Positioning method, device and vehicle networking equipment

Abstract

The present disclosure provides a positioning method, an apparatus, and a vehicle networking device, the method being applied to a first device, and including: periodically broadcasting a first positioning reference signal (PRS); receiving a second PRS that a second device feeds back based on the first PRS; and transmitting a third PRS to the second device based on the second PRS, wherein the second device performs positioning based on the first PRS, the second PRS, and the third PRS.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This disclosure claims priority to a Chinese patent application having application number 202011387718.2, filed in China on December 2, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of communications technology, and in particular to a positioning method, apparatus and vehicle networking equipment. [Background technology]

[0003] Currently, V2X (Vehicle-to-Everything) technology has been gaining the support of the ecosystem. C-V2X (C stands for Cellular) is a vehicle networking technology based on cellular networks, which allows vehicles to communicate with other surrounding vehicles and infrastructure, and share real-time information on the road, which is the key to road traffic safety and autonomous driving. C-V2X includes Long Term Evolution (LTE)-V2X and New Radio (NR)-V2X, which supports sidelink and cellular network uplink and downlink communication. C-V2X devices communicate with base stations within the coverage of the cellular network signal, and C-V2X can communicate via sidelink both within and outside the coverage of the cellular network signal.

[0004] Vehicle networking V2X applications need to know the exact location of vehicle networking equipment, especially mobile terminals (including OBU, vulnerable road user (VRU), etc.). The conventional positioning method is GNSS positioning or augmented GNSS positioning based on Global Navigation Satellite System (GNSS), but in areas with poor GNSS signal coverage (e.g., urban canyons) and areas without GNSS signal coverage (tunnels, underground parking lots, coal mines, underground transportation passages, etc.), it is necessary to realize positioning or improve positioning accuracy by other positioning technologies. Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a positioning method, an apparatus and a vehicle networking device to solve the problem in the prior art that positioning is not possible or has a large positioning error in areas with poor GNSS signal coverage or no GNSS signal coverage. [Means for solving the problem]

[0006] In a first aspect, an embodiment of the present disclosure provides a position determination method for application to a first device, the method comprising: periodically broadcasting a first positioning reference signal (PRS); receiving a second PRS fed back by a second device based on the first PRS; transmitting a third PRS to the second device based on the second PRS; Here, the second device performs a position determination based on the first PRS, the second PRS, and the third PRS.

[0007] Optionally, when broadcasting the first PRS, an identity identifier of the first device; A transmission period of the first PRS; a time-frequency location of a resource for broadcasting the first PRS; and location information of the first device.

[0008] Optionally, after transmitting a third PRS to the second device based on the second PRS, the method further comprises: determining third time information and fourth time information; transmitting the third time information and the fourth time information to the second device; wherein the third time information is a third time difference value between the receiving time of the second PRS and the transmitting time of the first PRS, and the fourth time information is a fourth time difference value between the transmitting time of the third PRS and the receiving time of the second PRS, Here, the third time information and the fourth time information are used by the second device to determine its position.

[0009] Selectively transmitting the third time information and the fourth time information When the time for periodically transmitting the first PRS arrives, broadcast the first PRS and simultaneously attach the fourth time information, or attach the third time information and the fourth time information; and Identifier information of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0010] Optionally, before transmitting a third PRS to the second device based on the second PRS, the method further comprises: determining a number N of first time domain resources between a time domain resource on which a second device receives the first PRS and a time domain resource on which a second device transmits the second PRS; determining that a number of time domain resources between a receiving time domain resource of the second PRS and a transmitting time domain resource of the third PRS is equal to a number of the first time domain resources; determining a time domain resource for a third PRS transmission and determining a transmission resource for the third PRS on the time domain resource; N is a positive integer, and N≧1.

[0011] Optionally, when transmitting a third PRS to the second device, an identity identifier of the first device; a time domain location of a resource for broadcasting the first PRS; a time-frequency location of a resource for broadcasting the first PRS; a first time difference value between a receiving time of the second PRS and a transmitting time of the first PRS; an identity identifier of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0012] Optionally, before broadcasting the first PRS, the method may further comprise: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the PRS for the first device by the base station gNB / eNB and setting a transmission period; The first device autonomously selects resources for transmitting a first PRS by monitoring its PRS transmission resource pool; The first device determines a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of: autonomously adjusting a transmission period of the first PRS based on a congestion degree of receiving a PRS transmitted by a second device.

[0013] Optionally, when the first device operates in a sidelink, the first device autonomously selects resources for transmitting a first PRS by monitoring its own PRS transmission resource pool; measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a Physical Sidelink Shared Channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Here, if it is determined that its occupied PRS transmission resource is unavailable, or if it is determined that one or more of its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, reselection is performed to the unavailable resource.

[0014] Optionally, the measurand is: The Reference Signal Receiving Power (RSRP) at which the third device transmits the PRS; and the RSRP of a demodulation reference signal (DMRS) of the PSSCH transmitted in association with the PRS transmitted by the third device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a third device; The received power of a preamble transmitted in association with the PRS transmitted by the third device; and and a received signal strength indication (RSSI) of the PRS transmitted by the third device; Here, the third device is a device that shares a PRS transmission resource pool with the first device.

[0015] Optionally, eliminating the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement quantity includes: selecting a transmission resource for the first PRS from remaining available candidate transmission resources; Or, from the remaining available candidate transmission resources, a transmission resource for the first PRS; and a PSSCH transmission resource transmitted in association with the first PRS; a PSCCH transmission resource transmitted in association with the first PRS; a preamble transmission resource transmitted in association with the first PRS.

[0016] Optionally, the first device autonomously selecting resources for transmitting the first PRS by monitoring its own PRS transmission resource pool; The method includes, when a fourth device is present whose distance from the first device is within a preset range, a time interval of a PRS transmission resource between the first device and the fourth device is smaller than a predetermined threshold. Optionally, the location determination method further comprises: Stopping the broadcast of the PRS based on server configuration or network side configuration; and / or Stopping broadcasting the PRS when the number of periods during which the PRS transmitted by the second device is not consecutively received reaches a predetermined threshold.

[0017] Optionally, the second resource pool and the first resource pool for broadcasting the first PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the first resource pool is a resource for the second device to transmit a PRS. In a second aspect, an embodiment of the present disclosure provides a position determination method for application to a second device, the method comprising: Upon receiving a first PRS broadcast by a first device, transmitting a second PRS to the first device; receiving a third PRS transmitted by the first device to the second device based on the second PRS; determining a position based on the first PRS, the second PRS, and the third PRS.

[0018] Optionally, the method further comprises: The second device determines first time information and second time information; acquiring third time information and fourth time information transmitted by the first device; wherein the first time information is a first time difference value between a transmission time of the second PRS and a reception time of the first PRS, and the second time information is a second time difference value between a reception time of the third PRS and a transmission time of the second PRS, the third time information is a third time difference value between a receiving time of the second PRS and a transmitting time of the first PRS, and the fourth time information is a fourth time difference value between a transmitting time of the third PRS and a receiving time of the second PRS, determining a position based on the first PRS, the second PRS, and the third PRS; determining a position based on the first time information, the second time information, the third time information, and the fourth time information;

[0019] Optionally, the third time information is attached when the first device transmits a third PRS, or is attached when the first device rebroadcasts and transmits the first PRS after the third PRS; The fourth time information is attached when the first device rebroadcasts and transmits the first PRS after the third PRS.

[0020] Optionally, the number of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS is equal to the number of time domain resources between the receiving time domain resource of the second PRS and the transmitting time domain resource of the third PRS, denoted as N; Here, N is a positive integer, and N≧1.

[0021] Optionally, the first time information, the second time information, the third time information and the fourth time information, determining the position may be performed according to the following formula:

number

[0022] Optionally, when transmitting a second PRS to the first device, an identity identifier of the second device; an identity identifier of the first device; Sequence information of the first PRS; a transmission resource location of the first PRS; A transmission resource index of the first PRS; A number N of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS (N is a positive integer, N≧1); a time domain resource location at which the first device transmits a third PRS; a time-frequency resource location at which the first device transmits a third PRS; a period during which the second device transmits a second PRS; and a time-frequency location of a resource for transmitting the second PRS and / or information associated with and attached to the second PRS.

[0023] Optionally, before transmitting the second PRS to the first device, the method further comprises: A positioning server configuration; A Radio Resource Control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the second PRS for the second device via the base station gNB / eNB and setting a transmission period; The second device autonomously selects and determines a transmission resource for the second PRS by monitoring its own PRS transmission resource pool; The second device determines a transmission resource for the second PRS by at least one of: determining a resource on which the second device will periodically transmit the second PRS based on a PRS transmission period in which the first device transmits the PRS.

[0024] Optionally, the second device autonomously selects and transmits resources for the second PRS by monitoring its own PRS transmission resource pool; measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Wherein, when determining that its occupied PRS transmission resource is unavailable, or when determining that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the physical sidelink control channel PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, performing reselection to the unavailable resource; When the second device receives a PRS adjacent to the first device, it determines a transmission resource for the second PRS, or determines a transmission resource for the second PRS from candidate resources that do not overlap with the PRS period of the first device.

[0025] Optionally, when autonomously selecting and transmitting resources of the second PRS, the method further comprises: determining a receiving resource for the third PRS at the same time; Here, the number of time domain resources between the receiving resources of the third PRS and the transmitting resources of the second PRS is the same as the number of time domain resources between the transmitting resources of the second PRS and the receiving resources of the first PRS.

[0026] Optionally, the measurand is: A reference signal received power RSRP of the fifth device transmitting a PRS; The RSRP of the demodulation reference signal DMRS of the PSSCH transmitted simultaneously with the PRS transmitted by the fifth device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a fifth device; The received power of a preamble transmitted in association with the PRS transmitted by the fifth device; a received signal strength indication (RSSI) of the PRS transmitted by the fifth device; Here, the fifth device is a device that shares a PRS transmission resource pool with the second device.

[0027] Optionally, eliminating the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement quantity includes: selecting a transmission resource for the second PRS from the remaining available candidate transmission resources for the PRS; Or, from the remaining available candidate transmission resources, the second PRS transmission resource; and a PSSCH transmission resource transmitted in association with the second PRS; a PSCCH transmission resource transmitted in association with the second PRS; and a preamble transmission resource transmitted in association with the second PRS.

[0028] The resource selection window will now display Both the front and back edges of the resource selection window are smaller than T / 2; and The front edge of the resource selection window is equal to or greater than the first time length; and T is a period during which the first device transmits a PRS, and the first length of time is equal to the second length of time, or the first length of time is equal to the sum of the second length of time, a preset PRS detection time threshold, and a preset PSSCH decoding time threshold; wherein the second length of time is: The preset PRS transmission preparation time threshold, or Preset PRS and PSSCH transmission preparation time thresholds, or Preset PRS, PSSCH and PSCCH transmission preparation time thresholds, or Preset PRS and preamble transmission preparation time threshold, or Preset PRS, PSSCH and preamble transmission preparation time thresholds, or These are the preset PRS, PSSCH, PSCCH and preamble transmission preparation time thresholds.

