Positioning method, device and computer-readable storage medium

Abstract

The present invention provides a positioning method, an apparatus, and a computer-readable storage medium in the field of communication technology, the method being a positioning method executed by a core network device, including: receiving a first request for requesting location information of a positioned terminal; causing a target terminal to transmit a positioning reference signal according to the configuration information based on the first request; and transmitting, to a positioned terminal and a target terminal, configuration information for instructing the positioned terminal to receive a positioning reference signal according to the configuration information so as to position the positioned terminal.

Description

[Technical field]

[0001] The present invention claims priority to a Chinese patent application bearing application number 202011620018.3, filed with the State Intellectual Property Office on December 31, 2020, and the entire contents disclosed in the Chinese patent application are incorporated herein by reference.

[0002] The present invention relates to the field of communication technology, and in particular to a positioning method, an apparatus, and a computer-readable storage medium. [Background technology]

[0003] Conventionally, in the 3GPP architecture, when data transmission is performed by Sidelink (direct communication link), the scenario where a terminal accessing a base station in a situation where the base station is covered can also provide a positioning reference signal has not yet been considered. In conventional positioning technology, the positioning reference signal transmitted by a base station covered outdoors cannot meet the requirement for high accuracy positioning because the number of outdoor base stations transmitting the positioning reference signal is too small, the outdoor base stations are distributed in a geometric correlation manner, and the transmission resolution of the positioning reference signal is not high enough, all of which lead to a significant decrease in accuracy based on the outdoor positioning result by the cellular network. On the other hand, in the Sidelink scenario, the requirement for positioning accuracy is stronger, and if the existing positioning architecture is used, the positioning accuracy needs of Sidelink cannot be fully met. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides a positioning method, device, and computer-readable storage medium, which can solve the problem that the existing positioning framework cannot meet the requirements for positioning accuracy in a sidelink scenario. [Means for solving the problem]

[0005] In a first aspect, there is provided a positioning method performed by a core network device. The method comprises: receiving a first request for requesting location information of a positioned terminal; The method includes transmitting, to the positioned terminal and the target terminal, the configuration information for instructing the target terminal to transmit a positioning reference signal using configuration information based on the first request, and to cause the positioned terminal to receive a positioning reference signal using the configuration information so as to position the positioned terminal.

[0006] In one possible implementation, Transmitting location information to the positioning terminal and the target terminal based on the first request, determining a target terminal to which a positioning reference signal is to be transmitted based on the identification information of the target terminal included in the first request; Setting configuration information on the target terminal; and transmitting the set configuration information to the located terminal and the target terminal.

[0007] In another possible implementation, Determining a target terminal to which a positioning reference signal is to be transmitted based on identification information of the target terminal included in the first request, determining a base station to which the located terminal belongs based on identification information of the located terminal; and determining, as the target terminals, terminals covered by the base station and terminals covered by neighboring base stations of the base station.

[0008] In another possible implementation, Before setting the configuration information on the target terminal, The method further includes selecting a terminal that supports transmission of a positioning reference signal from the target terminals; Setting the configuration information on the target terminal includes: The method includes setting configuration information for the terminal that supports transmission of the positioning reference signal.

[0009] In another possible implementation, Selecting a terminal that supports transmission of the positioning reference signal from the target terminals includes: sending a second request to the target terminal, inquiring to the target terminal whether or not it supports transmission of a positioning reference signal; and selecting, from the target terminals, the terminals that support transmission of positioning reference signals based on identification information of the target terminals carried in the received feedback message.

[0010] In another possible implementation, The feedback message also includes parameter information of the positioning reference signal transmitted by the target terminal, and the configuration information set in the terminal supporting the transmission of the positioning reference signal is The configuration information is configured for the terminal that supports transmission of a positioning reference signal based on the parameter information.

[0011] In another possible implementation, The parameter information includes at least one of a bandwidth, frequency point information, and duration length of the positioning reference signal transmitted by the target terminal.

[0012] In another possible implementation, the method further comprises: Selecting a terminal that supports transmission of a positioning reference signal from the target terminals; and transmitting to the positioned terminal an identifier ID of a terminal that supports transmission of a positioning reference signal, so that the positioned terminal receives the positioning reference signal transmitted by the terminal to the identification ID based on the configuration information.

[0013] In another possible implementation, the method further comprises: A measurement result reported from the positioning target terminal, the measurement result including a time difference of arrival between positioning reference signals and a positioning reference signal ID; First and a corresponding time stamp. Based on the positioning reference signal ID corresponding to the measurement result and the identification information of the target terminal, Second determining at least one corresponding target terminal; obtaining geographic location information and a corresponding timestamp reported from the at least one target terminal; The measurement results First a corresponding time stamp and the geographic location information; Second and determining a geographic location of the positioned terminal based on the corresponding time stamp.

[0014] In another possible implementation, The geographic location information reported by the at least one target terminal and the geographic location information Second To get the corresponding timestamp, Based on the identification information of the at least one target terminal, the geographical location information of the at least one target terminal is obtained from the geographical location information reported by the target terminal and a corresponding time stamp. Second Sorting out the corresponding timestamps; Or, sending a third request to the at least one target terminal to request geographic location information of the at least one target terminal; geographic location information reported by the at least one target terminal; and Second and a corresponding time stamp.

[0015] In another possible implementation, The method includes receiving a geographical position reported by the positioned terminal based on a received positioning reference signal.

[0016] In another possible implementation, The arrangement information is a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0017] In a second aspect, there is provided a positioning method performed by a core network device. The method comprises: Transmitting preset configuration information to a target terminal, the configuration information being used to instruct the target terminal to transmit a positioning reference signal according to the configuration information; receiving a first request for requesting location information of a positioned terminal; The method includes transmitting, to the positioned terminal, the configuration information for instructing the positioned terminal to receive a positioning reference signal using the configuration information, so as to position the positioned terminal based on the first request.

[0018] In one possible implementation, Selecting a terminal that supports transmission of a positioning reference signal from the target terminals; The method further includes transmitting an identifier ID of the terminal that supports transmission of a positioning reference signal to the positioned terminal.

[0019] In another possible implementation, Selecting the terminal that supports transmission of the positioning reference signal from the target terminals includes: sending a second request to the target terminal, inquiring to the target terminal whether or not it supports transmission of a positioning reference signal; and selecting, from the target terminals, the terminals that support transmission of positioning reference signals based on identification information of the target terminals carried in the received feedback messages of the target terminals.

[0020] In a third aspect, there is provided a positioning method performed by a positioned terminal. The method comprises: receiving configuration information transmitted from a core network device; receiving positioning reference signals transmitted from a plurality of transmitters including a target terminal and a base station to which the target terminal belongs, based on the configuration information; and performing positioning based on the positioning reference signal.

[0021] In one possible implementation, The positioning based on the positioning reference signal includes: measuring a time difference of arrival between the positioning reference signals transmitted by each transmitter; Determining a geographical location based on the arrival time difference and the corresponding timestamp, and the received geographical location information and speed information from each sender of the core network equipment and the corresponding timestamp.

[0022] In another possible implementation, before determining a geographical location based on the arrival time difference and the corresponding time stamp, and the geographical location information and the speed information received from each sender of the core network device and the corresponding time stamp, obtaining calibration parameters; Determining a geographical location based on the arrival time difference and the corresponding time stamp, and the received geographical location information and speed information from each sender of the core network device and the corresponding time stamp, calibrating a timestamp corresponding to the arrival time difference based on the calibration parameters; Determining a geographical location based on the arrival time difference, a timestamp corresponding to the geographical location information and speed information of each sender, and a timestamp corresponding to the arrival time difference after a calibration process.

[0023] In another possible implementation, Obtaining the calibration parameters includes: Obtaining a first timestamp when each transmitter transmits a positioning reference signal, a second timestamp when each transmitter transmits a positioning reference signal, and a third timestamp when the position target terminal performs positioning calculation; determining a calibration parameter based on the first timestamp, the second timestamp, and the third timestamp.

[0024] In another possible implementation, Determining a geographical location based on the arrival time difference and the corresponding time stamp, and the received geographical location information and speed information from each sender of the core network device and the corresponding time stamp, determining a moving sender based on speed information of each sender and / or geographical location information of each sender at a time when the senders are adjacent; culling the arrival time differences corresponding to the moved senders from the arrival time differences; determining a geographic location based on the remaining arrival time differences and corresponding timestamps, and the corresponding sender geographic location information and corresponding timestamps.

[0025] In another possible implementation, before receiving positioning reference signals transmitted from a plurality of transmitting sides based on the configuration information, receiving an identifier ID of a terminal supporting transmission of a positioning reference signal transmitted by the core network device; Receiving positioning reference signals transmitted from a plurality of transmitters based on the location information, The method includes receiving a positioning reference signal transmitted by a terminal corresponding to the identifier ID based on the configuration information.

[0026] In another possible implementation, The method further includes reporting the geographic location to the core network equipment.

