Positioning measurement information reporting methods and apparatus

Abstract

Positioning measurement information reporting methods and an apparatus, which are applied to the technical field of wireless communications. A method comprises: a first terminal device determines first positioning measurement information and first information, and sends the first positioning measurement information and the the first information. The first information indicates an association between at least one antenna reference point and at least one sidelink positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device.

Description

Method and device for reporting positioning measurement information

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on August 10, 2023, with application number 202311012219.9 and application name “A method and device for reporting positioning measurement information”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of the present application relate to the field of wireless communications, and in particular to a method and apparatus for reporting positioning measurement information. Background Art

[0004] In the fifth generation mobile communication technology (5G), user equipment (UE) can measure the positioning reference signals (PRS) sent by multiple cells or multiple transmission points to obtain the reference signal time difference (RSTD) between the multiple cells or multiple transmission points, and send the measurement results to the network side for positioning.

[0005] Standardization work is currently underway on sidelink (SL) positioning technology for 5G systems. As technology evolves, terminal devices may have multiple antenna reference points (ARPs) and can use different ARPs to receive and transmit sidelink positioning reference signals (SL-PRS). Therefore, how to report the measurement results of different ARPs, implement measurement reports with ARP granularity (per ARP), and help devices performing positioning solutions determine matching positioning measurement results for positioning remain a technical challenge that needs to be addressed.

[0006] Summary of the Invention

[0007] Embodiments of the present application provide a method and apparatus for reporting positioning measurement information, which are used to implement positioning measurement information reporting, so as to help a device performing positioning solution determine matching positioning measurement information.

[0008] In a first aspect, a positioning measurement information reporting method is provided. The method can be applied to a first terminal device. The first terminal device can receive / send a sideline positioning reference signal and can obtain positioning measurement information based on the measurement of the sideline positioning reference signal.

[0009] The method includes determining first positioning measurement information and first information, and sending the first positioning measurement information and the first information, wherein the first information indicates an association between at least one antenna reference point and at least one sidelink positioning reference signal transmitted by the at least one antenna reference point, the at least one antenna reference point being an antenna reference point on a first terminal device.

[0010] Taking the first antenna reference point on the first terminal device sending the first sidelink positioning reference signal as an example, the first information sent by the first terminal device can be understood as: used to indicate the association between the first antenna reference point on the first terminal device and the first positioning reference signal.

[0011] In the above implementation, for positioning measurement and reporting based on the antenna reference point level, the terminal device can also report first information on the basis of reporting positioning measurement information. The first information can indicate the association between at least one antenna reference point on the first terminal device and at least one side positioning reference signal sent by it, so that the device performing positioning solution can match the positioning measurement results reported by each terminal device, thereby selecting the positioning measurement results that comply with the RTT positioning principle for positioning solution, thereby avoiding positioning errors or positioning failures caused by incorrect measurement result matching.

[0012] According to a second aspect, a method for reporting positioning measurement information is provided. The method can be applied to a device that performs positioning solution. The method can include: receiving first positioning measurement information and first information sent by a first terminal device, and performing positioning based on the first positioning measurement information and the first information. The first information indicates an association between at least one antenna reference point and at least one sidelink positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device.

[0013] In one possible implementation, the at least one antenna reference point includes a first antenna reference point, and the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the second sideline positioning reference signal is sent by the second terminal device. The method further includes: receiving second positioning measurement information and second information from the second terminal device, the second information indicating an association between at least one antenna reference point on the second terminal device and at least one sideline positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point includes a second antenna reference point, the at least one sideline positioning reference signal includes the second sideline positioning reference signal sent by the second antenna reference point, and the second positioning measurement information is obtained by the second terminal device measuring the first sideline positioning reference signal; determining that the first positioning measurement information matches the second positioning measurement information based on the first positioning measurement information and the first information, and the second positioning measurement information and the second information; and performing positioning based on the first positioning measurement information and the second positioning measurement information.

[0014] Based on the first and second aspects above, in one possible implementation, the first positioning measurement information includes a receive and transmit time difference obtained by the first terminal device measuring the second positioning reference signal. Optionally, the first positioning measurement information also includes an identifier of an antenna reference point on the first terminal device that receives the second positioning reference signal.

[0015] Based on the above-mentioned first and second aspects, in a possible implementation method, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: the association between the identifier of the at least one antenna reference point and the resource identifier of the at least one side positioning reference signal.

[0016] Based on the above first and second aspects, in a possible implementation manner, the identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

[0017] Based on the first and second aspects above, in one possible implementation, the association between the at least one antenna reference point and the at least one sidelink positioning reference signal sent by the at least one antenna reference point includes: an association between the identifier of the at least one antenna reference point and the timestamp of the at least one sidelink positioning reference signal. Optionally, the timestamp of the at least one sidelink positioning reference signal and the identifier of the at least one antenna reference point are included in the first information. Optionally, the timestamp of the at least one sidelink positioning reference signal is information indicating the time domain unit where the at least one sidelink positioning reference signal is located.

[0018] Based on the above-mentioned first and second aspects, in a possible implementation method, determining the first positioning measurement information and the first information includes: determining the first information before receiving the second sideline positioning reference signal from the second terminal device; determining the first positioning measurement information after receiving the second sideline positioning reference signal; wherein, the first positioning measurement information is obtained by measuring the second sideline positioning reference signal; and sending the first positioning measurement information and the first information includes: sending the first information before sending the first positioning measurement information.

[0019] Based on the above first and second aspects, in a possible implementation manner, sending the first positioning measurement information and the first information includes: sending a first positioning measurement report, where the first positioning measurement report includes the first positioning measurement information and the first information.

[0020] On the third aspect, a positioning measurement information reporting method is provided, which can be applied to a first terminal device, the first terminal device can receive / send a sideline positioning reference signal, and can obtain a positioning measurement result based on the measurement of the sideline positioning reference signal.

[0021] The method includes: receiving second information, the second information indicating an association between at least one antenna reference point and at least one sidelink positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point being an antenna reference point on a second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one sidelink positioning reference signal includes a second sidelink positioning reference signal sent by the second antenna reference point; generating a first positioning measurement report based on the second information and first positioning measurement information, the first positioning measurement information being obtained by the first terminal device measuring the second sidelink positioning reference signal; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates an association between the second antenna reference point and the second sidelink positioning reference signal; and sending the first positioning measurement report.

[0022] In the above implementation, for positioning measurement and positioning measurement information reporting based on the antenna reference point level, since the positioning measurement report includes information that can help match the positioning measurement results, the device used to perform positioning solution can match the positioning measurement reports reported by each terminal device, thereby avoiding positioning errors or positioning failures caused by incorrect matching of measurement results.

[0023] In a fourth aspect, a method for reporting positioning measurement information is provided, which can be applied to a device that performs positioning solution. The method includes: receiving a first positioning measurement report from a first terminal device, the first positioning measurement report including first positioning measurement information, the first positioning measurement information being obtained by the first terminal device measuring a second sideline positioning reference signal, the first positioning measurement report indicating an association between a second antenna reference point and the second sideline positioning reference signal; wherein the second antenna reference point is the antenna reference point on the second terminal device that sends the second sideline positioning reference signal; and positioning is performed according to the first positioning measurement report.

[0024] A possible implementation method also includes: receiving a second positioning measurement report from the second terminal device, the second positioning measurement report including second positioning measurement information, the second positioning measurement information is obtained by the second terminal device measuring the first sideline positioning reference signal, and the second positioning measurement report indicates the association between the first antenna reference point and the first sideline positioning reference signal; wherein the first antenna reference point is the antenna reference point on the first terminal device that sends the first sideline positioning reference signal; positioning according to the first positioning measurement report includes: determining that the first positioning measurement report matches the second positioning measurement report; and positioning according to the first positioning measurement report and the second positioning measurement report.

[0025] Based on the third and fourth aspects above, in a possible implementation manner, the first positioning measurement report includes an identifier of the second antenna reference point.

[0026] Based on the above-mentioned third and fourth aspects, in a possible implementation method, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: the association between the identifier of the at least one antenna reference point and the resource identifier of the at least one side positioning reference signal.

[0027] Based on the third and fourth aspects above, in a possible implementation manner, the identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

[0028] Based on the third and fourth aspects above, in one possible implementation, the association between the at least one antenna reference point and the at least one sidelink positioning reference signal sent by the at least one antenna reference point includes: an association between an identifier of the at least one antenna reference point and a timestamp of the at least one sidelink positioning reference signal. Optionally, the timestamp of the at least one sidelink positioning reference signal and the identifier of the at least one antenna reference point are included in the first information. Optionally, the timestamp of the at least one sidelink positioning reference signal is information indicating the time domain unit in which the at least one sidelink positioning reference signal is located.

[0029] In a fifth aspect, a communication device is provided, comprising a module for executing the method described in any one of the first aspects above, or a module for executing the method described in any one of the second aspects above, or a module for executing the method described in any one of the third aspects above, or a module for executing the method described in any one of the fourth aspects above.

[0030] In the sixth aspect, a communication device is provided, comprising a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method as described in any one of the first aspect above, the method as described in any one of the second aspect above, the method as described in any one of the third aspect above, and the method as described in any one of the fourth aspect above through logic circuits or execution code instructions.

[0031] In the seventh aspect, a computer-readable storage medium is provided, wherein the storage medium stores a computer program or instruction. When the computer program or instruction is executed by a communication device, the method as described in any one of the first aspect above is implemented, or the method as described in any one of the second aspect above is implemented, or the method as described in any one of the third aspect above is implemented, or the method as described in any one of the fourth aspect above is implemented.

