Sidelink positioning method and communication equipment

Abstract

A sidelink positioning method and communication equipment are provided. The method includes the step of a first device transmitting first information, which is used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, the first time difference is determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, and the transmission time of a second signal, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

Description

[[Technical Field]]

[0001] The present application relates to the field of communication technology, and more specifically, to a sidelink positioning method and a communication device. [[Background Art]]

[0002] The round trip time (RTT) positioning method is an effective positioning method. In sidelink positioning, how to reduce the positioning error of the RTT positioning method is an issue to be solved. [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0003] Embodiments of the present application provide a sidelink positioning method and a communication device. Hereinafter, various aspects according to the embodiments of the present application will be described in detail. [[Means for Solving the Problem]]

[0004] In a first aspect, there is provided a sidelink positioning method comprising the step of: transmitting, by a first device, first information, wherein the first information is used to determine a propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, the first time difference is determined based on one or more of: a subframe boundary of the first terminal device, a subframe boundary of the second terminal device, a reception time of a first signal, a transmission time of a second signal, and a synchronization time difference between the first terminal device and the second terminal device, the first signal is a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0005] A second embodiment provides a sidelink positioning method comprising the step of a second device receiving first information, the first information being used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponding to a first period, the first period including a first time difference, the first time difference being determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, the transmission time of a second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0006] In a third embodiment, a communication device is provided, the communication device being a first device, the communication device including a communication module for transmitting first information, the first information being used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponding to a first period, the first period including a first time difference, the first time difference being determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, the transmission time of a second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0007] In a fourth embodiment, a communication device is provided, the communication device being a second device, the communication device including a communication module for receiving first information, the first information being used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponding to a first period, the first period including a first time difference, the first time difference being determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, the transmission time of a second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0008] In the fifth embodiment, a communication device is provided, comprising a transceiver, memory and a processor, wherein the memory is used to store a program, and the processor calls the program in the memory and controls the transceiver to send and receive signals, thereby causing the communication device to perform the method according to any of the first to second embodiments.

[0009] The sixth aspect includes a processor that provides a device and causes the device to perform the method described in any of the first to second aspects by calling a program from memory.

[0010] The seventh embodiment includes a processor that provides a chip and causes a device on which the chip is mounted to perform the method described in any of the first to second embodiments by calling a program from memory.

[0011] In the eighth aspect, a computer-readable storage medium is provided, which stores a program that causes a computer to perform the method described in any of the first to second aspects.

[0012] The ninth aspect includes a program that provides a computer program product and causes a computer to perform the method described in any of the first to second aspects.

[0013] In the tenth aspect, a computer program is provided to cause a computer to perform the method described in any of the first to second aspects.

[0014] By considering the synchronization time difference between two terminal devices during RTT positioning, RTT positioning errors can be reduced. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram of the architecture of a wireless communication system to which the embodiments of this application can be applied. [Figure 2] This is a schematic diagram illustrating the timing relationship between both parties in downlink communication. [Figure 3] This is a schematic diagram illustrating the timing relationship between both parties in sidelink communication. [Figure 4] This is a schematic diagram of the RTT positioning method in an air interface. [Figure 5A] This is a flowchart of the sidelink positioning method according to an embodiment of the present invention. [Figure 5B] This is a schematic diagram of the propagation delay determination method according to an embodiment of the present invention. [Figure 5C] This is a schematic diagram of the propagation delay determination method according to an embodiment of the present invention. [Figure 6] This is a schematic diagram of a method for determining the synchronization time difference according to one embodiment of the present invention. [Figure 7] This is a schematic diagram of a method for determining the synchronization time difference according to another embodiment of the present application. [Figure 8] This is a schematic diagram of the structure of a communication device according to one embodiment of the present invention. [Figure 9] This is a schematic diagram of the structure of a communication device according to another embodiment of the present invention. [Figure 10] This is a schematic diagram of the structure of a device that can be used in the embodiments of the present invention. Mode for Carrying Out the Invention

[0016] The technical solutions of the present application will be described below with reference to the drawings.

[0017] Architecture of Communication System

[0018] Figure 1 is a schematic diagram of the system architecture of a wireless communication system 100 applicable to embodiments of the present application. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 can provide communication coverage for a specific geographic area and communicate with the terminal device 120 located within the coverage area.

[0019] Figure 1 exemplarily shows one network device and one terminal device, and alternatively, the wireless communication system 100 may include one or more network devices 110 and / or one or more terminal devices 120. For one network device 110, any of the one or more terminal devices 120 may be located within the network coverage range of the network device 110, or all may be located outside the network coverage range of the network device 110, or some may be located within the coverage range of the network device 110 and some others may be located outside the network coverage range of the network device 110. The embodiments of the present application are not limited thereto.

[0020] Alternatively, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, and embodiments of the present application are not limited thereto.

[0021] It should be understood that the technical solutions of the embodiments of this application can be applied to various communication systems, such as 5th generation (5G) systems, new radio (NR), long-term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, and LTE time division duplex (TDD) systems. The technical solutions of this application can also be applied to future communication systems such as 6th generation mobile communication systems and satellite communication systems.

[0022] In the embodiments of this application, terminal equipment may also be called user equipment (UE), access terminal, user unit, user station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. In the embodiments of this application, terminal equipment may also refer to devices that provide voice and / or data connectivity to a user, and can be used to connect humans, objects, and machines, such as handheld devices and in-vehicle devices with wireless connectivity. The terminal devices in the embodiments of this application may include mobile phones, tablet PCs (Pads), notebook computers, palmtop computers, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. Optionally, the UE can function as a base station. For example, the UE can function as a scheduling entity, providing sidelink signals between UEs in V2X or D2D, etc. For example, a cellular phone and a car communicate with each other using sidelink signals. Communication between a cellular phone and smart home devices does not require relaying communication signals by a base station.

