Locating method, and apparatuses

Abstract

Provided in the present disclosure are a locating method, apparatuses, a device, and a storage medium. The method comprises: determining to execute a sidelink-mobile originated-location request (SL-MO-LR); and determining a first routing identifier corresponding to the SL-MO-LR, and a locating calculation device. By means of the present disclosure, the executability of a locating result or locating measurement data can be improved, thereby improving the accuracy of the locating result or the locating measurement data.

Description

Positioning Method and Device Technical Field The present disclosure relates to the field of communication technologies, and in particular, to a positioning method, device, equipment, and storage medium. Background Art In a communication system, ranging services and side-link (Sinlink, SL) positioning services can be applied to various vertical fields, for example. The ranging service can be used to determine the distance between two terminals and / or the direction of one terminal relative to another terminal through the PC5 link, for example. The SL positioning service can be used to enable a terminal to obtain absolute positioning, relative positioning, and ranging information using the PC5 link, for example. Summary of the Invention The present disclosure provides a positioning method, device, equipment, and storage medium to solve the problem that the positioning process cannot be determined, resulting in the inability to execute the positioning service. According to a first aspect of an embodiment of the present disclosure, a positioning method is provided. The method is executed by a first terminal and includes: Determining to execute a side-link-mobile originated-location request (SL-MO-LR); Determining a first routing identifier corresponding to the side-link-mobile originated-location request SL-MO-LR and a positioning calculation device. According to a second aspect of an embodiment of the present disclosure, a positioning method is provided. The method is executed by a second terminal and includes: Receiving positioning calculation device information sent by a first terminal, where the positioning calculation device information is used to indicate that the second terminal is a positioning calculation device; Determining at least one of a positioning result and positioning measurement data of the first terminal according to a positioning process corresponding to the positioning assistance information and the first routing identifier, where the first routing identifier corresponds to the side-link-mobile originated-location request SL-MO-LR. According to a third aspect of an embodiment of the present disclosure, a positioning method is provided. The method is executed by a fourth terminal and includes: Determining a positioning result of a first terminal according to a positioning process corresponding to a first routing identifier, where the first routing identifier corresponds to the side-link-mobile originated-location request SL-MO-LR; Sending the positioning result of the first terminal to the first terminal. According to a fourth aspect of an embodiment of the present disclosure, a first terminal is provided. The device includes: A processing module, configured to determine to execute a side-link-mobile originated-location request SL-MO-LR; The processing module is further configured to determine a first routing identifier corresponding to the side-chain-terminal-originating-location request SL-MO-LR and a location calculation device. According to a fifth aspect of the embodiments of the present disclosure, a second terminal is provided, and the device includes: A transceiver module, configured to receive location calculation device information sent by a first terminal, where the location calculation device information is used to indicate that the second terminal is a location calculation device; A processing module, configured to determine at least one of a location result and location measurement data of the first terminal according to location assistance information and a location process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originating-location request SL-MO-LR. According to a sixth aspect of the embodiments of the present disclosure, a fourth terminal is provided, and the device includes: A processing module, configured to determine a location result of a first terminal according to a location process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originating-location request SL-MO-LR; A transceiver module, configured to send the location result of the first terminal to the first terminal. According to a seventh aspect of the embodiments of the present disclosure, a first terminal is provided, including: One or more processors; Wherein, the first terminal is configured to execute the message sending method according to any one of the first aspect. According to an eighth aspect of the embodiments of the present disclosure, a second terminal is provided, including: One or more processors; Wherein, the second terminal is configured to execute the message sending method according to any one of the second aspect. According to a ninth aspect of the embodiments of the present disclosure, a fourth terminal is provided, including: One or more processors; Wherein, the fourth terminal is configured to execute the message sending method according to any one of the third aspect. According to a tenth aspect of the embodiments of the present disclosure, a communication system is provided, including a terminal and a core network device, where the terminal is configured to implement the location method according to any one of the first aspect to the third aspect. According to an eleventh aspect of the embodiments of the present disclosure, a storage medium is provided, and the storage medium stores instructions, which, when running on a communication device, cause the communication device to execute the location method according to any one of the first aspect or the location method according to any one of the second aspect or the location method according to any one of the third aspect. Description of the Drawings The above and / or additional aspects and advantages of the present disclosure will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where: FIG. 1 is a schematic structural diagram of a communication system shown according to an embodiment of the present disclosure; FIG. 2 is an interaction schematic diagram of a positioning method