[0032] In an eighth aspect, a chip system is provided, comprising a chip coupled to a memory for reading and executing program instructions stored in the memory to implement a method as described in any one of the first, second, third or fourth aspects above.

[0033] In a ninth aspect, a computer program product is provided, which, when called by a computer, enables the computer to execute the method as described in any one of the first, second, third or fourth aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of the principle of round-trip time positioning technology;

[0035] FIG2 is a schematic diagram of positioning measurement in a sideways communication scenario;

[0036] FIG3 is a schematic diagram of a communication system architecture applicable to an embodiment of the present application;

[0037] FIG4 is a schematic diagram of another communication system architecture applicable to an embodiment of the present application;

[0038] FIG5 is a schematic diagram of another communication system architecture applicable to an embodiment of the present application;

[0039] FIG6 is a schematic diagram of a positioning measurement information reporting process provided in an embodiment of the present application;

[0040] FIG7 is a schematic diagram showing how UE1 and UE2 send positioning measurement information and first information separately in an embodiment of the present application;

[0041] FIG8 is a schematic diagram of another positioning measurement information reporting process provided in an embodiment of the present application;

[0042] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0043] FIG10 is a schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In the positioning technology based on the "triangulation positioning method", for a terminal device to be located, the position of the terminal device can be calculated as long as the distance between the terminal device and three reference points with known positions is obtained.

[0045] The distance between a terminal device and a reference point can be calculated using round-trip time (RTT) positioning technology. RTT positioning is a positioning technology based on echo signal ranging. This technology uses the speed of wireless signals in space to calculate distance by measuring the round-trip time it takes for a signal to travel from transmitter to receiver.

[0046] In RTT positioning technology, two devices can send / receive positioning reference signals to obtain round-trip transmission time without the need for clock synchronization between devices. Figure 1 shows an example of the principle of RTT positioning technology. As shown in Figure 1, UE A is at T A1 The positioning reference signal PRS1 is sent to UE B at time T. B1 Receive the positioning reference signal PRS1 at time T B2 The positioning reference signal PRS2 is sent to UE A at time T. A2The positioning reference signal PRS2 is received at time t. The time difference between the reception and transmission of the positioning reference signal measured by UE A is expressed as t round =T A2 -T A1 The time difference between the reception and transmission of the positioning reference signal measured by UE B is expressed as t reply =T B2 -T B1 , the flight time between UE A and UE B is:

[0047] Multiplying TOF by the speed of light gives you the distance between the two devices.

[0048] Based on the RTT positioning technology principle shown in Figure 1, in the sideline communication system diagram, the positioning measurement report currently reported by the terminal device mainly includes the time difference associated with the received sideline positioning reference signal, which can also be called the reception and transmission time difference. This time difference is the time difference between the time when the terminal device receives the sideline positioning reference signal and the time when it sends the sideline positioning reference signal. Furthermore, the positioning measurement report can also include the ARP identifier of the received sideline positioning reference signal. Figure 2 exemplifies a schematic diagram of positioning measurement and reporting of positioning measurement information in a sideline communication scenario.

[0049] As shown in Figure 2, UE1 has two ARPs, denoted as UE1_ARP1 and UE1_ARP2, while UE2 has one ARP, denoted as UE2_ARP1. UE1 transmits a sidelink positioning reference signal SL-PRS1 through UE1_ARP1 and a sidelink positioning reference signal SL-PRS3 through UE1_ARP2. SL-PRS1 and SL-PRS3 are received by UE2_ARP1 on UE2. UE2 transmits a sidelink positioning reference signal SL-PRS2 through UE2_ARP1, and SL-PRS2 is received by UE1_APR1 and UE1_ARP2 on UE1.

[0050] UE1 can measure the time difference Rx_Tx measurement1 between UE1_APR1 receiving SL-PRS2 and sending SL-PRS1, and generate the following positioning measurement report A1 (see MR A1 in Figure 2):

[0051] Rx_Tx measurement1+UE1_ARP1 ID……………………(A1)

[0052] UE1 can also measure the time difference Rx_Tx measurement2 between UE1_APR2 receiving SL-PRS2 and sending SL-PRS3, and generate the following positioning measurement report A2 (see MR A2 in Figure 2):

[0053] Rx_Tx measurement2+UE1_ARP2 ID……………………(A2)

[0054] UE2 can measure the time difference Rx_Tx measurement3 between UE2_APR1 receiving SL-PRS1 and sending SL-PRS2, and generate the following positioning measurement report A3 (see MR A3 in Figure 2):

[0055] Rx_Tx measurement3+UE2_ARP1 ID……………………(A3)

[0056] UE2 can also measure the time difference Rx_Tx measurement4 between UE2_APR1 receiving SL-PRS3 and sending SL-PRS2, and generate the following positioning measurement report A4 (see MR A4 in Figure 2):

[0057] Rx_Tx measurement4+UE2_ARP1 ID……………………(A4)

[0058] UE1_ARP1 ID represents the identifier of UE1_ARP1 on UE1, and so on, UE1_ARP2 ID represents the identifier of UE1_ARP2 on UE1, and UE2_ARP1 represents the identifier of UE2_ARP1 on UE2.

[0059] UE1 and UE2 may send the above positioning measurement report to a device that performs positioning solution. For example, the device that performs positioning solution may be a location management function (LMF) or a terminal device.

[0060] As shown in Figure 2, the sidelink positioning reference signals associated with the receive and transmit time differences in positioning measurement report A1 reported by UE1 and positioning measurement report A3 reported by UE2 are both SL-PRS1 and SL-PRS2, which can constitute the time difference parameters required for RTT positioning calculation. Therefore, based on the principle of RTT positioning technology, positioning measurement report A1 reported by UE1 and positioning measurement report A3 reported by UE2 can be used to perform positioning solution to obtain the distance between UE1_ARP1 and UE2_ARP1. Similarly, the sidelink positioning reference signals associated with the receive and transmit time differences in positioning measurement report A2 reported by UE1 and positioning measurement report A4 reported by UE2 are both SL-PRS2 and SL-PRS3. Based on the principle of RTT positioning technology, positioning measurement report A2 reported by UE1 and positioning measurement report A4 reported by UE2 can also be used to perform positioning solution to obtain the distance between UE1_ARP2 and UE2_ARP1.

[0061] The sidelink positioning reference signals associated with the receive and transmit time differences in Positioning Measurement Report A1 reported by UE1 and Positioning Measurement Report A4 reported by UE2 are different, and cannot constitute the time difference parameter required for RTT positioning calculation. Similarly, Positioning Measurement Report A2 reported by UE1 and Positioning Measurement Report A3 reported by UE2 cannot be used for positioning solution.

[0062] On the device side performing positioning solution, after receiving the above positioning measurement report, how to determine which positioning measurement report reported by UE1 can be matched with which positioning measurement report reported by UE2 to perform positioning solution is a technical problem that needs to be solved.

[0063] The above description only takes the example of a terminal device with a small number of ARPs. When the terminal device has a larger number of ARPs and can send / receive sideline positioning reference signals through these APRs, the number of positioning measurement reports reported by the terminal device is larger. For the device that performs positioning solution, how to accurately match the positioning measurement reports reported by the terminal device is even more important.

[0064] To this end, embodiments of the present application provide a method for reporting positioning measurement information and a related device applying the method. In embodiments of the present application, when reporting positioning measurement results, a terminal device may, in addition to reporting the receive and transmit time difference of a sidelink positioning reference signal, also report information used to assist in positioning (hereinafter referred to as positioning assistance information in some embodiments). This information can help the device used to perform positioning to determine a matching positioning measurement result from the positioning measurement results reported by multiple terminal devices to perform positioning solution based on the RTT positioning principle.

[0065] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0066] The technical solutions provided in the embodiments of the present application are mainly applicable to wireless communication systems. The wireless communication system may comply with the wireless communication standards of the third generation partnership project (3GPP). For example, the solutions provided in the embodiments of the present application may be applied to fourth generation (4G) communication systems, such as long term evolution (LTE) communication systems, and may also be applied to fifth generation (5G) communication systems, such as 5G new radio (NR) communication systems, or to various future communication systems, such as sixth generation (6G) communication systems. The technical solutions provided in the embodiments of the present application may also comply with other wireless communication standards, such as the wireless communication standards of the 802 series (such as 802.11, 802.15, or 802.20) of the Institute of Electrical and Electronics Engineers (IEEE).

[0067] The method provided in the embodiments of the present application can also be applied to a Bluetooth system, a Wi-Fi system, a LoRa system, or a vehicle-to-everything (V2X) system. The method provided in the embodiments of the present application can also be applied to a satellite communication system, wherein the satellite communication system can be integrated with the above communication systems.

[0068] See Figure 3, which is a schematic diagram of a communication system architecture applicable to an embodiment of the present application. As shown in Figure 3, terminal device 30 is a terminal device to be positioned, and terminal devices 31, 32, and 33 are anchor terminal devices serving as reference points. The locations of the anchor terminal devices are known to the LMF entity in the core network. Terminal devices 30, 31, 32, and 33 are within the signal coverage range of network device 34 and can send sideline positioning reference signals under the control of network device 34, and send positioning measurement results to LMF 35 through network device 34. LMF 35 can locate terminal device 30 based on the positioning measurement results reported by each terminal device.

