Positioning method, device and readable storage medium for sidelink

Abstract

This application discloses a positioning method, an apparatus and a readable storage medium for sidelink, the method including: a first device transmitting first information including a positioning request signaling to one or more second devices, the first device transmitting a first positioning reference signal to the second device, the first device receiving a second positioning reference signal from the second device, and the first device obtaining a positioning calculation result of the first device according to a measurement result of the first positioning reference signal and a measurement result of the second positioning reference signal, or the first device receiving the positioning calculation result of the first device from the second device.

Description

[Technical Field]

[0001] The present application relates to the technical field of communications, and more particularly to a positioning method, apparatus and readable storage medium for sidelink.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority from Chinese Patent Application No. 202210472860.X, filed in China on April 29, 2022, the entire contents of which are incorporated herein by reference. [Background technology]

[0003] In the coverage of a cellular network, a base station transmits a cell-specific downlink positioning reference signal (PRS), and a terminal (UE: User Equipment) transmits an uplink sounding reference signal (SRS). Correspondingly, the terminal can measure the reference signal time difference (RSTD), or the reference signal receiving power (RSRP) of the downlink positioning reference signal (DL PRS), or the time difference between the terminal's reception of the DL PRS and its transmission of the SRS. The base station can measure the uplink relative time of arrival (RTOA), the RSRP of the SRS, the time difference between the next generation Node B (gNB) receiving the SRS and the gNB's transmission of the DL PRS, angle measurements, etc. The position of the UE is calculated by processing the measurements.

[0004] Research and standardization work on sidelink positioning is actively underway. Unlike New Radio (NR) downlink and uplink, the main application scenarios of sidelink include indoor, outdoor, and tunnel areas. In outdoor and tunnel area scenarios, it is necessary to support positioning services with a moving speed as high as 250 km / h. Therefore, in order to apply sidelink positioning technology, the corresponding positioning measurement flow between UEs needs to be redesigned. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide a positioning method, device, and readable storage medium for sidelink that can solve the problem that the corresponding positioning measurement flow between UEs needs to be redesigned to adapt to sidelink positioning technology. [Means for solving the problem]

[0006] In the first aspect, the first device transmitting first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device, and the first device receiving a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives a positioning calculation result of the first device from the second device.

[0007] In a second aspect, a second device receiving first information from one or more first devices, the first information including positioning request signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device transmits the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or the second device obtains the positioning calculation result of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0008] In a third aspect, the first device transmitting first information including positioning indication signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device, and the first device receiving a second positioning reference signal from the second device; The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains a positioning calculation result of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0009] In a fourth aspect, receiving, by the second device, first information from one or more first devices, the first information including positioning indication signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives a positioning calculation result of the second device from the first device.

[0010] In a fifth aspect, the first device includes a first transmitting module adapted to transmit first information including a positioning request signaling to one or more second devices; a first transceiver module, used by the first device to transmit a first positioning reference signal to the second device and the first device to receive a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives a positioning calculation result of the first device from the second device.

[0011] In a sixth aspect, the second device includes a first receiving module adapted to receive first information including positioning request signaling from one or more first devices; a second transceiver module used in the second device to receive a first positioning reference signal from the first device and to transmit a second positioning reference signal to the first device; The second device transmits the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or the second device obtains the positioning calculation results of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation results of the first device to the first device.

[0012] In a seventh aspect, the first device includes a second transmitting module adapted to transmit first information including positioning instruction signaling to one or more second devices; a third transceiver module used by the first device to transmit a first positioning reference signal to the second device and the first device to receive a second positioning reference signal from the second device; and a third positioning module used by the first device to transmit the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device to obtain the positioning calculation results of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmit the positioning calculation results of the second device to the second device.

[0013] In an eighth aspect, the second device includes a second receiving module adapted to receive first information including positioning instruction signaling from one or more first devices; a fourth transceiver module for the second device to receive a first positioning reference signal from the first device and for the second device to transmit a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives a positioning calculation result of the second device from the first device.

[0014] In a ninth aspect, a method includes a memory, a transceiver, and a processor, The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, and the processor reads the computer program in the memory; The first device transmits first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives a positioning calculation result of the first device from the second device.

[0015] In a tenth aspect, there is provided a positioning device for a sidelink, the positioning device comprising: a memory; a transceiver; and a processor; The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, and the processor reads the computer program in the memory; receiving, at the second device, first information comprising positioning request signaling from one or more first devices; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform the operation of transmitting the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or the second device obtains the positioning calculation result of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0016] In an eleventh aspect, a method includes a memory, a transceiver, and a processor, The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, and the processor reads the computer program in the memory; a first device transmitting first information to one or more second devices, the first information including positioning instruction signaling; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains the positioning calculation results of the second device based on the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation results of the second device to the second device.

[0017] In a twelfth aspect, a method includes a memory, a transceiver, and a processor, The memory is used to store a computer program, and the transceiver is used to transmit and receive data under the control of the processor, and the processor reads the computer program in the memory; a second device receiving first information from one or more first devices, the first information including positioning instruction signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives a positioning calculation result of the second device from the first device.

[0018] In a thirteenth aspect, there is provided a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, performs steps of the positioning method for a sidelink described in the first aspect, or performs steps of the positioning method for a sidelink described in the second aspect, or performs steps of the positioning method for a sidelink described in the third aspect, or performs steps of the positioning method for a sidelink described in the fourth aspect.

[0019] In a fourteenth aspect, a chip is provided, comprising a processor and a communication interface, the communication interface being coupled to the processor, and the processor executing a program or instruction to implement steps of the positioning method for a sidelink described in the first aspect, or to implement steps of the positioning method for a sidelink described in the second aspect, or to implement steps of the positioning method for a sidelink described in the third aspect, or to implement steps of the positioning method for a sidelink described in the fourth aspect.

[0020] A fifteenth aspect provides a computer program / program product stored on a storage medium and executed by at least one processor to implement steps of the positioning method for a sidelink described in the first aspect, or to implement steps of the positioning method for a sidelink described in the second aspect, or to implement steps of the positioning method for a sidelink described in the third aspect, or to implement steps of the positioning method for a sidelink described in the fourth aspect.

[0021] In an embodiment of the present application, a first device sends first information to a second device to trigger a positioning flow, and the first device and the second device exchange a first positioning reference signal and a second positioning reference signal, and obtain a positioning calculation result according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, thereby realizing positioning measurement between UEs in a sidelink scenario. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a block diagram of a wireless communication system according to an embodiment of the present application; [Figure 2] 1 is a flowchart 1 of a positioning method for sidelink according to an embodiment of the present application. [Figure 3] 2 is a flowchart 2 of a positioning method for sidelink according to an embodiment of the present application; [Figure 4] 3 is a flowchart 3 of a positioning method for sidelink according to an embodiment of the present application; [Figure 5]4 is a flowchart 4 of a positioning method for sidelink according to an embodiment of the present application. [Figure 6a] 1 is a flowchart 1 of an example according to an embodiment of the present application. [Figure 6b] 2 is a flowchart 2 of an example according to an embodiment of the present application. [Figure 6c] 3 is a flowchart 3 of an example according to an embodiment of the present application. [Figure 6d] 4 is a flowchart 4 of an example according to an embodiment of the present application. [Figure 6e] 5 is a flowchart 5 of an example according to an embodiment of the present application. [Figure 6f] 6 is a flowchart 6 of an example according to an embodiment of the present application. [Figure 6g] 7 is a flowchart 7 of an example according to an embodiment of the present application. [Figure 6h] 8 is a flowchart 8 of an example according to an embodiment of the present application. [Figure 6i] 9 is a flowchart 9 of an example according to an embodiment of the present application. [Figure 7] 1 is a structural schematic diagram 1 of a positioning device for sidelink according to an embodiment of the present application; [Figure 8] 2 is a structural schematic diagram 2 of a positioning device for sidelink according to an embodiment of the present application; FIG. [Figure 9] 3 is a structural schematic diagram 3 of a positioning device for sidelink according to an embodiment of the present application; [Figure 10] 4 is a structural schematic diagram 4 of a positioning device for sidelink according to an embodiment of the present application. [Figure 11] 5 is a structural schematic diagram of a positioning device for sidelink according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0023] The technical solutions of the embodiments of the present application will be explained below with reference to the drawings of the embodiments of the present application, and it is obvious that the described embodiments are only some of the embodiments of the present application, not all of the embodiments, and other embodiments that a person skilled in the art can obtain based on the embodiments of the present application are all within the scope of protection of the present application.

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

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

[0026] 1 shows a block diagram of a wireless communication system to which an embodiment of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12. The terminal 11 may be a mobile phone, a tablet personal computer, a laptop computer also called a notebook computer, a personal digital assistant (PDA), a palmtop computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a smart home (home devices equipped with wireless communication functions such as a refrigerator, a television, a washing machine, or furniture), a game console, a personal computer (PC), a The network side device 12 may be a terminal side device such as a mobile computer, an automated teller machine, or a self-service machine, and the wearable device includes a smart watch, a smart bracelet, smart headphones, smart glasses, smart accessories (smart bracelets, smart chain bracelets, smart rings, smart necklaces, smart anklets, smart chain anklets, etc.), smart wristbands, smart wear, etc. Note that the embodiments of the present application do not limit the specific type of the terminal 11. The network side device 12 may include access network equipment or core network equipment, and the access network equipment may also be called radio access network equipment, a radio access network (RAN), a radio access network function, or a radio access network unit.The access network equipment may include a base station, a wireless local area network (WLAN) access point, a WiFi node, etc., and the base station may also be called a Node B, an evolved Node B (eNB), an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home B node, a home evolved B node, a transmitting and receiving point (TRP), or other appropriate term in the field, as long as the same technical effect can be achieved, and the base station is not limited to a specific technical term. Note that in the embodiments of the present application, only a base station in an NR system is described as an example, and the specific type of the base station is not limited.The core network devices include core network nodes, core network functions, mobility management entities (MME), access and mobility management functions (AMF), session management functions (SMF), user plane functions (UPF), policy control functions (PCF), policy and charging rules functions (PCRF), edge application server discovery functions (EASDF), unified data management (UDM), unified data repository (UDR), home user servers (HSS), centralized network configuration (CNC), network repository functions (NRF), network exposure functions (NEF), local NEFs (or L-NEFs), and binding support functions (BSF). The core network device may include, but is not limited to, at least one of a Core Network Function (CNF) and an Application Function (AF). Note that in the embodiments of the present application, only core network devices in an NR system are described as examples, and the specific type of core network device is not limited.

[0027] In order to better understand the technical solution of the present application, the following content will be first explained.

[0028] In the NR sidelink, the physical sidelink control channel (PSCCH) and the physical sidelink shared channel (PSSCH) adopt time division multiplexing (TDM) and frequency division multiplexing (FDM) schemes. The second-stage sidelink control information (2nd-stage SCI) is introduced and is carried by the PSSCH together with data. The first-stage SCI is carried by the PSCCH. It is used to indicate information such as the time-frequency resource location, priority, period, and corresponding modulation and coding scheme (MCS) occupied by the current transmission block (TB). However, no corresponding sidelink PRS is introduced.

[0029] NR positioning mainly introduces two types of reference signals for positioning: a downlink positioning reference signal (PRS) and an uplink sounding reference signal (SRS) for positioning.

[0030] The downlink positioning reference signal (PRS) uses the Gold sequence and introduces designs such as PRS resources, PRS resource sets, and PRS positioning frequency layers. The PRS resource frequency domain can adopt a comb structure, and the time domain can occupy multiple consecutive OFDM symbols. It adopts a single port, with a maximum bandwidth of 272 PRBs or less and a minimum bandwidth of 24 PRBs or more. PRS only supports periodic transmission.

[0031] The uplink sounding reference signal (SRS) for positioning employs a ZC sequence, allowing it to occupy multiple consecutive OFDM symbols in the time domain. It also employs a comb structure in the frequency domain, supporting multiple SRS (Sounding Reference Signal)-Position (POS) signals to be frequency-division multiplexed on the same OFDM symbol. Compared with dual-port transmission, the advantage of single-port transmission is that it increases the power spectral density of the SRS-POS signal at the base station receiver, thereby improving the coverage and quality of the SRS-POS signal. In the frequency domain, the maximum supported bandwidth is 272 RBs, and the minimum is 4 RBs. SRS-POS supports three resource type configurations: periodic, semi-persistent, and aperiodic.

[0032] NR positioning supports "Radio Access Technology Independent (RAT-independent)" positioning technologies, including Global Navigation Satellite System (GNSS) positioning, atmospheric pressure sensor positioning, WLAN positioning, inertial navigation positioning, Bluetooth® positioning, and ground beacon system positioning.