[0029] Optionally, the first resource pool and the second resource pool for transmitting the second PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the second resource pool is a resource pool for the first device to transmit a PRS.

[0030] In a third aspect, an embodiment of the present disclosure provides a first device, a vehicle networking device, the vehicle networking device including a transceiver, a memory, a processor, and a computer program stored in the memory and executable by the processor, the vehicle networking device realizing steps of the positioning method described in the first aspect when the processor executes the computer program.

[0031] In a fourth aspect, an embodiment of the present disclosure provides a second device, a vehicle networking device, the vehicle networking device including a transceiver, a memory, a processor and a computer program stored in the memory and executable by the processor, the vehicle networking device realizing steps of the positioning method described in the second aspect when the processor executes the computer program.

[0032] In a fifth aspect, an embodiment of the present disclosure provides a position determination apparatus for application to a first device, the position determination apparatus comprising: a first transmitting module used for periodically broadcasting a first PRS; a first receiving module for receiving a second PRS that a second device feeds back based on the first PRS; and a second transmitting module used for transmitting a third PRS to the second device based on the second PRS.

[0033] In a sixth aspect, an embodiment of the present disclosure provides a position determination device for application to a second device, the position determination device comprising: a third transmitting module, which is used to transmit a second PRS to the first device when receiving a first PRS broadcast by the first device; a second receiving module for receiving a third PRS transmitted by the first device to the second device based on the second PRS; a position solution module used to perform a position determination based on the first PRS, the second PRS, and the third PRS.

[0034] In a seventh aspect, an embodiment of the present disclosure provides a computer readable storage medium having a computer program stored thereon, the computer program being configured to, when executed by a processor, perform steps of the position determination method according to the first aspect or to perform steps of the position determination method according to the second aspect. Effect of the Invention

[0035] The beneficial effects of the above technical solutions of the present disclosure are as follows: In the above method, the first device periodically broadcasts a first positioning reference signal (PRS), receives a second PRS that the second device feeds back based on the first PRS, and transmits a third PRS to the second device based on the second PRS, thereby enabling the second device to determine its position based on the first PRS, the second PRS, and the third PRS, thereby solving the problem that the second device cannot be positioned or has a large positioning error in areas with poor or no GNSS signal coverage. [Brief description of the drawings]

[0036] [Figure 1] 1 is a flow diagram (part 1) illustrating a position determination method according to an embodiment of the present disclosure. [Diagram 2] 1 is a schematic diagram (part 1) showing a first device and a second device transmitting a PRS according to an embodiment of the present disclosure; [Diagram 3] 12 is a schematic diagram (part 2) showing a first device and a second device transmitting a PRS according to an embodiment of the present disclosure. [Figure 4] 1 is a second schematic flow diagram showing a position determination method according to an embodiment of the present disclosure. [Diagram 5] 11 is a schematic diagram (part 3) showing a first device and a second device transmitting a PRS according to an embodiment of the present disclosure. [Figure 6] FIG. 1 is a block diagram (part 1) illustrating a position determining device according to an embodiment of the present disclosure. [Figure 7] FIG. 2 is a block diagram (part 2) showing a position determining device according to an embodiment of the present disclosure. [Figure 8] FIG. 1 is a structural block diagram showing a vehicle networking device according to an embodiment of the present disclosure. [Figure 9] FIG. 2 is a structural block diagram (part 2) showing a vehicle networking device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] In order to clarify the technical problems, technical solutions and advantages that the present application is to solve, the following will be described in detail with reference to drawings and specific examples. In the following description, details such as specific configurations and components are described to facilitate understanding of the present disclosure. Therefore, it will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described in this specification without departing from the scope and spirit of the present disclosure. Note that known functions and configurations are omitted for clarity and conciseness.

[0038] It should be understood that references throughout the specification to "one embodiment" or "one embodiment" mean that a particular feature, structure, or characteristic associated with that embodiment is included in at least one embodiment of the present disclosure. Thus, the appearances of "in one embodiment" or "in one embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0039] In various embodiments of the present disclosure, the order of numbers of the following processes does not imply the order of execution, and the order of execution of each process should be determined by its function and internal logic, and does not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0040] Also, the terms "system" and "network" are always used interchangeably herein.

[0041] In the embodiments of the present disclosure, it should be understood that "B corresponding to A" indicates that B is related to A, and B can be determined based on A. It should also be understood that determining B based on A does not mean determining B based only on A, and B can also be determined based on A and / or other information.

[0042] In the embodiment of the present disclosure, the form of the access network is not limited, and may be, for example, an access network including a macro base station, a pico base station, a node B (name of 3G mobile base station), an enhanced base station (eNB), an enhanced home base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit, remote radio frequency module), an RRH (Remote Radio Head, remote radio head), etc. The user terminal may be a mobile phone (or mobile) or other device capable of transmitting and receiving wireless signals, and may be a user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a user terminal (CPE) or a mobile smart hotspot that can convert a mobile signal to a WiFi signal, a smart home appliance, or other device that can spontaneously communicate with a mobile communication network without a human operating device.

[0043] In addition, the PRS disclosed in this disclosure is a Sidelink Positioning Reference Signal or other reference signal available for sidelink positioning, and its abbreviation can be expressed as at least one of SL-PRS and S-PRS. The positioning method, device, and vehicle networking device described in this specification can operate at least on a sidelink in a vehicle networking scene, and can solve the problem in the prior art that positioning is not possible or positioning error is large in areas with poor GNSS signal coverage or no GNSS signal coverage.

[0044] First Example As shown in Fig. 1, an embodiment of the present disclosure provides a positioning method applied to a first device, where the first device may be a vehicle networking device, including but not limited to a fixed-location device such as a road side unit (RSU), a base station gNB, etc. The method specifically includes the following steps 11 to 13.

[0045] In step 11, periodically broadcasting a first positioning reference signal PRS, where periodically broadcasting the first PRS or semi-persistently periodically broadcasting the first PRS includes broadcasting the first PRS upon receiving a PRS transmitted by a second vehicle networking device (i.e., the second device), or broadcasting the first PRS based on a server configuration, a network side configuration or a pre-configuration, or broadcasting the first PRS upon receiving a positioning request transmitted by the second vehicle networking device or a positioning server.

[0046] In step 12, a second device receives a second PRS that is fed back based on the first PRS.

[0047] In step 13, a third PRS is transmitted to the second device based on the second PRS. Here, the second device performs a position determination based on the first PRS, the second PRS, and the third PRS.

[0048] Specifically, when transmitting the third PRS to the second device, an identity identifier of the first device; a time domain location of a resource for broadcasting the first PRS; a time-frequency location of a resource for broadcasting the first PRS; a first time difference value between a receiving time of the second PRS and a transmitting time of the first PRS; an identity identifier of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0049] In addition, the sequence information of the second PRS, the transmission resource position of the second PRS and the transmission resource index of the second PRS are used to implicitly indicate the identity of the second device, and the possible effect is that the second device can use the above information to determine that the information attached to the PRS is available to it, and the first device cannot know the specific identifier of the second device having positioning needs, thereby realizing privacy protection and anti-tracking.

[0050] 2, taking an example in which the first device is RSU1 and the second device is OBU1, PRS-A0, PRS-A1, and PRS-A2 shown in FIG. 2 are first PRSs periodically broadcast by the first device, with a period of T. After receiving PRS-A1, the second device feeds back PRS-O1-R1 (second PRS), and after receiving PRS-O1-R1, the first device transmits PRS-R1-O1 (third PRS) to the second device.

[0051] In this embodiment, when the synchronization error between the first device and the second device is negligible, the second device can perform distance measurement based on the received first PRS or third PRS, and further determine the device's location, or the first device can perform distance measurement based on the received second PRS, and further determine the location of the second device. In this way, the problem of not being able to position the second device in areas with poor GNSS signal coverage or no GNSS signal coverage can be solved. And the anchor node (first device) periodically broadcasts and transmits the first PRS and the associated positioning information, and the second device feeds back the second PRS between two transmissions, thus avoiding the situation where the positioning delay is increased due to the establishment of a unicast connection and the positioning delay is increased due to the interaction of point-to-point positioning signals, and effectively reducing the delay. At the same time, the first device does not need to additionally transmit related timing information, eliminating the process of one data transmission, and similarly realizing the reduction of the delay.

[0052] Specifically, when broadcasting the first PRS, an identity identifier of the first device; A transmission period of the first PRS; a time-frequency location of a resource for broadcasting the first PRS; and location information of the first device.

[0053] For example, in FIG. 2, since the first device has not received PRS transmitted from other OBUs and VRUs within the previous period, when the first device transmits the first PRS (PRS-A1) in a broadcast manner, the first device attaches identity information, location information, related information of the first PRS, etc., regarding the first device, so that the second device performs location determination based on the above information.

[0054] In one embodiment, after step 13, the method further comprises: determining third time information and fourth time information; transmitting the third time information and the fourth time information to the second device; Here, the third time information is a third time difference value between the reception time of the second PRS and the transmission time of the first PRS, and the fourth time information is a fourth time difference value between the transmission time of the third PRS and the reception time of the second PRS, and the third time information and the fourth time information are used by the second device to determine its position.

[0055] In this embodiment, when the synchronization error between the first device and the second device is not negligible, the second device can obtain the third time information and the fourth time information determined and transmitted by the first device to realize accurate location determination. Specifically, in the second embodiment, the second device can refer to the step of determining its location based on the first time information, the second time information, the third time information and the fourth time information.

[0056] In one embodiment, transmitting the third time information and the fourth time information to the second device includes: When the time for periodically transmitting the first PRS arrives, broadcast the first PRS and simultaneously attach the fourth time information, or attach the third time information and the fourth time information; and Identifier information of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0057] In this embodiment, the third timeThere are two types of information transmission methods: the fourth time information is added when the third PRS is transmitted, and the fourth time information is added when the first PRS is broadcast again after the third PRS is transmitted. Here, when the first PRS is broadcast again after the third PRS is transmitted, at least one of the identifier information of the second device, the sequence information of the second PRS, the transmission resource position of the second PRS, and the transmission resource index of the second PRS is added at the same time, so that the second device obtains the third time information, or the third time information and the fourth time information, used for position determination, from the broadcasted first PRS.

[0058] Furthermore, when the first device broadcasts time values ​​related to TOA calculations associated with multiple second devices, thereby reducing delays and reducing information interaction overhead, the information interaction design ensures that each second device with positioning needs can obtain valid calculation data, and at the same time, when receiving calculation data from other devices, such as OBU / VRU, the other devices cannot track the trajectory of other devices because they do not have the first time information and the second time information locally, thereby ensuring privacy security.

[0059] At the same time, the sequence information of the second PRS, the transmission resource position of the second PRS and the transmission resource index of the second PRS are used to implicitly indicate the identity of the second device, and the possible effect is that the second device can use the above information to determine that the information attached to the PRS is available to it, and the first device cannot know the specific identifier of the second device that has positioning needs, thereby simultaneously realizing privacy protection and anti-tracking.