[0069] Referring to FIG4 , another schematic diagram of a communication system architecture applicable to an embodiment of the present application is shown. As shown in FIG4 , terminal device 40 is a terminal device to be positioned. Direct communication connections are established between terminal device 40, terminal device 41, terminal device 42, and terminal device 43, and none of these terminal devices establishes a connection with a network device. Terminal device 40 can send sideline positioning reference signals to terminal device 41, terminal device 42, and terminal device 43, respectively, and can obtain positioning measurement results. One of the above-mentioned terminal devices can serve as a device for performing positioning solution, and the position of terminal device 40 is determined based on the positioning measurement results of each terminal device. Taking terminal device 40 as an example of a device for performing positioning solution, terminal device 41, terminal device 42, and terminal device 43 can send positioning measurement results to terminal device 40, and terminal device 40 can determine the position of terminal device 40 based on the received positioning measurement results and the positioning measurement results of terminal device 40 itself, wherein the positions of terminal device 41, terminal device 42, and terminal device 43 are known to terminal device 40.

[0070] Refer to Figure 5, which is a schematic diagram of another communication system architecture applicable to an embodiment of the present application. Figure 5 shows that a terminal device 50 achieves positioning by receiving side positioning reference signals sent by multiple roadside units (RSUs). RSU is a roadside unit deployed on the roadside that meets the side communication / positioning related protocols and can provide wireless communication functions for the terminal. RSU can be various forms of roadside stations, access points, sidelink devices, etc. As shown in Figure 5, the terminal device 50 is the terminal device to be positioned. The terminal device 50 can send side positioning reference signals to and from RSU 1, RSU 2 and RSU 3 respectively, and can obtain positioning measurement results. Taking the terminal device 50 as an example of a device that performs positioning solution, RSU 1, RSU 2 and RSU 3 can send positioning measurement results to the terminal device 50. The terminal device 50 can determine the position of the terminal device 50 based on the received positioning measurement results and the terminal device 50's own positioning measurement results, wherein the positions of RSU 1, RSU 2 and RSU 3 are known to the terminal device 50.

[0071] It can be understood that the side link positioning scenarios shown in Figures 3, 4 or 5 are only some possible examples. Other possible side link positioning scenarios may include more terminal devices or other types of devices, and the embodiments of the present application do not limit this.

[0072] The terminal devices in the embodiments of the present application (such as the terminal devices in FIG. 3 , FIG. 4 , or FIG. 5 , as well as the first terminal device, second terminal device, etc. referred to below) may include devices that provide voice and / or data connectivity to users, such as handheld devices with wireless connectivity or processing devices connected to wireless modems. The terminal may communicate with a core network via a radio access network (RAN) and exchange voice and / or data with the RAN. The terminal may include user equipment (UE), wireless terminal, mobile terminal, device-to-device (D2D) terminal, vehicle to everything (V2X) terminal, machine-to-machine / machine-type communications (M2M / MTC) terminal, Internet of Things (IoT) terminal, subscriber unit, subscriber station, mobile station, remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, RSU, or user device, etc. For example, it may include a mobile phone (or "cellular" phone), a computer with a mobile terminal, a portable, pocket-sized, handheld, or computer-built-in mobile device, etc. For example, devices such as personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, and personal digital assistants (PDAs) can also be devices such as tablet computers or computers with wireless transceiver capabilities.The terminal may also be a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal used in industrial control, a wireless terminal used in unmanned driving, a wireless terminal used in telemedicine, a wireless terminal used in smart grids, a wireless terminal used in smart cities, or a wireless terminal used in smart homes. It also includes limited devices, such as those with low power consumption, limited storage capacity, or limited computing power. Examples include information sensing devices such as barcodes, radio frequency identification (RFID), sensors, global positioning systems (GPS), and laser scanners.

[0073] In the embodiments of the present application, the network device refers to an access network (AN) device (e.g., a base station), which may refer to a device in the access network that communicates with a wireless terminal through one or more cells over the air interface. For example, the access network device may include an evolved base station (NodeB or eNB or e-NodeB, evolutionary Node B) in a long term evolution (LTE) system or an advanced long term evolution (LTE-A), or may also include a next generation node B (gNB) in a 5G NR system or may also include a centralized unit (CU) and a distributed unit (DU) in a cloud radio access network (Cloud RAN) system. The embodiments of the present application are not limited thereto. Among them, the eNB may include various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, and vehicle-mounted devices. The eNB may also be a transmission and reception point (TRP). The gNB may include various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, and vehicle-mounted devices. The gNB may also be a TRP, a transmission measurement function (TMF). The gNB may include a CU and DU integrated into the gNB.

[0074] Based on the above system architecture, the following describes the process of transmitting a sideline positioning reference signal between the first terminal device and the second terminal device, performing measurements based on the sideline positioning reference signal to obtain positioning measurement information, and reporting the positioning measurement information, taking the first terminal device and the second terminal device as an example. For example, the first terminal device and the second terminal device can be the two terminal devices in Figure 3 or Figure 4, or the terminal device and an RSU in Figure 5.

[0075] The execution subject of the method provided in the embodiment of the present application is introduced by taking the terminal device as an example. The terminal device in the embodiment of the present application can be a terminal device, or a chip, unit or module in the terminal device, such as any of the terminal devices shown in Figures 3, 4 or 5, or an RSU. The terminal device can also be a communication device with a terminal function or a chip, unit or module inside a communication device with a terminal function. For ease of understanding, the embodiment of the present application is introduced by taking the terminal device as a terminal device or a chip, unit or module inside a terminal device, and the network device as a network device or a chip, unit or module inside a network device as an example.

[0076] The positioning reference signal in the method provided in the embodiment of the present application may be a positioning reference signal based on a sidelink (which may be referred to as a sidelink positioning reference signal).

[0077] In the embodiments of the present application, expressions such as “positioning measurement information” and “positioning measurement results” can be used interchangeably.

[0078] See FIG6 , which is a schematic diagram of a positioning measurement information reporting process provided in an embodiment of the present application.

[0079] In an embodiment of the present application, the first terminal device has one or more antenna reference points (hereinafter referred to as ARPs), and the second terminal device has one or more ARPs. The first terminal device can send at least one side positioning reference signal to the second terminal device through at least one ARP, and the second terminal device can also send at least one side positioning reference signal to the first terminal device through at least one ARP. For example, the first ARP on the first terminal device can send a first side positioning reference signal to the second terminal device, and the second ARP on the second terminal device can receive the first side positioning reference signal sent by the first terminal device. The second ARP on the second terminal device can send a second side positioning reference signal to the first terminal device, and the first ARP on the first terminal device can receive the second side positioning reference signal sent by the second terminal device. The first terminal device and the second terminal device can obtain positioning measurement information based on the measurement of the side positioning reference signal.

[0080] As shown in Figure 6, the process may include the following steps:

[0081] Step 601: The first terminal device determines first positioning measurement information and first information.

[0082] The first information indicates an association between at least one ARP and at least one sidelink positioning reference signal transmitted by the at least one ARP, where the at least one ARP is an ARP on the first terminal device. That is, the first information may indicate an association between one or more ARPs on the first terminal device and one or more positioning reference signals transmitted by the ARP. The first information may also be referred to as positioning assistance information.

[0083] In one possible implementation, the first information may be a data structure such as a list or a matrix, which indicates the association between the ARP on the first terminal device and the sideways positioning reference signal sent by the ARP. It is understood that the embodiment of the present application does not limit the data structure used by the first information.

[0084] Taking UE1 in Figure 2 as an example, the first information determined by UE1 may be a list including a first table entry and a second table entry. For example, the list may be expressed as {(UE1_ARP1, SL-PRS1), (UE1_ARP2, SL-PRS3)}, wherein the table entry (UE1_ARP1, SL-PRS1) indicates that UE1_ARP1 is associated with SL-PRS1, and the table entry (UE1_ARP2, SL-PRS3) indicates that UE1_ARP2 is associated with SL-PRS3.

[0085] For another example, the first terminal device includes an antenna reference point ARP1, and ARP1 sends side positioning reference signals SL-PRS1 and SL-PRS2. The first information can be the following data structure: {(ARP1, SL-PRS1), (ARP 1, SL-PRS2)}, where (ARP1, SL-PRS1) indicates that ARP1 is associated with SL-PRS1, and (ARP 1, SL-PRS2) indicates that ARP1 is associated with SL-PRS2.

[0086] For another example, the first terminal device includes an antenna reference point ARP1, and ARP1 sends a side positioning reference signal SL-PRS1. The first information can be the following data structure: {(ARP1, SL-PRS1)}, where (ARP1, SL-PRS1) indicates that ARP1 is associated with SL-PRS1.

[0087] The above are just a few possible examples. The embodiments of the present application do not limit the number of antenna reference points on the first terminal device, nor the number of side-track positioning reference signals that can be sent by one antenna reference point.

[0088] In a possible implementation, the association between the ARP and the positioning reference signal can be expressed as follows: an association between the identifier of at least one ARP and the resource identifier of at least one side positioning reference signal sent by the at least one ARP. That is, the association between the ARP and the positioning reference signal can be expressed as an association between the identifier of the ARP and the resource identifier of the side positioning reference signal. Taking the first ARP on the first terminal device as an example, the association relationship can be expressed as: an association between the identifier of the first ARP and the resource identifier of one or more side positioning reference signals sent by the first ARP. Optionally, the identifier of the first ARP and the resource identifier of the side positioning reference signal sent by the first ARP can be included in the first information. Optionally, the association between the ARP and the side positioning reference signal can be reflected by a certain data structure, for example, (identifier of ARP1, resource identifier of SL-PRS1) represents the association between ARP1 and the SL-PRS1 sent by it.

