Positioning methods, terminals, and network devices

Abstract

This application discloses a positioning method, a terminal, and a network device, belonging to the technical field of communications. The positioning method according to the embodiments of this application includes: a step in which a first terminal obtains a sidelink positioning request, where the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function; and a step in which the first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal.

Description

Technical Field

[0001] (Cross-Reference to Related Applications) The present application claims priority of a Chinese patent application filed in China on July 25, 2022, with application number 202210880561.X, the entire content of which is incorporated herein by reference.

[0002] The present application belongs to the technical field of communication, and specifically relates to a positioning method, a terminal and a network device.

Background Art

[0003] Currently, in some communication systems, positioning of a terminal only supports a positioning method based on a Uu interface. Specifically, in this method, after an Access and Mobility Management Function (AMF) receives a positioning service request for a terminal from a third party, the terminal or itself, it transmits the request to a Location Management Function (LMF), and then the LMF initiates a specific Uu interface positioning process to acquire the position of the terminal. Since only the positioning method based on the Uu interface is supported, the positioning performance of the terminal is poor.

Summary of Invention

Problem to be Solved by the Invention

[0004] Embodiments of the present application provide a positioning method, a terminal and a network device that can solve the problem of poor positioning performance of a terminal.

Means for Solving the Problem

[0005] In a first aspect, the method comprises: a first terminal acquiring a sidelink positioning request, wherein the sidelink positioning request is used for requesting positioning of a target terminal, and the first terminal is a terminal that provides a sidelink positioning service function; The first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result for the target terminal, including the step of the first terminal performing a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result for the target terminal. A positioning method is provided.

[0006] In a second aspect, the step of a second terminal transmitting a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality. The aforementioned second terminal and the target terminal are the same terminal, or the aforementioned second terminal and the target terminal are different terminals. A positioning method is provided.

[0007] In a third aspect, the step of a network device sending a sidelink positioning request to a first terminal, the sidelink positioning request being used to request positioning of a target terminal, the first terminal being a terminal providing sidelink positioning service functionality, or the first terminal being the target terminal. A positioning method is provided.

[0008] In the fourth aspect, an acquisition module used to acquire a sidelink positioning request, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is an acquisition module which is a terminal that provides sidelink positioning service functionality. Includes an executable module used to perform a sidelink positioning operation based on the sidelink positioning request and to obtain the positioning result of the target terminal. A positioning device is provided.

[0009] In a fifth aspect, the transmitting module includes a transmitting module used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality. 、 The Terminal 2 and the target terminal are the same terminal, or terminal 2 and the target terminal are different terminals. A positioning device is provided.

[0010] In a sixth aspect, a first transmitting module used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality, or the first terminal is the target terminal, and includes the first transmitting module. A positioning device is provided.

[0011] In a seventh aspect, a terminal is provided which includes a processor and memory, wherein the memory stores a program or command executable by the processor, and when the program or command is executed by the processor, steps of a first terminal-side positioning method provided by an embodiment of the present application are realized.

[0012] In the eighth aspect, a terminal including a processor and a communication interface, wherein the processor or communication interface is used to acquire a sidelink positioning request, and the sidelink positioning request is used to request positioning of a target terminal. , the Terminal 1 is a terminal that provides sidelink positioning service functionality, and a communication interface is provided which is used to perform sidelink positioning operations based on the sidelink positioning request and to obtain the positioning result of the target terminal.

[0013] In a ninth aspect, a terminal is provided which includes a processor and memory, wherein the memory stores a program or command executable by the processor, and when the program or command is executed by the processor, steps of a second terminal-side positioning method provided by an embodiment of the present application are realized.

[0014] In a tenth aspect, a terminal including a processor and a communication interface, wherein the communication interface is used to send a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality. , the A terminal is provided in which terminal 2 and the target terminal are the same terminal, or terminal 2 and the target terminal are different terminals.

[0015] The 11 In this respect, a network device is provided which includes a processor and memory, wherein the memory stores a program or command that can be executed by the processor, and when the program or command is executed by the processor, the steps of the network device-side positioning method provided by the embodiment of the present application are realized.

[0016] The 12 In this respect, a network device is provided which includes a processor and a communication interface, wherein the communication interface is used to send a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal.

[0017] The 13In one aspect, there is provided a readable storage medium having a program or command stored thereon, wherein when the program or command is executed by a processor, the steps of the first terminal-side positioning method provided by the embodiments of the present application are implemented; or, when the program or command is executed by a processor, the steps of the second terminal-side positioning method provided by the embodiments of the present application are implemented; or, when the program or command is executed by a processor, the steps of the positioning method on the network device side provided by the embodiments of the present application are implemented.

[0018] The 14 In one aspect, a chip is provided, which includes a coupled processor and a communication interface, wherein the processor is configured to implement the first terminal-side positioning method provided by the embodiments of the present application by executing a program or a command; or, the processor is configured to implement the second terminal-side positioning method provided by the embodiments of the present application by executing a program or a command; or, the processor is configured to implement the positioning method on the network device side provided by the embodiments of the present application by executing a program or a command Positioning , which is for implementing the method. A chip is provided.

[0019] The 15 In one aspect, there is provided a computer program / program product, which is stored in a storage medium, and when executed by at least one processor, implements the steps of the first terminal-side positioning method provided by the embodiments of the present application; or, when executed by at least one processor, implements the steps of the second terminal-side positioning method provided by the embodiments of the present application; or, when executed by at least one processor, implements the steps of the positioning method on the network device side provided by the embodiments of the present application.

[0020] The 16 In one aspect, a system includes a first terminal, a second terminal, and a network device, wherein the FirstA positioning system is provided, wherein a terminal can be used to perform steps of a first terminal-side positioning method provided according to the embodiments of the present application, the second terminal can be used to perform steps of a second terminal-side positioning method provided according to the embodiments of the present application, and the network device can be used to perform steps of a network device-side positioning method provided according to the embodiments of the present application. [Effects of the Invention]

[0021] In the embodiments of the present application, a first terminal acquires a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides a sidelink positioning service function, and the first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result of the target terminal. In this way, the first terminal that provides the sidelink positioning service function performs the sidelink positioning operation based on the sidelink positioning request, thereby supporting sidelink positioning and improving the positioning performance of the terminal. [Brief Description of Drawings]

[0022] [Figure 1] It is a block diagram of a wireless communication system to which the embodiments of the present application are applicable. [Figure 2] It is a flowchart of a positioning method provided according to the embodiments of the present application. [Figure 3] It is a schematic diagram of a positioning protocol stack provided according to the embodiments of the present application. [Figure 4] It is a schematic diagram of a positioning architecture provided according to the embodiments of the present application. [Figure 5] It is a flowchart of another positioning method provided according to the embodiments of the present application. [Figure 6] It is a flowchart of another positioning method provided according to the embodiments of the present application. [Figure 7]This is a schematic diagram of the positioning method provided by the embodiment of the present application. [Figure 8] This is a schematic diagram of another positioning method provided by the embodiments of the present application. [Figure 9] This is a schematic diagram of another positioning method provided by the embodiments of the present application. [Figure 10] This is a schematic diagram of another positioning method provided by the embodiments of the present application. [Figure 11] This is a structural diagram of a positioning device provided by an embodiment of the present application. [Figure 12] This is a structural diagram of another positioning device provided by an embodiment of the present application. [Figure 13] This is a structural diagram of another positioning device provided by an embodiment of the present application. [Figure 14] This is a structural diagram of a communication device provided by an embodiment of the present application. [Figure 15] This is a structural diagram of the terminal provided by the embodiment of the present application. [Figure 16] This is a structural diagram of a network device provided by an embodiment of the present application. [Modes for carrying out the invention]

[0023] In the following, the technical solutions in the embodiments of this application will be clearly described with reference to the drawings of the embodiments. Naturally, the embodiments described are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application are all within the scope of protection of this application.

[0024] The terms "first," "second," etc., in the specification and claims of this application are not intended to describe a specific order or sequence, but rather to distinguish similar subjects. It should be understood that the terms used in this manner may be interchangeable in some cases so that the embodiments of this application may be carried out in an order other than that illustrated or described herein, and that the subjects distinguished by "first," "second," etc., are usually of the same kind and are not limited in number. For example, there may be one or more first subjects. Also, in the specification and claims, "and / or" refers to at least one of the subjects being connected, and the symbol " / " generally indicates that the preceding and following related subjects are in an "or" relationship.

[0025] It should be noted that the technologies described in the embodiments of this application are not limited to use in Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in 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), and Single-carrier Frequency-Division Multiple Access (SC-FDMA), as well as other systems. The technical terms "system" and "network" in the embodiments of this application are often used interchangeably, and the technologies described can be used not only in the above-mentioned systems and wireless technologies, but also in other systems and wireless technologies. In the following description, a New Radio (NR) system will be described for illustrative purposes, and NR terminology will be used for the majority of the following description, but these technologies are sixth-generation (6 thIt can be applied to applications other than NR systems, such as 6G communication systems.

[0026] Figure 1 shows a block diagram of a wireless communication system to which an embodiment of the present invention can be applied. The wireless communication system includes a terminal 11 and a network device 12. The terminal 11 may be a mobile phone, tablet personal computer, laptop computer (also called a notebook computer), personal digital assistant (PDA), palmtop computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle user equipment (VUE), pedestrian user equipment (PUE), smart home (household appliances with wireless communication capabilities such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM or kiosk, or other terminal-side device. Wearable devices include smartwatches, smart bracelets, smart earphones, smart glasses, smart accessories (such as smart bangles, smart chain bracelets, smart rings, smart necklaces, smart anklets, smart bracelets, etc.), smart wristbands, smart clothing, etc. The specific type of terminal 11 is not limited in the embodiments of this application.

[0027] In the embodiments of this invention, sidelink (also simply called SL) transmission can be performed between terminals 11. That is, data transmission between terminals 11 is performed directly at the physical layer. SL transmission between terminals 11 may be broadcast, unicast, multicast, or multicast. Furthermore, terminals in SL transmission may be all online, all offline, or some devices online and some offline. Here, "online" may mean being within the coverage area of ​​the communication network, and "offline" may mean being outside the coverage area of ​​the communication network.