[0060] In one embodiment, prior to step 13, the method further comprises: determining a number N of first time domain resources between a time domain resource on which a second device receives the first PRS and a time domain resource on which a second device transmits the second PRS; determining that a number of time domain resources between a receiving time domain resource of the second PRS and a transmitting time domain resource of the third PRS is equal to a number of the first time domain resources; determining a time domain resource for a third PRS transmission and determining a transmission resource for the third PRS on the time domain resource; N is a positive integer, and N≧1.

[0061] In addition, the transmission resource of the third PRS determined on the time domain resource includes a time domain resource and a frequency domain resource.

[0062] In this embodiment, by setting the number of time domain resources between the receiving time domain resource of the second PRS and the transmitting time domain resource of the third PRS to be the same as the number of the first time domain resources, when calculating TOA using two-way RTT, it is possible to ensure that the synchronization error existing between the first device and the second device is small, that is, the error existing in the local frequency offset can be ignored, thereby solving the problem of inaccurate positioning caused by the frequency offset in the local timer of the positioning signal transmitting and receiving side.

[0063] In one embodiment, before step 11, the method further comprises: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the PRS for the first device by the base station gNB / eNB and setting a transmission period; The first device autonomously selects resources for transmitting a first PRS by monitoring its PRS transmission resource pool; The first device determines a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of: autonomously adjusting a transmission period of the first PRS based on a congestion degree of receiving a PRS transmitted by a second device.

[0064] In addition, the first device and the second device have a common understanding of the periodicity unit of measure, which may be agreed upon by a network configuration parameter, a pre-configuration parameter, or a protocol. The unit of measure of the transmission period of the first PRS may be one of: milliseconds (Ms), a number of time domain resources on a physical time domain resource index, including but not limited to a physical time slot, a physical subframe, an OFDM symbol on a physical time slot or a physical subframe, and a number of time domain resources on a logical time domain resource index, including but not limited to a logical time slot, a logical subframe, an OFDM symbol on a logical time slot or a logical subframe.

[0065] Moreover, in one embodiment, when the first device operates in a sidelink, the first device autonomously selects resources for transmitting a first PRS by monitoring its own PRS transmission resource pool, measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Here, if it is determined that its occupied PRS transmission resource is unavailable, or if it is determined that one or more of its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, reselection is performed to the unavailable resource.

[0066] Specifically, the measured quantity is: a reference signal received power RSRP at which the third device transmits the PRS; the RSRP of the demodulation reference signal DMRS of the PSSCH transmitted in association with the PRS transmitted by the third device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a third device; The received power of a preamble transmitted in association with the PRS transmitted by the third device; and a received signal strength indication (RSSI) of the PRS transmitted by the third device; Here, the third device is a device that shares a PRS transmission resource pool with the first device.

[0067] In this embodiment, the DMRS location of the PRS and PSSCH is indicated by corresponding control signaling and can be obtained by decoding the control signaling, which is located in the same frequency band / bandwidth part (BWP) / carrier or in a different frequency band / BWP / carrier with respect to the PRS and the PSSCH associated with the PRS.

[0068] In one embodiment, the step of eliminating the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement quantity comprises: selecting a transmission resource for the first PRS from the remaining available candidate transmission resources; or from the remaining available candidate transmission resources, a transmission resource for the first PRS; and a PSSCH transmission resource transmitted in association with the first PRS; a PSCCH transmission resource transmitted in association with the first PRS; a preamble transmission resource transmitted in association with the first PRS.

[0069] In addition, being transmitted in a related manner means that instruction information corresponding to the first PRS transmission is attached and transmitted simultaneously with the first PRS, or that the transmission time meets a preset time interval, or that the transmission resource and the transmission resource of the first PRS have a certain related relationship.

[0070] Specifically, the step of eliminating the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement amount includes: selecting a PRS transmission resource or a PRS and a PSSCH transmission resource from the remaining available PRS and PSSCH transmission resources; selecting a PSCCH transmission resource from the remaining available PSCCH candidate transmission resources that satisfies a preset time interval with respect to the transmission resource of the PRS or with respect to the transmission resource of the PRS and the PSSCH; Determine a PSCCH transmission resource according to the determined PRS transmission resource or the PRS and PSSCH transmission resource, where the PRS transmission resource or the PRS and PSSCH transmission resource has a certain association relationship with the PSCCH transmission resource; selecting a preamble transmission resource from the remaining available preamble transmission resources that satisfies a preset time interval for the transmission resource of the PRS or for the resources of the PRS and the PSSCH; determining a preamble transmission resource based on the determined PRS and PSSCH transmission resource, where the PRS and PSSCH transmission resource have a certain relative relationship with the preamble transmission resource;

[0071] In one embodiment, the first device autonomously selecting resources for transmitting the first PRS by monitoring its own PRS transmission resource pool includes: When there is a fourth device whose distance from the first device is within a preset range, the time interval of the PRS transmission resource between the first device and the fourth device is less than a predetermined threshold, where the transmission period configurations of the first device and the fourth device are identical.

[0072] It should be noted that the fourth device and the first device are of the same type, for example, both are RSUds or both are fixed-position nodes.

[0073] For example, as shown in FIG. 3, RSU2 is the fourth device and RSU1 is the first device. Since the time interval Tgap of the PRS transmission resources of both devices is smaller than a preset threshold, the second device selects a second PRS transmission resource and a third PRS receiving resource within the overlapping time range in which RSU1 and RSU2 periodically transmit their respective first PRSs, and obtains TOA measurement values, i.e., distance values, with two or more RSUs through a pair of second PRS transmission and third PRS reception, thereby greatly reducing the overhead and delay of PRS transmission resources.

[0074] In one embodiment, the method further comprises: Stopping the broadcast of the PRS based on server configuration or network side configuration; and / or Stopping broadcasting the PRS when the number of periods during which the PRS transmitted by the second device is not consecutively received reaches a predetermined threshold.

[0075] According to this embodiment, through a server configuration or a network side configuration, PRS broadcast transmission is stopped when a positioning request is not continuously received, or PRS broadcast transmission is stopped when the first device detects by itself that the number of periods during which it does not continuously receive the PRS transmitted by the second device reaches a predetermined threshold, thereby avoiding unnecessary PRS air interface resource overhead when there is no positioning need for the second device.

[0076] In one embodiment, the second resource pool and the first resource pool for broadcasting the first PRS are orthogonal in a time domain, or orthogonal in both a time domain and a frequency domain; Here, the first resource pool is a resource for the second device to transmit a PRS.

[0077] In this embodiment, by orthogonally arranging the first resource pool and the second resource pool, it is possible to ensure that the first device and the second device do not transmit PRS simultaneously, and time division multiplexing of the PRS transmission resources of the first device and the second device can be realized, thereby avoiding the inability to receive the other device's PRS when the first device and the second device transmit PRS simultaneously due to semi-duplexing, and further realizing the flexible setting of PRS transmission parameters according to the different PRS transmission requirements and device capabilities of the two types of devices.

[0078] In addition, the information attached when the first device transmits the PRS in the above embodiment may be physical layer signaling, or higher layer signaling, or application layer data.

[0079] Second Example As shown in Fig. 4, a second embodiment of the present disclosure provides a positioning method for a second device, where the second device may be a vehicle networking device, including but not limited to a mobile terminal such as an on board unit (OBU), a handheld device VRU, etc. Specifically, the method includes the following steps 21 to 23.

[0080] In step 21, upon receiving a first PRS broadcast by a first device, a second PRS is transmitted to the first device, where the first PRS broadcast by the first device is broadcast periodically.

[0081] Furthermore, when transmitting a second PRS to the first device, an identity identifier of the second device; an identity identifier of the first device; Sequence information of the first PRS; a transmission resource location of the first PRS; A transmission resource index of the first PRS; A number N of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS (N is a positive integer, N≧1); a time domain resource location at which the first device transmits a third PRS; a time-frequency resource location at which the first device transmits a third PRS; a period during which the second device transmits a PRS; and and a time-frequency location of a resource for transmitting the second PRS and / or information associated with and attached to the second PRS.

[0082] At the same time, the sequence information of the first PRS, the transmission resource position of the first PRS and the transmission resource index of the first PRS are used to implicitly indicate the identity of the first device. In step 22, a third PRS is received that the first device transmits to the second device based on the second PRS.

[0083] In step 23, a position determination is made based on the first PRS, the second PRS and the third PRS.

[0084] In this embodiment, when the synchronization error between the first device and the second device is negligible, the second device can perform distance measurement based on the received first PRS or third PRS, and further determine the device's location, or the second device can perform distance measurement based on the received second PRS, and further determine the location of the second device. In this way, the problem of the second device being unable to be positioned in areas with poor GNSS signal coverage or no GNSS signal coverage is solved. And the anchor node (first device) periodically broadcasts and transmits the first PRS and the associated positioning information, and the second device feeds back the second PRS between two transmissions, thus avoiding the situation in which the positioning delay is increased due to the establishment of a unicast connection and the positioning delay is increased due to the interaction of point-to-point positioning signals, and effectively reducing the delay. At the same time, the first device does not need to additionally transmit related timing information, eliminating the process of one data transmission, and similarly realizing the reduction of the delay.

[0085] In one embodiment, if the synchronization error between the first device and the second device is not negligible, the method further comprises: The second device determines first time information and second time information; acquiring third time information and fourth time information transmitted by the first device; wherein the first time information is a first time difference value between a transmission time of the second PRS and a reception time of the first PRS, and the second time information is a second time difference value between a reception time of the third PRS and a transmission time of the second PRS, the third time information is a third time difference value between a receiving time of the second PRS and a transmitting time of the first PRS, and the fourth time information is a fourth time difference value between a transmitting time of the third PRS and a receiving time of the second PRS, Here, the third time information is attached when the first device transmits a third PRS, or is attached when the first device rebroadcasts and transmits the first PRS after the third PRS, The fourth time information is attached when the first device rebroadcasts and transmits the first PRS after the third PRS.

[0086] Here, as shown in FIG. 2, the number of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS is equal to the number of time domain resources between the receiving time domain resource of the second PRS and the transmitting time domain resource of the third PRS, which is denoted as N; Here, N is a positive integer, and N >= 1. In Fig. 2, the first PRS is PRS-A1, the second PRS is PRS-O1-R1, and the third PRS is PRS-R1-O1.

[0087] Here, the time domain resource granularity corresponding to the number of the N time domain resources is an OFDM symbol.

[0088] Furthermore, the above step 23 The method includes obtaining a PRS transmission time between the first device and the second device based on the first time information, the second time information, the third time information, and the fourth time information, and further determining a transmission distance, thereby performing position determination.

[0089] Specifically, determining the position based on the first time information, the second time information, the third time information, and the fourth time information is performed by the following formula:

number

[0090] Exemplarily, in FIG. 2, the third time information is Tn1, the fourth time information is Tn1', the first time information is Tt1, and the second time information is Tt1'.