[0089] The sidelink positioning reference signal resources include the sidelink positioning reference signal time-frequency resources. The sidelink positioning reference signal time-frequency resources can be allocated by a network device or selected by a terminal device from candidate resources in a resource pool. Different sidelink positioning reference signal resources can be distinguished by resource identifiers. In other words, resource identifiers can be used to distinguish sidelink positioning reference signals.

[0090] Exemplarily, taking Figure 2 as an example, the first information corresponding to UE1_ARP1 on UE1 may include: an identifier of UE1_ARP1 (expressed as UE1_ARP1 ID), and / or a resource identifier of SL-PRS1 (expressed as SL-PRS1 resource ID). The first information corresponding to UE1_ARP2 on UE1 may include: an identifier of UE1_ARP2 (expressed as UE1_ARP2 ID), and / or a resource identifier of SL-PRS3 (expressed as SL-PRS3 resource ID).

[0091] In another possible implementation, the association between the ARP and the positioning reference signal can be expressed as follows: the association between the identifier of at least one ARP and the timestamp of at least one side positioning reference signal sent by the at least one ARP. That is, the association between the ARP and the positioning reference signal can be expressed as the association between the identifier of the ARP and the timestamp of the side positioning reference signal. Taking the first ARP on the first terminal device as an example, the association relationship can be expressed as: the association between the identifier of the first ARP and the timestamp of one or more positioning reference signals sent by the first ARP. Optionally, the identifier of the first ARP and the timestamp of at least one side positioning reference signal sent by the first ARP can be included in the first information. Optionally, the association between the ARP and the side positioning reference signal can be reflected by a certain data structure, for example, (identifier of ARP1, timestamp of SL-PRS1) represents the association between ARP1 and the SL-PRS1 sent by it.

[0092] Taking the first terminal device sending the first side positioning reference signal as an example, for the first terminal device, the first terminal device is the sending device of the first positioning reference signal, and the timestamp of the first positioning reference signal is the sending timestamp of the first positioning reference signal. In the embodiment of the present application, the timestamp of the first positioning reference signal can be the indication information of the time domain unit where the first positioning reference signal is located. For example, the timestamp of the first positioning reference signal can be the index of the time slot where the first positioning reference signal is located. For the second terminal device, the second terminal device is the receiving device of the first positioning reference signal. In the dimension of the above-mentioned time domain unit (such as the time slot), the time delay between the sending moment and the receiving moment of the positioning reference signal will not exceed one time domain unit. Therefore, the time domain unit in which the second terminal device receives the first positioning reference signal is the same as the time domain unit in which the first terminal device sends the first positioning reference signal. It can be understood that since in the dimension of the above-mentioned time domain unit, the sending timestamp of the first positioning reference signal is the same as the receiving timestamp of the first positioning reference signal, they are collectively referred to as the timestamp of the first positioning reference signal in the embodiment of the present application.

[0093] Exemplarily, taking Figure 2 as an example, the first information corresponding to UE1_ARP1 on UE1 may include: an identifier of UE1_ARP1 (expressed as UE1_ARP1 ID), and / or a timestamp of SL-PRS1 (expressed as SL-PRS slot index1). The first information corresponding to UE1_ARP2 on UE1 may include: an identifier of UE1_ARP2 (expressed as UE1_ARP2 ID), and / or a timestamp of SL-PRS3 (expressed as SL-PRS slot index3).

[0094] In an embodiment of the present application, the first positioning measurement information is obtained by the first terminal device based on measuring the sidelink positioning reference signal. The first positioning measurement information may include a time difference between receiving and sending the sidelink positioning reference signal.

[0095] In one possible implementation, taking the example of a first ARP of a first terminal device receiving a second positioning reference signal sent by a second terminal device, and the first ARP sending a first sidelink positioning reference signal, the first positioning measurement information determined by the first terminal device may include the receive / send time difference between sending the first positioning reference signal and receiving the second positioning reference signal. Taking Figure 2 as an example, UE1 can measure the time difference (Rx_Tx measurement1) between the time UE1_APR1 receives SL-PRS2 and the time it sends SL-PRS1. UE1 can also measure the time difference (Rx_Tx measurement2) between the time UE1_APR2 receives SL-PRS2 and the time it sends SL-PRS3.

[0096] Optionally, the first positioning measurement information determined by the first terminal device may further include an identifier of the ARP on the first terminal device that receives the second positioning reference signal. Taking Figure 2 as an example, for UE1_ARP1 on UE1, since it receives the side positioning reference signal SL-PRS2, the positioning measurement information corresponding to UE1_ARP1 may include UE1_APR1 ID. For UE1_ARP2 on UE1, since it receives the side positioning reference signal SL-PRS2, the positioning measurement information corresponding to UE1_ARP2 may include UE1_APR1 ID.

[0097] Optionally, the first positioning measurement information may further include a resource identifier of a positioning reference signal received by the first terminal device. Taking Figure 2 as an example, for UE1_ARP1 on UE1, since it receives SL-PRS2, the positioning measurement information corresponding to UE1_ARP1 may include the SL-PRS2 resource ID. For UE1_ARP2 on UE1, since it also receives SL-PRS2, the positioning measurement information corresponding to UE1_ARP2 may also include the SL-PRS2 resource ID.

[0098] Step 602: The first terminal device sends the first positioning measurement information and the first information determined in step 601.

[0099] In steps 603 and 604, the second terminal device may also determine the second positioning measurement information and the second information in the above manner, and send the determined second positioning measurement information and the second information to the device for performing positioning solution.

[0100] The second information may also be referred to as positioning assistance information.

[0101] Exemplarily, in step 602, the second positioning measurement information determined by the second terminal device indicates an association between at least one antenna reference point on the second terminal device and at least one sidelink positioning reference signal transmitted by the at least one antenna reference point. Taking the example where the at least one antenna reference point includes a second antenna reference point, and the at least one sidelink positioning reference signal includes a second sidelink positioning reference signal transmitted by the second antenna reference point, the second information may indicate an association between the second antenna reference point and the second sidelink positioning reference signal.

[0102] Exemplarily, in step 602, taking the first terminal device sending the first sidelink positioning reference signal as an example, the second positioning measurement information is obtained by the second terminal device measuring the first sidelink positioning reference signal.

[0103] In a possible implementation, the first positioning measurement information and the first information may be sent separately. For example, the first positioning measurement information may be sent via a positioning measurement report, and the first information may be sent via another message.

[0104] In one possible implementation, the first information may be sent before the first positioning measurement report, or before the positioning measurement starts. For example, when the first terminal device obtains the time-frequency resources of the first positioning reference signal, it can determine on which ARP to send the positioning reference signal corresponding to which resource identifier (that is, at this time, the association between the ARP identifier and the resource identifier of the positioning reference signal has been obtained), or it can determine on which ARP and in which time slot to send the positioning reference signal (that is, at this time, the association between the ARP identifier and the timestamp of the positioning reference signal has been obtained). Therefore, the first terminal device can send the first information before the positioning measurement starts, or before sending the positioning measurement report. Exemplarily, the first terminal device can send the first information through an existing message when configuring the side positioning reference signal to save signaling overhead.

[0105] Among them, optionally, the time-frequency resources of the first positioning reference signal can be configured by the network device to the first terminal device, or can be selected by the first terminal device from the candidate resources in the resource pool. This embodiment of the present application does not limit this.

[0106] Exemplarily, taking Figure 2 as an example, Figure 7 exemplarily shows an example in which UE1 sends the first positioning measurement information and the first information separately, and UE2 sends the second positioning measurement information and the second information separately. As shown in Figure 7, when configuring the sideline positioning reference signal, UE1 sends the first information to the LMF, and when configuring the sideline positioning reference signal, UE2 sends the second information to the LMF. The first information sent by UE1 and the second information sent by UE2 can refer to the previous text and will not be repeated here. Thereafter, after the positioning process is started, the sideline positioning reference signal is transmitted between UE1 and UE2. UE1 generates a first positioning measurement report based on the measurement of the sideline positioning reference signal, and reports the first positioning measurement report to the LMF; UE2 generates a second positioning measurement report based on the measurement of the sideline positioning reference signal, and reports the second positioning measurement report to the LMF.

[0107] It is understandable that in the process of UE1 sending the first information and the first positioning measurement report to the LMF, the first information and the first positioning measurement report may also be forwarded by other network elements. For example, the first information and / or the first positioning measurement report sent by UE1 are sent to the service access and mobility management function (AMF) of UE1 via the RAN, and then sent by the AMF to the LMF. The embodiment of the present application does not limit this. Similarly, in the process of UE2 sending the second information and the second positioning measurement report to the LMF, they may also be forwarded by other network elements.

[0108] Taking Figure 2 as an example, the following illustrates the first information and the content of the first positioning measurement report sent by the first terminal device (such as UE1 in Figure 2), as well as the second information and the content of the second positioning measurement report sent by the second terminal device (such as UE2 in Figure 2).

[0109] For example, taking FIG. 2 as an example, the first positioning measurement report sent by UE1 includes the positioning measurement report A1 and the positioning measurement report A2 mentioned above. The first information sent by UE1 may include:

[0110] (SL-PRS1 resource ID, UE1_ARP1 ID);

[0111] (SL-PRS3 resource ID, UE1_ARP2 ID).

[0112] The second positioning measurement report sent by UE2 includes the positioning measurement report A3 and positioning measurement report A4 mentioned above. The second information sent by UE2 may include:

[0113] (SL-PRS2 resource ID, UE2_ARP1 ID).

[0114] For example, taking FIG. 2 as an example, the first positioning measurement report sent by UE1 includes the positioning measurement report A1 and positioning measurement report A2 mentioned above. The first information sent by UE1 may include:

[0115] (SL-PRS slot index1, UE1_ARP1 ID);

[0116] (SL-PRS slot index3, UE1_ARP2 ID).