[0028] The network device 12 may include an access network device or a core network device, and the network device 12 is also called a radio access network device, a radio access network (RAN), a radio access network function, or a radio access network unit. The network device 12 may include a base station, a wireless local area network (WLAN) access point, or a WiFi node, and the base station is also 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 node B, a home evolved node B, a transmitting and receiving point (TRP), or any other appropriate technical term in the art, and the base station is not limited to any particular technical term as long as the same technical effect is achieved. In the embodiments of this application, only base stations in an NR system are described as examples, and the specific type of base station is not limited.The core network device includes core network nodes, core network functions, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), and Application Function (Application It may include, but is not limited to, at least one of the following: Function, AF, etc. Furthermore, in the embodiments of this application, only the core network device in the NR system is described as an example, and the specific type of the core network device is not limited.

[0029] Furthermore, the above system may include an LMF.

[0030] In the following, with reference to the drawings, the positioning method, terminal, and network device provided by the embodiments of this application will be described in detail by several embodiments and their application scenarios.

[0031] Figure 2 is a flowchart of the positioning method provided by an embodiment of the present invention, which includes the following steps as shown in Figure 2.

[0032] Step 201: The first terminal receives a sidelink positioning request. The sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides the sidelink positioning service function.

[0033] The above sidelink positioning request may be transmitted from another device and received by the first terminal, or it may be generated by the first terminal.

[0034] The statement "the first terminal is a terminal that provides sidelink positioning service functionality" can be understood as a terminal that plays a role in controlling the execution of sidelink positioning in the sidelink positioning process, and therefore the first terminal may be called a location server terminal (Location Server UE) or a controlling terminal (Controlling UE).

[0035] In the embodiments of this invention, the sidelink positioning service function may refer to a function that controls the execution of sidelink positioning. That is, sidelink positioning is controlled by a terminal that provides the sidelink positioning service function, and for example, the type of sidelink positioning method to use, the terminals participating in positioning, and sidelink positioning setting information are determined based on positioning QoS.

[0036] Step 202: The first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain the positioning result of the target terminal.

[0037] The phrase "perform a sidelink positioning operation based on a sidelink positioning request" as described above may also mean "trigger a sidelink positioning operation based on the above sidelink positioning request."

[0038] Furthermore, "performing a sidelink positioning operation based on the aforementioned sidelink positioning request" may also mean performing sidelink positioning using the SideLink Positioning Protocol (SLPP) based on the aforementioned sidelink positioning request.

[0039] The above-mentioned SLPP is a positioning protocol newly defined in the embodiment of the present application, which defines a new protocol layer for Sidelink positioning. This protocol layer is used for positioning message exchange between the location server UE and the target terminal (target UE) and anchor terminal (anchor UE), or, if the location server UE is the target UE, for positioning message exchange between the target UE and the anchor UE, or, if the location server UE is the target UE, for positioning message exchange between the location server UE and the target terminal (target UE) and reference terminal (Reference UE), or, if the location server UE is the target UE, for positioning message exchange between the target UE and the Reference UE. The above-mentioned SLPP sidelink positioning protocol stack may be as shown in Figure 3, in which the SLPP layer is a newly introduced protocol layer used for sidelink positioning and is located immediately above the Packet Data Convergence Protocol (PDCP) layer. Note that the Sidelink positioning protocol stack shown in Figure 3 is merely an example for illustrative purposes. For example, in some embodiments, SLPP is a layer immediately above the PC5 Radio Resource Control (RRC) layer or the Vehicle-to-Everything (V2X) layer. The name of the sidelink positioning protocol used for sidelink positioning in the embodiments of this application is not limited to SLPP, and in some embodiments, for example, it may be simply called the sidelink positioning protocol.

[0040] In the embodiment of the present invention, the above steps enable a first terminal providing a sidelink positioning service function to perform a sidelink positioning operation based on the sidelink positioning request, thereby supporting sidelink positioning and improving the positioning performance of the terminal.

[0041] In an optional embodiment, the step of the first terminal acquiring a sidelink positioning request is: The first terminal receives a first sidelink positioning request from a network device, The first terminal receives a second sidelink positioning request from a second terminal via a sidelink unicast connection. The first terminal itself generates a third sidelink positioning request, It includes one of the following.

[0042] Here, the network device mentioned above may be an LMF or an AMF.

[0043] If the above network device is an LMF, the first sidelink positioning request message is an LTE Positioning Protocol (LPP) message or a positioning service (Location Services ,LCS) messages are also acceptable.

[0044] If the above network device is an AMF, the first sidelink positioning request message may also be a Non-Access Stratum (NAS) message.

[0045] The above second sidelink positioning request may also be a message transmitted between the first terminal and the second terminal via a sidelink unicast connection, for example, the above second sidelink positioning request may be: It may be at least one of the following: Sidelink positioning protocol message, PC5-signaling (S) message, or PC5 radio resource control (RRC) message.

[0046] The third sidelink positioning request generated by the first terminal itself may also be an interlayer message within the first terminal, i.e., a sidelink positioning request generated within the terminal. For example, an internal positioning request may be generated within the terminal and passed to the sidelink positioning protocol layer of the first terminal.

[0047] In this embodiment, multiple devices can all trigger sidelink positioning, thereby making sidelink positioning applicable to a wider range of situations.

[0048] As an optional embodiment, the above sidelink positioning request is: It includes at least one of the following: Quality of Service (QoS) and identifier information of the target terminal.

[0049] The above positioning QoS may include at least one of the following: positioning accuracy and positioning delay.

[0050] The above target device identifier information may also be the target device's UE ID, specifically, It may be at least one of the target device identifiers, such as a Layer 2 identifier (L2 ID), an Application UE ID, an S-Temporary Mobile Subscription Identifier (S-TMSI), an International Mobile Subscriber Identity (IMSI), or a Subscription Permanent Identifier (SUPI).

[0051] In this embodiment, the first terminal can obtain the positioning accuracy and positioning delay to be achieved through the positioning QoS described above, and can quickly determine the target terminal that requires positioning based on the target terminal identifier information described above.

[0052] In some embodiments, the sidelink positioning request does not need to include the positioning QoS described above. For example, the positioning QoS may be defined in the protocol, pre-configured by the network, or pre-negotiated between terminals. In some embodiments, the sidelink positioning request does not need to include the identifier information of the target terminal. For example, if the first terminal is the target terminal, the sidelink positioning request does not need to include the identifier information of the target terminal, in which case the first terminal can directly determine itself as the target terminal.

[0053] Selectively, the above methods are The first terminal, based on the positioning QoS, The method further includes a step of determining at least one of the following: a sidelink positioning method, positioning setting information, an anchor terminal participating in positioning, and a reference terminal participating in positioning. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal for relative positioning or ranging positioning.

[0054] The above sidelink positioning method is used to indicate how positioning is performed in the sidelink positioning process. For example, delay-type positioning methods such as positioning based on arrival time difference or positioning based on round-trip delay difference are employed, and phase-type positioning methods such as positioning based on signal arrival phase difference are employed.

[0055] The above positioning setting information may also be positioning aid information such as the setting information for the sidelink positioning reference signal.

[0056] The positioning architecture in this embodiment may be as shown in Figure 4, which includes a first terminal (i.e., Location Server UE), a target terminal (target UE), an anchor terminal (anchor UE), or a reference terminal (Reference UE). In some embodiments, the Location Server UE may be a separate terminal, or the Location Server UE may be a target terminal, or an anchor terminal or a reference terminal.

[0057] Here, the Location Server UE is a terminal that provides positioning service functionality, and it is considered to play an essential role in a single sidelink positioning operation. The location server UE receives sidelink positioning requests carrying positioning QoS, or triggers the need for sidelink positioning itself, and, based on the positioning QoS, determines the sidelink positioning method to be used for sidelink positioning, positioning configuration information, terminals participating in positioning as anchor UEs, etc. In a single sidelink positioning process, the Location Server UE may play a single role (terminal), or it may also play the role of a target UE (in which case the location server UE positions itself) or an Assistant / Reference UE (for example, the location server UE assists in transmitting or measuring the sidelink Positioning Reference Signal (SL PRS)).

[0058] In one sidelink positioning process, the UE may function as a location server UE, but in another sidelink positioning process, this UE does not have to function as a location server UE; for example, it may function only as an anchor UE.

[0059] The target UE is the target terminal for positioning, and positioning requires obtaining the absolute position, relative position, or ranging of that terminal.

[0060] An anchor UE is a terminal that provides positioning assistance, such as transmitting or measuring SL PRS. In the case of absolute positioning, an anchor UE is a terminal whose location is known or can be known. There may be one or more anchor UEs, and there may not be a separate anchor UE; for example, the location server UE may also perform the role of an anchor UE. An anchor UE is also called a located UE or auxiliary UE.

[0061] A Reference UE is a terminal used as a location reference during relative positioning or ranging positioning. A Reference UE may be a separate UE, one of the anchor UEs, or a location server UE.

[0062] Furthermore, since the location server UE may also perform the role of the anchor UE, in the above architecture, depending on the situation, a separate anchor UE and / or a separate reference UE may not be necessary.

[0063] The location server UE can communicate with the target UE and anchor UE (or reference UE) by establishing a sidelink unicast connection. While a sidelink unicast connection is not required between the target UE and anchor UE (or reference UE), it is still possible for one of them to transmit SL PRS via the PC5 interface and the other to measure the SL PRS on the PC5 interface.

[0064] In some embodiments, the above-mentioned reference terminal is 、s This may also be as instructed in the idelink positioning request.

[0065] In some embodiments, the location server UE receives a positioning request carrying positioning QoS and a target UE ID, or the location server UE itself triggers a need to position the target UE or itself (i.e., the location server UE is also the target UE), and the location server UE identifies or determines which anchor UEs will participate in the positioning based on information such as positioning QoS, determines the sidelink positioning method, and then the location server UE performs sidelink positioning using the sidelink positioning protocol and obtains sidelink positioning results. Specifically, the exchange of sidelink positioning protocol messages between the location server UE and the target UE and anchor UEs includes at least one of the following: providing positioning aid information (e.g., used to measure or transmit configuration SL PRS), requesting location information, and receiving sidelink positioning measurement results.

