message to the discovery request message, and obtains information of the candidate anchor terminal according to the terminal corresponding to the received first response message, specifically: The radio frequency unit 2101 is used to control receiving the first response message sent by the terminal that meets the target condition, and determining the information of the terminal corresponding to the received first response message as the information of the candidate anchor terminal.

[0338] Optionally, the target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; and Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and and being in a specified terminal list.

[0339] Optionally, the radio frequency unit 2101 further comprises: A positioning request is sent to the location server terminal, where the first list is included in the positioning request.

[0340] Optionally, the second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state and Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission setting information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Related RSRP measurements and and a movement state.

[0341] Optionally, the first message includes a second list, and the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered; The processor 2110 performs a candidate anchor terminal discovery process to obtain a first list of candidate anchor terminals, specifically by: A candidate anchor terminal discovery process is performed on the terminals in the second list to obtain the first list of candidate anchor terminals.

[0342] Optionally, the radio frequency unit 2101 further comprises: It is used to transfer messages for interaction between the location server terminal and at least one anchor terminal involved in positioning.

[0343] Optionally, the radio frequency unit 2101 forwards messages for interaction between the location server terminal and the anchor terminal, specifically: receiving a third message sent by the location server terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; determining the anchor terminal based on identifier information or an index of the anchor terminal, and sending a ninth message to the anchor terminal, wherein the ninth message includes a third container and the third container includes the fourth message.

[0344] Optionally, the radio frequency unit 2101 forwards messages for interaction between the location server terminal and the anchor terminal, further comprising: receiving a tenth message sent by the anchor terminal, wherein the tenth message includes a fourth container, and the fourth container includes a fifth message sent by the anchor terminal to the location server terminal; Sending a sixth message to the location server terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message.

[0345] An embodiment of the present application further provides a network side device, and as shown in Fig. 22, the network side device 2200 includes an antenna 221, a radio frequency device 222, a baseband device 223, a processor 224, and a memory 225. The antenna 221 and the radio frequency device 222 are connected. In the uplink direction, the radio frequency device 222 receives information through the antenna 221 and transmits the received information to the baseband device 223 for processing. In the downlink direction, the baseband device 223 processes the information to be transmitted and transmits it to the radio frequency device 222, and the radio frequency device 222 processes the received information and then transmits it through the antenna 221.

[0346] The methods performed by the network side equipment in the above embodiments may be implemented in the baseband device 223, which includes a baseband processor.

[0347] The baseband device 223 may include, for example, at least one baseband board, on which multiple chips are installed, and as shown in FIG. 22, one of the chips is, for example, a baseband processor, which is connected to the memory 225 via a bus interface, calls the program in the memory 225, and performs the network equipment operations shown in the above method embodiments.

[0348] The network side equipment may further include a network interface 226, which may be, for example, a common public radio interface (CPRI).

[0349] Specifically, the network side device 2200 of the embodiment of the present invention further includes instructions or programs stored in the memory 225 and executable on the processor 224, and the processor 224 can call the instructions or programs in the memory 225 to perform the method shown in FIG. 10 and achieve the same technical effect, which will not be further described here to avoid repetition.

[0350] Specifically, an embodiment of the present application further provides a network side device. As shown in Fig. 23, the network side device 2300 includes a processor 2301, a network interface 2302, and a memory 2303. Here, the network interface 2302 is, for example, a common public radio interface (CPRI).

[0351] Specifically, the network side device 2300 of the embodiment of the present invention further includes instructions or programs stored in the memory 2303 and executable on the processor 2301, and the processor 2301 can call the instructions or programs in the memory 2303 to perform the method shown in FIG. 10 and achieve the same technical effect, which will not be further described here to avoid repetition.

[0352] The embodiments of the present application further provide a readable storage medium, on which a program or instruction is stored, which, when executed by a processor, can realize each process of the above-mentioned positioning method embodiment and achieve the same technical effect. In order to avoid repetition, no further description will be given here.