[0091] In this embodiment, the two-way RTT is used to reduce the local timer frequency offset, thereby achieving accurate positioning.

[0092] Hereinafter, with reference to FIG. 5, the interaction and measurement process between RSU1 and OBU1 will be taken as an example to describe the calculation process for reducing the local timer frequency offset by the two-way RTT method as follows:

[0093] Here, for simplicity, let us assume that RSU is node A, OBU1 is node B, and the frequency offset of RSU1 local timer is e A , the spectrum offset of the OBU1 local timer is e B , the actual TOA value between RSU1 and OBU1 is t P , the actual measurement value is t P ' is written.

[0094] About the two-way RTT measurement process Ideal situation (i.e., no frequency offset for either timer in RSU1 or OBU1) 4t p =t roundA -t replyA +t roundB -t replyB The Practical Situation 4t p '=(t roundA -t replyA )×(1+e A )+(t roundB -t replyB )×(1+e B ) Therefore, the difference between the actual measured value and the theoretical value is as follows:

number

number

[0095] Here, the method according to the present disclosure has the same t replyA =t replyB By setting N time domain resources, Δt reply will be 0, and the measurement error will also be 0.

[0096] At the same time, in practice, when the OFDM symbol granularity, time slot, or subframe defined in the sidelink is the time domain resource granularity, the time interval from when the second device (OBU1) receives the first PRS (i.e., PRS-A1) to when it transmits the second PRS (i.e., PRS-O1-R1) and the time interval from when the first device (RSU1) receives the second PRS from the second device to when it transmits the third PRS (i.e., PRS-R1-O1) cannot exceed the CP because the timing deviation of the first device or the second device cannot exceed Δt reply Assuming that the timing deviation is within ±25 ppm, the timing error of the TOA measurement is at most 0.005 ns, and the corresponding TOA measurement is 0.005 ns (distance 0.0015 m), which is a significant error suppression.

[0097] In other words, based on the above analysis process, it can be seen that the second equipment (OBU / VRU), which is the positioning target node, can eliminate the influence of timing error due to local timer frequency offset by adopting a method of calculating the TOA between the second equipment (OBU / VRU), which is the positioning anchor node, and realizing positioning using a bidirectional RTT method.

[0098] Furthermore, calculating the time of arrival (TOA) of the positioning signal based only on the time difference (relative time) recorded locally on both sides of transmission and reception is a method of realizing positioning by the one-way RTT calculation method. Since the local timers on both sides of transmission and reception may have their own timing error (timer frequency offset), if it is necessary to achieve a positioning error better than 3 meters, the problem of timing error caused by the existence of frequency offset in the local timer cannot be solved. In other words, a one-way RTT calculation method that uses the RX-TX time difference (corresponding to the time difference T2 between reception and transmission) measured by the terminal and the RX-TX time difference (corresponding to the time difference T1 between transmission and reception) measured by the base station by the mixed uplink and downlink method to calculate the round trip time (RTT) of the positioning signal transmission between the terminal and the base station can only realize positioning when high-precision time synchronization (e.g., ns level) cannot be achieved on both sides of transmission and reception, but cannot solve the problem of local timing error. The reason for this is briefly explained as follows.

[0099] For example, for the TOA measurement error due to the timing error, if the frequency offset coefficients of the transmitter timer and the receiver timer are denoted as e1 and e2, respectively, then t TOA = (T1-T2) / 2, the corresponding calculated distance measurement after accounting for timing error is d = {T1-T2-(e1×T 1- e2 × T2)} / 2, and assuming that the offset tolerance of the device timer is ±1 ppm, T1 = 10 ms, and T2 ≈ 10 ms, the distance measurement error due to frequency offset under these conditions will reach a maximum of 3 m, making it impossible to achieve accurate positioning.

[0100] Note: The above example only refers to the high requirement of the crystal oscillation of the local timer, which is generally specified as ±25ppm in other protocols, such as IEEE802.11. In this case, the PRS transmission by both sides of the transmitting and receiving devices must be completed within 10ms, which places high requirements on the feedback processing ability, while the space for determining the transmission resource is small, and the probability of the transmission resource collision is also high.

[0101] Based on the above analysis process, the above embodiment performs TOA calculation measurement in two-way RTT, so that when vehicular networking has high-precision positioning needs and there is no need to perform high-precision time synchronization, the influence of timing error caused by local timer frequency offset can be eliminated, and accurate positioning of the second device can be realized, and the embodiment can be applied to the sidelink and the uplink and downlink of the cellular network.

[0102] In addition, if the RSU1 is further receiving PRS-O2-R1 and fed-back PRS-R1-O2 from another OBU (e.g., OBU2) between PRS-A1 and PRS-A2, when broadcasting the first PRS, the RSU1 further receives Tn2 and Tn2′ (not shown, but similar to the schematic diagram of Tn1 and Tn1′ corresponding to OBU1 in FIG. 2 ) related to OBU2, and The ID of OBU2, the PRS resource position corresponding to the Tn2 recording time; The resource index information of the PRS corresponding to the Tn2 recording time, The PRS resource position corresponding to the Tn2 recording time and at least one of the PRS resource index information corresponding to the Tn2 recording time and an association relationship between the PRS sequence and at least one of the PRS resource index information corresponding to the Tn2 recording time are included.

[0103] If the first PRS broadcast by the first device includes information corresponding to OBU2, OBU1 cannot know the time values ​​such as Tt2 and Tt2' (not shown, but similar to the schematic diagram of Tt1 and Tt1' corresponding to OBU1 in FIG. 2) of OBU2, and OBU1 cannot track the trajectory of OBU2 after obtaining the Tt2 and / or Tt2' time unrelated to itself. Similarly, the RSU / gNB cannot track the trajectory of not only OBU1 but also OBU2, so privacy security can be ensured.

[0104] In one embodiment, prior to step 12, the method further comprises: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the second PRS for the second device via the base station gNB / eNB and setting a transmission period; The second device autonomously selects and determines a transmission resource for the second PRS by monitoring its own PRS transmission resource pool; The second device determines a transmission resource for the second PRS by at least one of: determining a resource on which the second device will periodically transmit the second PRS based on a PRS transmission period in which the first device transmits the PRS.

[0105] In one embodiment, the second device autonomously selects resources for the second PRS to transmit by monitoring its own PRS transmission resource pool, measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Wherein, when determining that its occupied PRS transmission resource is unavailable, or when determining that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the physical sidelink control channel PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, performing reselection to the unavailable resource; When the second device receives a PRS adjacent to the first device, it determines a transmission resource for the second PRS, or determines a transmission resource for the second PRS from candidate resources that do not overlap with the PRS period of the first device.

[0106] It should be noted that the resource pool for PRS transmission in this embodiment can be on licensed or unlicensed frequency bands available for Sidelink transmission.

[0107] Specifically, the measured quantity is: A reference signal received power RSRP of the fifth device transmitting a PRS; The RSRP of the demodulation reference signal DMRS of the PSSCH transmitted simultaneously with the PRS transmitted by the fifth device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a fifth device; The received power of a preamble transmitted in association with the PRS transmitted by the fifth device; a received signal strength indication (RSSI) of the PRS transmitted by the fifth device; Here, the fifth device is a device that shares a PRS transmission resource pool with the second device.

[0108] In one embodiment, the step of eliminating the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement quantity comprises: selecting a transmission resource for the second PRS from the remaining available candidate transmission resources for the PRS; Or, from the remaining available candidate transmission resources, the second PRS transmission resource; and a PSSCH transmission resource transmitted in association with the second PRS; a PSCCH transmission resource transmitted in association with the second PRS; and a preamble transmission resource transmitted in association with the second PRS.

[0109] In addition, being transmitted in a related manner means that instruction information corresponding to the second PRS transmission is attached and transmitted simultaneously with the second PRS, or that the transmission time meets a preset time interval, or that the transmission resource and the second PRS transmission resource have a certain related relationship.

[0110] In the above embodiment, the resource selection window is Both the front and back edges of the resource selection window are smaller than T / 2; and The front edge of the resource selection window is equal to or greater than the first time length; and T is a period during which the first device transmits a PRS, and the first length of time is equal to the second length of time, or the first length of time is equal to the sum of the second length of time, a preset PRS detection time threshold, and a preset PSSCH decoding time threshold; wherein the second length of time is: The preset PRS transmission preparation time threshold, or Preset PRS and PSSCH transmission preparation time thresholds, or Preset PRS, PSSCH and PSCCH transmission preparation time thresholds, or Preset PRS and preamble transmission preparation time threshold, or Preset PRS, PSSCH and preamble transmission preparation time thresholds, or These are the transmission preparation time thresholds for the preset PRS, PSSCH, PSCCH, and preamble.

[0111] According to this embodiment, by setting the resource selection window to satisfy the above conditions, it is possible to ensure that all resources in the resource selection window are available, and to avoid packet loss due to the inability to timely group packets due to the transmission preparation time of the equipment after the resources at the front edge of the resource selection window are used as transmission resources.

[0112] In one embodiment, when autonomously selecting resources for transmitting the second PRS, the method further comprises: determining a receiving resource for the third PRS at the same time; Here, the number of time domain resources between the receiving resources of the third PRS and the transmitting resources of the second PRS is the same as the number of time domain resources between the transmitting resources of the second PRS and the receiving resources of the first PRS.

[0113] In this embodiment, when the resource of the second PRS is independently selected for transmission, the receiving resource of the third PRS is determined at the same time, so that the following situation can be avoided: after the first device receives the second PRS, the third PRS cannot be transmitted on the time domain resource because another device has already occupied the transmission resource after N time domain resources. If the first device abandons the transmission of the third PRS, the TOA measurement process supporting timing error suppression cannot be completed; if the first device selects a transmission resource on another time domain resource, the above-mentioned t replyA =t replyB This makes it difficult to guarantee the above, and the effect of suppressing timing errors becomes significantly worse.

[0114] In one embodiment, the first resource pool and the second resource pool for transmitting the second PRS are orthogonal in a time domain, or are orthogonal in both a time domain and a frequency domain; Here, the second resource pool is a resource pool for the first device to transmit a PRS.

[0115] In this embodiment, by orthogonally arranging the first resource pool and the second resource pool, it is possible to ensure that the first device and the second device do not transmit PRS simultaneously, and time division multiplexing of the PRS transmission resources of the first device and the second device can be realized, thereby avoiding the inability to receive the other device's PRS when the first device and the second device transmit PRS simultaneously due to semi-duplexing, and further realizing the flexible setting of PRS transmission parameters according to the different PRS transmission requirements and device capabilities of the two types of devices.

[0116] Note that in the above embodiment, the information accompanying the PRS transmitted by the second device may be physical layer signaling, or higher layer signaling, or application layer data.

[0117] Hereinafter, with reference to FIG. 2, a position determination method according to the present disclosure will be described assuming that the first device is the RSU1 and the second device is the OBU1.

[0118] Step 1, RSU1 side 1. After confirming the resource for transmitting the PRS or the PRS and the positioning information, transmit the PRS signals PRS-A0, PRS-A1, PRS-A2... periodically or semi-permanently in a broadcast manner with a period of T.