[0066] In the above embodiment, since at least one of the sidelink positioning method, positioning setting information, anchor terminals participating in positioning, and reference terminals participating in positioning can be determined based on positioning QoS, it is possible to reduce the overhead of network-side configuration by not having to configure at least one of them.

[0067] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0068] The above positioning types may be absolute positioning, relative positioning, or ranging positioning.

[0069] The above reference terminal information may also be the identifier information of the reference terminal, and if the positioning type is relative positioning or ranging positioning, the above reference terminal information can implicitly indicate that the positioning type is relative positioning or ranging positioning.

[0070] The above candidate anchor terminal information is used to assist the first terminal in selecting an anchor terminal. The above candidate anchor terminal information may also be used to indicate a list of candidate anchor terminals, which may be terminals located near the target terminal, such as terminals from which the terminal can receive its sidelink signal, such as terminals from which the terminal can receive its sidelink positioning reference signal (SL PRS), or terminals that were identified but not selected in the first terminal's discovery process.

[0071] The above sidelink positioning measurement result information may be the sidelink positioning measurement result of the measured target terminal, for example, in the case of a positioning request initiated by the target terminal, the sidelink positioning measurement result obtained by the target terminal when the positioning request was initiated. The sidelink positioning measurement result information can reduce the positioning delay of the target terminal, and for example, in some embodiments, the positioning result of the target terminal can be directly calculated based on the sidelink positioning measurement result information. Alternatively, in some embodiments, the approximate position can be determined based on the sidelink positioning measurement result information, thereby setting a more appropriate positioning method or positioning setting information, and then executing a sidelink positioning operation based on the determined content.

[0072] In some embodiments, a sidelink positioning request may carry a container, which may include an SLPP message carrying sidelink positioning measurement result information.

[0073] In the above embodiment, since the sidelink positioning request includes at least one of the above, the first terminal does not need to separately perform at least one of the above decision operations, and the sidelink positioning result of the target terminal can be obtained quickly.

[0074] As a selective embodiment, the sidelink positioning operation is: The system receives the sidelink positioning measurement result transmitted by the target terminal, The receiving of the sidelink location result transmitted by the target terminal, Receiving Sidelink positioning measurement results transmitted by the anchor terminal, Receiving the sidelink location result transmitted by the anchor terminal, It includes at least one of the following.

[0075] Here, the sidelink positioning measurement result transmitted by the target terminal may be a sidelink positioning measurement result obtained by the target terminal by measuring the positioning reference signal transmitted by the anchor terminal or reference terminal. In this case, the first terminal further calculates the positioning result of the target terminal based on the sidelink positioning measurement result.

[0076] The sidelink position result transmitted by the target terminal may be a sidelink position result obtained by the target terminal measuring and calculating the positioning reference signal transmitted by the anchor terminal or reference terminal. In this case, the first terminal may directly use the sidelink position result as the positioning result of the target terminal, or it may further calculate the positioning result of the target terminal based on the sidelink position result.

[0077] The sidelink positioning measurement result transmitted by the anchor terminal may also be a sidelink positioning measurement result obtained by the anchor terminal measuring the positioning reference signal transmitted by the target terminal. In this case, the first terminal further calculates the positioning result of the target terminal based on the sidelink positioning measurement result.

[0078] The sidelink position result transmitted by the anchor terminal may be a sidelink position result obtained by the anchor terminal measuring and calculating the positioning reference signal transmitted by the target terminal. In this case, the first terminal may directly use the sidelink position result as the positioning result of the target terminal, or it may obtain the positioning result of the target terminal by further calculating based on the sidelink position result.

[0079] In some embodiments, the reference terminal may be an anchor terminal; therefore, the sidelink positioning measurement results and sidelink location results transmitted by the anchor terminal may be the same as the sidelink positioning measurement results and sidelink location results transmitted by the reference terminal.

[0080] In this embodiment, the positioning result of the target terminal can be determined by at least one of the above sidelink positioning measurement results or sidelink location results.

[0081] Selectively, the sidelink positioning operation is performed. To acquire the Sidelink positioning capability of the target terminal, To acquire the sidelink positioning capability of the aforementioned anchor terminal, Sending Sidelink positioning settings to the target terminal, Sending sidelink positioning settings to the aforementioned anchor terminal, It further includes at least one of the following.

[0082] The above Sidelink positioning capability can represent the Sidelink positioning capability provided by the terminal, and may include what Sidelink positioning methods are supported, whether or not the transmission of Sidelink reference signals is supported, and whether or not the measurement of Sidelink reference signals is supported.

[0083] The Sidelink positioning settings described above may also be settings for Sidelink positioning reference signals, such as resource settings and power settings.

[0084] In an optional embodiment, before the first terminal performs a sidelink positioning operation based on the sidelink positioning request, the method: The first terminal performs the process of discovering the target terminal, The first terminal establishes a sidelink unicast connection with the target terminal, The first terminal performs the anchor terminal discovery process, The first terminal establishes a sidelink unicast connection with the anchor terminal, It further includes at least one of the following.

[0085] The "execution of the anchor terminal discovery process" described above may involve selecting a terminal that is capable of performing sidelink communication (by establishing a sidelink unicast connection) with the first terminal and is capable of receiving the target terminal's SL PRS, or a terminal whose transmitted SL PRS can be received by the target terminal, in order to avoid as much waste of resources as possible due to the anchor terminal sending an SL PRS but the target terminal being unable to measure it, or the target terminal sending an SL PRS but the anchor terminal UE being unable to measure it. Alternatively, it may involve selecting an anchor terminal with specific sidelink positioning capabilities.

[0086] In this embodiment, the first terminal, the target terminal, and the anchor terminal establish a sidelink unicast connection, thereby improving the reliability of sidelink positioning.

[0087] In some embodiments, the first terminal may have already established a sidelink unicast connection with the target terminal and / or anchor terminal before receiving the sidelink positioning request.

[0088] Furthermore, in this embodiment, at least one of the above may be included in the sidelink positioning operation. That is, the sidelink positioning operation may further include at least one of the above.

[0089] As a selective embodiment, the method is The first terminal transmits a first sidelink positioning response under first conditions, further comprising the step of using the first sidelink positioning response to indicate that sidelink positioning has failed, The first condition mentioned above is, The aforementioned target terminal was not found, The establishment of a Sidelink unicast connection with the target terminal was unsuccessful; in other words, the establishment of a Sidelink unicast connection with the target terminal failed. It includes at least one of the following.

[0090] The above-mentioned "transmitting the first sidelink positioning response" may also mean transmitting the first sidelink positioning response to the LMF, AMF, or second terminal, and the above-mentioned first sidelink positioning response is It may be at least one of the following: Sidelink positioning protocol message, PC5-S message, PC5 RRC message, LPP message, or NAS message.

[0091] In some embodiments, the first sidelink positioning response described above may include failure information for sidelink positioning failure. For example, the failure cause may be an inability to execute, failure to find the target terminal, or failure to establish a unicast connection.

[0092] In this embodiment, by transmitting the first sidelink positioning response under the first condition to indicate that sidelink positioning has failed, the overhead wasted by the LMF, AMF, or second terminal waiting for the positioning result of the target terminal is reduced.

[0093] In a selective embodiment, after the first terminal performs a sidelink positioning operation based on the sidelink positioning request and obtains the positioning result of the target terminal, the method proceeds as follows: The first terminal transmits a second sidelink positioning response, wherein the second sidelink positioning response is used to indicate the positioning result of the target terminal. Pu It also includes.

[0094] In this embodiment, if sidelink positioning for the target terminal is successful, a second sidelink positioning response may be sent to the LMF, AMF, or second terminal to indicate the positioning result of the target terminal. Furthermore, the above second sidelink positioning response is It may be at least one of the following: Sidelink positioning protocol message, PC5-S message, PC5 RRC message, LPP message, or NAS message.

[0095] In an optional embodiment, the first terminal is the target terminal, or The first terminal is a different terminal from the target terminal, and the step in which the first terminal obtains a sidelink positioning request is, The first terminal includes the step of receiving a sidelink positioning request transmitted by the target terminal.

[0096] Here, if the first terminal is the target terminal, the sidelink positioning request may be obtained by receiving one transmitted by the LMF, AMF, or second terminal, or it may be generated by the first terminal itself.

[0097] The statement above that "the first terminal is a different terminal from the target terminal, and the first terminal receives a sidelink positioning request transmitted by the target terminal" may also mean that the target terminal transmits a sidelink positioning request to the first terminal after receiving a sidelink positioning request transmitted by the LMF, AMF, or second terminal, or after the target terminal itself generates a sidelink positioning request.

[0098] In this embodiment, the flexibility of sidelink positioning is improved by supporting the transmission of sidelink positioning requests by the target terminal.

[0099] In a selective embodiment, if the first terminal is the target terminal, the method is: The first terminal reports capability information to a network device, wherein the capability information is: Sidelink positioning capability, The capabilities of the sidelink positioning service function and the steps used to represent at least one of them are further included.

[0100] The aforementioned "reporting capability information to network devices" may also mean transmitting capability information to the LMF or AMF so that the LMF or AMF can accurately and quickly find terminals that provide sidelink positioning service functionality.

[0101] Selectively, the above method, The first terminal receives instruction information transmitted by the network device, the instruction information further includes a step of using the instruction information to report the capability information.

[0102] The above instruction information may be sent via LPP messages or NAS messages.

[0103] In this embodiment, the network device may transmit the above instruction information to multiple terminals, and each terminal reports capability information to the network device to indicate whether or not each terminal has sidelink positioning capability and sidelink positioning service capability.

[0104] In this embodiment, capability information is reported via the above-mentioned instruction information, enabling on-demand reporting of capability information and reducing the overall overhead of the communication system.