[0353] Here, the processor is the processor in the terminal in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0354] The embodiments of the present application further provide a chip, the chip including a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to execute programs or instructions to realize each process of the embodiments of the positioning method described above, and can achieve the same technical effects. In order to avoid repetition, no further description will be given here.

[0355] It should be understood that the chips referred to in the embodiments of this application may be referred to as system level chips, system chips, chip systems, or system-on-chips.

[0356] The embodiments of the present application further provide a computer program / program product, which is stored in a storage medium and can be executed by at least one processor to realize each process of the above-mentioned positioning method embodiments and achieve the same technical effects. In order to avoid repetition, no further description will be given here.

[0357] An embodiment of the present application provides a positioning system including a terminal and a network side device, wherein the terminal is used to perform steps of the positioning method described in the first or second aspect above, and the network side device may be used to perform steps of the positioning method described in the third aspect above.

[0358] It should be noted that, in this specification, the terms "comprises," "includes," or any other variations thereof are intended to cover the non-exclusive "comprises," whereby a process, method, article, or apparatus comprising a set of elements not only includes those elements, but also other elements not expressly listed or inherent in such process, method, article, or apparatus. Absent further limitations, an element defined by the phrase "comprises one of" does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising that element. It should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may include performing functions in an essentially simultaneous manner or in the reverse order based on the functions involved; for example, a described method may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with reference to some examples may be combined in other examples.

[0359] From the above description of the embodiments, it will be apparent to those skilled in the art that the methods of the above embodiments can be realized in the form of software and a required general-purpose hardware platform. Of course, they can also be realized in hardware, but in many cases the former is a more preferred embodiment. From this understanding, the substantial or relevant technical contributions of the technical solutions of the present application may be embodied in the form of a computer software product, which may be stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and include some instructions for causing a terminal (which may be a mobile phone, computer, server, air conditioner, network device, etc.) to execute the methods described in each embodiment of the present application.

[0360] Although the above describes the embodiments of the present application in conjunction with the drawings, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not limiting. Those skilled in the art can implement many forms under the guidance of the present application without departing from the spirit and scope of protection of the claims, and all forms fall within the scope of protection of the present application.

Claims

1. 1. A positioning method, comprising: The location server terminal determines to perform sidelink positioning for the target terminal; and The location server terminal obtains information of candidate anchor terminals; The location server terminal determines at least one anchor terminal from the candidate anchor terminals to be involved in positioning; A positioning method, comprising: the location server terminal interacting with the target terminal and / or at least one of the anchor terminals to perform positioning for the target terminal.

2. The location server terminal obtaining information of candidate anchor terminals includes: The location server terminal obtains information of the candidate anchor terminals from the target terminal; Or, The method of claim 1 , further comprising the location server terminal interacting with a network side device to obtain information of the candidate anchor terminals.

3. The location server terminal obtaining information of the candidate anchor terminal from the target terminal includes: The location server terminal sends a first message to the target terminal to request the target terminal to obtain information of the candidate anchor terminal; receiving, by the location server terminal, a second message including the first list of candidate anchor terminals, sent by the target terminal in response to the first message; and the location server terminal obtaining information of the candidate anchor terminals based on the first list in the second message.

4. The method comprises: If a sidelink unicast connection is not established between the location server terminal and the target terminal, the location server terminal performs a discovery process for the target terminal and / or a sidelink unicast connection establishment process with the target terminal; The location server terminal sending a first message to the target terminal includes: if the sidelink unicast connection between the location server terminal and the target terminal is successfully established, the location server terminal transmits the first message to the target terminal through the sidelink unicast connection between the location server terminal and the target terminal; The location server terminal receiving a second message transmitted by the target terminal in response to the first message includes:

4. The method of claim 3, further comprising: if the sidelink unicast connection between the location server terminal and the target terminal is successfully established, receiving the second message by the location server terminal via the sidelink unicast connection between the location server terminal and the target terminal.