[0033] NR positioning is researching "RAT-dependent" and hybrid positioning techniques to improve positioning accuracy. The main schemes are as follows: gNB periodically transmits downlink positioning reference signals (PRS) to support DL-TDOA, DL-Angle of Departure (AoD) measurements, and E-CID (Enhanced Cell Identification) detection; UE transmits uplink sounding reference symbols (SRS) for positioning, supports UL-TDOA and UL-Angle of Arrival (AoA) measurements, and supports combined uplink and downlink round trip time (RTT) measurements. Positioning can be performed based on multi-hop RTT (Multi-RTT) measurements from multiple base stations.

[0034] The overall positioning flow of NR / LTE positioning is managed and scheduled by the base station and the Location Management Function (LMF).

[0035] The drawbacks of the related art are as follows:

[0036] The cellular network positioning scheme in the related art requires interaction between the gNB and LMF and is not supported in scenarios outside cellular coverage, while SL positioning performs distributed positioning processing and may operate in scenarios outside cellular coverage, but does not require interaction between the gNB and LMF and cannot be supported by mechanisms in the related art.

[0037] Hereinafter, the positioning method for sidelink according to the embodiments of the present application will be described in detail through several embodiments and application scenarios with reference to the drawings.

[0038] As shown in FIG. 2, an embodiment of the present application provides a positioning method for sidelink, in which the execution entity of the method is a first device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the first device is a second device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and the method includes steps 201 to 203.

[0039] Step 201: A first device transmits first information including a positioning request signaling to one or more second devices.

[0040] In an embodiment of the present application, the first information includes a positioning request signaling and is used to request the second device to assist the first device in positioning (or ranging). The first device may transmit the first information to one or more second devices, i.e., the first device may request the one or more second devices to assist the first device in positioning (or ranging).

[0041] Step 202: The first device transmits a first positioning reference signal to the second device, and the first device receives a second positioning reference signal from the second device.

[0042] In an embodiment of the present application, a first device and a second device communicate with each other using positioning reference signals, and the first device transmits a first positioning reference signal (which may be abbreviated as a first PRS or a first SL-PRS, etc., and is not limited to this in the present application) to the second device, and the second device transmits a second positioning reference signal (which may be abbreviated as a second PRS or a second SL-PRS, etc., and is not limited to this in the present application) to the first device.

[0043] Note that the specific information transmission sequence flow in which the first device and the second device exchange positioning reference signals may have various embodiments, which will be described in detail later.

[0044] Step 203: The first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives a positioning calculation result of the first device from the second device.

[0045] In an embodiment of the present application, the first device may obtain a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, i.e., the position calculation may be performed in the first device, or the first device may receive a positioning calculation result of the first device from the second device, i.e., the position calculation may be performed in the second device and then transmitted from the second device to the first device.

[0046] Specifically, the measurement results of the first positioning reference signal and the second positioning reference signal may be the transmission and reception time difference between the first positioning reference signal and the second positioning reference signal. That is, the first device measures the time difference between the first PRS transmission and the second PRS reception, and the second device measures the time difference between the second PRS transmission and the first PRS reception. The time differences measured by both devices are combined to calculate the round-trip time (RTT) between the first device and the second device, and the final positioning calculation is performed according to the round-trip time, thereby realizing a positioning method based on the RTT.

[0047] In an embodiment of the present application, a first device sends first information to a second device to trigger a positioning flow, and the first device and the second device exchange a first positioning reference signal and a second positioning reference signal, and obtain a positioning calculation result according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, thereby realizing positioning measurement between UEs in a sidelink scenario.

[0048] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, wherein the positioning reference signal request signaling is used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag is used to distinguish the current information as a positioning request signaling; (2) Identification information including at least one of destination identification information, source identification information, and interaction process ID, where the interaction process ID represents ID information of the current positioning flow, and since a first device may request positioning support from multiple second devices, the interaction process ID can be used to determine the positioning reference signal to be measured and the corresponding second device, thereby preventing a situation in which a correspondence error of the positioning reference signal occurs during the interaction process with multiple second devices; (3) positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0049] It should be noted that at least a portion of the information content of the first information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0050] In one possible embodiment, step 202 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a first device transmitting a first positioning reference signal to a second device; (2) The first device receives second information and a second positioning reference signal from the second device, the second information being feedback information of the first information.

[0051] In an embodiment of the present application, the information interaction flow between the first device and the second device is as follows: first, the first device transmits a first positioning reference signal to the second device, and the first positioning reference signal may or may not be transmitted simultaneously with the first information; next, the second device transmits second information and a second positioning reference signal to the first device, and the second information is feedback information of the first information; when the second device transmits the second information and the second positioning reference signal to the first device, the two may be transmitted simultaneously or asynchronously; that is, the second information and the second positioning reference signal may be transmitted together in the same slot or in different slots. This rule will also be followed when describing other steps of transmitting multiple pieces of information later, i.e., the two may be transmitted simultaneously or asynchronously, and redundant description will be omitted.

[0052] Step 203 in which the first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a step in which the first device performs positioning measurements according to the second information and / or the target positioning reference signals to obtain first positioning measurement values, where the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; (2) receiving, by the first device, from the second device, a second positioning measurement value measured by the second device through the second information; (3) The first device includes a step of obtaining a positioning calculation result of the first device according to the second information and / or the target positioning measurement value, wherein the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0053] In an embodiment of the present application, in accordance with the above dialogue flow, the first device performs positioning calculation according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and obtains the positioning calculation result of the first device, where the measurement result of the first device measuring the first positioning reference signal and the second positioning reference signal is referred to as the first positioning measurement value, and the measurement result of the second device measuring the first positioning reference signal and the second positioning reference signal is referred to as the second positioning measurement value, and hereafter this naming method will be followed, and redundant explanations will be omitted.

[0054] In the process in which the first device performs positioning measurement to obtain a first positioning measurement value, the first device performs the measurement according to the first positioning reference signal and the second positioning reference signal, i.e., the first device may directly measure the first positioning reference signal and the second positioning reference signal, or the first device may perform the measurement according to second information, the first positioning reference signal and the second positioning reference signal, where the second information may carry configuration information or auxiliary information related to the positioning measurement and be used by the first device to perform the positioning measurement. Similarly, in the process in which the first device performs positioning calculation, the first device may perform positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform positioning calculation according to the second information, the first positioning measurement value and the second positioning measurement value, where the second information may carry configuration information or auxiliary information related to the positioning calculation and be used by the first device to perform the positioning measurement, or the second information may carry coordinate information, location information, etc. of the second device and be used by the first device to perform positioning calculation in an absolute positioning scenario.

[0055] In one possible embodiment, step 202 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a step in which the first device receives second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; (2) a step in which the first device transmits fourth information and a first positioning reference signal to the second device, the fourth information being feedback information of the second information; (3) the first device receives fifth information from the second device, the fifth information being feedback information of the fourth information; Step 203 in which the first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; (2) the first device receives second positioning measurement values ​​measured by the second device from the second device according to the fifth information, and the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (3) The first device obtains a positioning calculation result of the first device according to the first target information and / or the target positioning measurement value, wherein the first target information is the second information or the fifth information, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0056] In the embodiments of the present application, correspondingly, the positioning calculation is performed in the first device, and the first device and the second device interact according to the above-mentioned interaction flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the positioning calculation is performed by the first device. Specifically, the first device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform the positioning calculation according to the second information or the fifth information (the second information or the fifth information carries the coordinate information, location information, etc. of the second device; that is, the second device may carry the coordinate information, location information, etc. of the second device when transmitting the second information, or the second device may carry the coordinate information, location information, etc. of the second device when transmitting the fifth information), the first positioning measurement value, and the second positioning measurement value.

[0057] Step 203 in which the first device receives the positioning calculation result of the first device from the second device includes: (1) the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; (2) the first device transmitting the first positioning measurement value to the second device via fourth information; (3) The first device receives a positioning calculation result of the first device from the second device by the fifth information, wherein the positioning calculation result of the first device is obtained by the second device according to the fourth information and / or the target positioning measurement value, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0058] In the embodiment of the present application, correspondingly, the positioning calculation is performed in the second device, and the first device and the second device interact according to the above-mentioned interaction flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the second device performs the positioning calculation. Specifically, the second device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the second device may perform the positioning calculation according to the fourth information, the first positioning measurement value and the second positioning measurement value, and then the second device transmits the positioning calculation result to the first device.

[0059] When transmitting the first SL-PRS, the first device: 1) The resource location for transmitting the first SL-PRS and / or the sequence generation of the first SL-PRS may have a certain associative relationship with the content of the first information / second information / fourth information and / or the resource location it occupies, and may be in the same bandwidth part (BWP) or in different BWPs.

[0060] 2) Alternatively, the first device multiplexes the first information or the fourth information and the first SL-PRS in one or more physical channels in the same slot and transmits them, for example, the first or fourth information is carried by a PSCCH (1st stage SCI) or a PSSCH (2nd stage SCI or MAC Control Element (MAC CE)) or a positioning dedicated channel, the SL-PRS is multiplexed at the same time-frequency position as the PSSCH, and the overlapping position of the PSSCH and the SL-PRS adopts a rate matching or punctured mapping method.

[0061] 3) Alternatively, the first device may transmit a corresponding first SL-PRS in combination with a specific SL-PRS resource selection process according to an SL-PRS configuration parameter, where the SL-PRS configuration parameter is configured or pre-configured and obtained by the first information / second information / fourth information and / or higher layer parameters, or the SL-PRS configuration parameter in the first information / fourth information is used to indicate the specific time-frequency resource location that the first SL-PRS occupies.

[0062] 4) The transmission of the SL-PRS may be limited to occupying at least N (≧3) consecutive OFDM symbols, and the SL-PRS is overlap-mapped on the first two symbols, the SL-PRS in the first symbol can be used for both AGC processing and positioning measurement, and the last symbol is used as a GP.

[0063] 5) If the SL-PRS is a periodic transmission, triggering by signaling is not required, but if the SL-PRS is a non-periodic transmission or semi-persistent transmission, triggering by the first / second / fourth information is required.

[0064] 6) The first / second / third / fourth / fifth information may be transmitted separately from the first SL-PRS or may be transmitted bound to the first SL-PRS.

[0065] When the second device transmits the second SL-PRS, 1) The resource location for transmitting the second SL-PRS and / or the sequence generation of the second SL-PRS may have a certain associative relationship with the content of the second information / first information and / or the resource location it occupies, and may be in the same BWP or in a different BWP.

[0066] 2) Alternatively, the second device multiplexes the second information and the second SL-PRS in one or more physical channels in the same slot and transmits them. The second information is borne by the PSCCH (1st stage SCI), the PSSCH (2nd stage SCI or MAC CE), or the positioning channel, the SL-PRS is multiplexed at the same time-frequency position as the PSSCH, and the overlapping positions of the PSSCH and the SL-PRS adopt rate matching or punctured mapping.

[0067] 3) Alternatively, the second device may transmit a corresponding second SL-PRS in combination with a specific SL-PRS resource selection process according to SL-PRS configuration parameters, where the SL-PRS configuration parameters are configured or pre-configured and obtained by the second information / first information and / or higher layer parameters, or the SL-PRS configuration parameters in the second information are used to indicate the specific time-frequency resource location that the second SL-PRS occupies.

[0068] 4) The transmission of the SL-PRS may be limited to occupying at least N (≧3) consecutive OFDM symbols, and the SL-PRS is overlap-mapped on the first two symbols, the SL-PRS in the first symbol can be used for both AGC processing and positioning measurement, and the last symbol is used as a GP.

[0069] 5) If the SL-PRS is a periodic transmission, triggering by signaling is not required, but if the SL-PRS is a non-periodic transmission or semi-persistent transmission, triggering by the first information or the second information is required.

[0070] 6) The first / second / third / fourth / fifth information may be transmitted separately from the second SL-PRS or may be transmitted bound to the second SL-PRS.

[0071] For the subsequent related description regarding the first device transmitting the first SL-PRS and the second device transmitting the second SL-PRS, please refer to the above description, and redundant description will be omitted.

[0072] In one possible embodiment, the information contents of the second information, the fourth information and the fifth information appearing in the above-described dialogue flow are: (1) at least a portion of the third information; (2) positioning measurements; (3) a timestamp of the positioning measurement; and (4) quality indication of the positioning measurements; (5) positioning measurement value identification information; (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of destination identification information, source identification information, and interactive process ID; (1.3) Positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0073] In addition, like the first information, at least a portion of the information content of the second information, fourth information, and fifth information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the second information, fourth information, and fifth information, and the remaining portion may be configured or pre-configured by upper layer parameters. The contents of the second information, fourth information, and fifth information may be the same or different, but here we will limit the contents to those that may be included in the second information, fourth information, and fifth information.