[0023] The network equipment in the embodiments of the present application may be equipment for communicating with terminal equipment, and such network equipment may also be called access network equipment or wireless access network equipment, for example, the network equipment may be a base station. The network equipment in the embodiments of the present application may also refer to a radio access network (RAN) node (or equipment) that provides terminal equipment to a wireless network. Base stations broadly cover, or may be replaced by, various names such as NodeB, evolved NodeB (eNB), next-generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), main base station (MeNB), secondary base station (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, radio node, access point (AP), transmission node, transmit / receive node, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), and positioning node. Base stations may also be macro base stations, micro base stations, relay nodes, donor nodes, or similar, or combinations thereof. A base station may further refer to a communication module, modem, or chip installed within the equipment or device mentioned above.A base station may also be a mobile switching center and equipment that performs base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, network-side equipment in a 6G network, or equipment that performs base station functions in future communication systems. A base station can support networks with the same or different access technologies. The embodiments of this application do not limit the specific technologies used in network equipment or the specific forms of equipment.

[0024] Base stations may be fixed or mobile. For example, a helicopter or drone may be configured as a mobile base station, with one or more cells moving according to the location of the mobile base station. In another example, a helicopter or drone may be configured as equipment for communicating with another base station.

[0025] In some deployments, the network equipment in the embodiments of the present invention refers to a CU or DU, or the network equipment may include both a CU and a DU. The gNB may further include an AAU.

[0026] Network equipment and terminal equipment may be configured on land, including indoors or outdoors, handheld or vehicle-mounted, on water, or in the air on airplanes, balloons, or satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal equipment are located.

[0027] It should be understood that all or some of the functions of the communication equipment in this application may be implemented by software functions running on the hardware, or by virtualization functions instantiated on a platform (e.g., a cloud platform).

[0028] In sidelink communication, the synchronization mechanism contributes to maintaining temporal consistency between terminal devices, thereby enabling accurate communication and positioning. One commonly used synchronization method is timestamp-based synchronization. When the transmitting device sends a data packet, it includes a timestamp in the data packet indicating the time the data packet was sent. After the receiving device receives the data packet, it reads the timestamp and records the time the data packet was received. The signal propagation delay between the two devices can be calculated from the time the data packet was sent by the transmitting device and the time the data packet was received by the receiving device.

[0029] In addition to timestamp-based synchronization methods, several other synchronization methods may be used for side-link positioning. For example, two devices can synchronize using satellite signals. The two devices can receive time signals from satellite signals and use these signals to calibrate their own clocks. In this way, the two devices can maintain synchronization, thereby enabling communication and positioning.

[0030] Sidelink communications generally support three types of potential synchronization sources: global navigation satellite systems (GNSS), base stations, and synchronization reference terminal equipment. Synchronization reference terminal equipment refers to terminal equipment that can synchronize directly with GNSS or a base station. Alternatively, it may refer to terminal equipment that can synchronize with other synchronization reference terminal equipment. If no resources are configured on the sidelink carrier of a terminal device, the terminal device can generally use only GNSS or a base station as its synchronization source.

[0031] In sidelink communication, the synchronization pattern differs from that of air interface (Uu interface) communication. During communication based on the air interface, terminal equipment performs downlink synchronization with the base station. Therefore, the difference between the frame header of the downlink signal received by the terminal equipment (e.g., the frame header of a subframe) and the frame header of the downlink signal transmitted from the base station generally includes only the signal transmission delay (as shown in Figure 2, where T represents the signal transmission delay).

[0032] In sidelink communication, when a base station or GNSS is used as the synchronization source, the time difference in frame headers (e.g., subframe frame headers) between the transmitting and receiving terminal devices includes not only the transmission delay in the sidelink signal but also time differences due to other factors. Figure 3 shows an example of the synchronization status of both sides in sidelink communication. In Figure 3, terminal device 1 is the transmitting device, terminal device 2 is the receiving device, and code 32 indicates the timing when terminal device 2 receives the signal from terminal device 1. Code 34 indicates the timing of terminal device 1 itself. As can be seen from Figure 3, the subframe headers of terminal device 2 and terminal device 1 are not aligned, meaning there is a synchronization time difference between terminal device 2 and terminal device 1.

[0033] In sidelink communication, the synchronization time difference between the transmitting and receiving sides is because both sides may be synchronized by a third party (e.g., a base station or GNSS), and the clocks between the transmitting and receiving sides are not synchronized.

[0034] Differences in synchronization between the transmitting and receiving sides in sidelink communication do not significantly affect the general sidelink communication process (e.g., the sidelink data transmission process). This is because communication can proceed normally as long as the symbol offsets of both sides do not exceed the length of the cyclic prefix (CP). However, for positioning, a synchronization error of 1 microsecond can result in a positioning error of approximately 300 meters. The distance corresponding to a transmission delay of CP length is approximately 1,500 meters, and if the positioning error needs to be controlled within 10 meters, the acceptable time estimation error is approximately 1 / 150 of a CP. From this, it can be seen that sidelink positioning imposes stricter requirements on the synchronization of both the transmitting and receiving sides compared to sidelink communication.

[0035] In sidelink positioning, the RTT (Round-Trip Time) positioning method is an effective positioning method. RTT refers to the elapsed time from the transmission of a data packet to the reception of a corresponding acknowledgment packet. In sidelink positioning, terminal devices can calculate the distance between themselves and other terminal devices by measuring the RTT. For example, terminal device 1 can transmit one data packet to the other terminal device 2, and terminal device 2 can immediately transmit an acknowledgment packet to terminal device 1 after receiving the data packet. Terminal device 1 calculates the RTT by measuring the time difference between the transmission time of the packet and the reception time of the acknowledgment packet. Through multiple RTT measurements, the terminal device can obtain a set of RTT values, and thereafter, the terminal device can use this set of RTT values ​​to estimate the distance between terminal devices or to position the terminal devices.

[0036] For RTT positioning methods, terminal devices require more precise time synchronization to ensure coordination and accuracy of communication between terminal devices. In some protocols (e.g., TS38.215 R17), RTT positioning methods based on the air interface are implemented by calculating the transmit / receive time difference of terminal devices. The transmit / receive time difference of terminal devices refers to the time difference (or timing difference) between when a terminal device receives a downlink subframe and when it transmits an uplink subframe.

[0037] The calculation method for the transmission / reception time difference of terminal equipment is as follows: Transmission / reception time difference of terminal equipment = T UE-RX -T UE-TX That is. T UE-RX This refers to the time it takes for a terminal device to receive downlink subframe #i from a base station (or transmission / receipt point, TP), and this time may be defined based on the time of the first transmission path detected by the terminal device. UE-TX This refers to the time when the terminal device transmits uplink subframe #j. The uplink subframe time #j and the downlink subframe #i are the closest in time.