5. The method comprises:

5. The method of claim 4, further comprising: if the location server terminal is not successful in discovering the target terminal and / or the sidelink unicast connection between the location server terminal and the target terminal is not successful, transmitting a positioning response message or a positioning failure message to a device that transmits the positioning request, wherein first indication information is carried in the positioning response message or the positioning failure message, and the first indication information is used to indicate that the target terminal is not successful in discovering the target terminal and / or the sidelink unicast connection between the location server terminal and the target terminal is not successful.

6. The first message includes target conditions that the candidate anchor terminals must satisfy, and the candidate anchor terminals in the first list satisfy the target conditions; Here, the target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and and being on a designated terminal list.

7. The location server terminal determining to perform sidelink positioning for a target terminal includes: The location server terminal receives a positioning request for requesting positioning for the target terminal; and determining, by the location server terminal in response to the positioning request, to perform sidelink positioning for the target terminal.

8. the positioning request is transmitted by the target terminal, and the positioning request includes a first list of the candidate anchor terminals; The location server terminal obtaining information of the candidate anchor terminal from the target terminal includes: The method of claim 7 , further comprising the location server terminal obtaining information of the candidate anchor terminals based on the first list in the positioning request.

9. The second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state, Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission configuration information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Associated RSRP measurements; The method of claim 3 or 8, comprising at least one of: a moving state;

10. The method comprises: the location server terminal performing a discovery process and / or a sidelink unicast connection establishment process for each terminal in the first list; The location server terminal determines at least one anchor terminal involved in positioning from the candidate anchor terminals, 9. The method of claim 3, further comprising: the location server terminal determining, from the first list of terminals of a first type, at least one anchor terminal involved in positioning, wherein the first type terminal is a terminal that has successfully discovered the location server terminal and / or successfully established a sidelink unicast connection.

11. Before the location server terminal sends a first message to the target terminal, the method includes: The location server terminal further includes performing a candidate anchor terminal discovery process to obtain a second list of candidate anchor terminals; 4. The method of claim 3, wherein the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered, the first message includes the second list, and the candidate anchor terminals included in the first list are terminals that the target terminal in the second list has successfully discovered.

12. The location server terminal interacts with the anchor terminal, the location server terminal interacting with the anchor terminal via the target terminal; Or, 2. The method of claim 1, further comprising: if the sidelink unicast connection between the location server terminal and the anchor terminal is successfully established, the location server terminal interacts with the anchor terminal through a sidelink unicast connection between the location server terminal and the anchor terminal.

13. The location server terminal interacts with the anchor terminal via the target terminal, The location server terminal sends a third message to the target terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; 13. The method of claim 12, comprising at least one of: the location server terminal receiving a sixth message sent by the target terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message sent by the anchor terminal to the location server terminal.

14. The location server terminal interacts with a network side device to obtain information of the candidate anchor terminals, The location server terminal sends a first request message to the network side device to request the network side device to obtain information of the candidate anchor terminal; receiving, by the location server terminal, a seventh request message including a third list of the candidate anchor terminals, which is sent by the network side device in response to the first request message; and the location server terminal obtaining information of the candidate anchor terminals based on the third list in the seventh message.

15. The method of claim 14 , wherein the first request message includes location information of the location server terminal, and the candidate anchor terminals in the third list are determined based on the location information of the location server terminal.

16. The network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function (AMF), and the first request message is a non-access stratum (NAS) message.

17. 15. The method of claim 14, wherein the seventh message is one of an LPP message, an LCS message, a NAS message, or a dedicated RRC message.

18. The location server terminal interacts with a network side device to obtain information of the candidate anchor terminals, The location server terminal receives a system information message sent by the network side equipment, the system information message including a third list of the candidate anchor terminals; and the location server terminal obtaining information of the candidate anchor terminals based on the third list in the system information message.