[0027] In another possible implementation, The positioning based on the positioning reference signal includes: measuring a time difference of arrival between the positioning reference signals transmitted by each transmitter; The method further includes reporting measurement results, including a time difference of arrival between the positioning reference signals and a corresponding positioning reference signal ID, and a corresponding time stamp, to the core network equipment so that the core network equipment determines the geographical location of the positioned terminal.

[0028] In another possible implementation, The arrangement information is a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0029] In a fourth aspect, a memory for storing a computer program; a transceiver for receiving a first request for requesting location information of a positioned terminal under the control of a processor, and causing the target terminal to transmit a positioning reference signal according to the positioning information based on the first request, and transmitting the positioning information to the positioned terminal and the target terminal, the positioning information being used to instruct the positioned terminal to receive a positioning reference signal according to the positioning information so as to position the positioned terminal; A core network device is provided that includes the processor for reading a computer program stored in a memory to control the transceiver.

[0030] In one possible implementation, Specifically, the processor is for determining a target terminal to which a positioning reference signal is to be transmitted based on the identification information of the positioning target terminal included in the first request, and setting configuration information for the target terminal; Specifically, the transceiver is for transmitting the configured location information to the positioned terminal and the target terminal under the control of the processor.

[0031] In another possible implementation, Specifically, the processor is configured to determine the base station to which the positioned terminal belongs based on the identification information of the positioned terminal, and to determine the terminals covered by the base station and the terminals covered by the neighboring base stations of the positioned terminal as the target terminals.

[0032] In another possible implementation, Specifically, the processor is for selecting a terminal that supports transmission of a positioning reference signal from the target terminals, and setting configuration information for the terminal that supports transmission of a positioning reference signal.

[0033] In a fifth aspect, a memory for storing a computer program; a transceiver for transmitting, under the control of a processor, preset configuration information to a target terminal for instructing the target terminal to transmit a positioning reference signal according to the configuration information, receiving a first request for location information of a positioned terminal, and transmitting, to a positioned terminal, the configuration information for instructing the positioned terminal to receive a positioning reference signal according to the configuration information so as to position the positioned terminal based on the first request; A core network device is provided that includes the processor for reading a computer program stored in a memory to control the transceiver.

[0034] In a sixth aspect, a memory for storing a computer program; a transceiver for receiving, under the control of a processor, location information transmitted from a core network device, and receiving positioning reference signals transmitted from a plurality of transmitting sides including a target terminal and a base station to which the target terminal belongs, based on the location information; A terminal is provided that includes the processor for reading a computer program stored in a memory and controlling the transceiver to perform positioning based on the positioning reference signal received by the transceiver.

[0035] In one possible implementation, Specifically, the processor is for measuring the arrival time difference between the positioning reference signals transmitted by each transmitter, and determining the geographical position based on a timestamp corresponding to the arrival time difference, and a timestamp corresponding to the received geographical position information and speed information from each transmitter of the core network equipment.

[0036] In another possible implementation, The processor is specifically for measuring a time difference of arrival between positioning reference signals transmitted by each transmitter; The transceiver is further for reporting measurement results including a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID, and a corresponding time stamp, to the core network equipment so that the core network equipment determines the geographical location of the positioned terminal.

[0037] In a seventh aspect, a receiving unit for receiving a first request for requesting location information of a positioned terminal; a transmitting unit for transmitting, to the positioned terminal and the target terminal, the configuration information for instructing the target terminal to transmit a positioning reference signal based on the configuration information and for instructing the positioned terminal to receive a positioning reference signal based on the configuration information so as to position the positioned terminal, based on the first request; A core network device including:

[0038] In an eighth aspect, a transmitter for transmitting, to a target terminal, preset configuration information for instructing the target terminal to transmit a positioning reference signal according to the configuration information; a receiving unit for receiving a first request for requesting location information of a positioned terminal, A core network device is provided, wherein the transmitting unit is further configured to transmit, to the positioned terminal, the configuration information for instructing the positioned terminal to receive a positioning reference signal using the configuration information so as to position the positioned terminal based on the first request.

[0039] In a ninth aspect, a receiving unit for receiving location information transmitted from a core network device, and receiving positioning reference signals transmitted from a plurality of transmitting sides including a target terminal and a base station to which the target terminal belongs, based on the location information; A terminal is provided that includes: a positioning unit for positioning a positioned terminal based on the positioning reference signal.

[0040] In a tenth aspect, a processor-readable recording medium storing a computer program is provided. The processor-readable recording medium stores a computer program for causing the processor to execute an operation corresponding to the positioning method shown in the first aspect, an operation corresponding to the positioning method shown in the second aspect, or an operation corresponding to the positioning method shown in the third aspect.

[0041] In order to more clearly describe the technical solutions related to the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below. [Brief description of the drawings]

[0042] [Figure 1] FIG. 1 is a diagram of a related art positioning framework. [Diagram 2] FIG. 1 is a diagram showing a sidelink communication procedure in the related art. [Diagram 3] FIG. 2 is a diagram showing a flow of a positioning method according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing the flow of a positioning method according to another embodiment of the present invention. [Diagram 5] FIG. 11 is a diagram showing a flow of a positioning method according to another embodiment of the present invention. [Figure 6] FIG. 2 is a diagram showing an exchange of a positioning method according to an embodiment of the present invention. [Figure 7] FIG. 4 is a diagram showing an exchange of a positioning method according to another embodiment of the present invention. [Figure 8] FIG. 4 is a diagram showing an exchange of a positioning method according to another embodiment of the present invention. [Figure 9] FIG. 2 is a diagram showing the configuration of a core network device according to an embodiment of the present invention. [Figure 10] FIG. 2 is a diagram showing the configuration of a terminal device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0043] Hereinafter, the embodiments of the present invention will be described in detail, and examples of each embodiment will be described in the drawings, and the same or similar reference numerals indicate the same or similar elements, or elements having the same or similar functions. The embodiments described below with reference to the drawings are illustrative and are used only to explain the present invention, and should not be construed as limiting the present invention.

[0044] As will be appreciated by those skilled in the art, the singular forms "a," "an," "the," and "the" as used herein are understood to include the plural, unless otherwise specified. As used herein, the term "comprising" means the presence of the above features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups of components. As used herein, when referring to an element being "connected" or "coupled" to another element, the element may be directly connected or coupled to the other element, or intermediate elements may be present. As used herein, "connected" or "coupled" may include wireless connections or couplings. As used herein, the term "and / or" is inclusive of all or a portion of one or more associated listed items and all combinations thereof.

[0045] In order to make the objects, scope and advantages of the present invention clearer, the embodiments of the present invention will be described in more detail below with reference to the drawings.

[0046] The technical solutions provided by the embodiments of the present invention are applicable to various systems, particularly 5G systems, such as global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wide band code division multiple access (WCDMA), general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, LTE-A (long term evolution advanced) systems, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G New Radio (NR) systems, etc. The various systems include terminal equipment and network side equipment. The system may further include a core network part such as an evolved packet system (EPS) or a 5G system (5GS).

[0047] First, some nouns according to the present invention will be introduced and interpreted. The terminal device according to the embodiment of the present invention is a device that provides voice and / or data communication to a user, and may be, for example, a handheld device with a wireless connection function, or other processing device connected to a wireless modem. In different systems, the name of the terminal device may be different, for example, in a 5G system, the terminal device may be called UE (User Equipment). The wireless terminal device can communicate with one or more core networks (Core Networks, CN) via a Radio Access Network (RAN), and the wireless terminal device may be a mobile terminal device such as a mobile phone (or called a "cellular" phone) or a computer with a mobile terminal device, for example, a mobile, compact, handheld, computer-embedded or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. For example, a Personal Communication Service (PCS) telephone, a cordless telephone, a Session Initiated Protocol (SIP) telephone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), etc. A wireless terminal device may also be called a system, a subscriber unit, a subscriber station, a mobile station, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, or a user device, and is not limited to embodiments of the present invention.

[0048] The network side equipment according to the embodiment of the present invention may be a base station including multiple cells serving terminals. Based on the specific application, the base station may also be called an access point, or may be an equipment that communicates with wireless terminal equipment over an air interface through one or more sectors in an access network, or may be called by other names. The network side equipment, as a router between the wireless terminal equipment and the rest of the access network including an IP (Internet Protocol) communication network, may be capable of interchanging received air frames with IP (Internet Protocol) packets. The network side equipment may also coordinate the attribute management of the air interface. For example, the network side device according to the embodiment of the present invention may be a network side device (Base Transceiver Station, BTS) in Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a network side device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), an evolutional NodeB (eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), a Home evolved NodeB (HeNB), a relay node, a home base station (femto), a pico base station (pico), or the like, and is not limited to the embodiment of the present invention. In some network configurations, the network side device may include a centralized unit (CU) node and a distributed unit (DU) node, and the aggregation unit and the distribution unit may be located geographically apart.