[0038] Simply put, the transmission / reception time difference of a terminal device is the time interval from when the terminal device receives a downlink subframe from the base station until it transmits an uplink subframe that is close in time to the received downlink subframe. This processing is possible because the downlink subframes transmitted by the base station and the subframes transmitted by the terminal device are synchronized in time, and the transmission / reception time difference of the terminal device is an integer multiple of the number of subframes. Since the transmission delay of the positioning signal generally does not exceed one subframe, the transmission / reception time difference of the terminal device calculated using the above method matches the actual situation, as shown in Figure 4.

[0039] To ensure compatibility with the RTT positioning method of the air interface, sidelink communication can refer to the definition of the transmit / receive time difference in the air interface. For example, terminal device 1 sends a signal to terminal device 2, and after terminal device 2 receives that signal, it sends a signal back to terminal device 1. In this procedure, the transmit time of terminal device 2 can be defined as the time corresponding to the transmit subframe #j of terminal device 2, and this time is closest to the time when the downlink subframe #i is received from the other terminal device 1. However, adopting this definition method will result in positioning errors. The reason for the positioning errors is that both the transmit and receive signals may be synchronized by a third party, and the transmit subframes of terminal device 1 and terminal device 2 may not be synchronized. Therefore, the transmit / receive time difference of terminal device 2 may not be an integer multiple of the number of subframes. As can be seen from this, directly applying the RTT positioning method based on the air interface to sidelink positioning will introduce errors in the calculation of the transmit / receive time difference of terminal devices, resulting in errors in the final positioning result.

[0040] To address the above problem, the embodiment of the present application provides a side-link positioning method that reduces positioning errors due to synchronization errors. The embodiment of the present application will be described in detail below.

[0041] Figure 5A is a flowchart of a sidelink positioning method according to an embodiment of the present invention. The method in Figure 5A is explained from the perspective of interaction between the first and second devices. The first and second devices may be any type of device involved in sidelink positioning.

[0042] In some embodiments, the first and second devices may be two terminal devices that perform RTT positioning (also known as loopback time positioning). Hereinafter, these two terminal devices will be referred to as the first terminal device and the second terminal device, respectively. The first and second terminal devices may be terminal devices that synchronize with a third-party synchronization source (e.g., a base station or GNSS).

[0043] In some embodiments, the first device may be a terminal device, and the second device may be a base station.

[0044] In some embodiments, the first device may be a terminal device, and the second device may be a positioning server.

[0045] In some embodiments, the first device may be a base station, and the second device may be a positioning server.

[0046] In some embodiments, the first device may be a reference terminal device, such as a synchronization reference terminal device or a positioning reference terminal device. The second device may be the first terminal device, the second terminal device, a base station, or a positioning server.

[0047] Referring to Figure 5A, in step S510, the first device transmits the first information to the second device.

[0048] In some embodiments, the first information is used to determine the round-trip time (RTT) between the first terminal device and the second terminal device.

[0049] In some embodiments, the first information corresponds to a first period, the first period includes a first time difference, the first time difference is determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of the first signal, the transmission time of the second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0050] In some embodiments, the first time difference is determined based on the subframe boundary of the first terminal device and the subframe boundary of the second terminal device.

[0051] In some embodiments, the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

[0052] In some embodiments, the first information may include the time difference between the subframe headers of the first and second terminal devices. Referring again to Figure 3, the first terminal device is terminal device 1 in Figure 3, and the second terminal device is terminal device 2 in Figure 3, and the timing 32 at which terminal device 2 receives signals from terminal device 1 is not aligned with the timing 34 of terminal device 1 itself, in which case the time difference T between the subframe headers of the first and second terminal devices can be reported, and the time difference T is used when the positioning server (or positioning solver) determines the RTT between terminal device 1 and terminal device 2.

[0053] In some embodiments, the first information may include the time difference in the transmission and reception subframe timing of the first terminal device or the second terminal device.

[0054] In some embodiments, the first information may include the error (time difference) between the frame heads of the received subframe and the transmitted subframe of the first terminal device.

[0055] In some embodiments, the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, where the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0056] In some embodiments, the reception time of the first signal is defined as t1, the subframe boundary of the first subframe closest to the reception time of the first signal is defined as t2, the reception time of the second signal is defined as t3, and the subframe boundary of the second subframe closest to the reception time of the second signal is defined as t4. When t1 > t2, the propagation delay is as shown in Figure 5B, where the plane geometry T is t1-t2, and based on the reported information, T0 is t3-t4, and therefore the propagation delay is [(t3-t4)+(t1-t2)] / 2. In the case of t1<t2, as shown in FIG. 5C, based on the reported content, T is t1-t2, and T0 is t3-t4. Then, the propagation delay is (t3-t4) / 2+[T_subframe-(t1-t2)] / 2, where T_subframe is the length of a subframe. Considering that the propagation delay may be smaller than the length of a subframe, the above formula may also be mod{[(t3-t4)-(t1-t2)] , T_subframe} / 2, where mod represents a modulo operation.

[0057] In some embodiments, the first time difference is a time difference between a reception time of a first signal and a transmission time of a second signal.

[0058] In some embodiments, the first time difference is a synchronization time difference between a first terminal device and a second terminal device.

[0059] In the RTT positioning process, by considering the synchronization time difference between the first terminal device and the second terminal device, the air interface RTT positioning technology can not only be made compatible, but also relatively high positioning accuracy can be obtained in the sidelink scenario.

[0060] In some embodiments, a receiving device of first information may include one or more of the first terminal device, the second terminal device, a positioning server, a reference terminal device (e.g., a positioning reference terminal device), and a base station of a serving cell.

[0061] In some embodiments, the serving cell base station described above may include one or more of the following: the serving cell base station of the first terminal device, the serving cell base station of the second terminal device, the serving cell base station of the first target terminal device, the serving cell base station of the second target terminal device, the serving cell base station of the third target terminal device, and the serving cell base station of the reference terminal device. The first target terminal device is a terminal device that transmits a positioning reference signal (PRS) to the first terminal device and the second terminal device first when performing RTT positioning. The second target terminal device is a terminal device that replies with the positioning reference signal to the first terminal device and the second terminal device when performing RTT positioning. The third target terminal device is a terminal device that transmits a positioning request to the first terminal device and the second terminal device.