19. the information of the anchor terminal included in the system information message is encrypted information, The location server terminal obtaining information of the candidate anchor terminals based on the third list in the system information message, If a predetermined private key is stored in the location server terminal, the location server terminal decrypts the encrypted information in the system information message using the predetermined private key to obtain the third list; and the location server terminal obtaining information of the candidate anchor terminals based on the third list.

20. The seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: A terminal identifier; Geolocation information; Sidelink positioning capability information; Serving cell identifier information; and sidelink PRS transmission configuration information.

21. The third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighbouring cells of a serving cell of the location server terminal.

22. 1. A positioning method, comprising: receiving, by the target terminal, a first message sent by the location server terminal to request information of candidate anchor terminals; the target terminal performs a candidate anchor terminal discovery process to obtain a first list of candidate anchor terminals; the target terminal sending to the location server terminal a second message including the first list.

23. The target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, the target terminal broadcasting a discovery request message to request discovery of candidate anchor terminals; the target terminal receiving a first response message to the discovery request message, and obtaining information of the candidate anchor terminals based on the terminal corresponding to the received first response message; the target terminal obtaining the first list based on information of the candidate anchor terminals; Or, The target terminal receives an announce message broadcast by the terminal, the announce message including parameter information of the terminal; The target terminal obtains information of the candidate anchor terminals based on the terminals corresponding to the received announce message; 23. The method of claim 22, including the target terminal obtaining the first list based on information of the candidate anchor terminals.

24. the first message includes target conditions that the candidate anchor terminal must satisfy; Obtaining information of the candidate anchor terminals based on terminals corresponding to the first response message or the announce message received by the target terminal includes: The method of claim 23, further comprising determining, by the target terminal, information of a terminal that satisfies the target condition among terminals that correspond to the received first response message or the announcement message, as information of the candidate anchor terminal.

25. The first message includes a target condition that the candidate anchor terminal must satisfy, and the discovery request message includes the target condition; The target terminal receives a first response message to the discovery request message, and acquires information of the candidate anchor terminal based on a terminal corresponding to the received first response message, 24. The method of claim 23, comprising: the target terminal receiving the first response message transmitted by a terminal that satisfies the target condition; and determining information of the terminal corresponding to the received first response message as information of the candidate anchor terminal.

26. The target condition is: The location information is known, and Capable of obtaining location information; Being in a specific state of movement; a reference signal received power (RSRP) measurement result is greater than a first preset threshold; Belonging to a particular terminal type, and having specific sidelink positioning capabilities; It is within the network coverage area, Being within a specific area; being in a particular radio resource control (RRC) state; The PC5 interface resource is greater than a second preset threshold; and establishing a sidelink unicast connection with the target terminal; and 26. The method of claim 24 or 25, comprising at least one of: being in a designated terminal list;

27. The method comprises:

23. The method of claim 22, further comprising the target terminal sending, to the location server terminal, a positioning request that includes the first list.

28. The second message or the positioning request further includes first terminal information of the candidate anchor terminal, where the first terminal information is: A terminal identifier; Device index and RRC state, Serving cell identifier information; Registered Access and Mobility Management Function (AMF) information; Sidelink positioning capability information; Sidelink positioning reference signal (PRS) transmission configuration information; Sidelink resource settings, a sidelink resource allocation scheme; a resource scheduling type when the sidelink resource allocation scheme is Mode 1; and Geolocation information; Associated RSRP measurements; 28. The method of claim 22 or 27, comprising at least one of: a. a movement state;

29. the first message includes a second list, and the candidate anchor terminals included in the second list are terminals that the location server terminal has successfully discovered; The target terminal performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, 23. The method of claim 22, comprising the target terminal performing a candidate anchor terminal discovery process on terminals in the second list to obtain the first list of candidate anchor terminals.

30. The method comprises:

23. The method of claim 22, further comprising the target terminal transferring messages for interaction between the location server terminal and at least one anchor terminal involved in positioning.