[0049] Between the network side device and the terminal device, multiple input multiple output (MIMO) transmission is possible using one or multiple antennas, and the MIMO transmission may be single user MIMO (SU-MIMO) or multiple user MIMO (MU-MIMO). The MIMO transmission may be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO based on the form and number of combinations of root antennas, and may be diversity transmission, precoding transmission, beamforming transmission, or the like.

[0050] In the core network device according to an embodiment of the present invention, a location server (Location Management Function, LMF) may be a physical or logical entity that manages the location of managed devices, i.e. wireless devices to be located, and is located in a control plane architecture called Evolved Service Mobile Location Center (E-SMLC), and is responsible for selecting a location method and triggering location measurements accordingly, and for calculating the location final result and accuracy.

[0051] The positioning architecture currently applied in the 5G access network NG-RAN may be, as shown in FIG. 1, in which the NG-RAN transmits a positioning reference signal or performs positioning measurement based on auxiliary information, or the terminal equipment UE transmits a positioning reference signal or performs positioning measurement based on auxiliary information, and the final result and accuracy of positioning may be calculated based on the measurement result.

[0052] Positioning capabilities in the Long Term Evolution (LTE) Positioning Protocol (LPP) include the positioning methods supported by the target device, differences in support for a given positioning method (e.g., supported Global Navigation Satellite System A-GNSS Assistance Data Types), and some common characteristics of positioning that are not limited to a given positioning method (e.g., the ability to handle multiple LPP transactions).

[0053] The LPP positioning capability transfer transaction may be triggered by the server, specifically by the server sending an LPP request capability message to request positioning capabilities for the target device, or the target device may perform "active reporting", specifically by the target device sending its positioning capabilities to the server, such that the target device actively sends capability information including specific positioning methods, commonalities of some positioning methods, etc. The server may be an LMF in the 5G positioning architecture.

[0054] Direct communication refers to a method in which nearby terminals can transmit data through a direct communication link (also called Sidelink) within a short distance range. The wireless interface corresponding to the Sidelink link is called a direct communication interface, also called a Sidelink interface, as shown in Figure 2.

[0055] Therefore, in the current situation, when data transmission is performed by Sidelink (direct communication link) in the 3GPP architecture, the scenario in which a terminal accessing a base station in a situation where the base station is covered can also provide a positioning reference signal has not yet been considered. In the conventional positioning technology, the positioning reference signal transmitted by a base station covered outdoors cannot meet the requirement for high accuracy positioning because the number of outdoor base stations transmitting the positioning reference signal is too small, the outdoor base stations are geometrically correlated, and the transmission resolution of the positioning reference signal is not high enough, all of which lead to a significant decrease in accuracy based on the outdoor positioning result by the cellular network. On the other hand, in the Sidelink scenario, the requirement for positioning accuracy is stronger, and if the existing positioning architecture is used, the positioning accuracy needs of Sidelink cannot be fully met.

[0056] SUMMARY OF THE PRESENT EMBODIMENTS The present invention provides a positioning method, device, and processor-readable recording medium that aim to solve the above-mentioned problems of the prior art.

[0057] Specifically, the embodiment of the present invention provides a positioning method that not only allows a base station to transmit a positioning reference signal, but also allows some terminals covered by the base station (some terminals that access the base station covered by the base station) to transmit a positioning reference signal via a PC5 interface, thereby increasing the non-correlation between the density of the positioning reference signal in the network and the geometry distribution for transmitting the positioning signal, thereby improving the positioning accuracy of the positioned terminal. The base station reports the positioning reference signal resource pool to the LMF server, and the LMF transmits the PC5 PRS configuration to the positioned terminal and the target terminal, notifying that the target terminal can deliver a PRS signal and a corresponding resource configuration in the PC5 interface, and notifying the positioned terminal of the resource configuration in which the PRS signal can be received in the PC5 interface. In this way, the target terminal can transmit a positioning reference signal according to a desired request, and the terminal to be positioned can receive more positioning reference signals.

[0058] The technical solution of the present invention and how the technical solution of the present invention solves the technical problems will be described in detail with specific examples. Several specific examples can be combined below, and the same or similar concepts or processes may be omitted in some examples. Below, the embodiments of the present disclosure will be described with reference to the drawings.

[0059] In an embodiment of the present invention, as shown in FIG. 3, a positioning method 10 is provided which is executed by a core network device such as a positioning server LMF.

[0060] At 110, receiving a first request for location information of a positioned terminal; 120, based on the first request, transmitting the configuration information to the positioned terminal and the target terminal, the configuration information instructing the target terminal to transmit a positioning reference signal based on the configuration information, and to the positioned terminal to receive a positioning reference signal based on the configuration information so as to position the positioned terminal.

[0061] Specifically, in this embodiment, the first request received by the LMF is a positioning service request from the positioning terminal, and the configuration information is: a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0062] In the above embodiment, when the LMF receives a first request for location information of the located terminal, it transmits a PC5 PRS configuration to the located terminal and the target terminal, notifies the target terminal that it can transmit a PRS signal and a corresponding resource configuration on the PC5 interface, and notifies the located terminal of the resource configuration that allows it to receive a PRS signal on the PC5 interface. In this way, the target terminal can transmit a positioning reference signal according to a desired request by adopting the PC5 PRS configuration, and the terminal to be located can receive more positioning reference signals.

[0063] Therefore, the positioning method provided in the embodiment of the present invention not only enables a base station to transmit a positioning reference signal, but also enables some terminals covered by the base station to transmit a positioning reference signal via a PC5 interface, thereby increasing the non-correlation between the density of the positioning reference signal in the network and the geometry distribution for transmitting the positioning signal, thereby improving the positioning accuracy of the positioned terminal, and further meeting the positioning accuracy requirements in sidelink scenes.

[0064] It should be noted that in this embodiment, the target terminal can send a positioning reference signal through a PC5 interface on a resource indicated by the configuration information. The LMF can send the configuration information to the positioned terminal through an LPP message.

[0065] In some embodiments, step 120 includes: 121, determining a target terminal to which a positioning reference signal is to be transmitted based on the identification information of the positioning terminal included in the first request. In some embodiments, the identification information of the positioning target terminal included in the first request may be the terminal's ID, for example, UEID or L2 UEID; 122, setting corresponding configuration information on the target terminal; In step 123, the method may include transmitting the set configuration information to the location target terminal and the target terminal.

[0066] Specifically, in this embodiment, step 121 includes: determining a base station to which the located terminal belongs based on identification information of the located terminal; The method may include determining, as the target terminals, terminals covered by the base station and terminals covered by neighboring base stations of the base station.

[0067] That is, in this embodiment, when the core network device receives a first request transmitted by a positioning terminal (a terminal requesting the geographical location of a positioned terminal) it can obtain the base station to which the positioned terminal belongs by searching a database based on the identification information of the positioned terminal included in the first request, determine the terminals covered by the base station and the terminals covered by the base stations surrounding the base station as target terminals, set corresponding location information to the target terminal, and then transmit the set location information to the positioned terminal and the target terminal, the target terminal transmits a positioning reference signal based on the received location information, and the positioned terminal receives the positioning reference signal transmitted by the target terminal based on the received location information, thereby locating the positioned terminal.

[0068] In some embodiments, prior to step 120, step 120 further comprises: At 124, the method may further include selecting, from the target terminals, a terminal that supports transmission of a positioning reference signal.

[0069] Step 123 includes configuring corresponding configuration information for terminals that support the transmission of positioning reference signals.

[0070] Specifically, in this embodiment, step 124 specifically includes: sending a second request to the target terminal, inquiring of the target terminal whether transmission of a positioning reference signal is supported; The method may include selecting a terminal that supports transmission of a positioning reference signal from the target terminal based on identification information of the target terminal carried in the received feedback message of the target terminal.

[0071] If the feedback message also includes parameter information of the positioning reference signal transmitted by the target terminal, then step 123 can be specifically described as follows: According to the parameter information, corresponding configuration information is configured in the terminal supporting the transmission of the positioning reference signal.

[0072] In this embodiment, the parameter information includes at least one of a bandwidth, frequency point information, and a duration length of the positioning reference signal transmitted by the target terminal. That is, in order to increase the efficiency of transmitting the positioning reference signal PRS and to avoid wasting resources, the target terminal may be identified based on the identification information of the positioned terminal included in the request, and then terminals having PRS transmission capability may be selected from the identified target terminals, and the corresponding PRS resources may be allocated based on the specific capabilities of those terminals.

[0073] An embodiment of the present invention provides a positioning method 100 executed by a core network device such as a positioning server LMF, as shown in FIG. 101, transmitting pre-configured configuration information to a target terminal, the pre-configured configuration information being used to instruct the target terminal to transmit a positioning reference signal according to the configuration information; In 102, receiving a first request for requesting location information of a positioned terminal; 103, the method may include transmitting, based on the first request, the configuration information to the positioned terminal, for instructing the positioned terminal to receive a positioning reference signal using the configuration information, so as to position the positioned terminal.