[0105] In some other embodiments, the terminal may voluntarily report capability information to the network device.

[0106] In the embodiments of the present invention, a first terminal acquires a sidelink positioning request, which is used to request the positioning of a target terminal. The first terminal is a terminal that provides a sidelink positioning service function, and the first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain the positioning result of the target terminal. In this way, by having the first terminal that provides the sidelink positioning service function perform a sidelink positioning operation based on the sidelink positioning request, sidelink positioning can be supported and the positioning performance of the terminal can be improved.

[0107] Figure 5 is a flowchart of another positioning method provided by an embodiment of the present invention, which includes the following steps as shown in Figure 5.

[0108] Step 501: The second terminal sends a sidelink positioning request to the first terminal. The sidelink positioning request is used to request that the target terminal be positioned, and the first terminal is a terminal that provides the sidelink positioning service function.

[0109] Here, the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0110] Selectively, the sidelink positioning request is, It is at least one of the following: a Sidelink positioning protocol message, a PC5-signaling S message, or a PC5 radio resource control RRC message.

[0111] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0112] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0113] Selectively, before the step in which the second terminal transmits a sidelink positioning request to the first terminal, the method: The second terminal receives a fourth sidelink positioning request transmitted by a network device, wherein the fourth sidelink positioning request is: The step further includes at least one of the following: positioning QoS, reference terminal information, candidate anchor terminal information, and first terminal information.

[0114] In this embodiment, if a network device requests sidelink positioning from a second terminal, and the second terminal does not have a sidelink positioning service function, it is possible to send the sidelink positioning request in step 501 to the first terminal.

[0115] If the sidelink positioning request and the fourth sidelink positioning request selectively include positioning QoS, the delay requirement for the positioning QoS included in the sidelink positioning request sent to the first terminal is lower than the delay requirement for the positioning QoS included in the fourth sidelink positioning request.

[0116] Here, regarding the statement that "the positioning QoS delay requirement included in the sidelink positioning request sent to the first terminal is lower than the positioning QoS delay requirement included in the fourth sidelink positioning request," the difference in delay may be the difference between the time the network device sends the fourth sidelink positioning request and the time the LMF receives the positioning request. This is because the network device may have spent a certain time budget performing positioning based on Uu.

[0117] In this embodiment, the delay requirement for the sidelink positioning request transmitted by the second terminal is lower than the delay requirement for the received sidelink positioning request. This ensures that the final sidelink positioning delay satisfies the positioning requirements, thereby improving the reliability of sidelink positioning.

[0118] Selectively, if the second terminal and the target terminal are the same terminal and the target terminal does not provide positioning service functionality, the method shall The process further includes the step of determining the first terminal from the second terminal.

[0119] Selectively, the above method, The second terminal reports capability information to the network device, wherein the capability information is: Sidelink positioning capability, The further step includes determining whether or not it has the capability of sidelink positioning service functionality, and using a step to represent at least one of the following.

[0120] Selectively, the above method, The second terminal receives instruction information transmitted by the network device, the instruction information further includes a step of using the instruction information to report the capability information.

[0121] Selectively, before the step in which the second terminal transmits a sidelink positioning request to the first terminal, the method: Steps to establish a sidelink unicast connection between the second terminal and the first terminal Pu It also includes.

[0122] This embodiment is a second terminal embodiment corresponding to the embodiment shown in Figure 2. For specific details of this embodiment, please refer to the related description in the embodiment shown in Figure 2. To avoid redundant explanations, the description is omitted in this embodiment.

[0123] Figure 6 is a flowchart of another positioning method provided by an embodiment of the present invention, which includes the following steps as shown in Figure 6.

[0124] Step 601: The network device sends a sidelink positioning request to a first terminal. The sidelink positioning request is used to request that a target terminal be positioned, wherein the first terminal is a terminal that provides sidelink positioning service functionality, or the first terminal is the target terminal.

[0125] Selectively, the network device is a location management function LMF, and the sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Alternatively, the network device is an Access Mobility Management Function (AMF), and the sidelink positioning request message is a non-access layer NAS message.

[0126] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0127] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal for relative positioning or ranging positioning.

[0128] Selectively, the above method, The step of the network device receiving a first sidelink positioning response transmitted by the first terminal further includes the step of the first sidelink positioning response indicating a first positioning result of the target terminal.

[0129] Selectively, the above method, The step of the network device receiving a first sidelink positioning response transmitted by the first terminal under a first condition, further comprising the step of using the first sidelink positioning response to indicate that sidelink positioning has failed, The first condition mentioned above is, The aforementioned target terminal was not found, This includes at least one of the following: failure to establish a sidelink unicast connection with the target terminal.

[0130] Selectively, the first sidelink positioning response includes failure information for the sidelink positioning failure.

[0131] Selectively, the above method, The step of the network device receiving first capability information reported by the first terminal further includes the step of using the first capability information to represent at least one of sidelink positioning capability and whether or not it has the capability of sidelink positioning service functionality.

[0132] Selectively, the above method, The step of the network device transmitting instruction information to the first terminal further includes a step of using the instruction information to report capability information.

[0133] The step of selectively having a network device send a sidelink positioning request to a first terminal is: The step includes the network device transmitting a sidelink positioning request to the first terminal under the second condition, The second condition mentioned above is, If the target terminal is in an idle state, the network device has failed to paging to the target terminal, The network device failed to determine the position of the target terminal based on its Uu interface, The positioning accuracy of the second positioning result, which is the positioning result of positioning based on the Uu interface of the target terminal by the network device, does not meet the predetermined requirements. The first terminal has the capability to perform sidelink positioning services, and at least one of the above is included.

[0134] In this embodiment, if the network device fails to paging to the target terminal, sidelink positioning for the target terminal can be initiated. Furthermore, if positioning of the Uu interface fails, or if the positioning result of the Uu interface positioning does not meet the predetermined requirements, sidelink positioning for the target terminal can be initiated. Additionally, if the first terminal has the capability of sidelink positioning service functionality, sidelink positioning for the target terminal can be initiated, thereby improving positioning performance.

[0135] This embodiment is an embodiment of a network device corresponding to the embodiment shown in Figure 2. For specific details of this embodiment, please refer to the related description of the embodiment shown in Figure 2. To avoid redundant explanations, the description is omitted in this embodiment.

[0136] The method provided by the embodiments of this application will be illustrated below with reference to several examples. Specifically, it will be as follows.

[0137] Example 1: The embodiment in question includes the following steps, as shown in Figure 7.

[0138] Step 0: The location server UE receives a positioning request carrying positioning QoS and target UE ID, or the location server UE itself triggers the need to position the target UE or itself (i.e., the location server UE is also the target UE). Positioning QoS may include positioning accuracy and positioning delay. The target UE ID may be the target UE's L2 ID, Application UE ID, S-TMSI, IMSI, or SUPI, etc.

[0139] Scenario 1: UE1 has established a sidelink unicast connection with location server UE, and UE1 sends a positioning request message to location server UE via this sidelink unicast connection. UE1 may be target UE or another UE as a third party. The positioning request message is: Sidelink positioning protocol (referred to as SLPP in this embodiment for ease of explanation) message, PC5-S message, A PC5 RRC message is also acceptable.

[0140] Scenario 2: The location server UE receives a positioning request sent by the LMF, which may be an LCS message or an LPP message. For example, the location server UE requests the location server UE to perform sidelink positioning for the target UE by introducing a new message into the LPP protocol for sending a positioning request from the LMF to the location server UE.

[0141] Scenario 3: The location server UE receives a positioning request sent by the AMF, which may be a NAS message. That is, by introducing a new message into the NAS protocol for sending a positioning request from the AMF to the location server UE, the location server UE requests that sidelink positioning be performed for the target UE.

[0142] In addition to carrying the positioning QoS and target UE ID, the positioning request message may include any combination of the following: The type of positioning. The type of positioning may include, for example, absolute positioning, relative positioning / ranging positioning. Reference UE information (if the positioning type is relative positioning / ranging positioning). This information may also implicitly indicate that the positioning type is relative positioning / ranging positioning. Anchor UE information indicating a list of candidate anchor UEs. These UEs may be UEs located near the target UE (e.g., UEs from which the target UE can receive its sidelink signal (e.g., SL PRS signal), or UEs identified in the location server UE's discovery process but not selected), and this list is used to assist the location server UE in selecting an anchor UE. Sidelink positioning measurement result information (for example, for a positioning request initiated by a target UE, the sidelink positioning measurement result obtained by the target UE when the positioning request was initiated). This reduces positioning delay. Selectively, the positioning request message may carry a container, which may contain an SLPP message carrying sidelink positioning measurement result information.

[0143] Step 1 (Optional Step): If the location server UE has not established a sidelink unicast connection with the target UE (for example, this may occur in a situation where a positioning request to the target UE is initiated by a third-party UE, LMF, or AMF), the location server UE performs the target UE discovery process and / or the sidelink unicast connection establishment process. Specifically, the following approaches are possible:

[0144] Solution 1: The location server UE discovers the target UE by sending a PC5-discovery (D) message, or by sending a direct discovery solicitation message, for example.

[0145] Solution 2: The location server UE sends a PC5-S message, such as a Direct link establishment request, which carries the UE ID of the target UE. Specifically, if the UE ID of the target UE is an SL layer 2 ID, the target layer 2 ID of the target UE is used as the target layer 2 ID corresponding to the message (i.e., the upper 8 bits of the SL layer 2 ID are carried in the subheader of the SL MAC PDU corresponding to the message, and the lower 16 bits of the SL layer 2 ID are carried in the SCI corresponding to the message), or the target UE ID is carried in the information element of the message, and the layer 2 ID corresponding to the sidelink positioning service is used as the target layer 2 ID corresponding to the message.

[0146] Solution 3: Introduce a new SLPP message into the SLPP protocol used for discovering the target UE and / or establishing a sidelink unicast connection with the target UE. As this is a newly introduced SLPP message, it can support multiple types of target UE IDs to support each of the above scenarios.