[0117] The second positioning measurement report sent by UE2 includes the positioning measurement report A3 and positioning measurement report A4 mentioned above. The second information sent by UE2 may include:

[0118] (SL-PRS slot index2, UE2_ARP1 ID).

[0119] In another possible implementation, in steps 602 and 604, the first terminal device may send the first positioning measurement information and the first information through a first positioning measurement report, and the second terminal device may send the second positioning measurement information and the second information through a second positioning measurement report. In this embodiment of the present application, a new first positioning measurement report may be defined for transmitting the first positioning measurement information and the first information, and a new second positioning measurement report may be defined for transmitting the second positioning information and the second information.

[0120] The first possible data structure of the positioning measurement report newly defined in the embodiment of the present application may be:

[0121] PRS for Rx+Rx_Tx measurement+ARP ID for Rx+ARP ID for Tx+PRS for Tx

[0122] Among them, PRS for Rx represents the resource identifier of the received sidelink positioning reference signal, ARP ID for Rx represents the identifier of the ARP for receiving the sidelink positioning reference signal, PRS for Tx represents the resource identifier of the sent sidelink positioning reference signal, ARP ID for Tx represents the identifier of the ARP for sending the sidelink positioning reference signal, and Rx_Tx measurement represents the receive and transmit time difference associated with PRS for Rx and PRS for Tx.

[0123] Optionally, PRS for Rx may be omitted, that is, the positioning measurement report may not include PRS for Rx.

[0124] Taking the above data structure as an example, in FIG2 , the first positioning measurement report sent by UE1 may include:

[0125] Positioning measurement report B1:

[0126] SL-PRS2 resource ID+Rx_Tx measurement1+UE1_ARP1 ID+UE1_ARP1 ID+SL-PRS1 resource ID positioning measurement report B2:

[0127] The second positioning measurement report sent by UE2 may include: SL-PRS2 resource ID+Rx_Tx measurement2+UE1_ARP2 ID+UE1_ARP2 ID+SL-PRS3 resource ID

[0128] Positioning measurement report B3:

[0129] SL-PRS1 resource ID + Rx_Tx measurement3 + UE2_ARP1 ID + UE2_ARP1 ID + SL-PRS2 resource ID positioning measurement report B4:

[0130] SL-PRS3 resource ID+Rx_Tx measurement4+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRS2 resource ID The second possible data structure of the positioning measurement report newly defined in this embodiment of the application can be:

[0131] PRS slot for Rx+Rx_Tx measurement+ARP ID for Rx+ARP ID for Tx+PRS slot for Tx

[0132] Among them, PRS for Rx represents the timestamp of the received sidelink positioning reference signal, ARP ID for Rx represents the identifier of the ARP that receives the sidelink positioning reference signal, PRS slot for Tx represents the timestamp of the sent sidelink positioning reference signal, ARP ID for Tx represents the identifier of the ARP that sends the sidelink positioning reference signal, and Rx_Tx measurement represents the measured receive and send time difference.

[0133] Optionally, the PRS slot for Rx may be omitted, that is, the positioning measurement report may not include the PRS slot for Rx.

[0134] Taking the above data structure as an example, in FIG2 , the first positioning measurement report sent by UE1 may include:

[0135] Positioning measurement report C1:

[0136] Positioning measurement report C2: SL-PRS slot index2+Rx_Tx measurement1+UE1_ARP1 ID+UE1_ARP1 ID+SL-PRS slot index1

[0137] SL-PRS slot index2+Rx_Tx measurement2+UE1_ARP2 ID+UE1_ARP2 ID+SL-PRS slot index3 The second positioning measurement report sent by UE2 may include:

[0138] Positioning measurement report C3:

[0139] Positioning measurement report C4: SL-PRS slot index1+Rx_Tx measurement3+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRS slot index2

[0140] SL-PRS slot index3+Rx_Tx measurement4+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRS slot index2

[0141] It can be understood that the above-mentioned first possible data structure and second possible data structure are merely examples, and the embodiment of the present application does not limit the data structure of the positioning measurement report.

[0142] In one possible implementation, the first terminal device may send the first positioning measurement information and the first information to the device for performing positioning solution, and the second terminal device may also send the second positioning measurement information and the second information to the device for performing positioning solution. The device for performing positioning solution may be an LMF. In this case, the first terminal device may send the positioning measurement information and the first information to the LMF in the core network. For example, in the architecture shown in FIG3 , terminal device 30, terminal device 31, terminal device 32, and terminal device 33 may send their respective measured positioning measurement information and positioning assistance information to LMF 35 via network device 34. The device for performing positioning solution may also be a terminal device. In this case, the first terminal device may send the first positioning measurement information and the first information to the terminal device for performing positioning solution via a sidelink. For example, in the architecture shown in FIG4 , terminal device 40, terminal device 41, and terminal device 42 may send their respective measured positioning measurement information and positioning assistance information to terminal device 43 via a sidelink. The device for performing positioning solution may also be the first terminal device itself. In this case, the first terminal device does not need to send the first positioning measurement information and the first information to other devices. Other devices send the positioning measurement information and positioning assistance information obtained by their respective measurements to the first terminal device. For example, in the architecture shown in Figure 4, terminal device 41, terminal device 42, and terminal device 43 can send the positioning measurement information and first information measured by their respective measurements to terminal device 40 via a side link.

[0143] It can be understood that Figure 6 only describes the example of sending positioning measurement information and positioning assistance information to LMF. In other embodiments, positioning measurement information and positioning assistance information can also be sent to other devices for performing positioning solutions, and the embodiments of the present application do not limit this.

[0144] Based on the process shown in Figure 6 above, after the device used to perform positioning solution receives the positioning measurement information and positioning assistance information sent by each device, it can match the positioning measurement information of each device to determine the positioning measurement information that complies with the RTT positioning technology principle, so that positioning solution can be performed based on the RTT positioning technology principle.

[0145] Taking the example of a device performing positioning solution receiving the first positioning measurement information and the first information sent by the first terminal device, and receiving the second positioning measurement information and the second information sent by the second terminal device, the device performing positioning solution determines that the first positioning measurement information matches the second positioning measurement information based on the first information and the first positioning measurement information sent by the first terminal device, and the second information and the second positioning measurement information sent by the second terminal device; and performs positioning based on the first positioning measurement information and the second positioning measurement information.

[0146] Exemplarily, taking UE1 and UE2 in FIG. 2 as an example, the first positioning measurement information reported by UE1 is the positioning measurement report B1 and positioning measurement report B2 described above, and the second positioning measurement information reported by UE2 is the positioning measurement report B3 and positioning measurement report B4 described above. Based on the positioning measurement report B1, it can be determined that UE1's UE1_ARP1 receives SL-PRS2 and sends SL-PRS1. Based on the positioning measurement report B3, it can be determined that UE2's UE2_ARP1 receives SL-PRS1 and sends SL-PRS2. It can be seen that the positioning measurement report B1 and the positioning measurement report B2 comply with the principle of consistency between transmission and reception, that is, the ARP for receiving and sending the sidelink positioning reference signal is the same ARP, and the sidelink positioning reference signal sent by UE1 matches the sidelink positioning reference signal received by UE2, and the sidelink positioning reference signal sent by UE2 matches the sidelink positioning reference signal received by UE1. Therefore, a matching positioning measurement report can be formed to perform RTT positioning calculation; similarly, the positioning measurement report B2 reported by UE1 and the positioning measurement report B4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0147] According to the positioning measurement report B1 reported by UE1 and the positioning measurement report B4 reported by UE2, it can be seen that the sidelink positioning reference signal sent by UE1 and the sidelink positioning reference signal received by UE2 do not match, so a matching positioning measurement report cannot be formed to perform RTT positioning calculation.

[0148] As another example, taking UE1 and UE2 in Figure 2 as an example, the first positioning measurement information reported by UE1 is the positioning measurement report C1 and positioning measurement report C2 described above, and the positioning measurement information reported by UE2 is the positioning measurement report C3 and positioning measurement report C4 described above. Based on positioning measurement report C1, it can be determined that UE1's UE1_ARP1 receives a sideline positioning reference signal in the time slot corresponding to slot index 2 and transmits a sideline positioning reference signal in the time slot corresponding to slot index 1. Based on positioning measurement report C3, it can be determined that UE2's UE2_ARP1 receives a sideline positioning reference signal in the time slot corresponding to slot index 1 and transmits a sideline positioning reference signal in the time slot corresponding to slot index 2. It can be seen that the time slot in which UE1 sends the sideline positioning reference signal is the same as the time slot in which UE2 receives the sideline positioning reference signal, and the time slot in which UE2 sends the sideline positioning reference signal is also the same as the time slot in which UE1 receives the sideline positioning reference signal, and the positioning measurement report C1 and the positioning measurement report C3 comply with the principle of consistency between transmission and reception, and therefore can constitute a matching positioning measurement report to perform RTT positioning calculation; similarly, the positioning measurement report C2 reported by UE1 and the positioning measurement report C4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0149] According to the positioning measurement report C1 reported by UE1 and the positioning measurement report C4 reported by UE2, it can be seen that the time slot in which UE1 sends the sideline positioning reference signal is different from the time slot in which UE2 receives the sideline positioning reference signal. Therefore, it is impossible to form a matching positioning measurement report to perform RTT positioning calculation.