[0074] That is, before receiving the first request, the configuration information for transmitting the PRS can be set to the terminals in the entire network, for example, by setting the same PRS resource to the terminals in the entire network, the terminals can be stimulated to transmit the PRS in a timely manner when receiving the first request. In addition, the pre-configured configuration information can be transmitted to the terminals in the entire network by a broadcast message, where the specific implementation forms include the LMF directly transmitting the configuration information to each terminal by an LPP message, or the LMF transmitting the configuration information to the base station, and the base station transmitting the configuration information to each terminal by a broadcast message.

[0075] In some embodiments, the positioning method 100 further comprises: 104, selecting a terminal that supports transmission of a positioning reference signal from the target terminals; At 105, the method may include transmitting an identifier ID of a terminal supporting transmission of a positioning reference signal to the positioned terminal, so that the positioned terminal receives a positioning reference signal transmitted by a terminal corresponding to the identifier ID based on the configuration information.

[0076] Specifically, in this embodiment, step 104 includes: sending a second request to the target terminal, inquiring to the target terminal whether or not it supports transmission of a positioning reference signal; The method may include selecting a terminal that supports transmission of a positioning reference signal from the target terminal based on identification information of the target terminal carried in the received feedback message of the target terminal.

[0077] That is, in this embodiment, it is not specified which terminals have the ability to transmit PRS, which terminals do not have the ability to transmit PRS, and what specific capabilities terminals that have the ability to transmit PRS have. Therefore, it is necessary to inquire of the target terminals as to whether they have auxiliary positioning capabilities, and select from among them terminals that support the transmission of positioning reference signals. By transmitting the identifiers IDs of some of these terminals to the positioned terminal, the positioned terminal can receive the positioning reference signal transmitted by the terminal corresponding to the identifier ID by the configuration information, thereby avoiding waste of resources.

[0078] In some embodiments, the positioning method 10 and / or the positioning method 100 further comprises: 130, receiving measurement results including arrival time differences between positioning reference signals and corresponding positioning reference signal IDs and corresponding time stamps reported from positioning terminals; 140, determining at least one corresponding target terminal based on a positioning reference signal ID according to the measurement result and identification information of the target terminal. In other words, determining at least one of them from the target terminal; 150, obtaining geographic location information and a corresponding timestamp reported from the at least one target terminal; At 160, determining a geographical location of the positioned terminal based on a timestamp corresponding to the measurement result and a timestamp corresponding to the geographical location information.

[0079] Specifically, in this embodiment, step 150 includes: 151, according to the identification information of the at least one target terminal, from the geographical location information and the corresponding time stamp reported from the target terminal received, the geographical location information and the corresponding time stamp of the at least one target terminal are selected; Or, 152, sending a third request to the at least one target terminal to request geographic location information of the at least one target terminal; At 153, the method may include receiving geographic location information reported from the at least one target terminal and a corresponding time stamp.

[0080] Specifically, in this embodiment, the LMF can determine a target terminal corresponding to a positioning reference signal ID according to the identification information of the target terminal and the positioning reference signal ID according to the received measurement result, and obtain the geographical location of the positioned terminal according to the arrival time difference between the received positioning reference signals and the corresponding timestamp, and the determined geographical location information of the target terminal and the corresponding timestamp.

[0081] It should be noted that in this embodiment, after obtaining the above information, the LMF uses conventional calculation methods to obtain the geographical location of the target terminal, which will not be described here for the sake of brevity.

[0082] In some embodiments, the positioning method 10 and / or the positioning method 100 further comprises: At 170, receiving a geographical position reported from the positioned terminal that the positioned terminal could have positioned based on the received positioning reference signal.

[0083] Specifically, in this embodiment, the LMF does not need to perform positioning calculation to determine the geographical location of the positioned terminal, but can directly receive the geographical location reported by the positioned terminal.

[0084] Based on the same inventive idea, an embodiment of the present invention provides a positioning method 20 executable by a position target terminal during positioning, as shown in FIG. At 210, receiving configuration information sent from a core network device; 220, receiving positioning reference signals transmitted from a plurality of transmitting sides including a target terminal and a base station to which the target terminal belongs based on the configuration information; At 230, performing positioning based on the positioning reference signal.

[0085] Specifically, in this embodiment, the configuration information is: a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits the positioning reference signal. The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0086] In the above embodiment, the target terminal receives the PC5 PRS arrangement reported from the LMF and knows the resource arrangement for receiving the PRS signal on the PC5 interface. Not only the positioning reference signal transmitted from the base station, but also the positioning reference signal transmitted by a part of the terminals covered by the base station based on the arrangement through the PC5 interface can be received, so that more positioning reference signals can be received, and the density of the positioning reference signal in the network and the non-correlation of the geometric distribution of the positioning signal for transmission are improved. Therefore, the positioning accuracy of the target terminal is improved, and the positioning accuracy requirement in the sidelink scene can be met.

[0087] In addition, in this embodiment, the positioned terminal can obtain the configuration information by receiving the LPP message sent by the LMF, and receive the corresponding positioning reference signal on the resource indicated by the configuration information.

[0088] In some embodiments, step 230 further comprises: 231, measuring a time difference of arrival between positioning reference signals transmitted by each transmitter; At 232, the method may include determining a geographic location based on the arrival time difference and the corresponding timestamp, and the geographic location information and speed information and the corresponding timestamp from each sender of the received core network device.

[0089] Specifically, in this embodiment, the positioned terminal can determine its own geographical location based on the arrival time difference between the positioning reference signals transmitted by each transmitter and the corresponding timestamp, and the geographical location information and speed information received from each transmitter of the core network equipment and the corresponding timestamp, without having to send related information to the LMF and have the LMF perform positioning calculations.

[0090] In some embodiments, prior to step 232, step 230 further comprises: At 240, this can include obtaining calibration parameters.

[0091] Step 232 is calibrating a timestamp corresponding to the arrival time difference based on the calibration parameters; and determining a geographic location based on the time difference of arrival, geographic location information and speed information of each sender and corresponding time stamps, and a time stamp corresponding to the time difference of arrival after a calibration process.

[0092] That is, in this embodiment, a method may be adopted to calibrate the time difference that may occur during positioning in order to obtain a more accurate geographical position.

[0093] Specifically, in this embodiment, step 240 includes the following steps: Acquiring a first timestamp when each transmitter transmits a positioning reference signal, a second timestamp when each transmitter transmits a positioning reference signal, and a third timestamp when a positioning target terminal performs a positioning calculation; determining a calibration parameter based on the first timestamp, the second timestamp, and the third timestamp.

[0094] Specifically, in this embodiment, it is necessary to calibrate two types of time difference that may exist as follows. One type is caused by the positioned terminal itself. For example, if there is a time difference between the time when the positioning reference signal transmitted by each transmitter is received and the time when the positioning calculation is performed, the time when the positioning calculation is performed needs to be corrected. The other type is caused by the network. For example, if the time when each transmitter transmits the positioning reference signal is not synchronized, an error occurs in the arrival time difference between the positioning reference signals transmitted by each transmitter, and correction is also required.

[0095] In some embodiments, step 232 includes: determining a moving sender based on speed information of each sender and / or geographical location information at the time when each sender is adjacent; subtracting from the arrival time differences those arrival time differences corresponding to the shifted launch ends; determining the geographic location based on the remaining time difference of arrival and the corresponding timestamp, and the geographic location information of the sender and the corresponding timestamp.

[0096] That is, in this embodiment, in order to obtain a more accurate geographical position, information corresponding to the moving terminal (including the arrival time difference and the time stamp corresponding to the geographical position information) may be thinned out. Since factors that cause errors in the positioning result during positioning calculation are eliminated, the accuracy of positioning can be improved.

[0097] In this embodiment, when determining the geographical position based on the remaining arrival time differences and corresponding time stamps, and the corresponding sending side geographical position information and corresponding time stamps, the time stamps corresponding to the remaining arrival time differences may be calibrated first based on the acquired calibration parameters, and then the positioning calculation may be performed to obtain the geographical position of the positioned terminal. In this way, the final positioning result is more accurate.

[0098] In some embodiments, prior to step 220, the positioning method 20 further comprises: At 250, the method may include receiving an identifier ID of a terminal that supports transmission of a positioning reference signal, the identifier ID being transmitted by the core network device.

[0099] In step 220, specifically, receive a positioning reference signal transmitted by a terminal corresponding to the identifier ID according to the configuration information.

[0100] In some embodiments, the positioning method 20 further comprises: At 260, the method may include reporting the geographic location to the core network equipment.

[0101] In another embodiment, step 230 comprises: 233, measuring a time difference of arrival between positioning reference signals transmitted by each transmitter; At 234, the core network equipment determines the geographical location of the positioned terminal by reporting the measurement results, including the time difference of arrival between the positioning reference signals and the corresponding positioning reference signal ID, and the corresponding time stamp, to the core network equipment.