[0119] 2. When transmitting PRS-A1, the PRS is transmitted in the broadcast mode because the PRS transmitted from other OBUs and VRUs has not been received in the previous period. The RSU ID, An explicit indication in the positioning information; A PRS resource location or a PRS index or a PRS resource ID or a PRS sequence (the RSU ID information may be implicitly indicated by a further association relationship with the PRS resource location or the PRS index or the PRS resource ID or the PRS sequence); and A PRS signal transmission period or reservation period T, the time-frequency location of the transmission resource to which the PRS signal and / or the positioning information is attached; At least one of the following information is attached: RSU location information.

[0120] Step 2, OBU1 side Note: There may be multiple OBUs or VRUs simultaneously transmitting and receiving PRS within the coverage of RSU1.

[0121] 1. When OBU1 receives PRS-A1, it determines the resource for transmitting PRS or PRS and positioning information by itself, and the period for transmitting PRS, and then determines the number N1 of time domain resources from receiving PRS-A1 to transmitting PRS-O1-R1; and OBU1 ID, An explicit indication in the positioning information; PRS resource location or PRS index or PRS resource ID or PRS sequence (OBU1 ID information may be implicitly indicated by a further association relationship with the PRS resource location or PRS index or PRS resource ID or PRS sequence) , RSU1 ID, An explicit indication in the positioning information; a PRS resource location or a PRS index or a PRS resource ID or a PRS sequence (a further association relationship with the PRS resource location or the PRS index or the PRS resource ID or the PRS sequence may implicitly indicate RSU1 ID information); the number of time domain resources that RSU1 waits for after receiving PRS-O1-R1 and before transmitting PRS-R1-O1 (i.e., the number N1 of time domain resources between receiving PRS-A1 and transmitting PRS-O1-R1), or the time domain resource position or time-frequency resource position at which RSU1 transmits PRS-R1-O1; A period or reservation period in which OBU1 transmits a PRS signal; A time-frequency position where the OBU1 transmits a PRS signal and / or a transmission resource to which positioning information is attached; and the time Tt1 recorded by OBU1 from receiving PRS-A1 to transmitting PRS-O1-R1.

[0122] Step 3 Upon receiving PRS-O1-R1 and the associated information, RSU1 records the time Tn1 from when it transmits PRS-A1 to when it receives PRS-O1-R1, After N time domain resources are separated, PRS-R1-O1 is sent to OBU1, and the difference value Tn1' between receiving PRS-O1-R1 and sending PRS-R1-O1 is recorded. Then, no information is attached or when the PRS is sent, The RSU ID, An explicit indication in the positioning information; A PRS resource location or a PRS index or a PRS resource ID or a PRS sequence (the RSU ID information may be implicitly indicated by a further association relationship with the PRS resource location or the PRS index or the PRS resource ID or the PRS sequence); and the time-frequency location of the transmission resource to which the PRS signal and / or the positioning information is attached; Tn1 and The ID of OBU1, the PRS resource position corresponding to the Tn1 recording time; PRS resource index information corresponding to the Tn1 recording time, At least one of the following information is attached: the resource position of the PRS corresponding to the Tn1 recording time, at least one of the PRS resource index information corresponding to the Ta1-t1 recording time, and an association relationship with the PRS sequence.

[0123] Step 4 OBU1 detects PRS-R1-O1 when 2N time domain resources are separated, and records the difference value Tt1' between the time when PRS-O1-R1 is transmitted and the time when PRS-R1-O1 is received. If Tn1 is attached to the information corresponding to PRS-R1-O1, this value is recorded.

[0124] Step Five When the transmission time of the next periodic PRS transmission of RSU1 arrives, the RSU transmits PRS-A2 in a broadcast manner and The RSU ID, An explicit indication in the positioning information; A PRS resource location or a PRS index or a PRS resource ID or a PRS sequence (the RSU ID information may be implicitly indicated by a further association relationship with the PRS resource location or the PRS index or the PRS resource ID or the PRS sequence); and A PRS signal transmission period or reservation period T, the time-frequency location of the transmission resource to which the PRS signal and / or the positioning information is attached; Tn1 and Tn1' and The ID of OBU1, the PRS resource position corresponding to the Tn1 recording time; PRS resource index information corresponding to the Tn1 recording time, At least one piece of information is attached: the resource position of the PRS corresponding to the Tn1 recording time, and at least one piece of PRS resource index information corresponding to the Tn1 recording time and an association relationship with the PRS sequence.

[0125] Step Six OBU1 receives PRS-A2, obtains the time value Tn1′ or Tn1 and Tn1′ associated with itself, and calculates the TOA of OBU1 and RSU1 according to the following formula: t TOA ={(Tn1-Tt1)+(Tt1'-Tn1')} / 4 Here, Tn1 corresponds to the third time information, Tn1' corresponds to the fourth time information, Tt1 corresponds to the first time information, and Tt1' corresponds to the second time information.

[0126] The above method can provide the following effects. (1) When vehicular networking has high-precision positioning needs and there is no need for high-precision time synchronization, the influence of timing errors caused by local timer frequency offset can be eliminated, and it can be applied to the sidelink and the uplink and downlink of the cellular network. (2) When two-way RTT is adopted to perform TOA measurement, the anchor node periodically broadcasts and transmits the PRS and the associated positioning information, and the OBU / RSU feeds back the PRS between two transmissions, thus avoiding the situation in which the positioning delay is increased due to the establishment of a unicast connection and the positioning delay is increased due to the interaction of point-to-point positioning signals, and effectively reducing the delay. At the same time, the RSU does not need to additionally transmit related timing information, which saves the process of one data transmission, and also realizes the reduction of the delay. (3) When an RSU / gNB transmits a PRS in a broadcast manner, it attaches a time value related to TOA calculation related to multiple OBUs / VRUs, thereby reducing delay and reducing information interaction overhead. Through the design of information interaction, each OBU / VRU with positioning needs can obtain valid calculation data, and at the same time, when receiving the calculation data of other OBUs / VRUs, it can ensure that the trajectory of other OBUs / VRUs cannot be tracked, thereby ensuring privacy security. (4) Regarding the resource selection method of the RSU and the OBU / VRU, the sidelink may be on a dedicated spectrum or an unlicensed spectrum, and the RSU and the OBU / VRU may be supported to perform resource selection by measuring the transmission resource pool of the PRS, and the OBU / VRU may be supported to realize TOA measurement of bidirectional RTT with two or more RSUs by transmitting a single PRS signal.

[0127] Third Example As shown in FIG. 6 , an embodiment of the present disclosure provides a position determining device 600 for application to a first device, a first transmitting module 601 used for periodically broadcasting a first positioning reference signal PRS; A first receiving module 602 is used to receive a second PRS that a second device feeds back based on the first PRS; A second transmitting module 603 used for transmitting a third PRS to the second device based on the second PRS; Here, the second device performs a position determination based on the first PRS, the second PRS, and the third PRS.

[0128] Optionally, when broadcasting the first PRS, an identity identifier of the first device; A transmission period of the first PRS; a time-frequency location of a resource for broadcasting the first PRS; and location information of the first device.

[0129] Optionally, the device 600 may further include: a first determination module used to determine third time information and fourth time information; a time information transmitting module used for transmitting the third time information and the fourth time information to the second device; wherein the third time information is a third time difference value between the receiving time of the second PRS and the transmitting time of the first PRS, and the fourth time information is a fourth time difference value between the transmitting time of the third PRS and the receiving time of the second PRS, The third time information and the fourth time information are used by the second device to determine its position. Optionally, the time information sending module includes a first sending sub-module; The first transmitting submodule, when it arrives at a time for periodically transmitting the first PRS, broadcasts the first PRS and simultaneously attaches the fourth time information to the first PRS, or attaches the third time information and the fourth time information to the first PRS; and Identifier information of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0130] Optionally, the device 600 further comprises: a second determination module for determining a number N of first time domain resources between a time domain resource for receiving the first PRS and a time domain resource for transmitting the second PRS by a second device; a third determination module used for determining that a number of time domain resources between a receiving time domain resource of the second PRS and a transmitting time domain resource of the third PRS is equal to a number of the first time domain resources; a fourth determination module adapted to determine a time domain resource for a third PRS transmission and to determine a transmission resource for the third PRS on the time domain resource; N is a positive integer, and N≧1.

[0131] Optionally, when transmitting a third PRS to the second device, an identity identifier of the first device; a time domain location of a resource for broadcasting the first PRS; a time-frequency location of a resource for broadcasting the first PRS; a first time difference value between a receiving time of the second PRS and a transmitting time of the first PRS; an identity identifier of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0132] Optionally, the method further includes a fifth determination module: The fifth determination module: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the PRS for the first device by the base station gNB / eNB and setting a transmission period; The first device autonomously selects resources for transmitting a first PRS by monitoring its PRS transmission resource pool; The first device is used to determine a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of: autonomously adjusting the transmission period of the first PRS based on a congestion degree of receiving the PRS transmitted by the second device.

[0133] Optionally, a fifth decision module: a first determination submodule adapted to measure a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; a second decision sub-module adapted to exclude the indicated reserved resources and select a transmission resource from the remaining available resources based on the measurement quantity; and a third determination sub-module, used for reselecting to the unavailable resource when it determines that its occupied PRS transmission resource is unavailable or when it determines that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable.

[0134] Optionally, the measurand is: a reference signal received power RSRP at which the third device transmits the PRS; the RSRP of the demodulation reference signal DMRS of the PSSCH transmitted in association with the PRS transmitted by the third device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a third device; The received power of a preamble transmitted in association with the PRS transmitted by the third device; and a received signal strength indication (RSSI) of the PRS transmitted by the third device; Here, the third device is a device that shares a PRS transmission resource pool with the first device.

[0135] Optionally, the second decision submodule: selecting a transmission resource for the first PRS from remaining available candidate transmission resources; Or, from the remaining available candidate transmission resources, a transmission resource for the first PRS; and a PSSCH transmission resource transmitted in association with the first PRS; a PSCCH transmission resource transmitted in association with the first PRS; a preamble transmission resource transmitted in association with the first PRS.

[0136] Optionally, the fifth determining module, when autonomously selecting a resource for transmitting the first PRS by monitoring a PRS transmission resource pool, specifically: When a fourth device is present whose distance from the first device is within a preset range, the time interval of the PRS transmission resource between the first device and the fourth device is used to implement that which is less than a predetermined threshold.

[0137] Optionally, the device 600 further comprises: a first processing module adapted to stop broadcasting the PRS based on a server configuration or a network side configuration; and / or and a second processing module adapted to stop broadcasting the PRS when the number of periods during which the PRS transmitted by the second device is not consecutively received reaches a predetermined threshold.

[0138] Optionally, the second resource pool and the first resource pool for broadcasting the first PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the first resource pool is a resource for the second device to transmit a PRS.