[0062] In some embodiments, the first information is reported to the positioning server by the first terminal device.

[0063] In some embodiments, the first information is reported to the positioning server by the second terminal device.

[0064] In some embodiments, the first information belongs to one of the target information for determining the round-trip time (RTT). The target information further includes one or more of the following: second information for indicating the time difference between reception and transmission of a first terminal device; third information for indicating the time difference between reception and transmission of a second terminal device; and fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device.

[0065] In some embodiments, the fourth information may be equal to T1-T2, where T1 indicates the time difference indicated by the second information and T2 indicates the time difference indicated by the third information.

[0066] In some embodiments, the second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device. That is, the first terminal device and the second terminal device report their respective information.

[0067] In some embodiments, both the second and third pieces of information are reported to the positioning server by the first terminal device. That is, the first terminal device reports the information of both the first and second terminal devices together. The first terminal device can report the information of the first terminal device and the information of the second terminal device individually, or it can report the information of the first and second terminal devices simultaneously.

[0068] In some embodiments, both the second and third pieces of information are reported to the positioning server by the second terminal device. That is, the second terminal device reports the information of both the first and second terminal devices together. The second terminal device can report the information of the first and second terminal devices individually, or it can report the information of both terminal devices simultaneously.

[0069] In some embodiments, the fourth piece of information is determined by the first terminal device based on the second and third pieces of information and reported to the positioning server by the first terminal device.

[0070] In some embodiments, the fourth piece of information is determined by the second terminal device based on the second and third pieces of information and reported to the positioning server by the second terminal device.

[0071] In some embodiments, the synchronization time difference is determined by the synchronization source. The synchronization source referred to here may be, for example, a base station. That is, if the first terminal device and the second terminal device are located within the coverage area of ​​the same base station, the base station can determine the synchronization time difference between the first terminal device and the second terminal device and report the synchronization time difference to the positioning server. When the synchronization source is a base station, the uplink timing and sidelink timing of the first terminal device and the second terminal device may be the same.

[0072] In some embodiments, the synchronization time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result. The first synchronization result is the synchronization result between the synchronization source and a first terminal device, and the second synchronization result is the synchronization result between the synchronization source and a second terminal device. For example, the synchronization time difference is determined based on the difference between the first synchronization result and the second synchronization result. Exemplarily, the synchronization time difference is equal to the difference between the first synchronization result and the second synchronization result.

[0073] Taking the base station as the synchronization source as an example, the first synchronization result and the second synchronization result may refer to the uplink synchronization results between the base station and the first and second terminal devices, respectively.

[0074] A specific example will be explained with reference to Figure 6.

[0075] Referring to Figure 6, in step S610, the first terminal device and the second terminal device transmit either an uplink signal or a sidelink signal, respectively.

[0076] In step S620, the base station receives uplink or sidelink signals transmitted from the first terminal device and the second terminal device, respectively.

[0077] In step S630, the base station performs uplink synchronization with the first terminal device.

[0078] In step S640, the base station performs uplink synchronization with the second terminal device.

[0079] In step S650, the base station determines the synchronization time difference between the first and second terminal devices based on the first uplink synchronization result and the second uplink synchronization result.

[0080] Note that the uplink synchronization described in Figure 6 may differ from the uplink synchronization that a base station typically performs. This is because typical uplink synchronization is performed to obtain accurate timing advance (TA), thereby aligning the uplink signals of different terminal devices and reducing interference between them. In Figure 6, the purpose of uplink synchronization is to perform positioning. As mentioned earlier, the requirements for positioning accuracy are much higher than those for typical uplink synchronization. For example, if the subcarrier spacing between terminal devices is 15 kHz, the transmission distance corresponding to the TA quantization interval is approximately 80 meters, which cannot meet the positioning accuracy requirements. Naturally, in scenarios where the positioning accuracy requirements are not high, the synchronization time difference between two terminal devices can also be calculated based on the TA.

[0081] In some embodiments, the synchronization time difference may be determined by a second terminal device. This method is suitable when the first terminal device transmits a reference signal for positioning. For example, referring to Figure 7, in step S710, the first terminal device transmits a reference signal for positioning. In step S720, the second terminal device receives the reference signal for positioning. In step S730, the second terminal device performs synchronization processing on the received reference signal and obtains the synchronization result. In step S740, based on the obtained synchronization result, the second terminal device determines the transmission / reception subframe timing difference of the second terminal device as the synchronization time difference.

[0082] In some embodiments, the synchronization time difference is reported by one or more of the following: a first terminal device, a second terminal device, a positioning server, a positioning reference device (or reference node), and a base station.

[0083] In some embodiments, the reporting frequency of the synchronization time difference is related to the moving speed of the first terminal device. For example, if the first terminal device moves slowly, does not move, or its relative position does not change, the reporting frequency of the synchronization time difference may be lower than the reporting frequency of the transmission / reception time difference of the terminal device. That is, the synchronization time difference does not necessarily need to be reported every time a measurement result is reported. For example, the synchronization time difference can be reported based on a request from a positioning server.

[0084] The above describes in detail the method embodiment of the present application with reference to Figures 1 to 7, and the following describes in detail the apparatus embodiment of the present application with reference to Figures 8 to 10. It should be understood that the description of the method embodiment corresponds to the description of the apparatus embodiment, and therefore, parts not described in detail can be referred to in the previous method embodiment.

[0085] Figure 8 is a schematic diagram of the structure of a communication device according to one embodiment of the present invention. The communication device 800 in Figure 8 may be the first device described above. The communication device 800 may include a communication module 810. The communication module 810 is used to transmit first information, which is used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, the first time difference is determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, the transmission time of a second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0086] In some embodiments, the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

[0087] In some embodiments, the first time difference is determined based on the reception time of the first signal and a subframe boundary of a first subframe of the second terminal device, and the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0088] In some embodiments, let t1 be the reception time of the first signal, t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, t3 be the reception time of the second signal, and t4 be the subframe boundary of a second subframe closest to the reception time of the second signal, the propagation delay satisfies one or more of the following: when t1 < t2, the propagation delay is [(t3-t4)+T_subframe-(t1-t2)] / 2, or mod{[(t3-t4)-(t1-t2)], T_subframe} / 2, wherein T_subframe is the subframe time length, and mod denotes a modulo operation; when t1 > t2, the propagation delay is [(t3-t4)+(t1-t2)] / 2.