[0074] The positioning measurement type may indicate the measurement that needs to be measured, such as SL-PRS RSRP, device SL-PRS transmit / receive time difference, relative time of arrival (RTOA), reference signal time difference (RSTD), angle of arrival (AOA), angle of departure (AOD), etc.

[0075] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, and associated identity information of the first device or the second device.

[0076] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (a time difference and a transmission delay difference between when the first device as a reference and another adjacent first device transmit the positioning reference signal) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0077] The positioning method or capability information is used to indicate the method used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, AOD positioning, etc.; the positioning type information is used to distinguish the current positioning method between relative positioning, distance measurement and absolute positioning; The measurement window instruction information includes start position information, period information, etc. of the measurement window, The positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement values ​​to perform auxiliary positioning; The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of SL-PRS, SL-PRS configuration information, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the device's positioning measurement values, and the device's SL-PRS positioning measurement value reporting granularity, etc.

[0078] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, the number of symbols occupied in the time domain, an SL-PRS time domain period, the number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied in the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and SL-PRS priority information.

[0079] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0080] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning instruction signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0081] The SL-PRS configuration parameter set may indicate an SL-PRS-related configuration transmitted by the first device and / or the second device.

[0082] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0083] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0084] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0085] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0086] The quality indication information of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution), and a number of error sampling points.

[0087] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as the reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0088] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information. (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is the time interval between the time domain start transmission position of the positioning reference signal and the target time domain reference point, and the target time domain reference point is the slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by upper layer parameters, or the pre-configured time domain reference point; (2) if the target information supports retransmission, the retransmitted target information does not carry time interval information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) The granularity of the time interval information satisfies at least one of slot, physical slot, logical slot, OFDM symbol, and subframe.

[0089] In one possible embodiment, if the target information carries feedback delay bound information or the higher layer parameters configure or pre-configure the feedback delay bound information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The method is: (1) receiving feedback information corresponding to target information from a second device within feedback delay bound information at a first device; (2) the first device completing the entire positioning flow within the feedback delay bound information; In step (1), specifically, If the first information includes feedback delay bound information, the first device receives second information from the second device within the feedback delay bound information; If the second information includes feedback delay bound information, the first device transmits fourth information to the second device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the first device receives fifth information from the second device within the feedback delay bound information; The feedback delay bound information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time domain reference point of the feedback delay bound information is configured or preconfigured by higher layer parameters or is a time domain reference point carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) The target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) The target time domain reference point of the feedback delay bound information is Universal Time Coordinated (UTC) time; (6) if the target information supports retransmission and the retransmitted target information carries feedback delay bound information, the target time domain reference point of the feedback delay bound information is the slot position for retransmitting the first information; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) If the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the following: implementation of feedback delay bound information.

[0090] In one possible embodiment, the method comprises: (1) a step in which the first device causes the fourth information to carry positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; (4) the first device causes the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signals associated with the positioning measurements; (1.3) Positioning measurement ID.

[0091] When multiple second devices assist the first device in performing positioning measurements, and the second devices transmit corresponding positioning measurement values, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used in position calculation are consistent with each other.

[0092] In one possible embodiment, the step 201 in which the first device transmits the first information to one or more second devices comprises: the first device transmitting the first information to one or more second devices by a third device; In an embodiment of the present application, in a scenario where there is a third device that assists in the positioning interaction between the first device and the second device, the first device may transmit the first information to the third device.

[0093] The method is: The method further includes the step of the first device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and receiving the positioning calculation result of the first device from the third device.

[0094] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0095] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device that assists the positioning interaction between the first device and the second device, the first device and the second device interact with the positioning reference signal, and the interaction processing with the information and measurement values ​​is both performed by the third device.

[0096] The third device may specifically be a Location Management Function (LMF) or other network elements, and the embodiment of the present application does not limit the specific type of the third device.

[0097] As shown in FIG. 3, an embodiment of the present application provides a positioning method for sidelink, in which the execution body of the method is a second device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the second device is a first device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and the method includes steps 301 to 303.

[0098] Step 301: A second device receives first information including positioning request signaling from one or more first devices.

[0099] Step 302: The second device receives a first positioning reference signal from the first device, and the second device transmits a second positioning reference signal to the first device.

[0100] Step 303: The second device transmits the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or the second device obtains the positioning calculation results of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation results of the first device to the first device.

[0101] The flow of the method by the second device shown in Figure 3 is the flow of the counterpart device corresponding to the method by the first device shown in Figure 2, so the information, parameters, information content, etc. listed below can be understood by referring to the related explanation of the method by the first device mentioned above, and duplicate explanations of the method by the second device will be omitted.

[0102] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, wherein the positioning reference signal request signaling is used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag is used to distinguish the current information as a positioning request signaling; (2) Identification information including at least one of destination identification information, source identification information, and interaction process ID, where the interaction process ID represents ID information of the current positioning flow, and since a first device may request positioning support from multiple second devices, the interaction process ID can be used to determine the positioning reference signal to be measured and the corresponding second device, thereby preventing a situation in which a correspondence error of the positioning reference signal occurs during the interaction process with multiple second devices; (3) positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0103] It should be noted that at least a portion of the information content of the first information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0104] In one possible embodiment, step 302 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device comprises: (1) the second device receives a first positioning reference signal from the first device; (2) the second device transmits second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; Step 303 in which the second device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the first device includes: (1) a step in which the second device performs positioning measurements according to the first information and / or the target positioning reference signal to obtain second positioning measurement values, where the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (2) the second device transmitting the second positioning measurement value to the first device via the second information.

[0105] In one possible embodiment, step 302 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device comprises: (1) a step in which the second device transmits second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; (2) receiving fourth information and a first positioning reference signal from the first device by the second device, the fourth information being feedback information of the second information; (3) The second device transmits fifth information to the first device, the fifth information being feedback information of the fourth information.

[0106] In one possible embodiment, the step 303 in which the second device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the first device comprises: the second device performs positioning measurements according to the fourth information and / or the target positioning reference signals to obtain second positioning measurements, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device via fifth information; Step 303 of the second device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device, (1) a step in which the second device performs positioning measurements according to the fourth information and / or the target positioning reference signal to obtain second positioning measurement values, where the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (2) the second device receives, from the first device, the first positioning measurement value measured by the first device via the fourth information; (3) the second device obtains a positioning calculation result of the first device according to the fourth information and / or the target positioning measurement values, where the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; (4) The second device transmits the positioning calculation result of the first device to the first device using the fifth information.

[0107] In one possible embodiment, the information contents of the second information, the fourth information and the fifth information appearing in the above-described dialogue flow are: (1) at least a portion of the third information; (2) positioning measurements; (3) a timestamp of the positioning measurement; and (4) quality indication of the positioning measurements; (5) positioning measurement value identification information; (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of destination identification information, source identification information, and interactive process ID; (1.3) Positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0108] In addition, like the first information, at least a portion of the information content of the second information, fourth information, and fifth information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the second information, fourth information, and fifth information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0109] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the time interval information is: (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is the time interval between the time domain start transmission position of the positioning reference signal and the target time domain reference point, and the target time domain reference point is the slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by upper layer parameters, or the pre-configured time domain reference point; (2) if the target information supports retransmission, the retransmitted target information does not carry time interval information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) the granularity of the time interval information includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; and The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0110] In one possible embodiment, if the target information carries feedback delay bound information or if the higher layer parameters configure or pre-configure the feedback delay bound information, the method comprises: (1) receiving feedback information corresponding to target information from a second device within feedback delay bound information at a first device; (2) the first device completing the entire positioning flow within the feedback delay bound information; In step (1), specifically, If the first information includes feedback delay bound information, the second device transmits the second information to the first device within the feedback delay bound information; If the second information includes feedback delay limit information, the second device transmits fourth information to the first device within the feedback delay limit information; If the fourth information includes feedback delay limit information, the second device transmits fifth information to the first device within the feedback delay limit information; The feedback delay bound information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time domain reference point of the feedback delay bound information is configured or preconfigured by higher layer parameters or is a time domain reference point carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) The target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and the retransmitted target information carries feedback delay bound information, the target time domain reference point of the feedback delay bound information is the slot position for retransmitting the first information; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) If the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the following: implementation of feedback delay bound information.

[0111] In one possible embodiment, the method comprises: (1) a step in which the first device causes the fourth information to carry positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; (4) the first device causes the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signals associated with the positioning measurements; (1.3) Positioning measurement ID.

[0112] When multiple second devices assist the first device in performing positioning measurements, and the second devices transmit corresponding positioning measurement values, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used in position calculation are consistent with each other.

[0113] In one possible embodiment, step 201 in which the second device receives first information from one or more first devices comprises: The second device is connected to one or more third devices by a third device. 1 receiving first information from the device; The method is: The method further includes the steps of the second device transmitting the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the third device, the third device obtaining the positioning calculation results of the first device, and the third device transmitting the positioning calculation results of the first device to the first device.

[0114] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the second device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0115] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device that assists the positioning interaction between the first device and the second device, the first device and the second device interact with the positioning reference signal, and the interaction processing with the information and measurement values ​​is both performed by the third device.

[0116] The third device may specifically be an LMF or other network element, and the embodiment of the present application does not limit the specific type of the third device.

[0117] As shown in FIG. 4, an embodiment of the present application provides a positioning method for sidelink, in which the execution entity of the method is a first device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the first device is a second device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and the method includes steps 401 to 403.

[0118] Step 401: A first device transmits first information including positioning instruction signaling to one or more second devices.

[0119] In an embodiment of the present application, the first information includes positioning instruction signaling, which is used by the first device to instruct the second device to assist the second device in positioning (or ranging). One or more first devices may transmit the first information to the second device, that is, one or more first devices may assist the second device in positioning (or ranging).

[0120] Step 402: A first device transmits a first positioning reference signal to a second device, and the first device receives a second positioning reference signal from the second device.

[0121] In an embodiment of the present application, a first device and a second device communicate with each other using positioning reference signals, and the first device transmits a first positioning reference signal (which may be abbreviated as a first PRS or a first SL-PRS, etc., and is not limited to this in the present application) to the second device, and the second device transmits a second positioning reference signal (which may be abbreviated as a second PRS or a second SL-PRS, etc., and is not limited to this in the present application) to the first device.

[0122] Note that the specific information transmission sequence flow in which the first device and the second device exchange positioning reference signals may have various embodiments, which will be described in detail later.

[0123] Step 403: The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains the positioning calculation results of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation results of the second device to the second device.

[0124] In an embodiment of the present application, the first device may transmit the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, and the positioning calculation may be performed by the second device, i.e., the position calculation may be performed in the second device; or the first device may obtain the positioning calculation results of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, i.e., the position calculation may be performed in the first device, and then the positioning calculation results may be transmitted to the second device.

[0125] Specifically, the measurement results of the first positioning reference signal and the second positioning reference signal may be the transmission and reception time difference between the first positioning reference signal and the second positioning reference signal. That is, the first device measures the time difference between the first PRS transmission and the second PRS reception, and the second device measures the time difference between the second PRS transmission and the first PRS reception. The time differences measured by both devices are combined to calculate the RTT between the first device and the second device, and the final positioning calculation is performed according to the round-trip time, thereby realizing a positioning method based on the RTT.

[0126] In one possible embodiment, the first information is: (1) Signaling type information of the first information including at least one of a positioning reference signal indication signaling and a positioning indication flag, wherein the positioning reference signal indication signaling is used to notify a second device that the first device can assist the second device in positioning or ranging, and the positioning indication flag is used to distinguish the current information as a positioning indication signaling; (2) Identification information including at least one of destination identification information, source identification information, and interaction process ID, where the interaction process ID represents ID information of the current positioning flow, and since a first device may request positioning support from multiple second devices, the interaction process ID can be used to determine the positioning reference signal to be measured and the corresponding second device, thereby preventing a situation in which a correspondence error of the positioning reference signal occurs during the interaction process with multiple second devices; (3) positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0127] It should be noted that at least a portion of the information content of the first information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0128] In one possible embodiment, step 402 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a step in which the first device receives second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; (2) The first device transmits fourth information and the first positioning reference signal to the second device, the fourth information being feedback information of the second information.

[0129] In the embodiment of the present application, in the information interaction flow between the first device and the second device, the second device first transmits second information and a second positioning reference signal to the first device, and the two may be transmitted simultaneously or asynchronously, i.e., the second information and the second positioning reference signal may be transmitted together in the same slot or in different slots. Note that this rule will also be followed when describing other steps of transmitting multiple pieces of information later, i.e., the two may be transmitted simultaneously or asynchronously, and redundant description will be omitted. After receiving the second information and the second positioning reference signal, the first device transmits fourth information and a first positioning reference signal to the second device, and the two may be transmitted simultaneously or asynchronously.