[0147] If the location server UE fails to find the target UE, or fails to establish a sidelink unicast connection with the target UE, the location server UE returns a positioning response message or a positioning failure message. This positioning response message or failure message may include the cause of failure, which may be an execution failure, failure to find the target UE, or failure to establish a unicast connection. The process terminates.

[0148] Step 2 (Selective Step): The location server UE discovers / determines which anchor UEs will participate in positioning based on information such as positioning QoS. For example, it selects UEs that can perform sidelink communication with the location server UE (by establishing a sidelink unicast connection) and can receive the target UE's SL PRS, or whose transmitted SL PRS can be received by the target UE, thereby minimizing wasted resources (minimizing situations where an anchor UE sends an SL PRS but the target UE cannot measure it, or vice versa). It also selects anchor UEs whose sidelink positioning capability matches the positioning QoS.

[0149] The process for discovering or establishing a sidelink unicast connection is similar to step 1, except that the corresponding message does not include the target UE ID. Instead, it differs from step 1 in that it may include an anchor UE screening condition, which may be that the anchor UE satisfies a specific sidelink positioning capability.

[0150] If candidate anchor UE information is carried selectively in step 1, the location server UE will either select from these candidate anchor UEs or preferentially select these candidate anchor UEs.

[0151] In a subsequent step, the location server UE executes the SLPP positioning process, which is performed by, for example, the location server UEThis includes the exchange of sidelink positioning capabilities between the location server UE and the target UE and / or anchor UE (i.e., the location server UE obtaining the sidelink positioning capabilities of the target UE and / or anchor UE from the target UE and / or anchor UE), the determination of the sidelink positioning method and sidelink positioning settings (positioning assistance information) based on positioning QoS, and the transmission of the sidelink positioning settings to the target UE and / or anchor UE. Selectively, the target UE and / or anchor UE request the base station to acquire SL-PRS resources. The target UE and anchor UE transmit or measure SL-PRS and report the measurement result or location result to the location server UE. In the case of a measurement result, the location server UE calculates the location result based on the measurement result and returns that location result to the initiator of the positioning request in a positioning response message. The positioning response message and the positioning request message are messages of the same protocol layer. For example, if the positioning request message is an SLPP message, the positioning response message will be an SLPP message, and if the positioning request message is a PC5-S message, the positioning response message will be a PC5-S message. Here, the positioning response message is: It may be at least one of the following: Sidelink positioning protocol message, PC5-S message, PC5 RRC message, LPP message, or NAS message.

[0152] Example 2: This embodiment describes a sidelink location request triggered by an LMF as an example. The LMF-triggered sidelink positioning process mainly involves the LMF deciding to trigger sidelink positioning and the LMF sending a positioning request message to the target UE, which may be an LPP message. The message carries positioning QoS. The Target UE performs sidelink positioning on itself as a location server UE (if the target UE has the capability to be a location server UE), or the target UE finds a location server UE and sends a sidelink positioning request (which carries QoS) to that location server UE to request positioning on the target UE itself. In this embodiment, the LMF only provides the QoS for sidelink positioning, and the specific sidelink positioning method, sidelink positioning settings, etc., are determined by the Location server UE. As shown in Figure 8, the following steps are included.

[0153] Step 1: The LMF receives a location request (from the AMF) for the target UE. This location request carries a positioning QoS, which includes accuracy requirements and positioning delay requirements. The LMF decides to trigger sidelink positioning for the target UE. For example, if the LMF performs Uu-based positioning and the positioning result does not meet the positioning QoS requirements (e.g., positioning fails or accuracy is insufficient), the LMF decides to trigger sidelink positioning for the target UE.

[0154] Step 2: The LMF sends an LPP message carrying positioning QoS to the target UE, such as a sidelink location request. This LPP message is a new addition to the LPP protocol (referred to here as a sidelink location request) and is used by the LMF to request the UE to acquire location information based on its sidelink positioning. At this point, the LMF functions only as a positioning client, and the location server function is performed by the terminal, thus reducing the coupling between sidelink positioning and Uu positioning and lowering the complexity of the protocol.

[0155] Selectively, the sidelink location request message may further carry candidate anchor UE information, location server UE information, etc., to assist in determining the location server UE or anchor UE to perform sidelink positioning in this instance.

[0156] Selectively, if the target UE has the capability of a location server UE, the LMF sends a sidelink location request message to the target UE. That is, as shown below in Figure 8. A Only the lt1 scheme is supported. AThe lt2 solution has a longer positioning delay and may not meet the positioning delay requirements. In the positioning process based on the Uu interface, the LMF can obtain whether the target UE has location server UE capabilities. For example, the target UE may have the LPP message Provide Capabilities carry information about whether it has location server UE capabilities. Selectively, the LMF may have the LPP message Request Capabilities carry instruction information, instructing the target UE to report information about its sidelink positioning capabilities or whether it has location server UE capabilities. The specific process is shown in Figure 9.

[0157] Selectively, the positioning QoS in a sidelink location request may differ from the positioning QoS in the positioning request received by the LMF in step 1. For example, the delay requirement in the positioning QoS in step 2 may be the delay requirement in the positioning QoS in step 1 minus a certain value, where this value is the difference between the time the LMF sends the sidelink location request and the time the LMF receives the location request. This is because the LMF may have spent a certain time budget performing positioning based on Uu.

[0158] Step 3 (Alt1): After the Target UE receives a sidelink positioning request message from the LMF, the target UE, as the location server UE, executes the sidelink positioning process to obtain the sidelink positioning result for the target UE. This process may include the discovery of the anchor UE and / or the establishment of a unicast with the anchor UE, details of which can be found in the relevant description in Example 1 and are omitted here.

[0159] In alt1, UE1 in the diagram functions as an anchor UE, and there may be one or more anchor UEs.

[0160] Then, skip to step 8.

[0161] Step 4 (Alt2): After receiving a sidelink positioning request message from the LMF, the Target UE decides that it cannot function as a location server UE itself (for example, it does not have the capability to be a location server UE). The Target UE determines a location server UE and, if it has not yet established a sidelink unicast connection with that location server UE, establishes a sidelink unicast connection with that location server UE. Here, selectively, the action of the Target UE determining a location server UE may include a location server UE discovery and selection process.

[0162] Steps 5 and 6: The Target UE sends a sidelink location request message to the location server UE to request positioning of the target UE. The Location server UE executes the sidelink positioning process to obtain the positioning result of the target UE. For details, please refer to Example 1.

[0163] In alt2, UE1 in the diagram functions as a location server UE, but the anchor UE is not shown, and there may be one or more anchor UEs.

[0164] Step 7: The Location server UE sends a sidelink location response message to the target UE, carrying the sidelink positioning result from the target UE.

[0165] Step 8: The target UE sends an LPP message, a sidelink location response message, to the LMF, carrying the sidelink positioning result of the target UE. The LMF then sends a location response message, also carrying the positioning result, to the AMF.

[0166] Example 3: In this embodiment, we will mainly describe the sidelink location request triggered by AMF. In this embodiment, the sidelink location process triggered by AMF mainly includes the following, as shown in Figure 10.

[0167] The AMF decides to trigger sidelink positioning (for example, if the target UE is in an idle state and the AMF fails to page the target UE and cannot perform positioning based on the Uu interface), and sends a sidelink positioning request message to one or more UEs (e.g., a location server UE), which may be a NAS message. The message carries the positioning QoS and the target UE ID. The UE that receives the sidelink positioning request message performs sidelink positioning for the target UE and obtains the sidelink positioning result, and then sends a NAS message, sidelink location response, carrying the sidelink positioning result to the AMF. For a specific sidelink positioning process, refer to Example 1.

[0168] In the embodiments of this application, positioning based on the PC5 interface may be implemented as follows.

[0169] The location server UE receives a positioning request carrying positioning QoS and target UE ID, or the location server UE itself triggers the need to position the target UE or itself. The location server UE then identifies or determines which anchor UEs will participate in the positioning based on information such as positioning QoS, and determines the positioning method. Subsequently, the location server UE performs sidelink positioning using the sidelink positioning protocol and obtains the sidelink positioning result.

[0170] The Location server UE receives a positioning request message sent by another UE via a sidelink unicast connection, and the positioning request message may be a Sidelink positioning protocol message, a PC5-S message, or a PC5 RRC message.

[0171] The Location server UE receives a positioning request sent by the LMF (for example, if the positioning result based on Uu does not meet the positioning QoS requirements), and the positioning request may be an LPP message.

[0172] The UE has the LPP message Provide Capabilities message carry information about whether or not the location server UE has the capability.

[0173] The LMF instructs the LPP message Request Capabilities to carry instructional information and report whether the UE has sidelink positioning capability or location server capability.

[0174] The location server UE receives a positioning request sent by the AMF (for example, if the AMF fails to page the target UE), and this positioning request may be a NAS message.

[0175] In addition to carrying the positioning QoS and target UE ID, the positioning request message may include any combination of positioning type, reference UE information, candidate anchor UE information, and sidelink positioning measurement result information.

[0176] The location server UE performs a target UE discovery process and / or a sidelink unicast connection establishment process. If the location server UE fails to discover the target UE or fails to establish a sidelink unicast connection with the target UE, the location server UE returns a positioning response message, which may include the cause of failure, such as a discovery failure or a failure to establish a unicast connection.

[0177] The embodiments of this application disclose a complete Sidelink positioning architecture and process, making Sidelink positioning adaptable to various positioning scenarios.

[0178] Figure 11 is a structural diagram of a positioning device provided by an embodiment of the present application, and as shown in Figure 11, the positioning device 1100 is An acquisition module 1101 used to acquire a sidelink positioning request, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is an acquisition module 1101 which is a terminal that provides sidelink positioning service functionality, The system includes an execution module 1102 used to perform a sidelink positioning operation based on the sidelink positioning request and to obtain the positioning result of the target terminal.

[0179] The above-mentioned device corresponds to the above-mentioned first terminal, or the above-mentioned first terminal includes the above-mentioned device.