[0102] Above, with reference to Figures 3 to 5, one aspect of the positioning method according to an embodiment of the present invention has been described from the perspective of a core network device and a positioned terminal. Below, with reference to Figures 6 to 8, the process of realizing one aspect of the positioning method according to an embodiment of the present invention will be described in detail.

[0103] As shown in Figure 6, it is a data / signaling exchange process diagram of one of the positioning methods provided by the embodiment of the present invention. The positioning method 30 may include the following steps. At 310, the LMF receives a first request (eg, a positioning service request). Specifically, the LMF receives a first request from a positioning terminal, which includes the identification information of the positioned terminal, requests the location information of the positioned terminal, and may or may not indicate to the positioned terminal that it is providing a positioning service. The positioning terminal is a terminal that requests the geographical location of the positioned terminal.

[0104] In addition, when the LMF receives a first request, it may select and set a corresponding QoS index request, such as a positioning accuracy request, a positioning health request, etc., based on the service type of the first request.

[0105] At 320, the LMF determines a target terminal based on the first request. Specifically, in this embodiment, based on the identification information of the positioned terminal included in the first request, the base station to which the positioned terminal belongs can be determined, and the terminals covered by the base station and the terminals covered by the base station's neighboring base stations can be determined as target terminals. In some embodiments, the identification information of the positioned terminal included in the first request may be the ID of the terminal, for example, the UEID or L 2 UEID.

[0106] At 330, the LMF sets the corresponding configuration information in the target terminal. Specifically, in this embodiment, the same configuration information may be set for the determined target terminals, for example, the same PRS resources may be given to the target terminals, that is, the time domain, frequency domain, and spatial domain resources for each target terminal to transmit the PRS may be the same. In addition, when setting resources for transmitting the positioning reference signal PRS, it is necessary to perform the setting using resources in a positioning reference signal resource pool reported from the base station.

[0107] In some cases, before step 330, the LMF may select a target terminal, for example, a terminal capable of transmitting a PRS to transmit the PRS. Specifically, the following steps may be included: In 301, the LMF sends a first request to the AMF of the core network device, allowing the AMF to carry an identifier ID of the target terminal for paging the target terminal to enter a positioning flow. At 302, in response to the first request, the AMF sends a paging message to the target terminal so that paging can enter the target terminal of the positioning flow. At 303, the AMF receives a response message sent by a target terminal entering a positioning flow to indicate that the corresponding target terminal receives paging. In 304, the AMF feeds back to the LMF the ID of the target terminal that received the page (referred to as the first target terminal). In 305, the LMF sends a second request to the first target terminal, which is for inquiring the first target terminal whether it supports transmitting a positioning reference signal, and the second request may be an auxiliary positioning request for inquiring the first target terminal whether it has an auxiliary positioning capability. In 306, the LMF receives a feedback message transmitted by the first target terminal, and selects a terminal (referred to as a second target terminal) that supports transmission of a positioning reference signal from the first target terminal based on the identification information of the first target terminal carried in the feedback message.

[0108] Then, step 330 is The LMF includes setting corresponding configuration information in the second target terminal according to parameter information of the positioning reference signal transmitted by the target terminal carried in the feedback message. The parameter information includes at least one of the bandwidth, frequency point information, and duration length of the positioning reference signal transmitted by the target terminal.

[0109] For example, there are three second target terminals, and at least one parameter of the bandwidth, frequency point information, and duration length of the positioning reference signal transmitted by the second target terminal is fed back for each second target terminal, and corresponding configuration information is set based on the parameters of the transmitted positioning reference signal fed back for each second target terminal. This allows for precise placement based on the capabilities of the target terminal, improving the transmission efficiency of the PRS.

[0110] At 340, the LMF transmits the configured location information to the positioned terminal and the target terminal. If the target terminal does not make a selection, the same configuration information set in each target terminal is transmitted, and if the target terminal becomes a second target terminal through selection, the configuration information set in each second target terminal and corresponding to each second target terminal is transmitted.

[0111] At 350, the target terminal transmits a PRS based on the received configuration information at the resource location indicated by the configuration information. In 360, the positioned terminal receives the PRS transmitted by the target terminal at the corresponding resource position indicated by the configuration information according to the received configuration information, and measures the arrival time difference between the positioning reference signals transmitted by each transmitter and the corresponding time stamp. The transmitter includes the target terminal and the base station to which the target terminal belongs.

[0112] It should be noted that the procedure by which the base station transmits the positioning reference signal can be realized using an existing procedure, and for the sake of brevity, a corresponding description is not provided in the embodiments of the present invention. At 370, the positioned terminal transmits the measurement result, including the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID, to the LMF via LPP signaling.

[0113] In this embodiment, for example, if the transmitting side includes target terminals 1, 2, 3, 4 and base station 5, and 1, 2, 3, 4, and 5 are the identification information of the corresponding transmitting side, respectively, the arrival time difference between the positioning reference signals transmitted by each transmitting side and the corresponding positioning reference signal ID are as shown in Table 1 below. [Table 1]

[0114] At 380, the LMF receives the geographic location information reported by the target terminal and the corresponding timestamp. Specifically, in this embodiment, the LMF can determine a target terminal (referred to as a third target terminal) corresponding to the positioning reference signal ID based on the identification information of the target terminal and the positioning reference signal ID corresponding to the received measurement result.

[0115] For example, if the measurement result is t1-t3, the corresponding positioning reference signal IDs are 1 and 3, and thus the corresponding target terminals 1 and 3 are identified. In one situation, the geographical location information and the corresponding time stamp of the third target terminal are selected from the geographical location information and the corresponding time stamp automatically reported from the received target terminal. In this case, the LMF is not limited to whether or not the third target terminal is identified as to when the geographical location information and the corresponding time stamp reported by the target terminal are specifically received. Therefore, the execution of step 380 is not limited to the order of the step numbers, and this is merely an example.

[0116] In another situation, actively send a third request to the third target terminal to request the geographic location information of the third target terminal, and then receive the geographic location information and the corresponding time stamp reported by the third target terminal. Note that in this case, in order to accurately obtain the information about the required target terminal, after identifying the third target terminal, it is necessary to actively request the corresponding geographic location information and the corresponding time stamp from the third target terminal.

[0117] At 390, the LMF determines the geographic location of the positioned terminal based on the received measurements and reported information. Specifically, in this embodiment, the LMF determines the geographical location of the positioned terminal based on the arrival time difference between the received positioning reference signals and the corresponding timestamp, and the geographical location information of the third target terminal and the corresponding timestamp.

[0118] It should be noted that after obtaining the above information, the LMF may use conventional calculation methods to obtain the geographical location of the positioned terminal, which will not be described here for the sake of brevity.

[0119] As shown in Fig. 7, a data / signaling exchange process diagram of one of the positioning methods provided by another embodiment of the present invention is shown. The positioning method 40 is different from the positioning method 30 in the embodiment shown in Fig. 6 in the following points.

[0120] Based on the received configuration information, the positioned terminal receives the PRS transmitted by the target terminal at the corresponding resource position indicated by the configuration information, measures and acquires the arrival time difference between the positioning reference signals transmitted by each transmitter and the corresponding time stamp, and then receives the LMF information and performs positioning calculations in the LMF to determine the position of the positioned terminal, rather than receiving the LMF information and performing positioning calculations in the LMF to determine the position of the positioned terminal.

[0121] That is, the specific implementation procedures of steps 410 to 460 included in the positioning method 40 shown in Fig. 7 are similar to the specific implementation procedures of steps 310 to 360 included in the positioning method 30 shown in Fig. 6, and for the sake of brevity, the description will be omitted here. The differences between the two embodiments will be described in detail below. Specifically, after step 460, method 40 includes: At 470, the LMF receives the geographic location and velocity information reported by the target terminal along with corresponding timestamps and transmits the reported information to the positioning terminal.

[0122] It should be noted that in this embodiment, the execution of step 470 is not limited to the order of the step numbers, and this is merely an example. At 480, the positioned terminal determines its geographical location based on the arrival time difference between the positioning reference signals transmitted by each transmitter and the corresponding timestamp obtained by measurement, and the geographical location information and speed information received from each transmitter of the LFM and the corresponding timestamp.

[0123] Specifically, in this embodiment, in order to make the obtained geographic location more accurate, the information for determining the geographic location may be processed in the following two ways. The first aspect is an aspect in which a moving sender is determined based on the speed information of each sender and / or the geographical position information at the time when each sender is adjacent, and then the arrival time difference corresponding to the moved sender is thinned out from the arrival time difference, and the geographical position is determined based on the remaining arrival time difference and the corresponding timestamp, and the geographical position information of the corresponding sender and the corresponding timestamp.