[0130] Step 403 in which the first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device includes: (1) a step in which the first device performs positioning measurements according to the second information and / or the target positioning reference signals to obtain first positioning measurement values, where the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; (2) the first device transmitting the first positioning measurement value to the second device via the fourth information.

[0131] In the embodiment of the present application, in accordance with the above dialogue flow, the first device measures the first and second positioning reference signals to obtain first positioning measurement values, and then transmits the first positioning measurement values ​​to the second device. Note that the measurement results of the first and second positioning reference signals measured by the first device are referred to as first positioning measurement values, and the measurement results of the second device measured the first and second positioning reference signals are referred to as second positioning measurement values, and this naming convention will be followed hereafter to avoid redundant description.

[0132] In the process in which the first device performs positioning measurement to obtain the first positioning measurement value, the first device performs the measurement according to the first positioning reference signal and the second positioning reference signal, i.e., the first device may directly measure the first positioning reference signal and the second positioning reference signal, or the first device may perform the measurement according to second information, the first positioning reference signal and the second positioning reference signal, and the second information may carry configuration information or auxiliary information related to the positioning measurement, which is used by the first device to perform the positioning measurement.

[0133] In the embodiment of the present application, the positioning calculation may be performed in the second device, and after receiving the first positioning measurement value from the first device, the second device performs the positioning calculation according to the first positioning measurement value and the second positioning measurement value measured by itself. In the process of the second device performing the positioning calculation, the second device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the second device may perform the positioning calculation according to the first information or fourth information and the first positioning measurement value and the second positioning measurement value, where the first information or fourth information may carry configuration information or auxiliary information related to the positioning calculation and used by the second device to perform the positioning measurement, or the first information or fourth information may carry coordinate information, location information, etc. of the first device and used by the second device to perform the positioning calculation in an absolute positioning scenario.

[0134] In one possible embodiment, step 402 in which the first device transmits a first positioning reference signal to the second device and the first device receives a second positioning reference signal from the second device comprises: (1) a first device transmitting a first positioning reference signal to a second device; (2) receiving second information and a second positioning reference signal from the second device by the first device, the second information being feedback information of the first information; (3) the first device transmitting fourth information to the second device, the fourth information being feedback information of the second information; Step 403 in which the first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device includes: (1) a step in which the first device performs positioning measurements according to the second information and / or the target positioning reference signals to obtain first positioning measurement values, where the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; (2) the first device transmitting the first positioning measurement value to the second device via fourth information; Step 403 of the first device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device, (1) a step in which the first device performs positioning measurements according to the second information and / or the target positioning reference signals to obtain first positioning measurement values, where the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; (2) receiving, by the first device, from the second device, a second positioning measurement value measured by the second device through the second information; (3) the first device obtains a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, where the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; (4) The first device transmits the positioning calculation result of the second device to the second device using the fourth information.

[0135] In the embodiment of the present application, correspondingly, the positioning calculation is performed in the first device, and the first device and the second device interact according to the above-mentioned interaction flow, and after obtaining the first positioning measurement value and the second positioning measurement value, the first device performs the positioning calculation. Specifically, the first device may perform the positioning calculation according to the first positioning measurement value and the second positioning measurement value, or the first device may perform the positioning calculation according to the second information, the first positioning measurement value, and the second positioning measurement value.

[0136] In one possible embodiment, the information content of the second information and the fourth information in the above-described interaction flow is: (1) at least a portion of the third information; (2) positioning measurements; (3) a timestamp of the positioning measurement; and (4) quality indication of the positioning measurements; (5) positioning measurement value identification information; (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; (1.2) identification information including at least one of destination identification information, source identification information, and interactive process ID; (1.3) Positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0137] In addition, like the first information, at least a portion of the information content of the second information and the fourth information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the second information and the fourth information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0138] The positioning measurement type may indicate the measurement that needs to be measured, such as SL-PRS RSRP, device SL-PRS transmit / receive time difference, RTOA, RSTD, Angle of Arrival (AOA), AOD, etc.

[0139] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, and associated identity information of the first device or the second device.

[0140] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (a time difference and a transmission delay difference between when the first device as a reference and another adjacent first device transmit the positioning reference signal) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0141] The positioning method or capability information is used to indicate the method used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, or AOD positioning.

[0142] The positioning type information is used to distinguish the current positioning method between relative positioning, ranging, and absolute positioning.

[0143] The measurement window indication information includes start position information, period information, etc. of the measurement window.

[0144] The positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement quantities and perform assisted positioning.

[0145] The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of SL-PRS, SL-PRS configuration information, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the device's positioning measurement values, and the device's SL-PRS positioning measurement value reporting granularity, etc.

[0146] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, the number of symbols occupied in the time domain, an SL-PRS time domain period, the number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied in the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and SL-PRS priority information.

[0147] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0148] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning instruction signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0149] The SL-PRS configuration parameter set may indicate an SL-PRS-related configuration transmitted by the first device and / or the second device.

[0150] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0151] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0152] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0153] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0154] The quality indication information of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution), and a number of error sampling points.

[0155] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as the reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0156] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information. (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is the time interval between the time domain start transmission position of the positioning reference signal and the target time domain reference point, and the target time domain reference point is the slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by upper layer parameters, or the pre-configured time domain reference point; (2) if the target information supports retransmission, the retransmitted target information does not carry time interval information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) The granularity of the time interval information satisfies at least one of slot, physical slot, logical slot, OFDM symbol, and subframe.

[0157] In one possible embodiment, if the target information carries feedback delay bound information or the higher layer parameters configure or pre-configure the feedback delay bound information, the target information is at least one of the first information, the second information, the fourth information, and the fifth information; The method is: (1) receiving feedback information corresponding to target information from a second device within feedback delay bound information at a first device; (2) the first device completing the entire positioning flow within the feedback delay bound information; In step (1), specifically, If the first information includes feedback delay bound information, the first device receives second information from the second device within the feedback delay bound information; If the second information includes feedback delay bound information, the first device transmits fourth information to the second device within the feedback delay bound information; If the fourth information includes feedback delay bound information, the first device receives fifth information from the second device within the feedback delay bound information; The feedback delay bound information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time domain reference point of the feedback delay bound information is configured or preconfigured by higher layer parameters or is a time domain reference point carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) The target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and the retransmitted target information carries feedback delay bound information, the target time domain reference point of the feedback delay bound information is the slot position for retransmitting the first information; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) If the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the following: implementation of feedback delay bound information.

[0158] In one possible embodiment, the method comprises: (1) a step in which the first device causes the fourth information to carry positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; (4) the first device causes the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signals associated with the positioning measurements; (1.3) Positioning measurement ID.

[0159] When multiple first devices support positioning measurement by a second device, it is necessary to transmit the positioning measurement values ​​corresponding to the second device. Therefore, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0160] In one possible embodiment, the step 201 in which the first device transmits the first information to one or more second devices comprises: The first device includes transmitting the first information to one or more second devices by a third device.

[0161] In an embodiment of the present application, in a scenario where there is a third device that assists in the positioning interaction between the first device and the second device, the first device may transmit the first information to the third device.

[0162] The method is: The method further includes the step of the first device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and receiving the positioning calculation result of the first device from the third device.

[0163] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the first device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0164] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device that assists the positioning interaction between the first device and the second device, the first device and the second device interact with the positioning reference signal, and the interaction processing with the information and measurement values ​​is both performed by the third device.

[0165] As shown in FIG. 5, an embodiment of the present application provides a positioning method for sidelink, in which the execution body of the method is a second device, which may specifically be a terminal, and correspondingly, the counterpart device that communicates and interacts with the second device is a first device, which may also be a terminal, and sidelink communication is adopted between the first device and the second device, and includes steps 501 to 503.

[0166] Step 501: A second device receives first information including positioning instruction signaling from one or more first devices.

[0167] Step 502: The second device receives a first positioning reference signal from the first device, and the second device transmits a second positioning reference signal to the first device.

[0168] Step 503: The second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives a positioning calculation result of the second device from the first device.

[0169] The flow of the method by the second device shown in Figure 5 is the flow of the counterpart device corresponding to the method by the first device shown in Figure 4, so the information, parameters, information content, etc. listed below can be understood by referring to the related explanation of the method by the first device mentioned above, and duplicate explanations of the method by the second device will be omitted.

[0170] In one possible embodiment, the first information is: (1) Signaling type information of the first information includes at least one of a positioning reference signal request signaling and a positioning request flag, wherein the positioning reference signal request signaling is used to trigger at least one second device to assist the first device in positioning or ranging, and the positioning request flag is used to distinguish the current information as a positioning request signaling; (2) Identification information including at least one of destination identification information, source identification information, and interaction process ID, where the interaction process ID represents ID information of the current positioning flow, and since a first device may request positioning support from multiple second devices, the interaction process ID can be used to determine the positioning reference signal to be measured and the corresponding second device, thereby preventing a situation in which a correspondence error of the positioning reference signal occurs during the interaction process with multiple second devices; (3) positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement auxiliary information, feedback delay limit information, time domain reference point, and positioning priority information.

[0171] It should be noted that at least a portion of the information content of the first information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the first information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0172] In one possible embodiment, step 502 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device comprises: (1) a step in which the second device transmits second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; (2) the second device receiving fourth information and the first positioning reference signal from the first device, the fourth information being feedback information of the second information; Step 503 in which the second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a step in which the second device performs positioning measurements according to the fourth information and / or the target positioning reference signal to obtain second positioning measurement values, where the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (2) the second device receives, from the first device, the first positioning measurement value measured by the first device via the fourth information; (3) the second device determines the second target information and / or the target positioning measurement value in response to the second target information and / or the target positioning measurement value; 2 The method includes obtaining a positioning calculation result of the device, wherein the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0173] In one possible embodiment, step 502 in which the second device receives a first positioning reference signal from the first device and the second device transmits a second positioning reference signal to the first device comprises: (1) receiving a first positioning reference signal from a first device by a second device; (2) a step in which the second device transmits second information and a second positioning reference signal to the first device, the second information being feedback information of the first information; (3) the second device receiving fourth information from the first device, the fourth information being feedback information of the second information; Step 503 in which the second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, (1) a step in which the second device performs positioning measurements according to the first information and / or the target positioning reference signal to obtain second positioning measurement values, where the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (2) the second device receives, from the first device, the first positioning measurement value measured by the first device via the fourth information; (3) the second device obtains a positioning calculation result of the second device according to second target information and / or target positioning measurement values, where the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; Step 503 in which the second device receives the positioning calculation result of the second device from the first device includes: (1) a step in which the second device performs positioning measurements according to the first information and / or the target positioning reference signal to obtain second positioning measurement values, where the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; (2) the second device transmitting second positioning measurements to the first device using second information; (3) The second device receives a positioning calculation result of the second device from the first device by the fourth information, wherein the positioning calculation result of the second device is obtained by the first device according to the second information and / or the target positioning measurement value, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0174] In one possible embodiment, the information content of the second and fourth information appearing in the above-described dialogue flow is: (1) at least a portion of the third information; (2) positioning measurements; (3) a timestamp of the positioning measurement; and (4) quality indication of the positioning measurements; (5) positioning measurement value identification information; (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal indication signaling and a positioning indication flag; (1.2) identification information including at least one of destination identification information, source identification information, and interactive process ID; (1.3) Positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0175] In addition, like the first information, at least a portion of the information content of the second information and the fourth information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the second information and the fourth information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0176] In one possible embodiment, if the time interval information is carried in the target information or if the higher layer parameters configure or pre-configure the time interval information, the time interval information is: (1) When the target information activates or schedules the transmission of a positioning reference signal, the time interval information is the time interval between the time domain start transmission position of the positioning reference signal and the target time domain reference point, and the target time domain reference point is the slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by upper layer parameters, or the pre-configured time domain reference point; (2) if the target information supports retransmission, the retransmitted target information does not carry time interval information; and (3) if the target information supports retransmission and the retransmitted target information carries time interval information, the target time domain reference point of the time interval information is the slot position for retransmitting the first information; (4) if the target information supports retransmission and the retransmitted target information carries time interval information and time domain reference point, the start position of the positioning reference signal transmission is determined based on the currently transmitted target information; (5) the granularity of the time interval information includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; and The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0177] In one possible embodiment, if the target information carries feedback delay bound information or if the higher layer parameters configure or pre-configure the feedback delay bound information, the method comprises: (1) receiving feedback information corresponding to target information from a second device within feedback delay bound information at a first device; (2) the first device completing the entire positioning flow within the feedback delay bound information; In step (1), specifically, If the first information includes feedback delay bound information, the second device transmits the second information to the first device within the feedback delay bound information; If the second information includes feedback delay limit information, the second device transmits fourth information to the first device within the feedback delay limit information; If the fourth information includes feedback delay limit information, the second device transmits fifth information to the first device within the feedback delay limit information; The feedback delay bound information is (1) The feedback delay limit information is the upper limit of the feedback time of the target information; (2) the target time domain reference point of the feedback delay bound information is configured or preconfigured by higher layer parameters or is a time domain reference point carried in the target information; (3) if the target information supports retransmission, the retransmitted target information does not carry feedback delay bound information; and (4) The target time domain reference point of the feedback delay bound information is a target information transmission time in the system, and the time granularity of the system includes at least one of a slot, a physical slot, a logical slot, an OFDM symbol, and a subframe; (5) the target time domain reference point of the feedback delay bound information is UTC time; (6) if the target information supports retransmission and the retransmitted target information carries feedback delay bound information, the target time domain reference point of the feedback delay bound information is the slot position for retransmitting the first information; (7) if the target information supports retransmission and the retransmitted target information carries time interval information and a time domain reference point, the target time domain reference point of the feedback delay bound information is the time domain reference point carried in the currently transmitted target information; (8) If the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies at least one of the following: implementation of feedback delay bound information.