[0180] Selectively, the acquisition module 1101, Receipt of a first sidelink positioning request from a network device, Receiving a second Sidelink positioning request from a second terminal via a Sidelink unicast connection, It is used for one of the following: generating a third sidelink positioning request by itself.

[0181] Selectively, the network device is a location management function LMF, and the first sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Alternatively, the network device is an access mobility management function (AMF), and the first sidelink positioning request message is a non-access layer NAS message. Alternatively, the second sidelink positioning request is: It is at least one of the following: a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0182] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0183] Selectively, the apparatus, Based on the positioning QoS, The system further includes a sidelink positioning method, positioning setting information, and a determination module used to determine at least one of the following: an anchor terminal participating in positioning and a reference terminal participating in positioning. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal for relative positioning or ranging positioning.

[0184] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0185] Selectively, the sidelink positioning operation is performed. The system receives the sidelink positioning measurement result transmitted by the target terminal, The receiving of the sidelink location result transmitted by the target terminal, Receiving Sidelink positioning measurement results transmitted by the anchor terminal, This includes at least one of the following: receiving a sidelink location result transmitted by an anchor terminal.

[0186] Selectively, the sidelink positioning operation is performed. To acquire the Sidelink positioning capability of the target terminal, To acquire the sidelink positioning capability of the aforementioned anchor terminal, Sending Sidelink positioning settings to the target terminal, The further includes at least one of the following: transmitting sidelink positioning settings to the aforementioned anchor terminal.

[0187] Selectively, the apparatus, A first executable module used to perform the target terminal discovery process, A first establishment module used to establish a sidelink unicast connection with the target terminal, A second executable module used to carry out the anchor terminal discovery process, The system further includes at least one of the following: a second establishment module used to establish a sidelink unicast connection with an anchor terminal.

[0188] Selectively, the apparatus, In the first condition, a first transmitting module used to transmit a first sidelink positioning response, wherein the first sidelink positioning response is used to indicate that sidelink positioning has failed. Ru Furthermore, The first condition mentioned above is, The aforementioned target terminal was not found, This includes at least one of the following: failure to establish a sidelink unicast connection with the target terminal.

[0189] Selectively, the first sidelink positioning response includes failure information for the sidelink positioning failure.

[0190] Selectively, the apparatus, A second transmitting module used to transmit a second sidelink positioning response, the second sidelink positioning response further includes a second transmitting module used to indicate the positioning result of the target terminal.

[0191] Selectively, the first terminal is the target terminal, Or, The first terminal is a different terminal from the target terminal, and the step in which the first terminal obtains a sidelink positioning request is, The first terminal includes the step of receiving a sidelink positioning request transmitted by the target terminal.

[0192] Selectively, if the first terminal is the target terminal, the device, A reporting module used to report capability information to a network device, wherein the capability information is: Sidelink positioning capability, The system further includes a reporting module used to represent at least one of the capabilities of the sidelink positioning service function.

[0193] Selectively, the apparatus, A receiving module used to receive instruction information transmitted by the network device, wherein the instruction information further includes a receiving module used to instruct the reporting of capability information.

[0194] The above-mentioned positioning device can improve the positioning performance of the terminal.

[0195] The positioning device in the embodiments of this application may be an electronic device, for example, an electronic device having an operating system, or a component of an electronic device, for example, an integrated circuit or a chip. The electronic device may be a terminal or other device other than a terminal. Exemplarily, a terminal may include, but is not limited to, the types of terminals given in the embodiments of this application, and other devices may be servers, network attached storage (NAS), etc., and are not specifically limited in the embodiments of this application.

[0196] The positioning device provided by the embodiment of the present application can implement each process realized by the embodiment of the method shown in Figure 2 and achieve the same technical effects, and to avoid duplication, the explanation is omitted here.

[0197] Figure 12 is a structural diagram of another positioning device provided by an embodiment of the present application, and as shown in Figure 12, the positioning device 1200 is A transmitting module 1201 used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality, and the transmitting module 1201 includes the transmitting module 1201. The second terminal and the target terminal are either the same terminal or different terminals.

[0198] The above-mentioned device corresponds to the above-mentioned second terminal, or the above-mentioned second terminal includes the above-mentioned device.

[0199] Selectively, the sidelink positioning request is, It is at least one of the following: a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0200] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0201] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0202] Selectively, the apparatus, A first receiving module used to receive a fourth sidelink positioning request transmitted by a network device, wherein the fourth sidelink positioning request is: The system further includes a first receiving module that includes at least one of the following: positioning QoS, reference terminal information, candidate anchor terminal information, and the first terminal information.

[0203] If the sidelink positioning request and the fourth sidelink positioning request selectively include positioning QoS, the delay requirement for the positioning QoS included in the sidelink positioning request sent to the first terminal is lower than the delay requirement for the positioning QoS included in the fourth sidelink positioning request.

[0204] Selectively, if the second terminal and the target terminal are the same terminal and the target terminal does not provide positioning service functionality, the device shall The system further includes a decision module used to determine the first terminal.

[0205] Selectively, the apparatus, A reporting module used to report capability information to a network device, wherein the capability information is: Sidelink positioning capability, It further includes a reporting module used to indicate whether or not it has the capability of the sidelink positioning service function, or at least one of the following.

[0206] Selectively, the apparatus, A second receiving module used to receive instruction information transmitted by the network device, wherein the instruction information further includes a second receiving module used to instruct the reporting of capability information.

[0207] Selectively, the apparatus, The system further includes an establishment module used to establish a sidelink unicast connection with the first terminal.

[0208] The above-mentioned positioning device can improve the positioning performance of the terminal.

[0209] The positioning device in the embodiments of this application may be an electronic device, for example, an electronic device having an operating system, or a component of an electronic device, for example, an integrated circuit or a chip. The electronic device may be a terminal or other device other than a terminal. Exemplarily, a terminal may include, but is not limited to, the types of terminals given in the embodiments of this application, and other devices may be servers, network attached storage (NAS), etc., and are not specifically limited in the embodiments of this application.

[0210] The positioning device provided by the embodiment of the present application can implement each process realized by the embodiment of the method shown in Figure 5 and achieve the same technical effects, and to avoid duplication, the explanation is omitted here.

[0211] Figure 13 is a structural diagram of another positioning device provided by an embodiment of the present application, and as shown in Figure 13, the positioning device 1300 is A first transmitting module 1301 used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality, or the first terminal is the target terminal, comprising the first transmitting module 1301.

[0212] The above-mentioned device is compatible with the above-mentioned network device, or the above-mentioned network device includes the above-mentioned device.

[0213] Selectively, the network device is a location management function LMF, and the sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Alternatively, the network device is an Access Mobility Management Function (AMF), and the sidelink positioning request message is a non-access layer NAS message.

[0214] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0215] Selectively, the sidelink positioning request is, The system further includes at least one of the following: a sidelink positioning method, information on a reference terminal, information on a candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal for relative positioning or ranging positioning.

[0216] Selectively, the apparatus, A first receiving module used to receive a first sidelink positioning response transmitted by the first terminal, the first sidelink positioning response further includes a first receiving module indicating a first positioning result of the target terminal.

[0217] Selectively, the apparatus, In the first condition, a second receiving module used to receive a first sidelink positioning response transmitted by the first terminal, wherein the first sidelink positioning response further includes a second receiving module used to indicate that sidelink positioning has failed. The first condition mentioned above is, that the target terminal is not discovered, and that establishment of a sidelink unicast connection with the target terminal is not successful, comprises at least one of the above.

[0218] Optionally, the first sidelink positioning response includes failure cause information indicating that sidelink positioning failed.

[0219] Optionally, the apparatus: further comprises a third receiving module configured to receive first capability information reported by the first terminal, wherein the first capability information is used to indicate at least one of a sidelink positioning capability and whether the first terminal has a capability of providing a sidelink positioning service function.

[0220] Optionally, the apparatus: further comprises a second transmitting module configured to transmit indication information to the first terminal, wherein the indication information is used to instruct the first terminal to report capability information.

[0221] Optionally, the step in which a network device transmits a sidelink positioning request to a first terminal comprises: a step of transmitting, by the network device, the sidelink positioning request to the first terminal under a second condition, wherein the second condition comprises: when the target terminal is in an idle state, that the network device fails to page the target terminal, and that positioning of the target terminal by the network device based on a Uu interface fails, and that positioning accuracy of a second positioning result, which is a positioning result obtained by positioning the target terminal by the network device based on a Uu interface, does not meet a predetermined requirement, and the first terminal has a capability of a sidelink positioning service function,

[0222] the positioning apparatus described above can improve the positioning performance of a terminal.

[0223] in the embodiments of the present application, Positioning the apparatus may be an electronic device, for example, an electronic device with an operating system, or may be a component in an electronic device, for example, an integrated circuit or a chip. The electronic device may be a network device.

[0224] provided by the embodiments of the present application, Positioning the apparatus can implement each process implemented by the method embodiment shown in FIG. 5, achieve the same technical effect, and to avoid repetition, descriptions are omitted herein.

[0225] Optionally, as shown in FIG. 14, an embodiment of the present application further provides a communication device 1400 including a processor 1401 and a memory 1402, where programs or commands executable by the processor 1401 are stored in the memory 1402. For example, when the communication device 1400 is a first terminal, when the programs or commands are executed by the processor 1401, each step of the foregoing embodiment of the positioning method on the first terminal side can be implemented, and the same technical effect can be achieved. When the communication device 1400 is a second terminal, when the programs or commands are executed by the processor 1401, each step of the foregoing embodiment of the positioning method on the second terminal side can be implemented, and the same technical effect can be achieved. When the communication device 1400 is a network device, when the programs or commands are executed by the processor 1401, the foregoing on the network device side Positioning each step of the method embodiment can be implemented, and the same technical effect can be achieved. To avoid repetition, descriptions are omitted herein.

[0226] Embodiments of the present invention further provide a terminal including a processor and a communication interface, wherein if the terminal is a first terminal, the processor or communication interface is used to acquire a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality, and the communication interface is used to perform sidelink positioning operations based on the sidelink positioning request to obtain positioning results for the target terminal. If the terminal is a second terminal, the communication interface is used to transmit a sidelink positioning request to the first terminal, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality, the second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals.