[0139] The third embodiment of the present disclosure corresponds to the method of the first embodiment, and all the implementation means in the first embodiment can be applied to the embodiment of the positioning device 600 to obtain the same technical effects.

[0140] Fourth Example As shown in FIG. 7 , an embodiment of the present disclosure provides a positioning device 700 for application to a second device, and the positioning device 700 includes: a third transmitting module 701, which is used to transmit a second PRS to a first device upon receiving a first PRS broadcast by the first device; a second receiving module 702 for receiving a third PRS transmitted by the first device to the second device based on the second PRS; a position solution module 703 used to perform a position determination based on the first PRS, the second PRS, and the third PRS.

[0141] Optionally, the apparatus 700 may further include: a sixth determination module used for determining the first time information and the second time information; the first time information is a first time difference value between a transmission time of the second PRS and a reception time of the first PRS, and the second time information is a second time difference value between a reception time of the third PRS and a transmission time of the second PRS, The apparatus 700 further comprises: an acquisition module used for acquiring third time information and fourth time information transmitted by the first device; wherein the third time information is a third time difference value between the receiving time of the second PRS and the transmitting time of the first PRS, and the fourth time information is a fourth time difference value between the transmitting time of the third PRS and the receiving time of the second PRS, The location solution module 703 includes: and a positioning sub-module used for determining a position based on the first time information, the second time information, the third time information and the fourth time information.

[0142] Optionally, the third time information is attached when the first device transmits a third PRS, or is attached when the first device rebroadcasts and transmits the first PRS after the third PRS; The fourth time information is attached when the first device rebroadcasts and transmits the first PRS after the third PRS.

[0143] Optionally, the number of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS is equal to the number of time domain resources between the receiving time domain resource of the second PRS and the transmitting time domain resource of the third PRS, denoted as N; Here, N is a positive integer, and N≧1.

[0144] Optionally, the positioning submodule According to the following formula,

number

[0145] Optionally, when transmitting a second PRS to the first device, an identity identifier of the second device; an identity identifier of the first device; Sequence information of the first PRS; a transmission resource location of the first PRS; A transmission resource index of the first PRS; A number N of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS (N is a positive integer, N≧1); a time domain resource location at which the first device transmits a third PRS; a time-frequency resource location at which the first device transmits a third PRS; a period during which the second device transmits a second PRS; and a time-frequency location of a resource for transmitting the second PRS and / or information associated with and attached to the second PRS.

[0146] Optionally, the apparatus 700 further includes a seventh determination module; The seventh decision module: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the second PRS for the second device via the base station gNB / eNB and setting a transmission period; The second device autonomously selects and determines a transmission resource for the second PRS by monitoring its own PRS transmission resource pool; The second device is used to determine a transmission resource for the second PRS by at least one of: determining a resource on which the second device will periodically transmit the second PRS based on a PRS transmission period during which the first device transmits the PRS.

[0147] Optionally, the seventh decision module: a fourth determination sub-module adapted to measure a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; a fifth decision sub-module, which is used for selecting a transmission resource from the remaining available resources based on the measurement quantity by eliminating the indicated reserved resource; a sixth determination sub-module, which is used for reselecting to the unavailable resource when determining that its occupied PRS transmission resource is unavailable, or when determining that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the physical sidelink control channel PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable; When receiving a PRS adjacent to the first device, a second PRS is determined, or a second PRS is used to determine a transmission resource of the second PRS from candidate resources that do not overlap with the PRS period of the first device. 7 and a decision submodule.

[0148] Optionally, the method further includes an eighth determination module, which is used to simultaneously determine a receiving resource of the third PRS when independently selecting and transmitting a resource of the second PRS; Here, the number of time domain resources between the receiving resources of the third PRS and the transmitting resources of the second PRS is the same as the number of time domain resources between the transmitting resources of the second PRS and the receiving resources of the first PRS.

[0149] Optionally, the measurand is: A reference signal received power RSRP of the fifth device transmitting a PRS; The RSRP of the demodulation reference signal DMRS of the PSSCH transmitted simultaneously with the PRS transmitted by the fifth device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a fifth device; The received power of a preamble transmitted in association with the PRS transmitted by the fifth device; a received signal strength indication (RSSI) of the PRS transmitted by the fifth device; Here, the fifth device is a device that shares a PRS transmission resource pool with the second device.

[0150] Optionally, the fifth decision submodule specifically: selecting a transmission resource for the second PRS from the remaining available candidate transmission resources of the PRS; Or, from the remaining available candidate transmission resources, the second PRS transmission resource; and a PSSCH transmission resource transmitted in association with the second PRS; a PSCCH transmission resource transmitted in association with the second PRS; and a preamble transmission resource transmitted in association with the second PRS.

[0151] The resource selection window will now display Both the front and back edges of the resource selection window are smaller than T / 2; and The front edge of the resource selection window is equal to or greater than the first time length; and T is a period during which the first device transmits a PRS, and the first length of time is equal to the second length of time, or the first length of time is equal to the sum of the second length of time, a preset PRS detection time threshold, and a preset PSSCH decoding time threshold; wherein the second length of time is: The preset PRS transmission preparation time threshold, or Preset PRS and PSSCH transmission preparation time thresholds, or Preset PRS, PSSCH and PSCCH transmission preparation time thresholds, or Preset PRS and preamble transmission preparation time threshold, or Preset PRS, PSSCH and preamble transmission preparation time thresholds, or These are the transmission preparation time thresholds for the preset PRS, PSSCH, PSCCH, and preamble.

[0152] Optionally, the first resource pool and the second resource pool for transmitting the second PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the second resource pool is a resource pool for the first device to transmit a PRS.

[0153] The positioning device 700 is an apparatus corresponding to the method in the above second embodiment, and all the implementation means in the above method embodiment can be applied to the embodiment of the positioning device to obtain the same technical effects.

[0154] Fifth Example In order to better achieve the above object, as shown in FIG. 8 , the fifth embodiment of the present disclosure further provides a first device, which is a vehicle networking device, and the vehicle networking device comprises: A processor 800 and a memory 820 connected to the processor 800 via a bus interface; The memory 820 is used to store programs and data used when the processor 800 performs operations, and the processor 800 accesses and executes the programs and data stored in the memory 820 .

[0155] Here, the transceiver 810 is connected to the bus interface and is used to transmit and receive data under the control of the processor 800 , and the processor 800 is used to read the program in the memory 820 .

[0156] Specifically, the transceiver 810 periodically broadcasts a first positioning reference signal PRS; receiving a second PRS fed back by a second device based on the first PRS; used to transmit a third PRS to the second device based on the second PRS; Here, the second device performs a position determination based on the first PRS, the second PRS, and the third PRS.

[0157] Here, in FIG. 8, the bus architecture may include any number of interconnected buses and bridges to which various circuits, specifically one or more processors, represented by processor 800, and memory, represented by memory 820, are connected. The bus architecture may further couple various other circuits, such as peripherals, regulators, and power management circuits, all of which are well known to those skilled in the art and will not be described further herein. The bus interface provides an interface. The transceiver 810 may be multiple elements, including a transmitter and a transceiver, that provide a unit for communicating with various other devices over a transmission medium. The processor 800 is responsible for managing and generally processing the bus architecture, and the memory 820 may store data used when the processor 800 performs operations.

[0158] Optionally, the transceiver 810, when broadcasting the first PRS, an identity identifier of the first device; A transmission period of the first PRS; a time-frequency location of a resource for broadcasting the first PRS; and location information of the first device.

[0159] Optionally, the processor 800 is adapted to determine third time information and fourth time information; the transceiver 810 is used for transmitting the third time information and the fourth time information to the second device; wherein the third time information is a third time difference value between the receiving time of the second PRS and the transmitting time of the first PRS, and the fourth time information is a fourth time difference value between the transmitting time of the third PRS and the receiving time of the second PRS, Here, the third time information and the fourth time information are used by the second device to determine its position.

[0160] Optionally, when the time arrives for the transceiver 810 to periodically transmit the first PRS, the transceiver 810 broadcasts the first PRS and simultaneously attaches the fourth time information, or attaches the third time information and the fourth time information; and Identifier information of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0161] Optionally, the processor 800 determines a number N of first time domain resources between a time domain resource on which the second device receives the first PRS and a time domain resource on which the second device transmits the second PRS; determining that a number of time domain resources between a receiving time domain resource of the second PRS and a transmitting time domain resource of the third PRS is equal to a number of the first time domain resources; used to determine a time domain resource for a third PRS transmission and to determine a transmission resource for the third PRS on the time domain resource; N is a positive integer, and N≧1.

[0162] Optionally, the transceiver 810, when transmitting the third PRS to the second device, an identity identifier of the first device; a time domain location of a resource for broadcasting the first PRS; a time-frequency location of a resource for broadcasting the first PRS; a first time difference value between a receiving time of the second PRS and a transmitting time of the first PRS; an identity identifier of the second device; Sequence information of the second PRS; a transmission resource location of the second PRS; and a transmission resource index of the second PRS.

[0163] Optionally, the processor 800 may: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the PRS for the first device by the base station gNB / eNB and setting a transmission period; The first device autonomously selects resources for transmitting a first PRS by monitoring its PRS transmission resource pool; The first device is used to determine a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of: autonomously adjusting the transmission period of the first PRS based on a congestion degree of receiving the PRS transmitted by the second device.

[0164] Optionally, the processor 800 may be configured to, when the first device operates in a sidelink, select a resource for transmitting a first PRS by monitoring its own PRS transmission resource pool, specifically: measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; based on said measurement quantity, to eliminate the indicated reserved resources and select a transmission resource from the remaining available resources; Here, if it is determined that its occupied PRS transmission resource is unavailable, or if it is determined that one or more of its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, reselection is performed to the unavailable resource.

[0165] Optionally, the measurand is: a reference signal received power RSRP at which the third device transmits the PRS; the RSRP of the demodulation reference signal DMRS of the PSSCH transmitted in association with the PRS transmitted by the third device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a third device; The received power of a preamble transmitted in association with the PRS transmitted by the third device; and a received signal strength indication (RSSI) of the PRS transmitted by the third device; Here, the third device is a device that shares a PRS transmission resource pool with the first device.

[0166] Optionally, the processor 800, when selecting a transmission resource from the remaining available resources based on said measurement quantity and excluding the indicated reserved resource, specifically: selecting a transmission resource for the first PRS from the remaining available candidate transmission resources; Or, from the remaining available candidate transmission resources, a transmission resource for the first PRS; and a PSSCH transmission resource for the first PRS-related transmission; a PSCCH transmission resource transmitted in association with the first PRS; and a preamble transmission resource transmitted in association with the first PRS.

[0167] Optionally, the processor 800 may, when autonomously selecting resources for transmitting the first PRS by monitoring a PRS transmission resource pool, specifically: If there is a fourth device whose distance from the first device is within a preset range, the time interval of the PRS transmission resource between the first device and the fourth device is set to be smaller than a predetermined threshold.

[0168] Optionally, the processor 800 may further specifically: Stop broadcasting the PRS based on the server configuration or network configuration. and / or This is used to stop broadcasting the PRS when the number of consecutive periods during which the PRS transmitted by the second device is not received reaches a certain threshold.