[0178] In one possible embodiment, the method comprises: (1) a step in which the first device causes the fourth information to carry positioning measurement value identification information, the positioning measurement value identification information being used to indicate a first positioning reference signal and a second positioning reference signal associated with the first positioning measurement value; (2) presetting a time parameter for the first device to transmit a first positioning reference signal and a time parameter for the second device to transmit a second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within the period, and a period reference point; (3) ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; (4) the first device causes the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is (1.1) Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; (1.2) a timestamp of the first and / or second positioning reference signals associated with the positioning measurements; (1.3) Positioning measurement ID.

[0179] When multiple first devices support positioning measurement by a second device, it is necessary to transmit the positioning measurement values ​​corresponding to the second device. Therefore, the above methods (1) to (4) can ensure that the positioning measurement values ​​of the first and second devices used when calculating the position are consistent with each other.

[0180] In one possible embodiment, the step 501 in which the second device receives first information from one or more first devices comprises: The second device is connected to one or more third devices by a third device. 1 receiving first information from the device; The method is: The method further includes the step of the second device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and receiving the positioning calculation result of the second device from the third device.

[0181] In an embodiment of the present application, in a scenario where there is a third device assisting the positioning interaction between the first device and the second device, the second device transmits measurements of the positioning reference signal to the third device, which performs positioning calculations and then transmits the positioning calculation results to the first device.

[0182] That is, compared with the above-mentioned positioning interaction method between the first device and the second device, in a scenario where there is a third device that assists the positioning interaction between the first device and the second device, the first device and the second device interact with the positioning reference signal, and the interaction processing with the information and measurement values ​​is both performed by the third device.

[0183] The third device may specifically be an LMF or other network element, and the embodiment of the present application does not limit the specific type of the third device.

[0184] The technical solution of the present application will be described below with reference to specific examples.

[0185] Example 1: The first information includes positioning request signaling, that is, the second device supports positioning by the first device. As shown in Figures 6a and 6b, Figure 6a corresponds to the case where one second device (UE2) supports the first device (UE1), and Figure 6b corresponds to the case where multiple second devices (UE2, UE3, UE4) support the first device (UE1). The specific flow is as follows:

[0186] Step 1: A first device transmits first information (positioning request signaling) to a second device to request assistance with its ranging or positioning. At the same time, the first device requests the second device to transmit an SL-PRS.

[0187] Step 2: After receiving the positioning request signaling, the one or more second devices determine the positioning method to be used in the positioning process according to the content of the positioning request signaling, and transmit a second SL-PRS according to the SL-PRS resource selection process or based on the upper layer parameters / pre-configured parameters and the first information.

[0188] If the SL-PRS of the second device is a periodic transmission, no triggering is required, but if the SL-PRS of the second device is a non-periodic or semi-persistent transmission, triggering is required by the first information or the second information. The specific transmission start position depends on the content of the first or second information.

[0189] If the positioning process is used for absolute positioning, the second information should carry content such as positioning assistance information, etc. In addition, the time domain locations of the SL-PRS transmitted from multiple second devices may be limited to be within a limited window or to multiplex the same time domain resource.

[0190] The second information may further include content such as SL-PRS search assistance information and measurement window indication information.

[0191] Step 3: The first device completes receiving the second SL-PRS and transmitting the first SL-PRS according to the second information and the upper layer parameters or pre-configured parameters, and measures the transmission and reception time difference of the SL-PRS. If the second device supports position calculation assistance, it may report the positioning measurement value to the second device through the fourth information; otherwise, it does not need to report the positioning measurement value to the second device.

[0192] If the SL-PRS of the first device is a periodic transmission, no triggering is required, but if the SL-PRS of the first device is aperiodic or semi-persistent transmission, triggering is required by the second or fourth information, the specific transmission start position depending on the content of the second or fourth information.

[0193] The fourth information may further include content such as SL-PRS search assistance information and measurement window indication information.

[0194] Step 4: The second device completes corresponding positioning measurements according to the fourth information and the first SL-PRS. If the second device supports positioning and the first device reports corresponding positioning measurements, the second device may perform positioning and feed back the results to the first device. Otherwise, the second device reports the positioning measurements to the first device.

[0195] Step 5: The first device completes the position calculation by combining the SL-PRS transmission and reception time difference measured by itself, the SL-PRS transmission and reception time difference reported by the second device, and the positioning assistance data.

[0196] In addition, in order to avoid affecting accuracy when calculating position, the measured values ​​of the SL-PRS transmission and reception time difference of two devices must correspond to SL-PRSs of the same pair or SL-PRSs that are close in distance in the time domain.

[0197] Example 2: The first information includes positioning request signaling, that is, the second device assists the first device in positioning. As shown in Figure 6c, Figure 6c corresponds to the case where one second device (UE2) assists the first device (UE1). For the case where multiple second devices assist the first device, Figure 6b and Figure 6c can be combined to understand the case, and the specific flow is as follows:

[0198] Step 1: A first device transmits first information (positioning request signaling), and the first device further transmits a first SL-PRS to request a second device to support its RTT positioning.

[0199] Step 2: The second device receives the first SL-PRS according to the first information and / or the upper layer parameters or the pre-configured parameters, measures the time difference between the transmission and reception of the SL-PRS, and reports the measurement result to the first device.

[0200] In an absolute positioning scenario, one or more second devices need to report measurement information and positioning aiding information. Therefore, in the case of periodic or semi-persistent transmission of SL-PRS, the time-domain positions of the SL-PRS measured by each second device may be different, or the distance between the time-domain positions of the SL-PRS measured may be too large, resulting in a decrease in the positioning accuracy of the first device. To solve this problem,

[0201] By limiting the measurement interval of the second device using the first information, it is possible to ensure that the time domain positions of the SL-PRSs measured by multiple second devices are the same or that the measurement intervals are maintained within a certain window.

[0202] Alternatively, the second device may report multiple measurement quantities and also report the measurement timestamp + the timestamp of the corresponding SL-PRS (or the time domain location information of the corresponding SL-PRS: subframe number + slot number, etc.), thereby ensuring that the first device can select the corresponding measurement result from the multiple positioning measurement results reported by the multiple second devices and perform position calculation.

[0203] Step 3: The first device uses the second information to receive the second SL-PRS and measure the SL-PRS transmission and reception time difference, calculates its position, and completes ranging or positioning.

[0204] In addition, in order to avoid affecting accuracy when calculating position, the measured values ​​of the SL-PRS transmission and reception time difference of two devices must correspond to SL-PRSs of the same pair or SL-PRSs that are close in distance in the time domain.

[0205] Example 3: The first information includes positioning request signaling, that is, the second device assists the first device in positioning. As shown in Figure 6d, Figure 6d corresponds to the case where one second device (UE2) assists the first device (UE1). For the case where multiple second devices assist the first device, Figure 6b and Figure 6d can be combined to understand the case where multiple second devices assist the first device. The specific flow is as follows:

[0206] The flow of Figure 6d differs from the flow of Figure 6c in that the final position calculation is performed in the second device, the first device transmits PRS measurements to the second device using the fourth information, the second device performs the position calculation, and then transmits the calculation results to the first device using the fifth information.

[0207] Example 4: The first information includes positioning instruction signaling, that is, the first device supports positioning by the second device. As shown in Figure 6e, Figure 6e corresponds to the case where one first device (UE1) supports the second device (UE2). For the case where multiple first devices support the second devices, Figure 6b and Figure 6e can be combined to understand the case, and the specific flow is as follows:

[0208] Step 1: The first device transmits first information (positioning instruction signaling) to notify the second device that the first device can provide the second device with positioning capabilities. The first information may include SL-PRS request signaling, positioning request / positioning instruction flag, destination identification information, source identification information, SL-PRS configuration parameters, positioning measurement quantity type information, positioning assistance information, SL-PRS search assistance information, and positioning method / capability information.

[0209] Step 2: After receiving the positioning command signaling, the second device triggers an RTT positioning flow, transmits second information to the first device, and triggers transmission of a second SL-PRS.

[0210] The second information may include SL-PRS request signaling, positioning request / positioning indication flag, destination identification information, source identification information, feedback delay bound information, SL-PRS configuration parameters, positioning method / capability information, time interval information, time domain reference point, and measurement window indication information, etc.

[0211] Step 3: After receiving the second information, the first device transmits the first SL-PRS and receives the second SL-PRS according to the second information or the upper layer parameters / pre-configured parameters, and the fourth information carries the SL-PRS transmission and reception time difference, positioning aiding information, a timestamp associated with the measurement value, and positioning measurement value identification information, etc.

[0212] Step 4: After receiving the fourth information, the second device receives the first SL-PRS according to the fourth information or the upper layer parameters / pre-configured parameters, and uses the content of the fourth information to complete measurement of the time difference between transmission and reception of the SL-PRS, then performs position calculation and completes ranging or positioning.

[0213] In addition, in order to avoid affecting accuracy when calculating position, the measured values ​​of the SL-PRS transmission and reception time difference of two devices must correspond to SL-PRSs of the same pair or SL-PRSs that are close in distance in the time domain.

[0214] Example 4: The first information includes positioning instruction signaling, that is, the first device supports positioning by the second device. As shown in Figure 6f, Figure 6f corresponds to the case where one first device (UE1) supports the second device (UE2). For the case where multiple first devices support the second devices, Figure 6b and Figure 6f can be combined to understand the case, and the specific flow is as follows:

[0215] The flow of Figure 6f differs from the flow of Figure 6e in that the final position calculation is performed in the first device, the second device transmits PRS measurements to the first device using the fifth information, the first device performs the position calculation, and then transmits the calculation results to the second device using the sixth information.

[0216] Example 5: The first information includes positioning instruction signaling, that is, the first device supports positioning by the second device. As shown in Figure 6g, Figure 6g corresponds to the case where one first device (UE1) supports the second device (UE2). For the case where multiple first devices support the second devices, Figure 6b and Figure 6g can be combined to understand the case, and the specific flow is as follows:

[0217] The flow in Figure 6g differs from the flow in Figure 6e in that the second device transmits PRS measurement values ​​to the first device using the fifth information, the first device performs position calculations, and then transmits the PRS measurement values ​​or calculation results to the second device using the sixth information.

[0218] The information content of the sixth information that appears in the dialogue flow explained above is: (1) at least a portion of the third information; (2) positioning measurements; (3) a timestamp of the positioning measurement; and (4) quality indication of the positioning measurements; (5) positioning measurement value identification information; (6) Positioning calculation result information, The third information is (1.1) signaling type information of the third information including at least one of a positioning reference signal request signaling and a positioning request flag; (1.2) identification information including at least one of destination identification information, source identification information, and interactive process ID; (1.3) Positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; (1.4) Positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay limit information, time domain reference point, and positioning priority information.

[0219] In addition, like the first information, at least a portion of the information content of the sixth information may be configured or pre-configured by upper layer parameters, i.e., only a portion of the information content may be included in the sixth information, and the remaining portion may be configured or pre-configured by upper layer parameters.

[0220] The positioning metric type may include indicating the metric that needs to be measured, for example, SL-PRS RSRP, device SL-PRS time difference of transmission and reception, RTOA, RSTD, AOA, AOD, etc.

[0221] The positioning assistance information may include at least one of speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, and associated identity information of the first device or the second device.

[0222] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (a time difference and a transmission delay difference between when the first device as a reference and another adjacent first device transmit the positioning reference signal) and a search window (corresponding to the uncertainty of the transmission delay difference), and the positioning reference signal search assistance information may be configured or pre-configured by higher layer parameters.

[0223] The positioning method or capability information is used to indicate the method used in the current positioning flow, such as Multi-RTT positioning, TDOA positioning, AOA positioning, or AOD positioning.