[0089] In some embodiments, the first time difference is a time difference between the reception time of the first signal and the transmission time of the second signal.

[0090] In some embodiments, the receiving device of the first information includes one or more of the first terminal device, the second terminal device, a positioning server, a reference terminal device, and a base station of a serving cell.

[0091] In some embodiments, the base station of the serving cell includes one or more of the following: the base station of the serving cell of the first terminal device, the base station of the serving cell of the second terminal device, the base station of the serving cell of the first target terminal device, the base station of the serving cell of the second target terminal device, the base station of the serving cell of the third target terminal device, and the base station of the serving cell of the reference terminal device, wherein the first target terminal device is a terminal device that transmits a positioning reference signal first to the first terminal device and the second terminal device when performing RTT positioning, the second target terminal device is a terminal device that replies with a positioning reference signal to the first terminal device and the second terminal device when performing RTT positioning, and the third target terminal device is a terminal device that transmits a positioning request to the first terminal device and the second terminal device.

[0092] In some embodiments, the first information is reported to the positioning server by the first terminal device, or the first information is reported to the positioning server by the second terminal device.

[0093] In some embodiments, the first information belongs to one of the target information for determining the RTT, and the target information further includes one or more of the following: second information for indicating the time difference between reception and transmission of the first terminal device; third information for indicating the time difference between reception and transmission of the second terminal device; and fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device.

[0094] In some embodiments, the second information is reported to the positioning server by the first terminal device, the third information is reported to the positioning server by the second terminal device, or both the second and third information are reported to the positioning server by the first terminal device, or both the second and third information are reported to the positioning server by the second terminal device, or the fourth information is determined by the first terminal device based on the second and third information and reported to the positioning server by the first terminal device, or the fourth information is determined by the second terminal device based on the second and third information and reported to the positioning server by the second terminal device.

[0095] In some embodiments, the first time difference is determined by the synchronization source.

[0096] In some embodiments, the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, where the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

[0097] In some embodiments, the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

[0098] In some embodiments, the first time difference is reported by one or more of the first terminal device, the second terminal device, the positioning server, the positioning reference device, and the base station.

[0099] In some embodiments, the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

[0100] Figure 9 is a schematic diagram of the structure of a communication device according to another embodiment of the present application. The communication device 900 in Figure 9 may be the second device described above. The communication device 900 may include a communication module 910. The communication module 910 is used to receive first information, which is used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, the first time difference is determined based on one or more of the subframe boundary of the first terminal device, the subframe boundary of the second terminal device, the reception time of a first signal, the transmission time of a second signal, and the synchronization time difference between the first terminal device and the second terminal device, the first signal being a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal being a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

[0101] In some embodiments, the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

[0102] In some embodiments, the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, wherein the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0103] In some embodiments, let t1 be the reception time of the first signal, let t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, let t3 be the reception time of the second signal, and let t4 be the subframe boundary of the second subframe closest to the reception time of the second signal, the propagation delay satisfies one or more of the following: when t1 < t2, the propagation delay is [(t3-t4)+T_subframe-(t1-t2)] / 2, or mod{[(t3-t4)-(t1-t2)], T_subframe} / 2, where T_subframe is the subframe time length, mod represents a remainder operation; and when t1 > t2, the propagation delay is [(t3-t4)+(t1-t2)] / 2.

[0104] In some embodiments, the first time difference is a time difference between the reception time of the first signal and the transmission time of the second signal.

[0105] In some embodiments, the receiving device of the first information comprises one or more of the first terminal device, the second terminal device, a positioning server, a reference terminal device, and a base station of a serving cell.

[0106] In some embodiments, the base station of the serving cell comprises one or more of a base station of the serving cell of the first terminal device, a base station of the serving cell of the second terminal device, a base station of the serving cell of a first target terminal device, a base station of the serving cell of a second target terminal device, and a base station of the serving cell of a third target terminal device, the first target terminal device is a terminal device that transmits a positioning reference signal earlier between the first terminal device and the second terminal device when performing RTT positioning, the second target terminal device is a terminal device that replies with a positioning reference signal between the first terminal device and the second terminal device when performing RTT positioning, the third target terminal device is a terminal device that transmits a positioning request between the first terminal device and the second terminal device, and is a base station of the serving cell of the reference terminal device.

[0107] In some embodiments, the first information is reported to the positioning server by the first terminal device, or the first information is reported to the positioning server by the second terminal device.

[0108] In some embodiments, the first information belongs to one of the target information for determining the RTT, and the target information further includes one or more of the following: second information for indicating the time difference between reception and transmission of the first terminal device; third information for indicating the time difference between reception and transmission of the second terminal device; and fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device.

[0109] In some embodiments, the second information is reported to the positioning server by the first terminal device, the third information is reported to the positioning server by the second terminal device, or both the second and third information are reported to the positioning server by the first terminal device, or both the second and third information are reported to the positioning server by the second terminal device, or the fourth information is determined by the first terminal device based on the second and third information and reported to the positioning server by the first terminal device, or the fourth information is determined by the second terminal device based on the second and third information and reported to the positioning server by the second terminal device.

[0110] In some embodiments, the first time difference is determined by the synchronization source.

[0111] In some embodiments, the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, where the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

[0112] In some embodiments, the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

[0113] In some embodiments, the first time difference is reported by one or more of the first terminal device, the second terminal device, the positioning server, the positioning reference device, and the base station.

[0114] In some embodiments, the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

[0115] Figure 10 shows a schematic diagram of the structure of an apparatus according to an embodiment of the present application. The dashed lines in Figure 10 indicate that the unit or module is selectable. The apparatus 1000 can be used to implement the method described in the above embodiment. The apparatus 1000 may be a chip, terminal equipment, or network equipment.