[0169] Optionally, the second resource pool and the first resource pool for broadcasting the first PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the first resource pool is a resource for the second device to transmit a PRS.

[0170] According to the vehicle networking device 800 of the present disclosure, when the synchronization error between the first device and the second device is negligible, the second device can perform distance measurement based on the received first PRS or third PRS, and further determine the location of the device, or the first device can perform distance measurement based on the received second PRS, and further determine the location of the second device. In this way, the problem of not being able to position the second device in areas with poor GNSS signal coverage or no GNSS signal coverage is solved. And the anchor node (first device) periodically broadcasts and transmits the first PRS and the associated positioning information, and the second device feeds back the second PRS between two transmissions, thus avoiding the situation where the positioning delay is increased due to the establishment of a unicast connection and the positioning delay is increased due to the interaction of point-to-point positioning signals, and the delay can be effectively reduced. At the same time, the first device does not need to additionally transmit related timing information, reducing the process of one data transmission, and similarly realizing the reduction of the delay.

[0171] As will be understood by those skilled in the art, all or some of the steps of implementing the above embodiments can be completed by hardware, and can also be completed by instructing relevant hardware by a computer program, the computer program including commands for executing some or all of the steps of the above method, the computer program can be stored in a readable storage medium, and the storage medium can be any type of storage medium.

[0172] Sixth Example In order to better achieve the above object, as shown in FIG. 9, the sixth embodiment of the present disclosure includes: Further, a second device, a vehicle networking device, is provided, the vehicle networking device comprising: A processor 900 and a memory 920 connected to the processor 900 via a bus interface; The memory 920 is used to store programs and data used when the processor 900 executes operations, and the processor 900 accesses and executes the programs and data stored in the memory 920 .

[0173] Here, the transceiver 910 is connected to the bus interface and is used to transmit and receive data under the control of the processor 900 , and the processor 900 is used to read the program in the memory 920 .

[0174] Specifically, the transceiver 910 is used to receive a first PRS broadcast by a first device, transmit a second PRS to the first device, and receive a third PRS that the first device transmits to the second device based on the second PRS; The processor 900 is used to perform a position determination based on the first PRS, the second PRS, and the third PRS.

[0175] Here, in FIG. 9, the bus architecture may include any number of interconnected buses and bridges, and specifically, various circuits, such as one or more processors, represented by processor 900, and memory, represented by memory 920, are connected. The bus architecture may further couple various other circuits, such as peripheral devices, regulators, and power management circuits, all of which are well known to those skilled in the art and will not be described further herein. The bus interface provides an interface. The transceiver 910 may be a number of elements, including a transmitter and a transceiver, that provide a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 930 may further be an interface that may be externalized or internalized to the required equipment, and the connected equipment may include, but is not limited to, a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 900 is responsible for managing the bus architecture and general processing, and the memory 920 may store data used when the processor 900 performs operations.

[0176] Optionally, the processor 900 may further determining first time information and second time information; Acquire third time information and fourth time information transmitted by the first device; used to determine a position based on the first time information, the second time information, the third time information, and the fourth time information; wherein the first time information is a first time difference value between a transmission time of the second PRS and a reception time of the first PRS, and the second time information is a second time difference value between a reception time of the third PRS and a transmission time of the second PRS, The third time information is a third time difference value between the receiving time of the second PRS and the transmitting time of the first PRS, and the fourth time information is a fourth time difference value between the transmitting time of the third PRS and the receiving time of the second PRS.

[0177] Optionally, the third time information is attached when the first device transmits a third PRS, or is attached when the first device rebroadcasts and transmits the first PRS after the third PRS; The fourth time information is attached when the first device rebroadcasts and transmits the first PRS after the third PRS.

[0178] Optionally, the number of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS is equal to the number of time domain resources between the receiving time domain resource of the second PRS and the transmitting time domain resource of the third PRS, denoted as N; Here, N is a positive integer, and N≧1.

[0179] Optionally, when determining a position based on the first time information, the second time information, the third time information and the fourth time information, the processor 900 specifically: According to the following formula,

number

[0180] Optionally, the transceiver 910, when transmitting the second PRS to the first device, an identity identifier of the second device; an identity identifier of the first device; Sequence information of the first PRS; a transmission resource location of the first PRS; A transmission resource index of the first PRS; A number N of time domain resources between the receiving time domain resource of the first PRS and the transmitting time domain resource of the second PRS (N is a positive integer, N≧1); a time domain resource location at which the first device transmits a third PRS; a time-frequency resource location at which the first device transmits a third PRS; a period during which the second device transmits a second PRS; and a time-frequency location of a resource for transmitting the second PRS and / or information associated with and attached to the second PRS.

[0181] Optionally, the processor 900, before transmitting the second PRS to the first device, further comprises: A positioning server configuration; A radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the second PRS for the second device via the base station gNB / eNB and setting a transmission period; The second device autonomously selects and determines a transmission resource for the second PRS by monitoring its own PRS transmission resource pool; The second device is used to determine a transmission resource for the second PRS by at least one of: determining a resource on which the second device will periodically transmit the second PRS based on a PRS transmission period during which the first device transmits the PRS.

[0182] Optionally, the processor 900 may be configured to autonomously select and transmit resources for the second PRS by monitoring its own PRS transmission resource pool, specifically: measuring a measurement quantity available for resource elimination on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; based on said measurement quantity, to eliminate the indicated reserved resources and select a transmission resource from the remaining available resources; Wherein, when determining that its occupied PRS transmission resource is unavailable, or when determining that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the physical sidelink control channel PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, performing reselection to the unavailable resource; When the second device receives a PRS adjacent to the first device, it determines a transmission resource for the second PRS, or determines a transmission resource for the second PRS from candidate resources that do not overlap with the PRS period of the first device.

[0183] When the processor autonomously selects and transmits resources of the second PRS, the processor further for simultaneously determining the reception resource of the third PRS; Here, the number of time domain resources between the receiving resources of the third PRS and the transmitting resources of the second PRS is the same as the number of time domain resources between the transmitting resources of the second PRS and the receiving resources of the first PRS.

[0184] Optionally, the measurand is: A reference signal received power RSRP of the fifth device transmitting a PRS; The RSRP of the demodulation reference signal DMRS of the PSSCH transmitted simultaneously with the PRS transmitted by the fifth device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a fifth device; The received power of a preamble transmitted in association with the PRS transmitted by the fifth device; a received signal strength indication (RSSI) of the PRS transmitted by the fifth device; Here, the fifth device is a device that shares a PRS transmission resource pool with the second device.

[0185] Optionally, the processor 900 is adapted to, when selecting a transmission resource from the remaining available resources based on said measurement, exclude the indicated reserved resource: selecting a transmission resource for the second PRS from the remaining available candidate transmission resources of the PRS; Or, from the remaining available candidate transmission resources, the second PRS transmission resource, and a PSSCH transmission resource transmitted in association with the second PRS; a PSCCH transmission resource transmitted in association with the second PRS; and a preamble transmission resource transmitted in association with the second PRS.

[0186] The resource selection window will now display Both the front and back edges of the resource selection window are smaller than T / 2; and The front edge of the resource selection window is equal to or greater than the first time length; and T is a period during which the first device transmits a PRS, and the first length of time is equal to the second length of time, or the first length of time is equal to the sum of the second length of time, a preset PRS detection time threshold, and a preset PSSCH decoding time threshold; wherein the second length of time is: The preset PRS transmission preparation time threshold, or Preset PRS and PSSCH transmission preparation time thresholds, or Preset PRS, PSSCH and PSCCH transmission preparation time thresholds, or Preset PRS and preamble transmission preparation time threshold, or Preset PRS, PSSCH and preamble transmission preparation time thresholds, or These are the transmission preparation time thresholds for the preset PRS, PSSCH, PSCCH, and preamble.

[0187] Optionally, the first resource pool and the second resource pool for transmitting the second PRS are orthogonal in a time domain or orthogonal in both a time domain and a frequency domain; Here, the second resource pool is a resource pool for the first device to transmit a PRS.

[0188] According to the vehicle networking device 900 of the present disclosure, when the synchronization error between the first device and the second device is negligible, the second device can perform distance measurement based on the received first PRS or third PRS, and further determine the location of the device, or the first device can perform distance measurement based on the received second PRS, and further determine the location of the second device. In this way, the problem of not being able to position the second device in areas with poor GNSS signal coverage or no GNSS signal coverage is solved. And the anchor node (first device) periodically broadcasts and transmits the first PRS and the associated positioning information, and the second device feeds back the second PRS between two transmissions, thus avoiding the situation where the positioning delay is increased due to the establishment of a unicast connection and the positioning delay is increased due to the interaction of point-to-point positioning signals, and the delay can be effectively reduced. At the same time, the first device does not need to additionally transmit related timing information, reducing the process of one data transmission, and similarly realizing the reduction of the delay.

[0189] As will be understood by those skilled in the art, all or some of the steps of implementing the above embodiments can be completed by hardware, and can also be completed by instructing relevant hardware by a computer program, the computer program including commands for executing some or all of the steps of the above method, the computer program can be stored in a readable storage medium, and the storage medium can be any type of storage medium.

[0190] It is clear that each component or each step in the device and method of the present disclosure can be decomposed and / or recombined. Such decomposition and / or recombination should be considered as an equivalent solution of the present disclosure. In addition, the steps of performing the above-mentioned series of processes include processes that are not necessarily performed in chronological order according to the order described, but also processes that are performed in parallel or individually. Those skilled in the art can understand all or any of the steps or components of the method and device of the present disclosure, and can be realized in hardware, firmware, software, or a combination thereof in any computing device (including a processor, a storage medium, etc.) or a network of computing devices, which can be realized by those skilled in the art using their basic programming techniques when reading the description of the present disclosure.

[0191] Therefore, the object of the present disclosure can be achieved by executing a program or a group of programs on an arbitrary computing device. The computing means may be a known general-purpose means. Therefore, the object of the present disclosure can be achieved only by providing a program product including a program code for implementing the above-mentioned method or device. That is, such a program product also constitutes the present disclosure, and a storage medium storing such a program product also constitutes the present disclosure. Of course, this storage medium may be a known storage medium or any storage medium developed in the future. It is clear that each component or each step in the device and method of the present disclosure can be disassembled and / or recombined. Such disassembly and / or recombination should be considered as an equivalent solution of the present disclosure. In addition, the steps of executing the above-mentioned series of processes include not only processes performed in chronological order according to the order described, but also processes performed in parallel or individually, not necessarily in chronological order. In addition, the series of processes described in the specification can be executed by hardware, software, or a combination of both.