provided by another embodiment of the present disclosure; FIG. 3 is a schematic flowchart of a positioning method provided by another embodiment of the present disclosure; FIG. 4A is a schematic flowchart of a positioning method provided by another embodiment of the present disclosure; FIG. 5A is a schematic flowchart of a positioning method provided by another embodiment of the present disclosure; FIG. 6A is a schematic flowchart of a positioning method provided by another embodiment of the present disclosure; FIG. 7A is a schematic flowchart of a positioning method provided by another embodiment of the present disclosure; FIG. 8A is a schematic structural diagram of a first terminal provided by another embodiment of the present disclosure; FIG. 8B is a schematic structural diagram of a second terminal provided by another embodiment of the present disclosure; FIG. 8C is a schematic structural diagram of a third terminal provided by another embodiment of the present disclosure; FIG. 9A is a schematic structural diagram of a communication device provided by an embodiment of the present disclosure; FIG. 9B is a schematic structural diagram of a chip provided by an embodiment of the present disclosure. Detailed Embodiments The present disclosure provides a positioning method, apparatus, device, and storage medium to solve the problem that the positioning process cannot be determined, resulting in the inability to execute the positioning service. According to a first aspect of an embodiment of the present disclosure, a positioning method is provided. The method is executed by a first terminal, and the method includes: Determine to execute a side-chain - terminal-originated - positioning request SL-MO-LR; Determine a first routing identifier corresponding to the side-chain - terminal-originated - positioning request SL-MO-LR and a positioning calculation device. In the above embodiment, a determination mechanism for the first routing identifier corresponding to SL-MO-LR and a determination mechanism for the positioning calculation device can be provided, which can distinguish the positioning process corresponding to SL-MO-LR from the normal positioning process, reduce the situation where the positioning process cannot be determined and the positioning calculation device cannot be determined, resulting in the inability to determine the positioning result or positioning measurement data of the terminal, improve the executability of the positioning result or positioning measurement data, and improve the accuracy of the positioning result or positioning measurement data. In combination with some embodiments of the first aspect, in some embodiments, where the positioning calculation device is the first terminal, the method further includes: Determine at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning process corresponding to the first routing identifier. In the above embodiments, a determination mechanism for the first routing identifier corresponding to SL-MO-LR and a determination mechanism for the positioning calculation device can be provided, the positioning process corresponding to SL-MO-LR can be distinguished from the normal positioning process, and when the positioning calculation device is the first terminal, a mechanism for the first terminal to determine the positioning result or the positioning measurement data can be determined, reducing the situation where the positioning result cannot be determined due to the inability to determine the positioning process and the positioning calculation device, improving the executability of the positioning result or the positioning measurement data, and improving the accuracy of the positioning result or the positioning measurement data. In combination with some embodiments of the first aspect, in some embodiments, where the positioning result includes at least one of the following: The first relative position of the first terminal; The first absolute position of the first terminal. In combination with some embodiments of the first aspect, in some embodiments, where the positioning result includes the first relative position, determining the positioning result of the first terminal includes: Determine the first relative position of the first terminal according to the positioning assistance information and the ranging measurement result. In the above embodiments, the first relative position can be determined, the execution process of the first terminal to determine the first relative position can be clarified, and the accuracy of determining the first relative position can be improved. It should be understood that the positioning result such as the ranging measurement result can be obtained by measuring and calculating the determined positioning measurement data. In combination with some embodiments of the first aspect, in some embodiments, where the positioning result includes the first absolute position, determining the positioning result of the first terminal includes: Receive at least one of the second absolute position of the second terminal and the measurement of the second absolute position sent by the second terminal, where the second terminal is any terminal in at least one positioning terminal and the second terminal is different from the first terminal; Determine the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, the positioning assistance information, and the first relative position. In the above embodiments, when the positioning calculation device is the first terminal, a determination mechanism for the absolute position can be provided, the situation where the determination mechanism for the absolute position is not clear can be reduced, and the accuracy of the absolute position can be improved. In some embodiments in combination with some embodiments of the first aspect, wherein the positioning result includes a first absolute position, before determining the positioning result of the first terminal, it further includes: Sending a first message to a second terminal, where the first message is used to request at least one of the second absolute position of the second terminal and the measurement of the second absolute position, the second terminal is any one of at least one positioning terminal and the second terminal is different from the first terminal; Receiving at least one of the second absolute position and the measurement of the second absolute position sent by the second terminal; Determining the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, positioning