[0116] The apparatus 1000 may include one or more processors 1010. The processors 1010 can support the apparatus 1000 in implementing the methods described in the above embodiment of the method. The processors 1010 may be general-purpose processors or dedicated processors. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0117] The device 1000 may further include one or more memories 1020. A program is stored in the memory 1020, which can be executed by the processor 1010, causing the processor 1010 to perform the method described in the above embodiment of the method. The memory 1020 may be independent of the processor 1010 or may be integrated with the processor 1010.

[0118] The device 1000 may further include a transceiver 1030. The processor 1010 can communicate with other devices or chips via the transceiver 1030. For example, the processor 1010 can send and receive data with other devices or chips via the transceiver 1030.

[0119] Embodiments of the present application further provide a computer-readable storage medium used for storing a program. The computer-readable storage medium can be applied to a communication device according to an embodiment of the present application, and the program causes a computer to execute the method performed by the communication device in each embodiment of the present application.

[0120] Embodiments of the present application further provide a computer program product, which includes a program, which can be applied to a communication device according to an embodiment of the present application, and which causes a computer to execute the methods performed by the communication device in each embodiment of the present application.

[0121] Embodiments of the present application further provide a computer program. The computer program can be applied to a communication device according to an embodiment of the present application, and the computer program causes a computer to execute the methods performed by the communication device in each embodiment of the present application.

[0122] It should be understood that, in this application, the terms “system” and “network” may be interchangeable. Furthermore, the terms used in this application are used solely to interpret the specific embodiments of this application and are not intended to limit it. Terms such as “first,” “second,” “third,” and “fourth” in the specification, claims, and drawings of this application are used to distinguish different subjects, not to describe a specific order. Also, the terms “include,” “have,” and any variations thereof are intended to cover non-exclusive inclusion.

[0123] In the embodiments of the present application, the “instruction” referred to may be a direct instruction, an indirect instruction, or an indication of a related relationship. For example, A instructing B may mean that A directly instructs B, for example, indicating that B can be obtained by A; or A indirectly instructs B, for example, indicating that A instructs C, and B can be obtained by C; or an indication of a related relationship between A and B.

[0124] In the embodiments of this application, "B corresponding to A" indicates that B is associated with A and that B can be determined in accordance with A. However, determining B in accordance with A does not mean determining B in accordance with A alone, but rather that B may be determined in accordance with A and / or other information.

[0125] In the embodiments of this application, the term "correspondence" may indicate a direct or indirect correspondence between the two, a related relationship between the two, or a relationship such as instruction and instruction, or component and component.

[0126] In the embodiments of this application, “predefined” or “preconfigured” may be implemented by pre-storing in a device (including, for example, terminals and network devices) a form that can indicate the corresponding code, form, or related information, and this application does not limit the specific embodiments thereof. For example, predefined may refer to something defined in a protocol.

[0127] In the embodiments of the present application, the term "protocol" may refer to a standard protocol in the field of communications, and may include, for example, the LTE protocol, the NR protocol, and related protocols applicable to future communications systems, but is not limited thereto.

[0128] In the embodiments of this application, the term "and / or" simply describes the relationship between related objects and indicates that three types of relationships exist. For example, A and / or B include the three situations where only A exists, where A and B exist simultaneously, and where only B exists. In this specification, the symbol " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0129] In the various embodiments of the present application, the magnitude of the process numbers does not indicate the order of execution, and the execution order of each process should be determined based on its function and inherent logic, and does not constitute any limitation on the implementation processes of the embodiments of the present application.

[0130] In some embodiments relating to this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other forms. For example, the device embodiments described above are merely illustrative, and for instance, the division of the units is merely one type of logic function division. In actual implementations, other division methods may be used, for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. Furthermore, the mutual coupling, direct coupling, or communication connection described or considered may be an indirect coupling or communication connection via some interface, device, or unit, and may be in the form of electrical, mechanical, or other means.

[0131] The units described as separation members may or may not be physically separated, and the members referred to as units may or may not be physical units; that is, they may be located in one place or distributed among multiple network units. Depending on the actual needs, some or all of the units can be selected to achieve the objectives of the means of this embodiment.

[0132] Furthermore, each functional unit in each embodiment of the present application may be integrated into a single processing unit, each unit may exist physically separately, and two or more units may be integrated into a single unit.

[0133] In the embodiments described above, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. If implemented by software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. Loading and executing the computer program instructions into a computer generates all or part of the procedures or functions described in the embodiments of this application. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic cable, digital subscriber line (DSL)) or wirelessly (e.g., infrared, radio, microwave, etc.). The computer-readable storage medium may be any available medium that a computer can read, or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0134] The above describes specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any modifications or substitutions that a person skilled in the art could easily conceive without departing from the technical scope disclosed herein fall within the scope of protection of this application. Therefore, the scope of protection of this application should be the same as the scope of protection of the claims. [Explanation of Symbols]

[0135] 100 Wireless Communication Systems 110 Network Equipment 120 terminal devices 800 Communication devices 810 Communication Module 900 Communication equipment 910 Communication Module 1000 devices 1010 Processor 1020 memory 1030 Transmitter / Receiver

Claims

1. Sidelink positioning method, The first device includes the step of transmitting first information, the first information being used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponding to a first period, the first period including a first time difference, and the first time difference being Subframe boundary of the first terminal device, Subframe boundary of the second terminal device, Reception time of the first signal, The transmission time of the second signal, or The synchronization time difference between the first terminal device and the second terminal device, It is determined based on one or more of the following: A sidelink positioning method characterized in that the first signal is a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

2. The method according to claim 1, characterized in that the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

3. The method according to claim 1, characterized in that the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, and the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

4. Let t1 be the reception time of the first signal, t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, t3 be the reception time of the second signal, and t4 be the subframe boundary of the second subframe closest to the reception time of the second signal. The propagation delay is as follows: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2, or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2, where T_subframe is the subframe time length and mod indicates the modulo operation, or If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2. Satisfying one or more of the following conditions: The method according to feature 3.

5. The method according to claim 1, characterized in that the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

6. The receiving device for the first information is, The first terminal device, The aforementioned second terminal device, Positioning server, Standard terminal equipment, or Serving cell base station, The method according to any one of claims 1 to 5, characterized in that it includes one or more of the following.