[0192] It should be understood that the above division of each module is merely a division of logical functions, and that in actual implementation, all or part of the modules may be integrated into a physical entity or physically separated. All of these modules can be implemented by processing element calls by software, or all of them can be implemented by hardware. Part of the module can be implemented by processing part call software, or part of the module can be implemented in the form of hardware. For example, the decision module may be a processing element provided separately, or may be integrated and implemented in any chip of the device, or may be stored in the memory of the device in the form of program code, and the function of the decision module may be invoked and executed by any processing element of the device. The implementation of other modules is similar. All or part of these modules may be integrated or independently implemented. The processing element described herein may be an integrated circuit having the ability to process signals. In the implementation process, each step of the above method or each of the above modules may be completed by an integrated logic circuit of hardware in a processor element or by instructions in the form of software.

[0193] For example, each module, unit, sub-unit, or sub-module may be one or more integrated circuits configured to implement the above method, such as one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Furthermore, when the above modules are implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call the program code. Furthermore, these modules may be integrated to be implemented as a system-on-a-chip (SOC).

[0194] The terms "first," "second," and the like in the specification and claims of the present disclosure are intended to distinguish between similar objects without necessarily being used to describe a particular order or priority. It should be understood that the data used in this manner may be interchanged where appropriate to implement the embodiments of the present disclosure described herein, e.g., in an order other than that shown or described herein. Furthermore, the terms "comprise" and "have" are used to cover the inclusion of, for example, a process, method, system, product, or apparatus that includes a series of steps or units, which may include, or may include, other steps or units that are not specifically listed or that are inherent to such a process, method, product, or apparatus, which may include, or may include, other steps or units that are not specifically listed or that are inherent to such a process, method, product, or apparatus. Furthermore, the specification and claims use "and / or" to represent at least one of the connected objects, e.g., A and / or B and / or C, including distinct A, distinct B, distinct C, and the seven cases where both A and B are present, both B and C are present, both A and C are present, and both A, B, and C are present. Similarly, "at least one of A and B" as used in the specification and claims should be understood as "there is either A alone, B alone, or A and B."

[0195] The above is a preferred embodiment of the present disclosure. However, those skilled in the art may make some improvements and modifications without departing from the above principles of the present disclosure, and these improvements and modifications should also be considered as within the scope of protection of the present disclosure.

Claims

1. A position determination method for application to a first device, comprising: periodically broadcasting a first positioning reference signal (PRS); receiving a second PRS fed back by a second device based on the first PRS; transmitting a third PRS to the second device based on the second PRS; wherein the second device performs a position determination based on the first PRS, the second PRS, and the third PRS; After transmitting a third PRS to the second device based on the second PRS, The method further comprises: determining third time information and fourth time information; transmitting the third time information and the fourth time information to the second device; Here, the third time information is a third time difference value between a reception time of the second PRS and a transmission time of the first PRS, and the fourth time information is a fourth time difference value between a transmission time of the third PRS and a reception time of the second PRS, Here, the third time information and the fourth time information are used by the second device to determine its position.

2. When broadcasting the first PRS, an identity identifier of the first device; A transmission period of the first PRS; a time-frequency location of a resource for broadcasting the first PRS; and location information of the first device. The method of claim 1 .

3. Transmitting the third time information and the fourth time information to the second device includes: When the time to periodically transmit the first PRS arrives, Broadcasting the first PRS and simultaneously attaching the third time information and the fourth time information; and, Identifier information of the second device; Sequence information of the second PRS; A transmission resource location of the second PRS; and a transmission resource index of the second PRS. The method of claim 1 .

4. When transmitting a third PRS to the second device, an identity identifier of the first device; a time domain location of a resource for broadcasting the first PRS; a time-frequency location of a resource for broadcasting the first PRS; an identity identifier of the second device; Sequence information of the second PRS; A transmission resource location of the second PRS; and a transmission resource index of the second PRS. The method of claim 1 .

5. Before broadcasting the first PRS, the method further comprises: A positioning server configuration; a radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of the PRS for the first device by the base station gNB / eNB and setting a transmission period; The first device autonomously selects resources for transmitting a first PRS by monitoring its PRS transmission resource pool; The first device determines a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of: (a) independently adjusting a transmission period of the first PRS based on a congestion degree of receiving the PRS transmitted by the second device; and (b) determining a transmission resource for the first PRS and / or a transmission period of the first PRS by at least one of the following: The method of claim 1 .

6. When the first device operates in a sidelink, the first device autonomously selects resources for transmitting a first PRS by monitoring its own PRS transmission resource pool. measuring a measurement quantity available for resource scavenging on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Here, when it is determined that its occupied PRS transmission resource is unavailable, or when it is determined that one or more transmission resources among its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, reselection is performed to the unavailable resource.

6. The method of claim 5.

7. The measured quantity is A reference signal received power RSRP at which the third device transmits the PRS; An RSRP of a demodulation reference signal DMRS of a PSSCH transmitted in association with a PRS transmitted by a third device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a third device; The received power of a preamble transmitted in association with the PRS transmitted by the third device; and a received signal strength indication (RSSI) of the PRS transmitted by the third device; Here, the third device is a device that shares a PRS transmission resource pool with the first device.

7. The method of claim 6.

8. Rejecting the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement amount includes: selecting a transmission resource for the first PRS from remaining available candidate transmission resources; Or, from the remaining available candidate transmission resources, a transmission resource for the first PRS; and A PSSCH transmission resource transmitted in association with the first PRS; A PSCCH transmission resource transmitted in association with the first PRS; a preamble transmission resource to be transmitted in association with the first PRS.

7. The method of claim 6.

9. The method further comprises: Stopping broadcast of the PRS based on server configuration or network side configuration; and / or and ceasing broadcasting the PRS when the number of periods during which the PRS transmitted by the second device is not consecutively received reaches a predetermined threshold. The method of claim 1 .

10. A position determination method for application to a second device, comprising: Upon receiving a first PRS broadcast by a first device, transmitting a second PRS to the first device; receiving a third PRS that the first device transmits to the second device based on the second PRS; determining a position based on the first PRS, the second PRS, and the third PRS; After receiving a third PRS transmitted by the first device to the second device based on the second PRS, the second device receives third time information and fourth time information determined by the first device from the first device; Here, the third time information is a third time difference value between a reception time of the second PRS and a transmission time of the first PRS, and the fourth time information is a fourth time difference value between a transmission time of the third PRS and a reception time of the second PRS, Here, the third time information and the fourth time information are used by the second device to determine its position.

11. The method further comprises: The second device includes determining first time information and second time information; Here, the first time information is a first time difference value between a transmission time of the second PRS and a reception time of the first PRS, and the second time information is a second time difference value between a reception time of the third PRS and a transmission time of the second PRS, determining a position based on the first PRS, the second PRS, and the third PRS; determining a position based on the first time information, the second time information, the third time information, and the fourth time information. The method of claim 10.

12. The third time information is attached when the first PRS is broadcast and transmitted again after the third PRS, The fourth time information is attached when the first device rebroadcasts and transmits the first PRS after the third PRS. The method of claim 11.

13. When transmitting a second PRS to the first device, an identity identifier of the second device; an identity identifier of the first device; Sequence information of the first PRS; A transmission resource location of the first PRS; A transmission resource index of the first PRS; and A number N of time domain resources between the reception time domain resource of the first PRS and the transmission time domain resource of the second PRS (N is a positive integer, N≧1); a time domain resource location where the first device transmits a third PRS; a time-frequency resource location at which the first device transmits a third PRS; A period during which the second device transmits a second PRS; and a time-frequency location of a resource for transmitting the second PRS and / or information associated with and attached to the second PRS. The method of claim 10.

14. Prior to transmitting the second PRS to the first device, the method further comprises: A positioning server configuration; a radio resource control (RRC) configuration; Pre-configuration and Scheduling a transmission resource of a second PRS for a second device via a base station gNB / eNB and setting a transmission periodicity; The second device autonomously selects and determines a transmission resource for the second PRS by monitoring its own PRS transmission resource pool; The second device determines a resource for periodically transmitting the second PRS based on a PRS transmission period in which the first device transmits the PRS. The method of claim 10.

15. The second device autonomously selects and transmits resources for the second PRS by monitoring its own PRS transmission resource pool. measuring a measurement quantity available for resource scavenging on transmission resources in a resource pool available for PRS transmission before triggering a physical sidelink shared channel (PSSCH) transmission of the PRS; and selecting a transmission resource from the remaining available resources based on the measurements by eliminating the indicated reserved resources; Wherein, when it determines that its occupied PRS transmission resource is unavailable, or when it determines that one or more of its occupied PRS transmission resource, the PSSCH transmission resource associated with the PRS transmission resource, the physical sidelink control channel PSCCH transmission resource associated with the PRS transmission resource, and the preamble transmission resource associated with the PRS transmission resource are unavailable, it performs reselection to the unavailable resource; When the second device receives a PRS adjacent to the first device, the second device determines a transmission resource for the second PRS, or determines a transmission resource for the second PRS from candidate resources that do not overlap with the PRS period of the first device.

15. The method of claim 14.

16. The measured quantity is A reference signal received power RSRP of the fifth device transmitting the PRS; An RSRP of a demodulation reference signal DMRS of a PSSCH transmitted simultaneously with the PRS transmitted by the fifth device; an RSRP of a PSCCH of control signaling transmitted in association with a PRS transmitted by a fifth device; The received power of a preamble transmitted in association with the PRS transmitted by the fifth device; a received signal strength indication (RSSI) of the PRS transmitted by the fifth device; Here, the fifth device is a device that shares a PRS transmission resource pool with the second device.

16. The method of claim 15.

17. Rejecting the indicated reserved resources and selecting a transmission resource from the remaining available resources based on the measurement amount includes: selecting a transmission resource for the second PRS from the remaining available PRS candidate transmission resources; Or, from the remaining available candidate transmission resources, a transmission resource for the second PRS; and A PSSCH transmission resource transmitted in association with the second PRS; A PSCCH transmission resource transmitted in association with the second PRS; a preamble transmission resource to be transmitted in association with the second PRS.

16. The method of claim 15.

18. The resource selection window is Both the front edge and the back edge of the resource selection window are smaller than T / 2; the front edge of the resource selection window is greater than or equal to the first time length; T is a period during which the first device transmits a PRS, and the first length of time is equal to the second length of time, or the first length of time is equal to the sum of the second length of time, a preset PRS detection time threshold, and a preset PSSCH decoding time threshold; Here, the second length of time is: A preset PRS transmission preparation time threshold, or Preset PRS and PSSCH transmission preparation time thresholds, or Preset PRS, PSSCH and PSCCH transmission preparation time thresholds, or Preset PRS and preamble transmission preparation time threshold, or Preset PRS, PSSCH and preamble transmission preparation time thresholds, or Preset PRS, PSSCH, PSCCH and preamble transmission preparation time thresholds 20. The method of claim 17.

19. A vehicle networking device, comprising: The vehicle networking equipment is a first equipment and includes a transceiver, a memory, a processor and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the vehicle networking equipment realizes the steps of the positioning method described in any one of claims 1 to 9.

20. A vehicle networking device, comprising: The vehicle networking equipment is a second equipment and includes a transceiver, a memory, a processor and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the vehicle networking equipment realizes the steps of the positioning method described in any one of claims 10 to 18.

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