[0227] The embodiment of the terminal corresponds to the embodiment of the terminal-side method described above, and each implementation process and realization method of the embodiment of the above method can be applied to the embodiment of the terminal, and the same technical effects can be achieved. Specifically, Figure 15 is a schematic diagram of the hardware configuration for realizing the terminal of the embodiment of the present application.

[0228] The terminal 1500 includes, but is not limited to, some of the following components: a high-frequency unit 1501, a network module 1502, an audio output unit 1503, an input unit 1504, a sensor 1505, a display unit 1506, a user input unit 1507, an interface unit 1508, a memory 1509, and a processor 1510.

[0229] Those skilled in the art will understand that the terminal 1500 may further include a power supply (e.g., a battery) to power each component, and that the power supply is logically connected to the processor 1510 via a power management system, thereby enabling functions such as charge / discharge management and power consumption management by the power management system. The terminal structure shown in Figure 15 is not limiting to terminals, and the terminal may include more or fewer components than shown, or combinations of some components, or different component arrangements, which will not be explained here.

[0230] It should be understood that in the embodiments of this application, the input unit 1504 may include a graphics processing unit (GPU) 15041 that processes image data of still images or videos acquired by an image capture device (e.g., a camera) in video capture mode or image capture mode, and a microphone 15042. The display unit 1506 may include a display panel 15061, which may be in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1507 includes at least one of a touch panel 15071 and other input devices 15072. The touch panel 15071 is also called a touchscreen. The touch panel 15071 may include two parts: a touch detection device and a touch controller. Other input devices 15072 may include, but are not limited to, a physical keyboard, function buttons (e.g., volume control buttons, switch buttons, etc.), a trackball, a mouse, or an operating lever, and are not described here.

[0231] In the embodiments of this invention, the high-frequency unit 1501 can receive downlink data from a network device and transmit it to the processor 1510 for processing, and the high-frequency unit 1501 can also transmit uplink data to a network device. Typically, the high-frequency unit 1501 includes, but is not limited to, an antenna, amplifier, transmitter / receiver, coupler, low-noise amplifier, duplexer, etc.

[0232] Memory 1509 can be used to store software programs or commands and various data. Memory 1509 may mainly include a first storage area for storing programs or commands and a second storage area for storing data. The first storage area can store an operating system, applications or commands necessary for at least one function (e.g., audio playback function, image playback function, etc.). Memory 1509 may also include volatile memory or non-volatile memory, or both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or flash memory. The volatile memory may be Random Access Memory (RAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synch-link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memory 1509 in the embodiments of this application includes, but is not limited to, these memories and any other suitable type of memory.

[0233] The processor 1510 may include one or more processing units, and optionally, the processor 1510 integrates an application processor that primarily handles operations related to the operating system, user interface, and applications, and a modem processor such as a baseband processor that primarily handles wireless communication signals. It is understood that the above-mentioned modem processor does not necessarily have to be integrated into the processor 1510.

[0234] If the above device is the first device, The processor 1510 or the high-frequency unit 1501 is used to acquire a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality, The processor 1510 or the high-frequency unit 1501 is used to perform a sidelink positioning operation based on the sidelink positioning request and to obtain the positioning result of the target terminal.

[0235] The step of selectively obtaining a sidelink positioning request is: Receiving a first sidelink positioning request from a network device, Receiving a second sidelink positioning request from a second terminal via a sidelink unicast connection, This includes the fact that it itself generates a third sidelink positioning request, and one of the following.

[0236] Selectively, the network device is a location management function LMF, and the first sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Alternatively, the network device is an access mobility management function (AMF), and the first sidelink positioning request message is a non-access layer NAS message. Alternatively, the second sidelink positioning request is: It is at least one selected from the group consisting of a sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0237] Optionally, the sidelink positioning request is: It includes at least one of positioning quality of service (QoS) and identifier information of the target terminal.

[0238] Optionally, the processor 1510 is further configured to: Based on the positioning QoS, it is used to determine at least one selected from the group consisting of a sidelink positioning method, positioning configuration information, an anchor terminal participating in positioning, and a reference terminal participating in positioning, the anchor terminal is a terminal with a known position that participates in transmission of a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measurement of a sidelink positioning reference signal, the reference terminal is a position reference terminal in relative positioning or ranging positioning.

[0239] Optionally, the sidelink positioning request further: further includes at least one selected from the group consisting of a positioning type, reference terminal information, candidate anchor terminal information, and sidelink positioning measurement result information, the anchor terminal is a terminal with a known position that participates in transmission of a sidelink positioning reference signal, or the anchor terminal is a terminal with a known position that participates in measurement of a sidelink positioning reference signal, the reference terminal is a position reference terminal in relative positioning or ranging positioning, the sidelink positioning measurement result information is used to assist positioning of the target terminal.

[0240] Optionally, the sidelink positioning operation includes: receiving a sidelink positioning measurement result transmitted by the target terminal, and The receiving of the sidelink location result transmitted by the target terminal, Receiving Sidelink positioning measurement results transmitted by the anchor terminal, This includes at least one of the following: receiving a sidelink location result transmitted by an anchor terminal.

[0241] Selectively, the sidelink positioning operation is performed. To acquire the Sidelink positioning capability of the target terminal, To acquire the sidelink positioning capability of the aforementioned anchor terminal, Sending Sidelink positioning settings to the target terminal, The further includes at least one of the following: transmitting sidelink positioning settings to the aforementioned anchor terminal.

[0242] Selectively, before the first terminal performs a sidelink positioning operation based on the sidelink positioning request, the high-frequency unit 1501 further: The process of discovering the target terminal is performed, To establish a Sidelink unicast connection with the aforementioned target terminal, To perform the anchor terminal discovery process, It is used for at least one of the following: establishing a sidelink unicast connection with an anchor terminal.

[0243] Selectively, the high-frequency unit 1501 further, In the first condition, it is used to transmit a first sidelink positioning response, and the first sidelink positioning response is used to indicate that sidelink positioning has failed. The first condition mentioned above is, The aforementioned target terminal was not found, This includes at least one of the following: failure to establish a sidelink unicast connection with the target terminal.

[0244] Selectively, the first sidelink positioning response includes failure information for the sidelink positioning failure.

[0245] Selectively, after the first terminal performs a sidelink positioning operation based on the sidelink positioning request and obtains the positioning result of the target terminal, the high-frequency unit 1501 further: It is used to transmit a second sidelink positioning response, which is used to indicate the positioning result of the target terminal.

[0246] Selectively, the first terminal is the target terminal, Or, The first terminal is a different terminal from the target terminal, and the step in which the first terminal obtains a sidelink positioning request is, The first terminal includes the step of receiving a sidelink positioning request transmitted by the target terminal.

[0247] Selectively, if the first terminal is the target terminal, the high-frequency unit 1501 further: Used to report capability information to network devices, said capability information is Sidelink positioning capability, It is used to represent the capabilities of the sidelink positioning service function and at least one of the following.

[0248] Selectively, the high-frequency unit 1501 further, The first terminal is used to receive instruction information transmitted by the network device, and the instruction information is used to instruct the reporting of the capability information.

[0249] If the above device is the second device, The high-frequency unit 1501 is used to transmit a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality. The second terminal and the target terminal are either the same terminal or different terminals.

[0250] Selectively, the sidelink positioning request is, It is at least one of the following: a Sidelink positioning protocol message, a PC5-signaling S message, and a PC5 radio resource control RRC message.

[0251] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0252] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal in relative positioning or ranging positioning, The sidelink positioning measurement result information is used to assist in positioning the target terminal.

[0253] Selectively, before the step in which the second terminal transmits the sidelink positioning request to the first terminal, the high-frequency unit 1501 further: Used to receive a fourth sidelink positioning request transmitted by a network device, the fourth sidelink positioning request is It includes at least one of the following: positioning QoS, reference terminal information, candidate anchor terminal information, and the first terminal information.

[0254] If the sidelink positioning request and the fourth sidelink positioning request selectively include positioning QoS, the delay requirement for the positioning QoS included in the sidelink positioning request sent to the first terminal is lower than the delay requirement for the positioning QoS included in the fourth sidelink positioning request.

[0255] Selectively, if the second terminal and the target terminal are the same terminal and the target terminal does not provide positioning service functionality, the processor 1510 or the high-frequency unit 1501 further: Used to determine the first terminal.

[0256] Selectively, the high-frequency unit 1501 further, Used to report capability information to network devices, said capability information is Sidelink positioning capability, This is used to indicate whether or not it has the capability of the sidelink positioning service function, or at least one of the following.

[0257] Selectively, the high-frequency unit 1501 further, It is used to receive instruction information transmitted by the aforementioned network device, and the instruction information is used to instruct the reporting of the capability information.

[0258] Selectively, prior to the step in which the second terminal transmits a sidelink positioning request to the first terminal, the high-frequency unit 1501 further: It is used to establish a sidelink unicast connection with the first terminal.

[0259] The above-mentioned devices can improve the positioning performance of the devices.

[0260] Embodiments of the present application further provide a network device including a processor and a communication interface, wherein the communication interface is used to transmit a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides a sidelink positioning service function, or the first terminal is the target terminal. Embodiments of the network device correspond to embodiments of the network device-side method described above, and each implementation process and implementation method of the embodiments of the method described above can be applied to embodiments of the network device and achieve the same technical effects.

[0261] Specifically, embodiments of the present invention further provide a network-side device. As shown in Figure 16, the network-side device 1600 includes a processor 1601, a network interface 1602, and a memory 1603. The network interface 1602 is, for example, a common public radio interface (CPRI).

[0262] Specifically, the network-side device 1600 according to the embodiment of the present application further includes commands or programs stored in memory 1603 that can be executed by processor 1601, and processor 1601 calls the commands or programs in memory 1603 and executes in the manner shown by each module in Figure 13, thereby achieving the same technical effect. To avoid redundancy, further explanation is omitted here.