[0224] The positioning type information is used to distinguish the current positioning method between relative positioning, ranging, and absolute positioning.

[0225] The measurement window indication information includes start position information, period information, etc. of the measurement window.

[0226] The positioning calculation capability indication information is used to indicate whether the current device supports the positioning calculation capability or can only report measurement quantities and perform assisted positioning.

[0227] The measurement auxiliary information includes at least one of SL-PRS information (SL-PRS resource set ID, SL-PRS resource ID, specific time-frequency resource location information of SL-PRS, SL-PRS configuration information, sequence initialization ID, etc.) for indicating the correlation of the target device when measuring the device's positioning measurement values, and the device's SL-PRS positioning measurement value reporting granularity, etc.

[0228] The positioning reference signal configuration parameter set includes at least one of an SL-PRS resource type, a power control parameter, a sequence ID, an SL-PRS resource ID, an SL-PRS resource set ID, a frequency domain comb size, a frequency domain offset value between symbols, a cyclic shift parameter, a time domain start position, a start symbol position mapped to a slot, the number of symbols occupied in the time domain, an SL-PRS time domain period, the number or duration of SL-PRS periods, a frequency domain start position, a frequency domain offset value relative to a frequency domain reference point, a bandwidth or number of RBs occupied in the frequency domain, a subcarrier spacing of the SL-PRS, a cyclic prefix type, and SL-PRS priority information.

[0229] The SL-PRS resource type can be used to indicate that the SL-PRS resource is one of periodic, aperiodic, or semi-persistent.

[0230] The relative reference point in the time-frequency domain may be a resource time-frequency position to which the positioning request signaling or the positioning instruction signaling is mapped, or a reference time-frequency position configured or pre-configured by higher layer parameters.

[0231] The SL-PRS configuration parameter set may indicate an SL-PRS-related configuration transmitted by the first device and / or the second device.

[0232] Some or all of the parameters in the above SL-PRS configuration parameter set may be configured or pre-configured by higher layer parameters, and related parameters configured or pre-configured by higher layer parameters do not need to appear in the first information or the third information.

[0233] The cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.

[0234] The SL-PRS priority may further be determined based on the priority of its associated physical channel or a priority value conveyed in associated control signaling.

[0235] The positioning measurements include at least one of RSTD reference signal time difference, SL-PRS RSRP, first device transmit / receive time difference, second device transmit / receive time difference, SL-PRS SINR / SNR, RTOA reference signal time of arrival, AOA, AOD, optimal path transmission delay (which can help eliminate some erroneous distance estimates), delay difference between multiple paths, and longitude / latitude / height.

[0236] The quality indication information of the measurement value includes at least one of an error resolution, an error value (indicated in combination with the error resolution), and a number of error sampling points.

[0237] The positioning reference signal search assistance information includes at least one of an expected reference signal time difference (the time difference and transmission delay difference between the first device as the reference and other adjacent first devices transmitting SL-PRS) and a search window (corresponding to the uncertainty of the transmission delay difference), and the SL-PRS search assistance information may be configured or pre-configured by higher layer parameters.

[0238] Example 6: The first information includes positioning instruction signaling, that is, the first device supports positioning by the second device. As shown in Figure 6h, Figure 6h corresponds to the case where one first device (UE1) supports the second device (UE2). For the case where multiple first devices support the second devices, Figure 6b and Figure 6h can be combined to understand the case, and the specific flow is as follows:

[0239] Step 1: The first device transmits first information (positioning command signaling) to notify the second device that it can provide positioning capabilities to the second device, and also transmits a first SL-PRS.

[0240] the first information is positioning instruction signaling, and may include SL-PRS instruction signaling, a positioning request / positioning instruction flag, destination identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, positioning method / capability information, time interval information, and time domain reference point; The SL-PRS periods of the multiple first devices are the same or close together, and the time domain locations of the SL-PRS are relatively close together or occupy the same slots.

[0241] Step 2: The second device receives the first information, receives a first SL-PRS according to the first information and the upper layer parameters or pre-configured parameters, transmits a second SL-PRS, and completes measurement of the SL-PRS transmission and reception time difference. If the first device supports position calculation, the second device may further report positioning measurements to the first device.

[0242] The second information may include SL-PRS indication signaling, destination identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, time interval information, time domain reference points, positioning measurements, timestamps associated with the measurements (including a system frame number and a slot number, used to indicate the validity time of the current measurement), a quality indication of the measurement, and positioning measurement identification information.

[0243] Step 3: The first device receives the second information, receives a second SL-PRS according to the second information and the higher layer parameters or pre-configured parameters, and measures the SL-PRS transmission / reception time difference. If the first device supports position calculation and receives the measurements reported from the second device, the first device performs position calculation around the second device and feeds back the results to the second device. Otherwise, the first device feeds back only the positioning measurements to the second device via the fourth information.

[0244] The fourth information includes at least positioning auxiliary information, a positioning measurement value, a timestamp associated with the measurement value (including a system frame number and a slot number, and used to indicate the validity period of the current measurement value), a quality indication of the measurement value, and positioning measurement value identification information.

[0245] Step 4: The second device receives the fourth information and completes the positioning process.

[0246] In addition, in order to avoid affecting accuracy when calculating position, the measured values ​​of the SL-PRS transmission and reception time difference of two devices must correspond to SL-PRSs of the same pair or SL-PRSs that are close in distance in the time domain.

[0247] Example 6: Referring to Figure 6i, the specific flow of the positioning flow when LMF exists in SL-Positioning is as follows:

[0248] This scenario is mainly applied to absolute positioning, for example, the anchor node is an RSU, the SL-PRS transmission parameters of each anchor node RSU are periodic continuous transmission, and the resources occupied by the SL-PRS of each anchor node are orthogonal. However, the SL-PRS configuration parameters of the anchor node RSU are not limited to those pre-configured, and may be transmitted and configured by the SL-PRS determined in the LMF configuration or SL-PRS dedicated resource selection process. In the above method, the first device needs to be notified of the corresponding SL-PRS configuration parameters.

[0249] (1) The first device requests the Location service (first information) from the LMF.

[0250] (2) One or more second devices (anchor node RSUs) interact with the LMF to exchange information necessary for positioning, such as positioning aiding information and SL-PRS configuration parameter sets.

[0251] To determine the anchor node, a dialogue flow is required between the first and second devices.

[0252] (3) Based on the positioning methods / capabilities supported by the first and second devices, the LMF determines the positioning method (TDOA, AOA / AOD, RTT, etc.) to be used in this positioning flow, and determines the auxiliary information, positioning measurement type, and positioning type required for the corresponding method.

[0253] (4) At this time, the first device can transmit SL-PRS, but since there is no scheduling by the base station, the resource configuration of SL-PRS is as follows: a. The first device determines itself and performs SL-PRS resource selection based on sensing results and SL-PRS configuration parameter information; b. The LMF determines the SL-PRS resource configuration information of the first device, and performs similar LMF scheduling (sends the SL-PRS configuration parameters to the first device).

[0254] (5) The first device is: a. It can determine the activation time of the SL-PRS by itself and then notify the LMF of the configuration information and activation time; b. The LMF may activate the transmission of the SL-PRS.

[0255] (6) The LMF notifies the second device of the SL-PRS measurement and notifies the second device to transmit the SL-PRS configuration information and related measurement information to the corresponding first device; or Alternatively, there is no need to notify the second device of specific SL-PRS configuration information, and the transmission and reception of SL-PRS is similar to the resource allocation process in the R16 stage.

[0256] (7) The transmission of the SL-PRS by the first device and the second device may be periodic, aperiodic, or semi-persistent.

[0257] (8) The LMF provides assistance data to the first device, for example, sends SL-PRS configuration information related to the second device to the first device, and notifies the first device of all relevant information required for the SL-PRS (such as positioning measurement type) measurements.

[0258] (9) The LMF requests the first device to perform an RTT measurement, including measurements of the SL-PRS configuration information used for the SL-PRS transmission and reception time, the device's SL-PRS transmission and reception time difference reporting granularity, and the like.

[0259] Note: The steps (6 / 7 / 9) are not necessarily in chronological order, especially when the SL-PRS is a periodic transmission.

[0260] (10) The first device and the second device measure the SL-PRS transmission / reception time difference, RSRP, SNR / SINR, etc. of the received SL-PRS according to the received information.

[0261] (11) The first device reports the measurement results, such as the contents of the second information or the fourth information, to the LMF.

[0262] (12) The second device reports the measurement results, such as the contents of the second information or the fourth information, to the LMF.

[0263] (13) The LMF calculates the position by combining the measurement results and the positioning aiding information of each device, and feeds back the positioning result to the first device, completing the positioning flow.

[0264] In the sidelink positioning method according to the embodiment of the present application, the execution entity may be a sidelink positioning device. In the embodiment of the present application, the sidelink positioning device according to the embodiment of the present application will be described using an example in which the sidelink positioning device executes the sidelink positioning method.

[0265] Referring to FIG. 7 , an embodiment of the present application provides a positioning device 700 for sidelink, The first device includes a first transmitting module 701, which is used to transmit first information including a positioning request signaling to one or more second devices; a first transceiver module 702, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; The first device includes a first positioning module 703 used to obtain a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device includes a first positioning module 703 used to receive a positioning calculation result of the first device from the second device.

[0266] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

[0267] Optionally, the first transceiver module: the first device transmitting the first positioning reference signal to the second device; the first device receives second information and the second positioning reference signal from the second device, and the second information is feedback information of the first information; The first positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The first device receives, from the second device according to the second information, a second positioning measurement value measured by the second device; The first device obtains a positioning calculation result of the first device according to the second information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0268] Optionally, the first transceiver module: The first device receives second information and a second positioning reference signal from the second device, and the second information is feedback information of the first information; the first device transmits fourth information and the first positioning reference signal to the second device, and the fourth information is feedback information of the second information; the first device receives fifth information from the second device, the fifth information being feedback information of the fourth information; The first positioning module is the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; The first device receives second positioning measurement values ​​measured by the second device from the second device according to the fifth information, and the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; the first device obtains a positioning calculation result of the first device according to first target information and / or target positioning measurement values, the first target information being the second information or the fifth information, and the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values; The first positioning module is the first device performs positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; the first device transmitting the first positioning measurement value to the second device using the fourth information; The first device receives a positioning calculation result of the first device from the second device using the fifth information, and the positioning calculation result of the first device is obtained by the second device according to the fourth information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0269] Optionally, the information content of the second information, the fourth information, and the fifth information is: At least a portion of the third information; positioning measurements; a timestamp of the positioning measurement; an indication of quality of the positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0270] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by an upper layer parameter, or a pre-configured time domain reference point; If the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0271] Optionally, the device may: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; the first device further includes a first processing module used for at least one of: completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information, The feedback delay bound information The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is carried in the target information; If the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0272] Optionally, the device comprises: the first device causes the fourth information to carry positioning measurement value identification information, and the positioning measurement value identification information is used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the first device further includes a second processing module used for at least one of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first positioning reference signal and / or the second positioning reference signal associated with the positioning measurement; and a positioning measurement ID.

[0273] Optionally, the first transmitting module: the first device is used by a third device to transmit the first information to one or more of the second devices; The first transceiver module includes: The first device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and to receive the positioning calculation result of the first device from the third device.

[0274] Referring to FIG. 8 , an embodiment of the present application provides a positioning device 800 for sidelink, The second device includes a first receiving module 801, which is used to receive first information including positioning request signaling from one or more first devices; a second transceiver module 802, used by the second device to receive a first positioning reference signal from the first device and to transmit a second positioning reference signal to the first device; The second device includes a second positioning module 803, which is used for transmitting the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or for the second device to obtain the positioning calculation result of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device.

[0275] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

[0276] Optionally, the second transceiver module: the second device receiving the first positioning reference signal from the first device; the second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; The second positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The second device is used to transmit the second positioning measurement value to the first device using the second information.

[0277] Optionally, the second transceiver module: the second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; the second device receiving fourth information and the first positioning reference signal from the first device, the fourth information being feedback information of the second information; the second device transmits fifth information to the first device, the fifth information being feedback information of the fourth information; The second positioning module is the second device performs positioning measurements according to the fourth information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device according to the fifth information; The second positioning module is the second device performs positioning measurements according to the fourth information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The second device receives the first positioning measurement value measured by the first device from the first device using the fourth information; the second device obtains a positioning calculation result of the first device according to the fourth information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The second device is used to transmit the positioning calculation result of the first device to the first device using the fifth information.