[0124] In other words, if information corresponding to a moving terminal (including the arrival time difference and the corresponding timestamp, and the geographical location information and the corresponding timestamp) is not thinned out when performing positioning, large errors will occur in the positioning results.

[0125] The second aspect is an aspect in which a timestamp corresponding to the arrival time difference is calibrated based on the acquired calibration parameters, and the geographical position is determined based on the arrival time difference, timestamps corresponding to the geographical position information and speed information of each transmitting side, and a timestamp corresponding to the arrival time difference after the calibration process.

[0126] A first timestamp when the transmitting side transmits the positioning reference signal, a second timestamp when the transmitting side transmits the positioning reference signal, and a third timestamp when the positioned terminal performs positioning calculations are received and acquired, and the calibration parameters are determined based on the first timestamp, the second timestamp, and the third timestamp.

[0127] That is, in the positioning process, it is necessary to calibrate two types of time difference that may exist as follows: One type is caused by the positioned terminal itself, and if there is a time difference between the time when the positioning reference signal transmitted by each transmitter is received and the time when the positioning calculation is performed, the time when the positioning calculation is performed must be corrected. The other type is caused by the network, and if the time when each transmitter transmits a positioning reference signal is not synchronized, an error occurs in the arrival time difference between the positioning reference signals transmitted by each transmitter, and a correction is also required.

[0128] It should be noted that after processing such information with the calibration parameters, the information corresponding to the moving terminal may be thinned out using the first aspect and positioning calculations may be performed. At 490, the positioned terminal transmits the obtained geographical position to the LMF.

[0129] As shown in Figure 8, it is a data / signaling exchange process diagram of one positioning method provided by yet another embodiment of the present invention. The positioning method 50 includes the following steps. At 510, the LMF transmits the pre-configured configuration information to all network terminals through a broadcast message.

[0130] Specifically, in this embodiment, a specific implementation manner may include the LMF directly sending the configuration information to each terminal via an LPP message, or the LMF sending the configuration information to the base station, and the base station sending it to each terminal via a broadcast message.

[0131] Step 500 may be included before step 510, and the LMF pre-configures configuration information for transmitting positioning reference information in all network terminals. It is not specified which terminals have the capability of transmitting PRS, which terminals do not have the capability of transmitting PRS, and what capabilities the terminals that have the capability of transmitting PRS have specifically, so the same PRS resources are configured in all network terminals, that is, the time domain resources, frequency domain resources, and spatial domain resources that each terminal transmits PRS with may be the same.

[0132] Specifically, when configuring the PRS resources, it is necessary to configure the PRS resources using resources in a positioning reference signal resource pool reported by the base station.

[0133] At 520, the LMF receives a first request (eg, a positioning service request). Specifically, the LMF receives a first request from the positioning terminal, which includes the identification information of the positioned terminal, requests the location information of the positioned terminal, and may or may not indicate to the positioned terminal that the positioning service is being provided.

[0134] In addition, when the LMF receives the first request, it may select and set a corresponding QoS index request, such as a positioning accuracy request, a positioning soundness request, etc., based on the service type of the first request.

[0135] At 530, the LMF determines target terminals that support transmission of positioning reference signals PRS based on the first request. In some cases, before step 530, the following steps may be included. In 501, the LMF sends a first request to the AMF of the core network device, enabling the AMF to carry an identifier ID of the target terminal for paging the target terminal to enter a positioning flow. At 502, in response to the first request, the AMF sends a paging message to the target terminal so that paging can enter the target terminal of the positioning flow. At 503, the AMF receives a response message sent by a target terminal entering a positioning flow to indicate that the corresponding target terminal receives paging. At 504, the AMF feeds back to the LMF the ID of the target terminal that received the page (referred to as the first target terminal). In 505, the LMF sends a second request to the first target terminal, which is for inquiring the first target terminal whether the transmission of the positioning reference signal is supported, and the second request may be an auxiliary positioning request for inquiring the first target terminal whether it has an auxiliary positioning capability. At 506, the LMF receives a feedback message sent by the first target terminal, carrying the identification information of the first target terminal.

[0136] In step 530, the LMF may select a target terminal (referred to as a second target terminal) that supports transmission of a positioning reference signal from the first target terminal based on the identification information of the first target terminal carried in the feedback message. At 540, the LMF transmits the identifier ID of the second target terminal to the positioned terminal. At 550, the second target terminal transmits a PRS based on the received configuration information at a corresponding resource location indicated by the configuration information. In 560, the positioned terminal receives the PRS transmitted by the second target terminal according to the received configuration information at each resource position indicated by the configuration information, and measures the arrival time difference and the corresponding time stamp between the positioning reference signals transmitted by each transmitter, where the transmitter includes the target terminal and the base station to which the target terminal belongs.

[0137] In addition, in this embodiment, the target terminal receives the PRS transmitted by the target terminal at the corresponding resource position indicated by the received configuration information, and measures the arrival time difference between the positioning reference signals transmitted by each transmitting side and the corresponding time stamp. Then, when the target terminal is to be located, it can be realized by using two methods.

[0138] In one method, the measurement result is sent to the LMF, and the LMF performs positioning calculation to identify the location of the positioned terminal. For the specific implementation procedure of this form, reference can be made to the implementation procedure of steps 370 to 390 included in the positioning method 30 shown in Figure 6, and for the sake of brevity, the description will be omitted here.

[0139] In the other method, the target terminal receives information from the LMF and performs positioning by combining it with the information it has measured. For the specific implementation procedure of this type, it is possible to refer to the implementation procedure of steps 470 to 490 included in the positioning method 40 shown in Figure 7, and for the sake of brevity, the description will be omitted here.

[0140] Based on the same inventive idea, an embodiment of the present invention provides a core network device. As shown in FIG. The memory 601 stores a computer program. The transceiver 602, under the control of the processor 603, receives a first request requesting location information of the positioned terminal, and based on the first request, transmits the location information to the positioned terminal and the target terminal to instruct the target terminal to transmit a positioning reference signal using the location information, and to cause the positioned terminal to receive a positioning reference signal using the location information so as to position the positioned terminal.

[0141] The processor 603 reads the computer program in the memory 601 and executes control of the transceiver. In some embodiments, the processor specifically determines a target terminal to which a positioning reference signal is to be transmitted based on the identification information of the positioned terminal included in the first request, and sets corresponding configuration information to the target terminal.

[0142] Specifically, the transceiver is for transmitting the set location information to the positioned terminal and the target terminal under the control of the processor. In some other embodiments, the processor specifically determines the base station to which the positioned terminal belongs based on the identification information of the positioned terminal, and determines the terminals covered by the base station and the terminals covered by neighboring base stations of the base station as the target terminals.

[0143] In some other embodiments, the processor is specifically for selecting a terminal that supports transmission of a positioning reference signal from the target terminals, and setting corresponding configuration information to the terminal that supports transmission of a positioning reference signal.

[0144] For contents that are not described in detail in the core network equipment 60 provided by the embodiment of the present invention, reference may be made to the positioning method 10 provided by the embodiment, and the effects that can be achieved by the core network equipment 60 provided by the embodiment of the present invention are similar to those of the positioning method 10 provided by the embodiment, so description thereof will be omitted.

[0145] In the above embodiment, the bus architecture of FIG. 9 may include any number of interconnected buses and bridges, and specifically, various circuits of one or more processors, represented by processor 603, and memory, represented by memory 601, are connected. The bus architecture may also connect various other circuits, such as peripherals, regulators, and power management circuits, as is known in the art, and will not be described further. The bus interface provides an interface. The transceiver 602 is a multi-element that includes a transmitter and a receiver, and provides a means for communicating with various other devices over a transmission medium, including a transmission medium such as a wireless channel, a wired channel, or an optical cable. The processor 603 is responsible for managing the bus architecture and normal processing, and the memory 601 may store data used by the processor 603 when performing operations.

[0146] The processor 603 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or a Complex Programmable Logic Device (CPLD), and the processor may employ a multi-core architecture.

[0147] Based on the same inventive idea, a core network device provided by an embodiment of the present invention comprises a memory, a transceiver and a processor. The memory stores a computer program. The transceiver is for, under the control of the processor, transmitting predetermined placement information to the target terminal to instruct the target terminal to transmit a positioning reference signal using the placement information, receiving a first request requesting location information of the positioned terminal, and transmitting the placement information to the positioned terminal based on the first request to instruct the positioned terminal to receive a positioning reference signal using the placement information so as to position the positioned terminal. The processor reads a computer program stored in the memory to control the transceiver.

[0148] For contents that are not described in detail in the core network equipment provided by the embodiment of the present invention, reference may be made to the positioning method 100 provided in the embodiment, and the effects that can be achieved by the core network equipment provided by the embodiment of the present invention are similar to those of the positioning method 100 provided in the embodiment, so description thereof will be omitted.

[0149] Moreover, the configuration of the core network device in this embodiment may be the configuration shown in FIG. Based on the same inventive idea, an embodiment of the present invention provides a terminal 70, which includes a memory 701, a transceiver 702 and a processor 703, as shown in FIG.