31. The target terminal forwarding a message for interaction between the location server terminal and the anchor terminal includes: The target terminal receives a third message sent by the location server terminal, where the third message includes identifier information or an index of the anchor terminal and a first container, and the first container includes a fourth message sent by the location server terminal to the anchor terminal; 31. The method of claim 30, comprising: the target terminal determining the anchor terminal based on identifier information or an index of the anchor terminal, and sending a ninth message to the anchor terminal, wherein the ninth message includes a third container, and the third container includes the fourth message.

32. The target terminal forwarding a message for interaction between the location server terminal and the anchor terminal includes: The target terminal receives a tenth message sent by the anchor terminal, where the tenth message includes a fourth container, and the fourth container includes a fifth message sent by the anchor terminal to the location server terminal; and 32. The method of claim 30 or 31, further comprising: the target terminal sending a sixth message to the location server terminal, wherein the sixth message includes identifier information or an index of the anchor terminal and a second container, and the second container includes the fifth message.

33. 1. A positioning method, comprising: A positioning method, comprising: a network side device interacting with a location server terminal and providing information of candidate anchor terminals to the location server terminal.

34. The network side device interacts with a location server terminal and provides information of candidate anchor terminals to the location server terminal, The network side device receives a first request message sent by a location server terminal to request acquisition of the candidate anchor terminal; and sending a seventh message to the location server terminal in response to the first request message, wherein the seventh message includes a third list of the candidate anchor terminals.

35. The network side device is a Location Management Function (LMF), and the first request message is a Location Service (LCS) message or a Long Term Evolution Positioning Protocol (LPP) message; Alternatively, the network side device is an Access Mobility Management Function AMF, and the first request message is a Non-Access Stratum NAS message.

36. 35. The method of claim 34, wherein the seventh message is one of an LPP, an LCS message, a NAS message, or a dedicated RRC message.

37. The network side device interacts with a location server terminal and provides information of candidate anchor terminals to the location server terminal, 34. The method of claim 33, comprising the network side equipment transmitting a system information message including the third list of candidate anchor terminals.

38. Before the network side device transmits the system information message, the method includes: The method of claim 37, further comprising the network side device encrypting the information of the anchor terminal included in the system information message using a predetermined secret key.

39. The seventh message or the system information message further includes second terminal information of the candidate anchor terminal, where the second terminal information is: A terminal identifier; Geolocation information; Sidelink positioning capability information; Serving cell identifier information; and sidelink positioning reference signal (PRS) transmission configuration information.

40. The third list comprises: a candidate anchor terminal in a serving cell of the location server terminal; and candidate anchor terminals in neighbouring cells of a serving cell of the location server terminal.

41. 1. A positioning device, comprising: a first determination module for determining to perform sidelink positioning for a target terminal; a first information acquisition module for acquiring information of candidate anchor terminals; a second determination module for determining at least one anchor terminal involved in positioning from the candidate anchor terminals; a positioning interaction module for interacting with the target terminal and / or at least one of the anchor terminals and performing positioning for the target terminal.

42. 1. A positioning device, comprising: a first receiving module for receiving a first message sent by a location server terminal to request information of candidate anchor terminals; a first discovery module for performing a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals; a first sending module for sending a second message including the first list to the location server terminal.

43. 1. A positioning device, comprising: an information providing module for interacting with a location server terminal and providing information of candidate anchor terminals to said location server terminal.

44. A terminal including a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and when the program or instructions are executed by the processor, the terminal implements steps of the positioning method described in any one of claims 1 to 21 or steps of the positioning method described in any one of claims 22 to 32.

45. A network side device including a processor and a memory, the memory storing a program or instructions executable on the processor, the network side device realizing the steps of the positioning method according to any one of claims 33 to 40 when the program or instructions are executed by the processor.

46. A readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implements the positioning method of any one of claims 1 to 21, or implements steps of the positioning method of any one of claims 22 to 32, or implements steps of the positioning method of any one of claims 33 to 40.

Images