[0150] In some embodiments, positioning measurement reports C1, C2, C3, and C4 may not include the timestamp of the received sidelink positioning reference signal. The LMF can obtain in advance the time-frequency resources used by UE1 and UE2 to transmit the sidelink positioning reference signal. For example, the RAN allocates the time-frequency resources for the sidelink positioning reference signal to UE1 and UE2 and notifies the LMF. In this way, the LMF can determine the time slots in which UE1 transmits the sidelink positioning reference signal and the time slots in which UE2 receives the sidelink positioning reference signal, as well as the time slots in which UE2 transmits the sidelink positioning reference signal and the time slots in which UE1 receives the sidelink positioning reference signal. Therefore, the LMF can match the positioning measurement reports reported by different terminal devices.

[0151] Based on the process shown in Figure 6 above, it can be seen that for positioning measurement and reporting based on the ARP level, in an embodiment of the present application, the terminal device can report positioning assistance information on the basis of reporting positioning measurement information. The positioning assistance information can indicate the association between the ARP on the terminal device and the side positioning reference signal sent by it, so that the device performing the positioning solution can match the positioning measurement information reported by each terminal device, thereby selecting the positioning measurement information that complies with the RTT positioning principle for positioning solution, thereby avoiding the problem of positioning error or positioning failure caused by incorrect matching of positioning measurement information.

[0152] See FIG8 , which is a schematic diagram of another positioning measurement information reporting process provided in an embodiment of the present application.

[0153] In an embodiment of the present application, the first terminal device has one or more antenna reference points (hereinafter referred to as ARPs), and the second terminal device has one or more ARPs. The first terminal device can send at least one side positioning reference signal to the second terminal device through at least one ARP, and the second terminal device can also send at least one side positioning reference signal to the first terminal device through at least one ARP. For example, the first ARP on the first terminal device can send a first side positioning reference signal to the second terminal device, and the second ARP on the second terminal device can receive the first side positioning reference signal sent by the first terminal device. The second ARP on the second terminal device can send a second side positioning reference signal to the first terminal device, and the first ARP on the first terminal device can receive the second side positioning reference signal sent by the second terminal device. The first terminal device and the second terminal device can obtain positioning measurement information based on the measurement of the side positioning reference signal.

[0154] As shown in FIG8 , the process may include the following steps:

[0155] Step 801: A second terminal device sends second information to a first terminal device, and the first terminal device receives the second information. The second information sent by the second terminal device indicates an association between at least one ARP on the second terminal device and at least one sidelink positioning reference signal sent by the at least one ARP.

[0156] Step 802: The first terminal device sends first information to the second terminal device, and the second terminal device receives the first information. The first information sent by the first terminal device indicates an association between at least one ARP on the first terminal device and at least one sidelink positioning reference signal sent by the at least one ARP.

[0157] In the embodiment of the present application, the first information sent by the first terminal device and the first information sent by the second terminal device can refer to the relevant content in the process shown in Figure 6, which will not be repeated here.

[0158] In one possible implementation, the process of exchanging positioning assistance information between the first terminal device and the second terminal device may occur before reporting the positioning measurement report or before the positioning measurement starts. For example, when the second terminal device obtains the time-frequency resources of the first positioning reference signal, it can determine which ARP to send the positioning reference signal corresponding to which resource identifier (that is, the association between the ARP identifier and the resource identifier of the positioning reference signal has been obtained at this time), or it can determine which ARP and in which time slot to send the positioning reference signal (that is, the association between the ARP identifier and the timestamp of the positioning reference signal has been obtained at this time). Therefore, the second terminal device can send the second information to the first terminal device before the positioning measurement starts or before sending the positioning measurement report. Similarly, the first terminal device can also send the first information to the second terminal device after determining the time-frequency resources of the positioning reference signal. Exemplarily, the first terminal device and the second terminal device can exchange positioning assistance information through existing messages when configuring the positioning reference signal.

[0159] Step 803: The first terminal device generates a first positioning measurement report according to the second information and first positioning measurement information obtained by the first terminal device measuring the sidelink positioning reference signal.

[0160] Optionally, in addition to the first positioning measurement information, the first positioning measurement report may also indicate the association between the second sideline positioning reference signal (the second sideline positioning reference signal is sent by the second ARP of the second terminal device) and the second ARP that sends the second sideline positioning reference signal on the second terminal device.

[0161] Optionally, the first positioning measurement report includes an identifier of a second ARP that sends the second sidelink positioning reference signal on the second terminal device.

[0162] Taking the example of the first ARP of the first terminal device receiving the second sideline positioning reference signal sent by the second terminal device, the first terminal device can obtain the first positioning measurement information by measuring the second sideline positioning reference signal. The first positioning measurement information obtained by the first terminal device may include the time difference between the time when the first ARP receives the second positioning reference signal and the time when the first antenna reference point sends the sideline positioning reference signal. Optionally, the first positioning measurement information may also include the identifier of the first ARP. Optionally, the first positioning measurement information may also include the resource identifier of the second sideline positioning reference signal. For specific implementation methods, please refer to the relevant content in step 601 in the process shown in Figure 6.

[0163] After the first terminal device obtains the first positioning measurement information, it can generate a first positioning measurement report based on the first positioning measurement information and the second information from the second terminal device. The first positioning measurement report is a positioning measurement report newly defined in an embodiment of the present application. The first positioning measurement report can not only include positioning measurement information, but also indicate the association between the positioning reference signal received by the first terminal device and the ARP that sends the positioning reference signal on the second terminal device.

[0164] In one possible implementation, taking the case where the first terminal device receives the second sideline positioning reference signal as an example, the first positioning measurement report generated by the first terminal device includes the resource identifier of the second sideline positioning reference signal and the identifier of the ARP used by the second terminal device to send the second positioning reference signal. Specifically, the second information received by the first terminal device from the second terminal device includes the resource identifier and the second ARP identifier of the second positioning reference signal. After the first terminal device obtains the first positioning measurement information based on measuring the second positioning reference signal, the second ARP identifier associated with the second positioning reference signal can be added to the first positioning measurement information based on the second information from the second terminal device, thereby generating a first positioning measurement report.

[0165] For example, taking Figure 2 as an example, the first terminal device is UE1 in Figure 2, and the second terminal device is UE2 in Figure 2. The second information received by UE1 from UE2 includes (SL-PRS2 resource ID, UE2_ARP1 ID). After UE1 obtains the time differences Rx_Tx measurement1 and Rx_Tx measurement2 by measuring the received SL-PRS2, it can add the UE2_ARP1 ID associated with the SL-PRS2 to the positioning measurement information corresponding to Rx_Tx measurement1 and Rx_Tx measurement2, respectively, based on the received second information (SL-PRS2 resource ID, UE2_ARP1 ID).

[0166] For example, a possible data structure of a positioning measurement report is:

[0167] PRS for Rx+ARP ID for Tx+Rx_Tx measurement+ARP ID for Rx

[0168] Among them, PRS for Rx represents the resource identifier of the received sidelink positioning reference signal, ARP ID for Tx represents the identifier of the ARP of the sidelink positioning reference signal corresponding to PRS for Rx sent by the opposite device, ARP ID for Rx represents the identifier of the ARP of the sidelink positioning reference signal corresponding to PRS for Rx, and Rx_Tx measurement represents the receive and transmit time difference obtained by measuring the received PRS for Rx.

[0169] Optionally, PRS for Rx may be omitted, that is, the positioning measurement report may not include PRS for Rx.

[0170] The first measurement report obtained by UE1 may include:

[0171] Positioning measurement report D1:

[0172] SL-PRS2 resource ID+UE2_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0173] Positioning measurement report D2:

[0174] SL-PRS2 resource ID+UE2_ARP1 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0175] In another possible implementation, taking the case where the first terminal device receives the second side positioning reference signal as an example, the first positioning measurement report generated by the first terminal device includes the timestamp of the second positioning reference signal and the identifier of the second ARP for sending the second positioning reference signal by the second terminal device. Specifically, the second information received by the first terminal device from the second terminal device includes the timestamp and the second ARP identifier of the second positioning reference signal. After the first terminal device measures the second positioning reference signal to obtain the first positioning measurement information, the second ARP identifier associated with the timestamp of the second positioning reference signal can be added to the first positioning measurement information based on the second information from the second terminal device, thereby generating a first positioning measurement report.

[0176] For example, using FIG2 as an example, the first terminal device is UE1 in FIG2 , and the second terminal device is UE2 in FIG2 . The second information received by UE1 from UE2 includes: (SL-PRS2 slot index2, UE2_ARP1 ID). After UE1 obtains receive time differences Rx_Tx measurement1 and Rx_Tx measurement2 by measuring the received SL-PRS2, it can add the UE2_ARP1 ID associated with the SL-PRS1 (or SL-PRS2 slot index2) to the positioning measurement information corresponding to Rx_Tx measurement1 and Rx_Tx measurement2, respectively, based on the received second information (SL-PRS2 slot index2, UE2_ARP1 ID).

[0177] For example, a possible data structure of a positioning measurement report is:

[0178] PRS slot for Rx+ARP ID for Tx+Rx_Tx measurement+ARP ID for Rx

[0179] Among them, PRS for Rx represents the timestamp of the received sidelink positioning reference signal, ARP ID for Tx represents the identifier of the ARP that sends the sidelink positioning reference signal corresponding to PRS for Rx by the opposite device, ARP ID for Rx represents the identifier of the ARP that receives the sidelink positioning reference signal corresponding to PRS for Rx, and Rx_Tx measurement represents the receive and transmit time difference obtained by measuring PRS for Rx.

[0180] Optionally, the PRS slot for Rx may be omitted, that is, the positioning measurement report may not include the PRS slot for Rx.