[0150] The memory 701 stores a computer program. Under the control of the processor 703, the transceiver 702 receives configuration information transmitted from a core network device, and based on the configuration information, receives positioning reference signals transmitted from multiple transmitting sides including a target terminal and a base station to which the target terminal belongs.

[0151] The processor 703 reads the computer program in the memory 701 to execute control of the transceiver, and performs positioning based on the positioning reference signal received by the transceiver.

[0152] In some embodiments, the processor is specifically configured to measure a time difference of arrival between positioning reference signals transmitted by each transmitter, and determine a geographical location based on a time stamp corresponding to the time difference of arrival, and a time stamp corresponding to geographical location information or velocity information received from each transmitter of the core network equipment.

[0153] In some other embodiments, the processor specifically measures the time difference of arrival between the positioning reference signals transmitted by each transmitter.

[0154] The transceiver further reports the measurement result and a corresponding time stamp to the core network equipment, for the core network equipment to determine the geographical location of the positioned terminal, the measurement result including the arrival time difference between positioning reference signals and the corresponding positioning reference signal ID.

[0155] For the contents not described in detail in the terminal 70 provided by the embodiment of the present invention, reference may be made to the positioning method 20 provided in the embodiment, and the effects that can be achieved by the terminal 70 provided by the embodiment of the present invention are similar to those of the positioning method 20 provided in the embodiment, so that the description here is omitted.

[0156] In the embodiment, the bus architecture of FIG. 10 may include any number of interconnected buses and bridges, and may specifically connect various circuits such as one or more processors represented by processor 703 and memory represented by memory 701. The bus architecture may also connect various other circuits such as peripheral devices, regulators, power management circuits, etc., as is known in the art, and will not be described further. The bus interface provides an interface. The transceiver 702 is a multi-element including a transmitter and a receiver, and provides a means for communicating with various other devices over a transmission medium including a transmission medium such as a wireless channel, a wired channel, an optical cable, etc. The user interface 704 may be an interface capable of circumscribing and inscribing required devices for different user devices, and the devices to be connected are not limited to a numeric keypad, a display, a speaker, a microphone, a joystick, etc.

[0157] The processor 703 is responsible for managing the bus architecture and general processing, and the memory 702 may store data used by the processor 703 in performing operations.

[0158] Optionally, the processor 703 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or a Complex Programmable Logic Device (CPLD), and the processor may employ a multi-core architecture.

[0159] The processor executes any of the methods provided by the embodiments of the present invention based on the executable instructions obtained by calling the computer program stored in the memory. The processor and the memory may be located physically separate from each other. Based on the same inventive idea, according to an embodiment of the present invention, there is provided a core network device, which includes a receiving unit and a transmitting unit.

[0160] The receiving unit receives a first request for requesting location information of the positioning terminal. The transmitting unit transmits configuration information to the located terminal and the target terminal based on the first request, the configuration information instructing the target terminal to transmit a positioning reference signal according to the configuration information, and to cause the located terminal to receive a positioning reference signal according to the configuration information so as to locate the located terminal.

[0161] In some embodiments, the core network equipment further includes a processing unit that determines a target terminal to which the positioning reference signal is to be transmitted based on the identification information of the positioned terminal included in the first request, and sets configuration information corresponding to the target terminal. Then, the transmitting unit transmits the set configuration information to the positioned terminal and the target terminal.

[0162] Specifically, in this embodiment, the processing unit identifies the base station to which the positioned terminal belongs based on the identification information of the positioned terminal, and determines the terminals covered by the base station and the terminals covered by the neighboring base stations of the positioned terminal as target terminals.

[0163] In some embodiments, the processing unit is configured to select terminals that support transmission of the positioning reference signal from the target terminals, and to set corresponding configuration information for the terminals that support transmission of the positioning reference signal. Specifically, in this embodiment, the sending unit is for sending a second request to the target terminal, to inquire of the target terminal whether it supports transmission of a positioning reference signal.

[0164] Specifically, the processing unit selects terminals that support transmission of positioning reference signals from the target terminals based on the identification information of the target terminals carried in the received feedback message of the target terminals. Specifically, in this embodiment, according to the parameter information of the positioning reference signal transmitted by the target terminal carried in the feedback message, corresponding configuration information is set for the terminal supporting the transmission of the positioning reference signal.

[0165] The parameter information includes at least one of a bandwidth, frequency point information, and a duration length at which the target terminal transmits the positioning reference signal. In some embodiments, the core network equipment further comprises a receiver configured to receive measurement results reported by the positioned terminal, the measurement results including a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID, and a time stamp.

[0166] The processing unit determines at least one corresponding target terminal based on a positioning reference signal ID corresponding to the measurement result and identification information of the target terminal, acquires a timestamp corresponding to geographical location information reported from the at least one target terminal, and determines the geographical location of the positioned terminal based on the timestamp corresponding to the measurement result and the timestamp corresponding to the geographical location information.

[0167] Specifically, in this embodiment, the processing unit is for selecting geographical location information and a corresponding timestamp of the at least one target terminal from the geographical location information and the corresponding timestamp reported from the received target terminal based on identification information of the at least one target terminal, or the transmitting unit is for transmitting a third request to the at least one target terminal to request the geographical location information of the at least one target terminal.

[0168] The receiving unit is specifically for receiving geographical location information and a corresponding time stamp reported from the at least one target terminal.

[0169] In some embodiments, the receiver is for receiving a geographical position reported by the positioned terminal, the geographical position being determined by the positioned terminal based on a received positioning reference signal. In each of the above embodiments, the arrangement information is a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0170] Based on the same inventive idea, according to an embodiment of the present invention, there is provided a core network device, which includes a transmitting unit and a receiving unit.

[0171] The transmission unit is for transmitting, to the target terminal, configuration information for instructing the target terminal to transmit a positioning reference signal according to the configuration information. The receiving unit is for receiving a first request for requesting location information of the positioned terminal. The transmitting unit further transmits the configuration information to the positioned terminal based on the first request, the configuration information being for instructing the positioned terminal to receive a positioning reference signal by the configuration information so as to perform positioning.

[0172] In some embodiments, the core network equipment further comprises a processing unit for selecting terminals that support transmission of positioning reference signals from the target terminals.

[0173] The transmitting unit is further configured to transmit an identifier ID of a terminal supporting the transmission of the positioning reference signal to the positioned terminal, so that the positioned terminal receives the positioning reference signal transmitted by a terminal corresponding to the identifier ID based on the configuration information.

[0174] Specifically, in this embodiment, the sending unit is for sending a second request to the target terminal, to inquire of the target terminal whether it supports transmission of a positioning reference signal.

[0175] Specifically, the processing unit is for selecting a terminal that supports transmission of a positioning reference signal from the target terminal based on identification information of the target terminal carried in a feedback message of the received target terminal.

[0176] Based on the same inventive idea, an embodiment of the present invention further provides a terminal, including a receiving unit and a positioning unit.

[0177] The receiving unit is for receiving configuration information transmitted by a core network device, and for receiving positioning reference signals transmitted by multiple transmitters including a target terminal and a base station to which the target terminal belongs, based on the configuration information. The positioning unit is for locating the position of the positioned terminal based on the positioning reference signal.

[0178] In some embodiments, the positioning unit is configured to measure a time difference in arrival between the positioning reference signals transmitted by each transmitter and determine a geographical position based on a time stamp corresponding to the time difference in arrival, and on time stamps corresponding to geographical location information and speed information received from each transmitter of the core network equipment.

[0179] Specifically, in this embodiment, the positioning unit performs a calibration process on a time stamp corresponding to the arrival time difference based on the acquired calibration parameters, and determines the geographical position based on the arrival time difference, a time stamp corresponding to the geographical position information and speed information of each sending side, and a time stamp corresponding to the arrival time difference after the calibration process.

[0180] The calibration parameters can be obtained by being determined based on a first timestamp when each transmitter transmits a positioning reference signal, a second timestamp when each transmitter transmits a positioning reference signal, and a third timestamp when the positioned terminal performs positioning calculations.

[0181] In some embodiments, the positioning unit specifically: The device determines a moving transmitter based on speed information of each transmitter and / or geographical location information at the time when each transmitter is adjacent, thins out the arrival time differences corresponding to the moved launch end from the arrival time differences, and determines the geographical location based on the remaining arrival time differences and corresponding timestamps, and the geographical location information of the corresponding transmitter and corresponding timestamps.

[0182] In some embodiments, the receiver comprises: The device receives an identifier ID of a terminal that supports transmission of a positioning reference signal transmitted by the core network device, and receives a positioning reference signal transmitted by the terminal corresponding to the identifier ID based on the configuration information.

[0183] In some embodiments, the device further comprises a transmitter for reporting the geographic location to the core network equipment.

[0184] In some embodiments, the positioning unit is specifically for measuring the time difference of arrival between the positioning reference signals transmitted by each transmitter.