7. The base station of the aforementioned serving cell is The base station of the serving cell of the first terminal device, The base station of the serving cell of the second terminal device, A base station of the serving cell of a first target terminal device, wherein the first target terminal device is a terminal device that transmits a positioning reference signal first to the first terminal device and the second terminal device when performing round-trip time (RTT) positioning, A base station of the serving cell of a second target terminal device, wherein the second target terminal device is a terminal device that returns positioning reference signals to the first terminal device and the second terminal device when performing RTT positioning, A base station for the serving cell of a third target terminal device, wherein the third target terminal device is a terminal device that transmits positioning requests to the first terminal device and the second terminal device, Base station of the serving cell of the reference terminal equipment, The method according to 6, characterized by including one or more of the following.

8. The first information is reported to the positioning server by the first terminal device, or The method according to any one of claims 1 to 7, characterized in that the first information is reported to the positioning server by the second terminal device.

9. The first information belongs to one of the target information for determining the RTT, and the target information is Second information for indicating the time difference between reception and transmission of the first terminal device, Third information for indicating the time difference between reception and transmission of the second terminal device, Fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device, The method according to any one of claims 1 to 8, further comprising one or more of the above.

10. The second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device, or The second and third pieces of information are both reported to the positioning server by the first terminal device, or The second information and the third information are both reported to the positioning server by the second terminal device, or The fourth information is determined by the first terminal device based on the second and third information, and reported to the positioning server by the first terminal device, or The method according to 9, characterized in that the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

11. The method according to any one of claims 1 to 10, characterized in that the first time difference is determined by a synchronization source.

12. The method according to 11, characterized in that the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

13. The method according to 12, characterized in that the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

14. The first time difference is, The first terminal device, The aforementioned second terminal device, Positioning server, Positioning reference equipment, or base station, The method according to any one of claims 1 to 13, characterized in that it is reported by one or more of the following.

15. The method according to any one of claims 1 to 14, characterized in that the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

16. Sidelink positioning method, The process includes the step of a second device receiving first information, the first information being used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponding to a first period, the first period including a first time difference, and the first time difference being Subframe boundary of the first terminal device, Subframe boundary of the second terminal device, Reception time of the first signal, The transmission time of the second signal, or The synchronization time difference between the first terminal device and the second terminal device, It is determined based on one or more of the following: A sidelink positioning method characterized in that the first signal is a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

17. The method according to 16, characterized in that the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

18. The method according to 16, characterized in that the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, and the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

19. Let t1 be the reception time of the first signal, t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, t3 be the reception time of the second signal, and t4 be the subframe boundary of the second subframe closest to the reception time of the second signal. The propagation delay is as follows: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2, or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2, where T_subframe is the subframe time length and mod indicates the modulo operation, or If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2. The method according to 18, characterized in that it satisfies one or more of the following conditions.

20. The method according to 16, characterized in that the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

21. The receiving device for the first information is, The first terminal device, The aforementioned second terminal device, Positioning server, Standard terminal equipment, or Serving cell base station, The method according to any one of claims 16 to 20, characterized by including one or more of the above.

22. The base station of the aforementioned serving cell is The base station of the serving cell of the first terminal device, The base station of the serving cell of the second terminal device, A base station of the serving cell of a first target terminal device, wherein the first target terminal device is a terminal device that transmits a positioning reference signal first to the first terminal device and the second terminal device when performing round-trip time (RTT) positioning, A base station of the serving cell of a second target terminal device, wherein the second target terminal device is a terminal device that returns positioning reference signals to the first terminal device and the second terminal device when performing RTT positioning, A base station for the serving cell of a third target terminal device, wherein the third target terminal device is a terminal device that transmits positioning requests to the first terminal device and the second terminal device, or Base station of the serving cell of the reference terminal equipment, Including one or more of the following: The method according to feature 21.

23. The first information is reported to the positioning server by the first terminal device, or The method according to any one of claims 16 to 22, characterized in that the first information is reported to the positioning server by the second terminal device.

24. The first information belongs to one of the target information for determining the RTT, and the target information is Second information for indicating the time difference between reception and transmission of the first terminal device, Third information for indicating the time difference between reception and transmission of the second terminal device, or Fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device, The method according to any one of claims 16 to 23, further comprising one or more of the above.

25. The second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device, or The second and third pieces of information are both reported to the positioning server by the first terminal device, or The second information and the third information are both reported to the positioning server by the second terminal device, or The fourth information is determined by the first terminal device based on the second and third information, and reported to the positioning server by the first terminal device, or The method according to 24, characterized in that the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

26. The method according to any one of claims 16 to 25, characterized in that the first time difference is determined by a synchronization source.

27. The method according to 26, characterized in that the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

28. The method according to 27, characterized in that the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

29. The first time difference is, The first terminal device, The aforementioned second terminal device, Positioning server, Positioning reference equipment, or base station, The method according to any one of claims 16 to 28, characterized in that it is reported by one or more of the above.

30. The method according to any one of claims 16 to 29, characterized in that the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

31. A communication device, wherein the communication device is a first device, and the communication device is It includes a communication module for transmitting first information, the first information is used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, and the first time difference is, Subframe boundary of the first terminal device, Subframe boundary of the second terminal device, Reception time of the first signal, The transmission time of the second signal, or The synchronization time difference between the first terminal device and the second terminal device, It is determined based on one or more of the following: A communication device characterized in that the first signal is a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

32. The communication device according to claim 31, characterized in that the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

33. The communication device according to claim 31, wherein the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, and the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

34. Let t1 be the reception time of the first signal, t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, t3 be the reception time of the second signal, and t4 be the subframe boundary of the second subframe closest to the reception time of the second signal. The propagation delay is as follows: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2, or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2, where T_subframe is the subframe time length and mod indicates the modulo operation, or If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2. The communication device according to claim 33, characterized in that it satisfies one or more of the following conditions.

35. The communication device according to claim 31, characterized in that the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

36. The receiving device for the first information is, The first terminal device, The aforementioned second terminal device, Positioning server, Standard terminal equipment, Serving cell base station, A communication device according to any one of claims 31 to 35, characterized in that it includes one or more of the above.