[0181] The first measurement report obtained by UE1 may include:

[0182] Positioning measurement report E1:

[0183] SL-PRS2 slot2+UE2_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0184] Positioning measurement report E2:

[0185] SL-PRS2 slot2+UE2_ARP1 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0186] Optionally, the PRS slot for Rx may be omitted, that is, the positioning measurement report may not include the PRS slot for Rx.

[0187] Step 804: The first terminal device sends the first positioning measurement report generated in step 803.

[0188] In one possible implementation, the first terminal device may send the first positioning measurement report to the device for performing positioning solution. The device for performing positioning solution may be an LMF. In this case, the first terminal device may send the first positioning measurement report to the LMF in the core network. For example, in the architecture shown in FIG3 , terminal device 30, terminal device 31, terminal device 32, and terminal device 33 may send their respective measured positioning measurement reports to LMF 35 via network device 34. The device for performing positioning solution may also be a terminal device. In this case, the first terminal device may send the first positioning measurement report to the terminal device for performing positioning solution via a sidelink. For example, in the architecture shown in FIG4 , terminal device 40, terminal device 41, and terminal device 42 may send their respective measured positioning measurement reports to terminal device 43 via a sidelink. The device for performing positioning solution may also be the first terminal device itself. In this case, the first terminal device does not need to send the first positioning measurement report to other devices. Other devices send the positioning measurement reports obtained by their respective measurements to the first terminal device. For example, in the architecture shown in Figure 4, terminal device 41, terminal device 42, and terminal device 43 can send the positioning measurement reports obtained by their respective measurements to terminal device 40 via a side link.

[0189] It can be understood that Figure 8 only describes the example of sending the positioning measurement report to the LMF. In other embodiments, the positioning measurement report can also be sent to other devices for performing positioning solutions, and the embodiments of the present application are not limited to this.

[0190] Step 805: The second terminal device generates a second positioning measurement report according to the first information from the first terminal device and the second positioning measurement information obtained by the second terminal device measuring the sidelink positioning reference signal.

[0191] For example, taking the example of a second ARP of a second terminal device receiving a first sidelink positioning reference signal sent by a first ARP of a first terminal device, the second positioning measurement report includes second positioning measurement information, where the second positioning measurement information is obtained by the second terminal device measuring the first sidelink positioning reference signal. The second positioning measurement report indicates an association between the first ARP and the first sidelink positioning reference signal. The manner in which the second terminal device generates the second positioning measurement report may refer to the manner given in step 803 and is not further described here.

[0192] For example, taking Figure 2 as an example, the first terminal device is UE1 in Figure 2, and the second terminal device is UE2 in Figure 2. A possible data structure of the positioning measurement report is: PRS for Rx + ARP ID for Tx + Rx_Tx measurement + ARP ID for Rx. The second positioning measurement report generated by UE2 includes:

[0193] Positioning measurement report D3:

[0194] SL-PRS1 resource ID+UE1_ARP1 ID+Rx_Tx measurement3+UE2_ARP1 ID

[0195] Positioning measurement report D4:

[0196] SL-PRS3 resource ID+UE1_ARP2 ID+Rx_Tx measurement4+UE2_ARP1 ID

[0197] For example, taking Figure 2 as an example, the first terminal device is UE1 in Figure 2, and the second terminal device is UE2 in Figure 2. A possible data structure of the positioning measurement report is: PRS slot for Rx+ARP ID for Tx+Rx_Tx measurement+ARP ID for Rx.

[0198] The second positioning measurement report generated by UE2 includes:

[0199] Positioning measurement report E3:

[0200] SL-PRS2 slot1+UE1_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0201] Positioning measurement report E4:

[0202] SL-PRS2 slot3+UE1_ARP2 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0203] Optionally, the PRS slot for Rx may be omitted, that is, the positioning measurement report may not include the PRS slot for Rx.

[0204] Step 806: The second terminal device sends the second positioning measurement report generated in step 805.

[0205] Based on the process shown in Figure 8 above, after the device used to perform positioning solution receives the positioning measurement report sent by each terminal device, it can match the positioning measurement report of each terminal device to determine the positioning measurement report that complies with the RTT positioning technology principle, so that positioning solution can be performed based on the RTT positioning technology principle.

[0206] Taking the example of a device performing positioning solution receiving a first positioning measurement report sent by a first terminal device and a second positioning measurement report sent by a second terminal device, wherein the specific description of the first positioning measurement report and the second positioning measurement report can refer to the previous text, the device performing positioning solution can determine that the first positioning measurement report matches the second positioning measurement report; the device performing positioning solution performs positioning according to the first positioning measurement report and the second positioning measurement report.

[0207] For example, taking UE1 and UE2 in FIG2 as an example, the first positioning measurement report reported by UE1 is the positioning measurement report D1 and positioning measurement report D2 described above, and the second positioning measurement report reported by UE2 is the positioning measurement report D3 and positioning measurement report D4 described above. Based on positioning measurement report D1, it can be determined that the SL-PRS2 received by UE1_ARP1 of UE1 was sent by UE2's ARP1, and based on positioning measurement report D3, it can be determined that the SL-PRS1 received by UE2_ARP1 of UE2 was sent by UE1's ARP1. It can be seen that the sidelink positioning reference signal sent by UE1 matches the sidelink positioning reference signal received by UE2, and the sidelink positioning reference signal sent by UE2 also matches the sidelink positioning reference signal received by UE1. Therefore, they can constitute matching positioning measurement reports for performing RTT positioning calculation. Similarly, positioning measurement report D2 reported by UE1 and positioning measurement report D4 reported by UE2 can also constitute matching positioning measurement reports for performing RTT positioning calculation.

[0208] However, based on positioning measurement report D1 reported by UE1 and positioning measurement report D4 reported by UE2, it can be seen that the sidelink positioning reference signal sent by UE1 and the sidelink positioning reference signal received by UE2 do not match, and therefore cannot form a matching positioning measurement report to perform RTT positioning calculation. Similarly, positioning measurement report D2 reported by UE1 and positioning measurement report D4 reported by UE2 cannot form a matching positioning measurement report.

[0209] As another example, taking UE1 and UE2 in Figure 2 as an example, the positioning measurement reports reported by UE1 are the positioning measurement report E1 and positioning measurement report E2 mentioned above, and the second positioning measurement report reported by UE2 is the positioning measurement report E3 and positioning measurement report E4 mentioned above. Based on positioning measurement report E1, it can be determined that UE1's UE1_ARP1 received the sidelink positioning reference signal in the time slot corresponding to slot index2 and that the sidelink positioning reference signal was sent by UE2's ARP1. Based on positioning measurement report E3, it can be determined that UE2's UE2_ARP1 received the sidelink positioning reference signal in the time slot corresponding to slot index1 and that the sidelink positioning reference signal was sent by UE1's ARP1. It can be seen that positioning measurement report E1 and positioning measurement report E3 can constitute a matching positioning measurement report to perform RTT positioning calculation. Similarly, positioning measurement report E2 reported by UE1 and positioning measurement report E4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0210] However, based on the positioning measurement reports E1 and E4 reported by UE1, it can be seen that the time slots in which UE1 transmits the sidelink positioning reference signal and the time slots in which UE2 receives the sidelink positioning reference signal are different. Therefore, they cannot form a matching positioning measurement report to perform RTT positioning calculation. Similarly, the positioning measurement reports E2 and E4 reported by UE2 cannot form a matching positioning measurement report.

[0211] In some embodiments, the timestamp of the received sidelink positioning reference signal may not be included in positioning measurement report E1, positioning measurement report E2, positioning measurement report E3, and positioning measurement report E4. The LMF may obtain in advance the time-frequency resources for UE1 and UE2 to send the sidelink positioning reference signal. For example, the RAN allocates the time-frequency resources for the sidelink positioning reference signal to UE1 and UE2 and notifies the LMF. In this way, the LMF can determine the time slots for UE1 to send the sidelink positioning reference signal and the time slots for UE2 to receive the sidelink positioning reference signal, as well as the time slots for UE2 to send the sidelink positioning reference signal and the time slots for UE1 to receive the sidelink positioning reference signal. Therefore, the positioning measurement reports reported by different terminal devices can be matched.

[0212] It can be understood that in the process shown in Figure 8, when the first terminal device and the second terminal device send positioning assistance information and positioning measurement reports to the LMF, the positioning assistance information and positioning measurement reports may also be forwarded through other network elements, and the embodiments of the present application do not limit this.

[0213] It is understood that the timing relationship between the steps in the process shown in Figure 8 is only a possible example and is not limited in this embodiment of the present application. For example, there is no strict requirement for the time sequence in which the first terminal device and the second terminal device generate and send the positioning measurement report.

[0214] Based on the process shown in Figure 8, in the scenario where positioning measurement reports are reported at a Per ARP granularity, since the positioning measurement report includes positioning assistance information that can help match the positioning measurement report, the device used to perform positioning solution can match the positioning measurement reports reported by each device, thereby avoiding positioning errors or positioning failures caused by positioning measurement report matching errors.

[0215] It is understandable that in order to implement the functions in the above embodiments, the network device (such as the LMF for performing positioning solution) and the terminal device include hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0216] Figures 9 and 10 are schematic diagrams of the structures of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the terminal device or network device in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments. In the embodiments of the present application, the communication device can be one of the terminal devices shown in Figures 3, 4, or 5, or it can be the LMF shown in Figure 3, or it can be a module (such as a chip) applied to a terminal device or network device (such as an LMF).

[0217] As shown in Figure 9, a communication device 900 includes a processing unit 910 and a transceiver unit 920. The communication device 900 is used to implement the functions of a terminal device or a network device (such as LMF) in the method embodiment shown in Figure 6 or Figure 7.