[0185] The sending unit is for reporting a measurement result and a corresponding time stamp to the core network equipment, so that the core network equipment identifies a geographical location of the positioned terminal, where the measurement result includes a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID.

[0186] In each of the above embodiments, the arrangement information is a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The indication of the time domain resource of the non-periodic positioning reference signal is intended to indicate the time to start, the duration and the time to end the transmission of the positioning reference signal.

[0187] In addition, the embodiment of the present invention provides a computer-readable recording medium having recorded thereon a computer program that, when run on a computer, enables the computer to execute the corresponding content in the embodiment corresponding to the positioning method 10, the positioning method 100, or the positioning method 20. Compared with the prior art, the positioning method provided by the embodiment of the present invention not only allows a base station to transmit a positioning reference signal, but also allows some terminals covered by the base station to transmit a positioning reference signal via a PC5 interface, thereby increasing the density of the positioning reference signal in the network and the decorrelation of transmitting the geometric distribution of the positioning signal. This improves the positioning accuracy of the positioned terminal, making it possible to meet the positioning accuracy requirements in the Sidelink scene.

[0188] In the embodiments of the present invention, the division of the cells is schematic and merely a kind of logical functional division, and other division methods may be used for actual realization. Also, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated means may be realized in hardware or as software functional means.

[0189] The integrated means may be realized as a software functional unit and stored in a processor-readable storage medium when sold or used as an independent product. Based on this understanding, it can be said that the technical solution of the present invention is essentially embodied in a software product, or that the part that contributes to the prior art or all or part of the technical solution is embodied in a software product. The computer software product is stored in a storage medium, and includes some instructions for a computer device (which may be a personal computer, a server, a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present invention. The storage medium includes a U disk, a mobile hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, an optical disk, etc., which can store various program codes.

[0190] It will be apparent to those skilled in the art that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Thus, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. The present invention can also take the form of a computer product executable on one or more computer-readable storage media (including, but not limited to, disk memories, optical memories, etc.) having computer-readable program code stored thereon.

[0191] The present invention will be described with reference to flowcharts and / or block diagrams of a method, an apparatus (system), and a computer program product according to an embodiment of the present invention. It should be understood that each flow and / or block diagram of the flowcharts and / or block diagrams, and combinations of flows and / or blocks of the flowcharts and / or block diagrams, are realized by computer-executable instructions. These computers can generate devices having instructions executed by a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device, thereby generating an apparatus for implementing the functions specified in one or more flowcharts and / or one or more blocks of the block diagrams based on instructions executed by a processor of a computer or other programmable data processing device.

[0192] These processor-executable instructions may be stored in a processor-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, the instructions stored in the processor-readable memory causing an article of manufacture including a device to implement a function or functions specified in one or more of the flowcharts and / or one or more blocks of the block diagrams.

[0193] These processor-executable instructions may be loaded into a computer or other programmable data processing device to cause the computer or other programmable data processing device to execute a sequence of process steps to implement the computer-executed processes. Thus, the instructions executed on the computer or other programmable data processing device provide steps for implementing the functions specified in one or more of the flowcharts and / or one or more blocks of the block diagrams.

[0194] As described above, although there are only a few embodiments of the present invention, it is pointed out that those skilled in the art can make some improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered as within the technical scope of the present invention. [Explanation of symbols]

[0195] 1, 2, 3, 4 Target device 5 base station 10 Positioning method 20 Positioning Method 30 Positioning Method 40 Positioning Method 50 Positioning Method 60 Core Network Equipment 70 Terminals 100 Positioning Method 100 ways 601 Memory 602 Transmitter / Receiver 603 Processor 701 Memory 702 Transmitter / Receiver 703 Processor 704 User Interface

Claims

1. A positioning method performed by a core network device, comprising: receiving a first request for requesting location information of a positioned terminal; transmitting, to the positioned terminal and the target terminal, the configuration information for instructing the target terminal to transmit a positioning reference signal according to the configuration information based on the first request, and for instructing the positioned terminal to receive a positioning reference signal for positioning the positioned terminal according to the configuration information; Including, Transmitting location information to the located terminal and the target terminal based on the first request, determining a target terminal to which a positioning reference signal is to be transmitted based on the identification information of the target terminal included in the first request; Setting configuration information on the target terminal; and transmitting the location information to the located terminal and the target terminal. Positioning method.

2. Determining a target terminal to which a positioning reference signal is to be transmitted based on identification information of the target terminal included in the first request, determining a base station to which the located terminal belongs based on identification information of the located terminal; The positioning method according to claim 1 , further comprising: determining, as the target terminals, a terminal covered by the base station and terminals covered by neighboring base stations of the base station.

3. Before setting the configuration information on the target terminal, The method further includes selecting a terminal that supports transmission of a positioning reference signal from the target terminals; Setting the configuration information on the target terminal includes: Configuring configuration information for the terminal supporting transmission of a positioning reference signal; The positioning method according to claim 1 .

4. Selecting a terminal that supports transmission of the positioning reference signal from the target terminals includes: sending a second request to the target terminal, inquiring of the target terminal whether it supports transmission of a positioning reference signal; and selecting, from the target terminals, the terminals that support transmission of a positioning reference signal based on identification information of the target terminals carried in the received feedback message. The positioning method according to claim 3.

5. The feedback message also includes parameter information of the positioning reference signal transmitted by the target terminal, and the configuration information set in the terminal supporting the transmission of the positioning reference signal is setting the configuration information in the terminal that supports transmission of a positioning reference signal based on the parameter information; The positioning method according to claim 4 , wherein the parameter information includes at least one of a bandwidth, frequency point information, and duration length of the positioning reference signal transmitted by the target terminal.

6. receiving a measurement result reported from the positioned terminal, the measurement result including a time difference of arrival between different positioning reference signals and a corresponding positioning reference signal ID, and a first corresponding time stamp; determining at least one corresponding target terminal based on a positioning reference signal ID corresponding to the measurement result and identification information of the target terminal; obtaining geographic location information reported from the at least one target terminal and a second corresponding timestamp; determining a geographical location of the target terminal based on the measurement results and a first corresponding timestamp and the geographical location information and a second corresponding timestamp; The positioning method according to claim 1 , further comprising:

7. A positioning method as described in any one of claims 1 to 5, further comprising receiving a geographical position determined by the positioned terminal based on a received positioning reference signal reported from the positioned terminal.

8. The arrangement information is a transmission mode of the positioning reference signal, including periodic, semi-persistent, and aperiodic; an indication of time domain resources, frequency domain resources and spatial domain resources of a positioning reference signal; and an identifier ID for each terminal that transmits a positioning reference signal; The indication information of the time domain resource of the semi-persistent positioning reference signal is for indicating a time point, a duration, and an interval period of the transmission of the positioning reference signal, or a time point, a time point, and an interval period of the transmission of the positioning reference signal; The indication information of the time domain resource of the periodic positioning reference signal is for indicating a transmission period of the positioning reference signal; The positioning method according to claim 1 , wherein the indication information of the time domain resource of the non-periodic positioning reference signal is for indicating a time to start, a duration, and a time to end transmission of the positioning reference signal.

9. Obtaining geographic location information reported from the at least one target terminal and a second corresponding timestamp of the geographic location information includes: Sorting out geographic location information and a second corresponding time stamp of the at least one target terminal from the geographic location information and the corresponding time stamp reported by the target terminal received based on the identification information of the at least one target terminal; Or, sending a third request to the at least one target terminal to request geographic location information of the at least one target terminal; receiving geographic location information reported from the at least one target terminal and a second corresponding timestamp. The positioning method according to claim 6.

10. A positioning method performed by a core network device, comprising: Transmitting preset configuration information to a target terminal, the configuration information being used to instruct the target terminal to transmit a positioning reference signal according to the configuration information; receiving a first request for requesting location information of a positioned terminal; transmitting, to the positioned terminal, the configuration information for instructing the positioned terminal to receive a positioning reference signal for positioning the positioned terminal using the configuration information, based on the first request; Including, Selecting a terminal that supports transmission of a positioning reference signal from the target terminals; The positioning method further includes transmitting an identifier ID of the terminal that supports transmission of a positioning reference signal to the positioned terminal.

11. Selecting the terminal that supports transmission of the positioning reference signal from the target terminals includes: sending a second request to the target terminal, inquiring of the target terminal whether it supports transmission of a positioning reference signal; and selecting, from the target terminals, the terminals that support transmission of a positioning reference signal based on identification information of the target terminals carried in the received feedback message. The positioning method according to claim 10.

12. a memory configured to store a computer program; A transceiver; and a processor configured to read a computer program stored in a memory and to control the transceiver to implement the method of any one of claims 1 to 9.

13. a memory configured to store a computer program; A transceiver; A processor configured to read a computer program stored in a memory and to control the transceiver to implement the method according to claim 10 or 11.

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