[0278] Optionally, the information content of the second information, the fourth information, and the fifth information is: At least a portion of the third information; positioning measurements; a timestamp of the positioning measurement; an indication of quality of the positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information, the signaling type information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0279] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by an upper layer parameter, or a pre-configured time domain reference point; If the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0280] Optionally, the device may: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the second device transmitting feedback information corresponding to the target information within the feedback delay bound information to the second device; the second device further includes a third processing module used for at least one of: completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information, The feedback delay bound information The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is carried in the target information; If the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0281] Optionally, the device comprises: the second device causes the second information and / or the fifth information to carry positioning measurement value identification information, and the positioning measurement value identification information is used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the second device further includes a fourth processing module used for at least one of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first positioning reference signal and / or the second positioning reference signal associated with the positioning measurement; and a positioning measurement ID.

[0282] Optionally, the first receiving module: The second device is connected to one or more of the third devices. 1 and receiving the first information from the device; The second transceiver module is The second device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the third device, the third device obtains the positioning calculation results of the first device, and the third device is used to transmit the positioning calculation results of the first device to the first device.

[0283] Referring to FIG. 9 , an embodiment of the present application provides a positioning device 900 for sidelink, The first device includes a second transmitting module 901, which is used to transmit first information including positioning instruction signaling to one or more second devices; a third transceiver module 902, used for the first device to transmit a first positioning reference signal to the second device and for the first device to receive a second positioning reference signal from the second device; and a third positioning module 903 used for the first device to transmit the measurement results of the first positioning reference signal and the second positioning reference signal to the second device, or for the first device to obtain the positioning calculation results of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and to transmit the positioning calculation results of the second device to the second device.

[0284] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

[0285] Optionally, the third transceiver module: The first device receives second information and the second positioning reference signal from the second device, and the second information is feedback information of the first information; the first device transmits fourth information and the first positioning reference signal to the second device, and the fourth information is feedback information of the second information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The first device is used to transmit the first positioning measurement value to the second device using the fourth information.

[0286] Optionally, the third transceiver module: the first device transmitting the first positioning reference signal to the second device; The first device receives second information and the second positioning reference signal from the second device, and the second information is feedback information of the first information; The first device transmits fourth information to the second device, and the fourth information is feedback information of the second information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the first device transmitting the first positioning measurement value to the second device using the fourth information; The third positioning module is the first device performs positioning measurements according to the second information and / or target positioning reference signals to obtain first positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The first device receives, from the second device according to the second information, a second positioning measurement value measured by the second device; the first device obtains a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, wherein the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The first device transmits the positioning calculation result of the second device to the second device using the fourth information.

[0287] Optionally, the information content of the second information and the fourth information is: At least a portion of the third information; positioning measurements; a timestamp of the positioning measurement; an indication of quality of the positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0288] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by an upper layer parameter, or a pre-configured time domain reference point; If the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0289] Optionally, the device may: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the first device receiving feedback information corresponding to the target information from the second device within the feedback delay bound information; the first device further includes a fifth processing module used for at least one of: completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information, The feedback delay bound information The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is carried in the target information; If the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0290] Optionally, the device comprises: the first device causes the fourth information to carry positioning measurement value identification information, and the positioning measurement value identification information is used to indicate the first positioning reference signal and the second positioning reference signal associated with the first positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the first device further includes a sixth processing module used for at least one of: causing the fourth information to carry device identity class information of the first device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first positioning reference signal and / or the second positioning reference signal associated with the positioning measurement; and a positioning measurement ID.

[0291] Optionally, the second transmitting module: the first device is used by a third device to transmit the first information to one or more of the second devices; The third transceiver module is The first device transmits the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the third device, the third device obtains the positioning calculation results of the second device, and the third device transmits the positioning calculation results of the second device to the second device.

[0292] Referring to FIG. 10 , an embodiment of the present application provides a positioning device 1000 for sidelink, The second device includes a second receiving module 1001, which is used to receive first information including positioning instruction signaling from one or more first devices; a fourth transceiver module 1002, used by the second device to receive a first positioning reference signal from the first device and to transmit a second positioning reference signal to the first device; The second device includes a fourth positioning module 1003 used to obtain a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device includes a fourth positioning module 1003 used to receive a positioning calculation result of the second device from the first device.

[0293] Optionally, the first information comprises: signaling type information of the first information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement assistance information, feedback delay bound information, time domain reference point, and positioning priority information.

[0294] Optionally, the fourth transceiver module: the second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; the second device receives fourth information and the first positioning reference signal from the first device, and the fourth information is feedback information of the second information; The fourth positioning module is the second device performs positioning measurements according to the fourth information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The second device receives the first positioning measurement value measured by the first device from the first device using the fourth information; The second device, in response to second target information and / or target positioning measurements, 2 The present invention is used for obtaining a positioning calculation result of an equipment, wherein the second target information is the first information or the fourth information, and the target positioning measurement value includes the first positioning measurement value and the second positioning measurement value.

[0295] Optionally, the fourth transceiver module: the second device receiving the first positioning reference signal from the first device; the second device transmits second information and the second positioning reference signal to the first device, and the second information is feedback information of the first information; the second device receives fourth information from the first device, the fourth information being feedback information of the second information; The fourth positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; The second device receives the first positioning measurement value measured by the first device from the first device using the fourth information; the second device obtains a positioning calculation result of the second device according to second target information and / or target positioning measurement values, wherein the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The fourth positioning module is the second device performs positioning measurements according to the first information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device via the second information; The second device receives the positioning calculation result of the second device from the first device using the fourth information, and the positioning calculation result of the second device is obtained by the first device according to the second information and / or target positioning measurement values, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values.

[0296] Optionally, the information content of the second information and the fourth information is: At least a portion of the third information; positioning measurements; a timestamp of the positioning measurement; an indication of quality of the positioning measurements; Positioning measurement value identification information; and positioning calculation result information, The third information is signaling type information of the third information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type, positioning aiding information, positioning reference signal search aiding information, positioning method or capability, positioning type, measurement window indication, positioning calculation function indication, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

[0297] Optionally, if time interval information is carried in the target information or if higher layer parameters configure or pre-configure time interval information, said time interval information may be: When the target information activates or schedules transmission of a positioning reference signal, the time interval information is a time interval between a time domain start transmission position of the positioning reference signal and a target time domain reference point, and the target time domain reference point is a slot position where the target information is located, or a time domain reference point in the target information, or a time domain reference point configured by an upper layer parameter, or a pre-configured time domain reference point; If the target information supports retransmission, the time interval information is not carried in the retransmitted target information; The target information is at least one of the first information, the second information, the fourth information, and the fifth information.

[0298] Optionally, the device may: if feedback delay bound information is carried in the target information or if higher layer parameters configure or pre-configure feedback delay bound information; the second device transmitting feedback information corresponding to the target information within the feedback delay bound information to the second device; the second device further includes a seventh processing module used for at least one of: completing an entire positioning flow within the feedback delay bound information; the target information is at least one of the first information, the second information, the fourth information, and the fifth information, The feedback delay bound information The feedback delay limit information is an upper limit of the target information feedback time; a target time-domain reference point of the feedback delay bound information is configured or pre-configured by a higher layer parameter or is carried in the target information; If the target information supports retransmission, the feedback delay bound information is not carried in the retransmitted target information.

[0299] Optionally, the device comprises: the second device causes the second information and / or the fifth information to carry positioning measurement value identification information, and the positioning measurement value identification information is used to indicate the first positioning reference signal and the second positioning reference signal associated with the second positioning measurement value; Presetting a time parameter for the first device to transmit the first positioning reference signal and a time parameter for the second device to transmit the second positioning reference signal, the time parameter including at least one of a positioning reference signal transmission period, an offset value within a period, and a period reference point; Ensuring that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window according to the indication of the measurement window indication information; the second device further includes an eighth processing module used for at least one of: causing the second information and / or the fifth information to carry device identity class information of the second device; The positioning measurement value identification information is Positioning reference signal measurement related information including at least a portion of positioning reference signal configuration information; a timestamp of the first positioning reference signal and / or the second positioning reference signal associated with the positioning measurement; and a positioning measurement ID.

[0300] Optionally, the second receiving module: The second device is connected to one or more of the third devices. 1 and receiving the first information from the device; The fourth transceiver module is The second device is used to transmit the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the third device, and to receive the positioning calculation result of the second device from the third device.

[0301] The positioning device for sidelink in the embodiments of the present application may be an electronic device, such as an electronic device having an operating system, or a component within the electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other device other than a terminal. For example, the terminal may include, but is not limited to, the types of terminal 11 listed above, and the other device may be a server, a network-attached storage (NAS), etc., and is not particularly limited in the embodiments of the present application.

[0302] The positioning device for sidelink according to the embodiment of the present application can realize each process realized in the method embodiment of Figures 2 to 6i and achieve the same technical effects, and to avoid repetition, redundant description will be omitted here.

[0303] Referring to FIG. 11 , an embodiment of the present application provides a positioning device for a sidelink, It includes a transceiver 1110 used to transmit and receive data under the control of the processor 1100 .

[0304] In FIG. 11 , the bus architecture may include any number of buses and bridges connected to each other, specifically, one or more processors, such as processor 1100, and memories, such as memory 1120, linked together by various circuits. The bus architecture may also link various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and will not be further described herein. The bus interface provides an interface. The transceiver 1110 may be multiple elements, i.e., includes a transmitter and a receiver, and provides a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, and optical cables. For different user devices, the user interface 1130 may be an interface that allows the necessary devices to be attached externally or internally, and the connected devices may include, but are not limited to, a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0305] The processor 1100 is responsible for managing the bus architecture and normal processing, and the memory 1120 may store data used by the processor 1100 when performing operations.

[0306] Optionally, the processor 1100 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.

[0307] The processor is used to call the computer program stored in the memory and execute the method according to any one of the embodiments of the present application according to the executable instructions obtained. The processor and the memory may be physically separated.

[0308] When the device shown in FIG. 11 functions as the first device, it can perform the steps of the method related to the first device in FIGS. 2 to 6i. the processor reading the computer program in the memory; The first device transmits first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device is used to perform an operation of obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives a positioning calculation result of the first device from the second device.

[0309] Alternatively, the processor reads a computer program in the memory, a first device transmitting first information to one or more second devices, the first information including positioning instruction signaling; the first device transmitting a first positioning reference signal to the second device and the first device receiving a second positioning reference signal from the second device; The first device is used to perform the operation of transmitting the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal to the second device, or the first device obtains the positioning calculation result of the second device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the second device to the second device.

[0310] When the device shown in Fig. 11 functions as the second device, it can execute the steps of the method related to the second device in Fig. 2 to Fig. 6i. Specifically, the relevant explanation of the method described above can be referred to, and the repeated explanation will be omitted here.

[0311] the processor reading the computer program in the memory; receiving, at the second device, first information comprising positioning request signaling from one or more first devices; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform the operation of transmitting the measurement results of the first positioning reference signal and the second positioning reference signal to the first device, or the second device obtains the positioning calculation result of the first device according to the measurement results of the first positioning reference signal and the measurement results of the second positioning reference signal, and transmits the positioning calculation result of the first device to the first device.

[0312] Alternatively, the processor reads a computer program in the memory, a second device receiving first information from one or more first devices, the first information including positioning instruction signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; The second device is used to perform an operation of obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives a positioning calculation result of the second device from the first device.

[0313] The embodiments of the present application further provide a readable storage medium, which stores a program or instruction, and when the program or instruction is executed by a processor, it realizes each process of the embodiment of the positioning method for sidelink described above and can achieve the same technical effect. To avoid repetition, the redundant description will be omitted here.

[0314] The processor is the processor of the terminal described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a computer read only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0315] The present embodiment further provides a chip, the chip including a processor and a communication interface, the communication interface coupled to the processor, the processor executing programs or instructions to implement the processes of the above-described embodiment of the positioning method for sidelink, and the same technical effects can be achieved. To avoid repetition, the redundant description will be omitted here. It should be understood that the chip referred to in the embodiment of the present application may also be referred to as a system-level chip, a system chip, a chip system, a system-on-chip, etc.

[0316] The embodiments of the present application further provide a computer program / program product, which is stored in a storage medium, and when executed by at least one processor, the computer program / program product can realize each process of the embodiments of the positioning method for sidelink described above and achieve the same technical effects. To avoid repetition, redundant descriptions will be omitted here.

[0317] It should be understood that the division of each module described above is merely a division of logical functions, and that in actual implementation, all or part of the modules may be integrated into a single physical entity or physically separated. All of these modules may be implemented in the form of software called by a processing element, or in the form of hardware. Some of the modules may be implemented in the form of software called by a processing element, or in the form of hardware. For example, the decision module may be a separately established processing element, or may be integrated into a specific chip of the device. It may also be stored in the memory of the device in the form of program code and called by a specific processing element of the device to perform the functions of the decision module. Other modules may be implemented in a similar manner. All or part of these modules may be integrated into a single entity or implemented separately. The processing element described herein may be an integrated circuit having signal processing capabilities. In the implementation process, each step of the above method or each of the above modules may be completed by an integrated logic circuit in a hardware processor element or by instructions in the form of software.