37. The base station of the aforementioned serving cell is The base station of the serving cell of the first terminal device, The base station of the serving cell of the second terminal device, A base station of the serving cell of a first target terminal device, wherein the first target terminal device is a terminal device that transmits a positioning reference signal first to the first terminal device and the second terminal device when performing round-trip time (RTT) positioning, A base station of the serving cell of a second target terminal device, wherein the second target terminal device is a terminal device that returns positioning reference signals to the first terminal device and the second terminal device when performing RTT positioning, A base station for the serving cell of a third target terminal device, wherein the third target terminal device is a terminal device that transmits positioning requests to the first terminal device and the second terminal device, or Base station of the serving cell of the reference terminal equipment, Including one or more of the following: The communication device according to claim 36.

38. The first information is reported to the positioning server by the first terminal device, or The communication device according to any one of claims 31 to 37, characterized in that the first information is reported to the positioning server by the second terminal device.

39. The first information belongs to one of the target information for determining the RTT, and the target information is Second information for indicating the time difference between reception and transmission of the first terminal device, Third information for indicating the time difference between reception and transmission of the second terminal device, or Fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device, A communication device according to any one of claims 31 to 38, further comprising one or more of the above.

40. The second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device, or The second and third pieces of information are both reported to the positioning server by the first terminal device, or The second information and the third information are both reported to the positioning server by the second terminal device, or The fourth information is determined by the first terminal device based on the second and third information, and reported to the positioning server by the first terminal device, or The communication device according to claim 39, characterized in that the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

41. The communication device according to any one of claims 31 to 40, characterized in that the first time difference is determined by a synchronization source.

42. The communication device according to claim 41, characterized in that the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

43. The communication device according to claim 42, characterized in that the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

44. The first time difference is, The first terminal device, The aforementioned second terminal device, Positioning server, Positioning reference equipment, or base station, A communication device according to any one of claims 31 to 43, characterized in that it is reported by one or more of the above.

45. The communication device according to any one of claims 31 to 44, characterized in that the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

46. It is a communication device, The aforementioned communication device is the second device, and the aforementioned communication device is It includes a communication module for receiving first information, the first information is used to determine the propagation time between a first terminal device and a second terminal device, the first information corresponds to a first period, the first period includes a first time difference, and the first time difference is, Subframe boundary of the first terminal device, Subframe boundary of the second terminal device, Reception time of the first signal, The transmission time of the second signal, or The synchronization time difference between the first terminal device and the second terminal device, It is determined based on one or more of the following: A communication device characterized in that the first signal is a reference signal for sidelink positioning transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning transmitted by the second terminal device to the first terminal device.

47. The communication device according to claim 46, characterized in that the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

48. The communication device according to claim 46, wherein the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device, and the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

49. Let t1 be the reception time of the first signal, t2 be the subframe boundary of the first subframe closest to the reception time of the first signal, t3 be the reception time of the second signal, and t4 be the subframe boundary of the second subframe closest to the reception time of the second signal. The propagation delay is as follows: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2, or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2, where T_subframe is the subframe time length and mod indicates the modulo operation, or If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2. The communication device according to 48, characterized in that it satisfies one or more of the following conditions.

50. The communication device according to claim 46, characterized in that the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

51. The receiving device for the first information is, The first terminal device, The aforementioned second terminal device, Positioning server, Standard terminal equipment, or Serving cell base station, A communication device according to any one of claims 46 to 50, characterized in that it includes one or more of the above.

52. The base station of the aforementioned serving cell is The base station of the serving cell of the first terminal device, The base station of the serving cell of the second terminal device, A base station of the serving cell of a first target terminal device, wherein the first target terminal device is a terminal device that transmits a positioning reference signal first to the first terminal device and the second terminal device when performing round-trip time (RTT) positioning, A base station of the serving cell of a second target terminal device, wherein the second target terminal device is a terminal device that returns positioning reference signals to the first terminal device and the second terminal device when performing RTT positioning, A base station for the serving cell of a third target terminal device, wherein the third target terminal device is a terminal device that transmits positioning requests to the first terminal device and the second terminal device, or Base station of the serving cell of the reference terminal equipment, Including one or more of the following: The communication device according to claim 51.

53. The first information is reported to the positioning server by the first terminal device, or The communication device according to any one of claims 46 to 52, characterized in that the first information is reported to the positioning server by the second terminal device.

54. The first information belongs to one of the target information for determining the RTT, and the target information is Second information for indicating the time difference between reception and transmission of the first terminal device, Third information for indicating the time difference between reception and transmission of the second terminal device, or Fourth information for indicating the signal propagation delay between the first terminal device and the second terminal device, A communication device according to any one of claims 46 to 53, further comprising one or more of the above.

55. The second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device, or The second and third pieces of information are both reported to the positioning server by the first terminal device, or The second information and the third information are both reported to the positioning server by the second terminal device, or The fourth information is determined by the first terminal device based on the second and third information, and reported to the positioning server by the first terminal device, or The communication device according to claim 54, characterized in that the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

56. The communication device according to any one of claims 46 to 55, characterized in that the first time difference is determined by a synchronization source.

57. The communication device according to claim 56, characterized in that the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

58. The communication device according to claim 57, characterized in that the first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

59. The first time difference is, The first terminal device, The aforementioned second terminal device, Positioning server, Positioning reference equipment, or base station, A communication device according to any one of claims 46 to 58, characterized in that it is reported by one or more of the above.

60. The communication device according to any one of claims 46 to 59, characterized in that the reporting frequency of the first time difference is related to the moving speed of the first terminal device.

61. A communication device comprising a transceiver, a memory, and a processor, wherein the memory is used to store a program, and the processor is used to cause the communication device to execute the method according to any one of claims 1 to 15 or any one of claims 16 to 30 by calling the program in the memory and controlling the transceiver to send and receive signals.

62. An apparatus characterized by including a processor that causes the apparatus to execute a method according to any one of claims 1 to 15 or any one of claims 16 to 30 by calling a program from memory.

63. A chip characterized by including a processor that causes a device on which the chip is mounted to execute a method according to any one of claims 1 to 15 or any one of claims 16 to 30 by calling a program from memory.

64. A computer-readable storage medium characterized in that it stores a program that causes a computer to execute the method described in any one of claims 1 to 15 or any one of claims 16 to 30.

65. A computer program product characterized by including a program that causes a computer to execute a method according to any one of claims 1 to 15 or any one of claims 16 to 30.

66. A computer program characterized by causing a computer to execute a method according to any one of claims 1 to 15 or any one of claims 16 to 30.

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