[0263] Network interface 1602 is used to send a sidelink positioning request to a first terminal, the sidelink positioning request is used to request positioning of a target terminal, the first terminal is a terminal that provides sidelink positioning service functionality, or the first terminal is the target terminal.

[0264] Selectively, the network device is a location management function LMF, and the sidelink positioning request message is an LTE positioning protocol LPP message or a positioning service LCS message. Alternatively, the network device is an Access Mobility Management Function (AMF), and the sidelink positioning request message is a non-access layer NAS message.

[0265] Selectively, the sidelink positioning request is, It includes at least one of the positioning service quality (QoS) and the identifier information of the target terminal.

[0266] Selectively, the sidelink positioning request is, It further includes at least one of the following: the type of positioning, information about the reference terminal, information about the candidate anchor terminal, and sidelink positioning measurement result information. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The aforementioned reference terminal is a location reference terminal for relative positioning or ranging positioning.

[0267] Selectively, network interface 1602 further, Used to receive a first sidelink positioning response transmitted by the first terminal, the first sidelink positioning response indicates a first positioning result of the target terminal.

[0268] Selectively, network interface 1602 further, In the first condition, it is used to receive a first sidelink positioning response transmitted by the first terminal, and the first sidelink positioning response is used to indicate that sidelink positioning has failed. The first condition mentioned above is, The aforementioned target terminal was not found, This includes at least one of the following: failure to establish a sidelink unicast connection with the target terminal.

[0269] Selectively, the first sidelink positioning response includes failure information for the sidelink positioning failure.

[0270] Selectively, network interface 1602 further, Used to receive first capability information reported by the first terminal, the first capability information is used to represent at least one of sidelink positioning capability and whether or not it has the capability of sidelink positioning service functionality.

[0271] Selectively, network interface 1602 further, It is used to transmit instruction information to the first terminal, and the instruction information is used to instruct the terminal to report capability information.

[0272] The step of selectively sending a sidelink positioning request to the first terminal is: The second condition includes the step of sending a sidelink positioning request to the first terminal, The second condition mentioned above is, If the target terminal is in an idle state, the network device has failed to paging to the target terminal, The network device failed to determine the position of the target terminal based on its Uu interface, The positioning accuracy of the second positioning result, which is the positioning result of positioning based on the Uu interface of the target terminal by the network device, does not meet the predetermined requirements. The first terminal has the capability to perform sidelink positioning services, and at least one of the above is included.

[0273] The above network devices can improve the positioning performance of the terminal.

[0274] Embodiments of the present invention further provide a readable storage medium on which a program or command is stored, and when the program or command is executed by a processor, steps of a positioning method provided by embodiments of the present invention are realized.

[0275] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes, for example, 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.

[0276] Embodiments of the present invention also provide a chip comprising a coupled processor and a communication interface, wherein the processor executes a program or command to implement each process of the above-described embodiment of the positioning method and achieve the same technical effects. To avoid redundancy, further explanation is omitted here.

[0277] It should be understood that the chip described in the embodiments of this application is also called a system-on-a-chip, system chip, chip system, or SoC, etc.

[0278] Embodiments of the present application also provide a computer program / program product which is stored in a storage medium and executed by at least one processor, thereby realizing each process of the above-described embodiment of the positioning method and achieving the same technical effects. To avoid redundancy, further explanation is omitted here.

[0279] The embodiment of the present application includes a first terminal, a second terminal, and a network device, and the above FirstThe present invention provides a positioning system in which a terminal can be used to perform steps of a first terminal-side positioning method provided by an embodiment of the present invention, a second terminal can be used to perform steps of a second terminal-side positioning method provided by an embodiment of the present invention, and a network device can be used to perform steps of a network device-side positioning method provided by an embodiment of the present invention.

[0280] In this specification, the terms “including,” “equipped with,” or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus containing a set of elements includes not only those elements but also other elements not explicitly stated, or elements specific to such process, method, article, or apparatus. Unless further limited, an element limited by the statement “including one…” does not preclude the existence of other identical elements in a process, method, article, or apparatus containing that element. It should also be noted that the scope of the methods and apparatus in embodiments of this application is not limited to performing functions in the order shown or discussed herein, but may further include performing functions approximately simultaneously or in the opposite order, depending on the relevant function. For example, the above methods may be performed in an order different from the order described, and further steps may be added, omitted, or combined. Features described with reference to some examples may also be combined with others.

[0281] From the above description of the embodiments, those skilled in the art will clearly understand that the methods of the above embodiments can be implemented in combination with software and a necessary general-purpose hardware platform. Of course, they may also be implemented in hardware, but in many cases the former is a more preferred embodiment. Based on this view, the technical solutions of the present application can be embodied substantially or in part in relation to the technology as a computer software product, which is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes several commands for causing a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0282] Although embodiments of the present application have been described above with reference to the drawings, the present application is not limited to the above-described specific embodiments. The above-described specific embodiments are merely illustrative and not limiting. Many forms that a person skilled in the art could make 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 are all within the scope of protection of the present application.

Claims

1. The first terminal obtains a sidelink positioning request, the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality. The first terminal performs a sidelink positioning operation based on the sidelink positioning request to obtain a positioning result for the target terminal, and includes the steps of: The aforementioned sidelink positioning request includes positioning service quality (QoS), Positioning method.

2. The first terminal obtains a sidelink positioning request, The first terminal receives a second sidelink positioning request from the second terminal via a sidelink unicast connection. The first terminal itself generates a third sidelink positioning request, and one of the following steps: The positioning method according to claim 1, wherein the second terminal and the target terminal are the same terminal.

3. The second sidelink positioning request is: Sidelink positioning protocol message, The positioning method according to claim 2.

4. The aforementioned sidelink positioning request further includes: The positioning method according to claim 1, comprising identifier information of the target terminal.

5. The first terminal, based on the positioning QoS, The method further includes a step of determining at least one of the sidelink positioning method, positioning setting information, and an anchor terminal participating in the positioning, The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The positioning method according to claim 1.

6. The aforementioned sidelink positioning request is, The positioning type and information on candidate anchor terminals further include at least one of these: The information of the candidate anchor terminals is used to assist the first terminal in selecting an anchor terminal. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The positioning method according to claim 4, wherein the type of positioning includes absolute positioning and relative positioning / ranging positioning.

7. The aforementioned sidelink positioning operation is Receiving the sidelink positioning measurement result transmitted by the target terminal, Receiving the sidelink location result transmitted by the target terminal, The positioning method according to claim 5 or 6, comprising at least one of the following: receiving a sidelink positioning measurement result transmitted by the anchor terminal.

8. The aforementioned sidelink positioning operation is To acquire the sidelink positioning capability of the target terminal, To acquire the sidelink positioning capability of the aforementioned anchor terminal, Sending sidelink positioning settings to the target terminal, The positioning method according to claim 7, further comprising at least one of the following: transmitting sidelink positioning settings to the anchor terminal.

9. After the first terminal performs a sidelink positioning operation based on the sidelink positioning request and obtains the positioning result of the target terminal, The positioning method according to any one of claims 1 to 6, further comprising the step of the first terminal transmitting a second sidelink positioning response, wherein the second sidelink positioning response is used to indicate the positioning result of the target terminal.

10. The first terminal is the target terminal, Or, The first terminal is a terminal different from the target terminal, and the step in which the first terminal obtains a sidelink positioning request is, The positioning method according to any one of claims 1 to 6, further comprising the step of the first terminal receiving a sidelink positioning request transmitted by the target terminal.

11. The steps include: a second terminal sending a sidelink positioning request to a first terminal, the sidelink positioning request being used to request positioning of a target terminal, and the first terminal being a terminal providing sidelink positioning service functionality; The second terminal and the target terminal are the same terminal. The aforementioned sidelink positioning request includes positioning service quality (QoS), Positioning method.

12. The aforementioned sidelink positioning request is, The positioning method according to claim 11, wherein the Sidelink positioning protocol message is a Sidelink positioning protocol message.

13. The aforementioned sidelink positioning request further includes: The positioning method according to claim 12, comprising identifier information of the target terminal.

14. The aforementioned sidelink positioning request is, The positioning type and information on candidate anchor terminals further include at least one of these: The information of the candidate anchor terminals is used to assist the first terminal in selecting an anchor terminal. The anchor terminal is a terminal whose location is known and which participates in the transmission of the sidelink positioning reference signal, or the anchor terminal is a terminal whose location is known and which participates in the measurement of the sidelink positioning reference signal. The positioning method according to claim 13, wherein the type of positioning includes absolute positioning and relative positioning / ranging positioning.

15. If the second terminal and the target terminal are the same terminal, and the target terminal does not provide positioning service functionality, The positioning method according to any one of claims 11 to 14, further comprising the step of the second terminal determining the first terminal.

16. Before the step in which the second terminal sends a sidelink positioning request to the first terminal, The positioning method according to claim 15, further comprising the step of the second terminal establishing a sidelink unicast connection with the first terminal.

17. An acquisition module used to acquire a sidelink positioning request, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is an acquisition module which is a terminal that provides sidelink positioning service functionality. Includes an execution module used to perform a sidelink positioning operation based on the sidelink positioning request and to obtain the positioning result of the target terminal, The aforementioned sidelink positioning request includes positioning service quality (QoS), Positioning device.

18. A transmission module used to transmit a sidelink positioning request to a first terminal, wherein the sidelink positioning request is used to request positioning of a target terminal, and the first terminal is a terminal that provides sidelink positioning service functionality, the transmission module includes The second terminal and the target terminal are the same terminal, or the second terminal and the target terminal are different terminals. The aforementioned sidelink positioning request includes positioning service quality (QoS), Positioning device.

19. A terminal comprising a processor and memory, wherein the memory stores a program or command executable by the processor, and when the program or command is executed by the processor, the positioning method described in claim 1 is realized, or when the program or command is executed by the processor, the positioning method described in claim 11 is realized.

20. A readable storage medium in which a program or command is stored, and when the program or command is executed by a processor, the positioning method described in claim 1 is realized, or when the program or command is executed by a processor, the positioning method described in claim 11 is realized.

Images