[0318] For example, each module, unit, sub-unit, or sub-module may be configured as one or more integrated circuits implementing the above methods, such as one or more application specific integrated circuits (ASICs), one or more microprocessors (DSPs: digital signal processors), or one or more field programmable gate arrays (FPGAs). Furthermore, for example, when the specific modules are implemented by a processing element scheduling a program code, the processing element may be a general-purpose processor such as a central processing unit (CPU), or another processor capable of calling program code. Furthermore, for example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0319] The terms "first," "second," and the like in the present specification and claims are used to distinguish between similar objects and do not necessarily describe a particular order or sequence. It should be understood that such terms, when used interchangeably, are used to indicate that the embodiments of the present invention described herein may be performed in orders other than those illustrated or described herein. The terms "comprise," "have," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the explicitly recited steps or units, but may include other steps or units not explicitly recited or inherent in the process, method, product, or apparatus. The specification and claims also use "and / or" to indicate at least one of connected objects. For example, A and / or B and / or C indicates the following seven cases: A only, B only, C only, both A and B, both B and C, both A and C, and the presence of all three of A, B, and C. Similarly, "at least one of A and B" as used in the specification and claims should be understood as "the presence of only A, only B, or both A and B."

[0320] It should be noted that, in this specification, the terms "comprise," "include," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion, whereby a process, method, article, or apparatus that includes a set of elements may include not only those elements but also other elements not expressly listed or elements inherent in the process, method, article, or apparatus. Absent further limitations, an element qualified by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. It should also be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may further include performing functions substantially simultaneously or in the reverse order, depending on such functionality. For example, a described method may be performed in an order different from that described, and various steps may be added, omitted, or combined. Furthermore, features described with reference to some examples may be combined in other examples.

[0321] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be realized by software and a required general-purpose hardware platform, or of course by hardware, and in many cases the former is a more preferred embodiment. Based on this understanding, the essence of the technical solution of the present application or a part contributing to the related art can be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for causing a terminal (such as a mobile phone, computer, server, air conditioner, or network device) to execute the methods described in each embodiment of the present application.

[0322] Although the examples of the present application have been described above with reference to the drawings, the present application is not limited to the above specific embodiments, which are merely illustrative and not restrictive. Those skilled in the art can create various forms based on the suggestions of the present application without departing from the spirit of the present application and the scope of protection of the claims, and all of these forms fall within the scope of protection of the present application.

Claims

1. the first device transmitting first information including positioning request signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device, and the first device receiving a second positioning reference signal from the second device; the first device obtains a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the first device receives the positioning calculation result of the first device from the second device; The first information is signaling type information of the first information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

2. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: a step of receiving second information and a second positioning reference signal from the second device, the second information being feedback information of the first information; a step of transmitting fourth information and a first positioning reference signal from the first device to the second device, the fourth information being feedback information of the second information; the first device receiving fifth information from the second device, the fifth information being feedback information of the fourth information; The step of the first device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the first device performing positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; a step of receiving, by the first device, second positioning measurement values ​​measured by the second device from the second device according to the fifth information, wherein the target positioning reference signal includes the first positioning reference signal and the second positioning reference signal; the first device obtaining a positioning calculation result of the first device according to first target information and / or target positioning measurement values, wherein the first target information is the second information or the fifth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The step of receiving the positioning calculation result of the first device from the second device by the first device includes: the first device performing positioning measurements in response to the second information and / or the target positioning reference signal to obtain first positioning measurements; the first device transmitting the first positioning measurement value to the second device using the fourth information; 2. The method of claim 1, further comprising: a step of receiving a positioning calculation result of the first device from the second device via the fifth information, the positioning calculation result of the first device being obtained by the second device in response to the fourth information and / or target positioning measurement values, the target positioning measurement values ​​including the first positioning measurement values ​​and the second positioning measurement values.

3. The information content of the second information is: positioning reference signal configuration information including positioning reference signal configuration parameters, the positioning reference signal configuration parameters including at least one of an SL-PRS resource ID, an SL-PRS bandwidth, and an SL-PRS priority information; and positioning measurement configuration information including at least one of positioning auxiliary information and measurement auxiliary information; the positioning assistance information includes at least one of location coordinate information and an identity ID; The method according to claim 2 , wherein the measurement auxiliary information includes at least SL-PRS sequence initialization ID information.

4. The information content of the fourth information is: Identification information including source identification information; positioning reference signal configuration information including positioning reference signal configuration parameters, wherein the positioning reference signal configuration parameters include an SL-PRS resource ID; Positioning measurement configuration information including positioning auxiliary information, the positioning auxiliary information including at least one of an identity ID, associated identity information of the first device or the second device; and a positioning measurement including a timestamp of the positioning measurement; and positioning measurement identification information comprising a timestamp of the first and / or second positioning reference signals associated with the positioning measurements.

5. receiving, by the second device, first information from one or more first devices, the first information including positioning request signaling; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; the second device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device, or the second device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device, The first information is signaling type information of the first information including at least one of a positioning reference signal request signaling and a positioning request flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

6. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: a step of transmitting second information and the second positioning reference signal from the second device to the first device, the second information being feedback information of the first information; a step of receiving fourth information and the first positioning reference signal from the first device by the second device, the fourth information being feedback information of the second information; the second device transmitting fifth information to the first device, the fifth information being feedback information of the fourth information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the first device includes: the second device performing positioning measurements according to the fourth information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device using the fifth information; the step of the second device obtaining a positioning calculation result of the first device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the first device to the first device, the second device performing positioning measurements according to the fourth information and / or target positioning reference signals to obtain second positioning measurement values, wherein the target positioning reference signals include the first positioning reference signals and the second positioning reference signals; the second device receiving, from the first device via the fourth information, a first positioning measurement value measured by the first device; the second device obtaining a positioning calculation result of the first device according to the fourth information and / or target positioning measurement values, wherein the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The method of claim 5 , further comprising: the second device transmitting the positioning calculation result of the first device to the first device by the fifth information.

7. The information content of the second information is: positioning reference signal configuration information including positioning reference signal configuration parameters, the positioning reference signal configuration parameters including at least one of an SL-PRS resource ID, an SL-PRS bandwidth, and an SL-PRS priority information; and positioning measurement configuration information including at least one of positioning auxiliary information and measurement auxiliary information; the positioning assistance information includes at least one of location coordinate information and an identity ID; The method according to claim 6, wherein the measurement auxiliary information includes at least SL-PRS sequence initialization ID information.

8. The information content of the fourth information is: Identification information including source identification information; positioning reference signal configuration information including positioning reference signal configuration parameters, wherein the positioning reference signal configuration parameters include an SL-PRS resource ID; Positioning measurement configuration information including positioning auxiliary information, the positioning auxiliary information including at least one of an identity ID, associated identity information of the first device or the second device; and a positioning measurement including a timestamp of the positioning measurement; and positioning measurement identification information comprising a timestamp of the first and / or second positioning reference signal associated with the positioning measurement.

9. The first device transmits first information including positioning instruction signaling to one or more second devices; the first device transmitting a first positioning reference signal to the second device, and the first device receiving a second positioning reference signal from the second device; the first device transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal to the second device, or the first device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device; The first information is signaling type information of the first information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

10. The step of transmitting a first positioning reference signal from the first device to the second device and receiving a second positioning reference signal from the second device by the first device includes: the first device transmitting the first positioning reference signal to the second device; a step of receiving second information and the second positioning reference signal from the second device by the first device, the second information being feedback information of the first information; the first device transmitting fourth information to the second device, the fourth information being feedback information of the second information; The step of transmitting the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal from the first device to the second device includes: the first device performing positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurements, the target positioning reference signals including the first positioning reference signals and the second positioning reference signals; the first device transmitting the first positioning measurement value to the second device using the fourth information; the step of the first device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, and transmitting the positioning calculation result of the second device to the second device, the first device performing positioning measurements in response to the second information and / or target positioning reference signals to obtain first positioning measurements, the target positioning reference signals including the first positioning reference signals and the second positioning reference signals; the first device receiving, from the second device according to the second information, a second positioning measurement value measured by the second device; the first device obtaining a positioning calculation result of the second device according to the second information and / or the target positioning measurement values, wherein the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The method of claim 9 , further comprising: the first device transmitting the positioning calculation result of the second device to the second device by the fourth information.

11. The information content of the second information is: positioning reference signal configuration information including positioning reference signal configuration parameters, the positioning reference signal configuration parameters including at least one of an SL-PRS resource ID, an SL-PRS bandwidth, and an SL-PRS priority information; and positioning measurement configuration information including at least one of positioning auxiliary information and measurement auxiliary information; the positioning assistance information includes at least one of location coordinate information and an identity ID; The method according to claim 10, wherein the measurement auxiliary information includes at least SL-PRS sequence initialization ID information.

12. The information content of the fourth information is: Identification information including source identification information; positioning reference signal configuration information including positioning reference signal configuration parameters, wherein the positioning reference signal configuration parameters include an SL-PRS resource ID; Positioning measurement configuration information including positioning auxiliary information, the positioning auxiliary information including at least one of an identity ID, associated identity information of the first device or the second device; and a positioning measurement including a timestamp of the positioning measurement; and positioning measurement identification information comprising a timestamp of the first and / or second positioning reference signal associated with the positioning measurement.

13. receiving, by the second device, first information comprising positioning indication signaling from one or more first devices; the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device; the second device obtains a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal, or the second device receives the positioning calculation result of the second device from the first device; The first information is signaling type information of the first information, the signaling type information including at least one of a positioning reference signal indication signaling and a positioning indication flag; Identification information including at least one of a destination identification information, a source identification information, and an interaction process ID; positioning reference signal configuration information including at least one of positioning reference signal configuration parameters, time interval information, and time domain reference points; and positioning measurement configuration information including at least one of positioning measurement quantity type information, positioning aiding information, positioning reference signal search aiding information, positioning method or capability information, positioning type information, measurement window indication information, positioning calculation function indication information, measurement aiding information, feedback delay bound information, time domain reference point, and positioning priority information.

14. The step of the second device receiving a first positioning reference signal from the first device and the second device transmitting a second positioning reference signal to the first device includes: the second device receiving the first positioning reference signal from the first device; the second device transmitting second information and the second positioning reference signal to the first device; the second information being feedback information of the first information; the second device receiving fourth information from the first device, the fourth information being feedback information of the second information; The step of the second device obtaining a positioning calculation result of the second device according to the measurement result of the first positioning reference signal and the measurement result of the second positioning reference signal includes: the second device performing positioning measurements in response to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signals and the second positioning reference signals; the second device receiving, from the first device via the fourth information, a first positioning measurement value measured by the first device; the second device obtaining a positioning calculation result of the second device according to second target information and / or target positioning measurement values, wherein the second target information is the first information or the fourth information, and the target positioning measurement values ​​include the first positioning measurement values ​​and the second positioning measurement values; The step of receiving the positioning calculation result of the second device from the first device by the second device includes: the second device performing positioning measurements in response to the first information and / or target positioning reference signals to obtain second positioning measurement values, the target positioning reference signals including the first positioning reference signals and the second positioning reference signals; the second device transmitting the second positioning measurement value to the first device via the second information; 14. The method of claim 13, further comprising: a step of receiving a positioning calculation result of the second device from the first device via the fourth information, the positioning calculation result of the second device being obtained by the first device in response to the second information and / or target positioning measurements, the target positioning measurements including the first positioning measurements and the second positioning measurements.

15. The information content of the second information is: positioning reference signal configuration information including positioning reference signal configuration parameters, the positioning reference signal configuration parameters including at least one of an SL-PRS resource ID, an SL-PRS bandwidth, and an SL-PRS priority information; and positioning measurement configuration information including at least one of: the positioning assistance information includes at least one of location coordinate information and an identity ID; The method of claim 14, wherein the measurement auxiliary information includes at least SL-PRS sequence initialization ID information.

16. The information content of the fourth information is: Identification information including source identification information; positioning reference signal configuration information including positioning reference signal configuration parameters, wherein the positioning reference signal configuration parameters include an SL-PRS resource ID; Positioning measurement configuration information including positioning auxiliary information, the positioning auxiliary information including at least one of an identity ID, associated identity information of the first device or the second device; and a positioning measurement including a timestamp of the positioning measurement; and positioning measurement identification information comprising a timestamp of the first and / or second positioning reference signal associated with the positioning measurement.

17. A readable storage medium having a program or instructions stored therein, which, when executed by a processor, implements the steps of the positioning method for sidelink according to claim 1, or the steps of the positioning method for sidelink according to claim 5, or the steps of the positioning method for sidelink according to claim 9, or the steps of the positioning method for sidelink according to claim 13.

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