[0218] When the communication device 900 is used to implement the function of the terminal device in the method embodiment shown in Figure 6 or Figure 7: the processing unit 910 is used to determine the first positioning measurement information and the first information, the first information indicating the association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; the processing unit 910 is also used to send the first positioning measurement information and the first information through the transceiver unit 920.

[0219] When the communication device 900 is used to implement the function of a network device (such as LMF) in the method embodiment shown in Figure 6 or Figure 7: the transceiver unit 920 is used to receive first positioning measurement information and first information from a first terminal, the first information indicating the association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; the processing unit 910 is used to perform positioning based on the first positioning measurement information and the first information.

[0220] When the communication device 900 is used to implement the function of the terminal device in the method embodiment shown in Figure 8: the transceiver unit 920 is used to receive second information, where the second information indicates the association between at least one antenna reference point and at least one sidelink positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one sidelink positioning reference signal includes a second sidelink positioning reference signal sent by the second antenna reference point; the processing unit 910 is used to generate a first positioning measurement report based on the second information and the first positioning measurement information, and the first positioning measurement information is obtained by the first terminal device measuring the second sidelink positioning reference signal; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates the association between the second antenna reference point and the second sidelink positioning reference signal; the processing unit 910 is also used to send the first positioning measurement report through the transceiver unit 920.

[0221] When the communication device 900 is used to implement the function of the network device (such as LMF) in the method embodiment shown in Figure 8: the transceiver unit 920 is used to receive a first positioning measurement report from the first terminal device, and the first positioning measurement report includes first positioning measurement information. The first positioning measurement information is obtained by the first terminal device measuring the second sideline positioning reference signal, and the first positioning measurement report indicates the association between the second antenna reference point and the second sideline positioning reference signal; wherein the second antenna reference point is the antenna reference point on the second terminal device that sends the second sideline positioning reference signal; the processing unit 910 is used to perform positioning according to the first positioning measurement report.

[0222] A more detailed description of the processing unit 910 and the transceiver unit 920 can be directly obtained by referring to the relevant description in the method embodiment shown in Figure 6, Figure 7 or Figure 8, and will not be repeated here.

[0223] As shown in Figure 10, communication device 1000 includes a processor 1010 and an interface circuit 1020. Processor 1010 and interface circuit 1020 are coupled to each other. It will be appreciated that interface circuit 1020 may be a transceiver or an input / output interface. Optionally, communication device 1000 may further include a memory 1030 for storing instructions executed by processor 1010, input data required by processor 1010 to execute instructions, or data generated by processor 1010 after executing instructions.

[0224] When the communication device 1000 is used to implement the method shown in FIG. 6 , FIG. 7 or FIG. 8 , the processor 1010 is used to implement the functions of the processing unit 910 , and the interface circuit 1020 is used to implement the functions of the transceiver unit 920 .

[0225] When the communication device is a chip used in a terminal device, the terminal chip implements the functions of the terminal device in the above method embodiments. The terminal chip receives information from other modules in the terminal device, which is information sent by the network device to the terminal; or the terminal chip sends information to other modules in the terminal device, which is information sent by the terminal device to the network device.

[0226] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0227] This application provides another example of a communication device, which includes at least one processor and at least one memory, the at least one processor and the at least one memory being coupled together, the at least one memory being used to store instructions. When the instructions are executed by the at least one processor, the communication device performs the method in the above-described embodiment. For example, as shown in FIG10 , a communication device 1000 includes a processor 1010 and a memory 1030. The processor 1010 and the memory 1030 are coupled together, and the memory 1030 stores instructions. When the instructions stored in the memory 1030 are executed by the processor 1010, the communication device 1000 performs the method performed by the terminal device or network device in the above-described embodiment.

[0228] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. The processor and storage medium can also exist in a network device or a terminal as discrete components.

[0229] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0230] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0231] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0232] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A method for reporting positioning measurement information, characterized in that: The method comprises: Determine first positioning measurement information and first information, wherein the first information indicates an association between at least one antenna reference point and at least one sideways positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; The first positioning measurement information and the first information are sent.

2. The method according to claim 1, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

3. The method according to claim 2, characterized in that The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

4. The method according to claim 1, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

5. The method according to claim 4, characterized in that The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

6. The method according to any one of claims 4 to 5, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

7. The method according to any one of claims 1 to 6, characterized in that: The determining the first positioning measurement information and the first information includes: Before receiving a second sideline positioning reference signal from a second terminal device, determining the first information; After receiving the second sideline positioning reference signal, determining the first positioning measurement information; wherein the first positioning measurement information is obtained by measuring the second sideline positioning reference signal; The sending the first positioning measurement information and the first information includes: Before sending the first positioning measurement information, the first information is sent.

8. The method according to any one of claims 1 to 6, characterized in that: The sending the first positioning measurement information and the first information includes: A first positioning measurement report is sent, where the first positioning measurement report includes the first positioning measurement information and the first information.

9. A method for reporting positioning measurement information, characterized in that: The method comprises: Receiving first positioning measurement information and first information from a first terminal, wherein the first information indicates an association between at least one antenna reference point and at least one sideways positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; Positioning is performed according to the first positioning measurement information and the first information.

10. The method according to claim 9, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

11. The method according to claim 10, characterized in that The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

12. The method according to claim 9, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one side positioning reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

13. The method according to claim 12, characterized in that The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

14. The method according to any one of claims 12 to 13, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

15. The method according to any one of claims 9 to 14, characterized in that: The at least one antenna reference point includes a first antenna reference point, and the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the second sideline positioning reference signal is sent by a second terminal device; The method further comprises: receiving second positioning measurement information and second information from the second terminal device, the second information indicating an association between at least one antenna reference point on the second terminal device and at least one sidetrack positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point including a second antenna reference point, the at least one sidetrack positioning reference signal including the second sidetrack positioning reference signal sent by the second antenna reference point, and the second positioning measurement information being obtained by the second terminal device measuring the first sidetrack positioning reference signal; Determining, according to the first positioning measurement information and the first information, and the second positioning measurement information and the second information, that the first positioning measurement information matches the second positioning measurement information; Positioning is performed according to the first positioning measurement information and the second positioning measurement information.

16. A method for reporting positioning measurement information, characterized in that: The method comprises: Receive second information, where the second information indicates an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, where the at least one antenna reference point is an antenna reference point on a second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one side positioning reference signal includes a second side positioning reference signal sent by the second antenna reference point; Generate a first positioning measurement report according to the second information and the first positioning measurement information, where the first positioning measurement information is obtained by measuring the second sideline positioning reference signal by the first terminal device; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates an association between the second antenna reference point and the second sideline positioning reference signal; Sending the first positioning measurement report.

17. The method according to claim 16, characterized in that The first positioning measurement report includes an identifier of the second antenna reference point.

18. The method according to claim 17, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

19. The method according to any one of claims 17 to 18, characterized in that: The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

20. The method according to any one of claims 16 to 17, characterized in that: The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

21. The method of claim 20, wherein: The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

22. The method according to any one of claims 20 to 21, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

23. A method for reporting positioning measurement information, characterized in that: The method comprises: Receive a first positioning measurement report from a first terminal device, where the first positioning measurement report includes first positioning measurement information, where the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the first positioning measurement report indicates an association between a second antenna reference point and the second sideline positioning reference signal; wherein the second antenna reference point is an antenna reference point on the second terminal device that sends the second sideline positioning reference signal; Perform positioning according to the first positioning measurement report.

24. The method of claim 23, wherein: The first positioning measurement report includes an identifier of the second antenna reference point.

25. The method according to any one of claims 23-24, characterized in that The association between the second antenna reference point and the second sideways positioning reference signal includes: An association between an identifier of the second antenna reference point and a resource identifier of the second sidelink positioning reference signal.

26. The method according to any one of claims 23-24, characterized in that The association between the second antenna reference point and the second sideways positioning reference signal includes: An association between an identifier of the second antenna reference point and a timestamp of the second sideways positioning reference signal.

27. The method of claim 26, wherein: The timestamp of the second sidelink positioning reference signal is indication information of the time domain unit where the second sidelink positioning reference signal is located.

28. The method according to any one of claims 23 to 27, characterized in that Also includes: Receive a second positioning measurement report from the second terminal device, where the second positioning measurement report includes second positioning measurement information, where the second positioning measurement information is obtained by the second terminal device measuring a first sideline positioning reference signal, and the second positioning measurement report indicates an association between a first antenna reference point and the first sideline positioning reference signal; wherein the first antenna reference point is an antenna reference point on the first terminal device that sends the first sideline positioning reference signal; The performing positioning according to the first positioning measurement report includes: Determining that the first positioning measurement report matches the second positioning measurement report; Positioning is performed according to the first positioning measurement report and the second positioning measurement report.

29. A communication device, characterized in that: Comprising a module for executing the method as described in any one of claims 1 to 8, or a module for executing the method as described in any one of claims 9 to 15, or a module for executing the method as described in any one of claims 16 to 22, or a module for executing the method as described in any one of claims 23 to 28.

30. A communication device, characterized in that: It includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method as described in any one of claims 1 to 8 through a logic circuit or execute code instructions, to implement the method as described in any one of claims 9 to 15, to implement the method as described in any one of claims 16 to 22, and to implement the method as described in any one of claims 23 to 28.

31. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, it implements the method as described in any one of claims 1 to 8, or implements the method as described in any one of claims 9 to 15, or implements the method as described in any one of claims 16 to 22, or implements the method as described in any one of claims 23 to 28.

Images