assistance information, and the first relative position. In the above embodiments, when the positioning calculation device is the first terminal, a determination mechanism for the absolute position can be provided. When the absolute position of the second terminal is not clear, a determination mechanism for the absolute position can be provided, and a data transmission mechanism for each data when determining the first absolute position can be provided, which can improve the accuracy of the absolute position. In some embodiments in combination with some embodiments of the first aspect, the method further includes at least one of the following: The first terminal can perform signaling interaction with a network device and receive the positioning assistance information sent by the positioning management function (LMF); The first terminal cannot perform signaling interaction with the network device and receives the positioning assistance information sent by the second terminal. In the above embodiments, an acquisition mechanism for positioning assistance information can be provided, the acquisition method of positioning assistance information can be clarified, and the accuracy of obtaining positioning assistance information can be improved. In some embodiments in combination with some embodiments of the first aspect, the method further includes: Performing information interaction with the second terminal through a PC5 link. In the above embodiments, performing information interaction with the second terminal can provide an information interaction mechanism, enabling information interaction between terminals and improving the convenience of the first terminal using information related to the second terminal. In some embodiments in combination with some embodiments of the first aspect, the information interaction with at least one terminal involved in the positioning operation includes at least one of the following: Performing information interaction with the second terminal using the Ranging and Sidelink Positioning Protocol (RSPP); Interact with the second terminal using the Sidelink Positioning Protocol (SLPP); Interact with the second terminal using the PC5-S protocol. In combination with some embodiments of the first aspect, in some embodiments, the interacting with the second terminal includes at least one of the following: Receive the first parameter of the second terminal sent by the second terminal; Send the second parameter of the first terminal to the second terminal. In combination with some embodiments of the first aspect, in some embodiments, wherein the first parameter includes at least one of the following: First positioning capability information; First computing capability information; Second routing identifier; First network connection status information; Wherein the second parameter includes at least one of the following: Second positioning capability information; Second computing capability information; Third routing identifier; Second network connection status information. In combination with some embodiments of the first aspect, in some embodiments, the method further includes at least one of the following: When the first terminal is unable to perform signaling interaction with the network, determine the third terminal according to the first parameters of at least one positioning terminal, wherein the third terminal is able to perform signaling interaction with the network; When the first terminal is unable to perform signaling interaction with the network, randomly determine the third terminal from the at least one positioning terminal; When the first terminal is able to perform signaling interaction with the network, determine the first terminal as the third terminal. In the above embodiments, a determination mechanism for the third terminal is provided, which can reduce the situation where positioning results or positioning measurement data cannot be obtained, and can improve the accuracy of positioning results or positioning measurement data. In combination with some embodiments of the first aspect, in some embodiments, the determining the third terminal according to the first parameters of at least one second terminal includes: Determine the third terminal according to the signal strength and the first parameters of the at least one positioning terminal. In combination with some embodiments of the first aspect, in some embodiments, the determining the positioning result of the first terminal includes: Determine that the positioning calculation device is a fourth terminal different from the first terminal, and send a second message to the fourth terminal, where the second message includes at least one of the first relative position of the first terminal, the first absolute position of the first terminal, the second relative position of the second terminal, the second absolute position of the second terminal, measurement data, and positioning assistance information; Receive the positioning result of the first terminal sent by the fourth terminal in response to the second message. In the above embodiments, a mechanism for determining the positioning result when the fourth terminal is the positioning calculation device is provided, which can reduce the situation where the positioning result cannot be determined and improve the accuracy of determining the positioning result. In combination with some embodiments of the first aspect, in some embodiments, the method further includes: Send at least one of the positioning result and the positioning measurement data to at least one of a Location Services Clients (LCS) client and an Application Function (AF). In combination with some embodiments of the first aspect, in some embodiments, the method further includes: Send an SL-MO-LR request to a Location Management Function (LMF); Receive the positioning calculation device information sent by the LMF in response to the SL-MO-LR request. In combination with some embodiments of the first aspect, in some embodiments, the method further includes: Send the positioning calculation device information to a second terminal different from the first terminal, where the positioning calculation device information is used to indicate that the second terminal is the positioning calculation device. In combination with some embodiments of the first aspect, in some embodiments, the method further includes at least one of the following: Determine the second routing identifier of the first terminal as the first routing identifier; Determine the fourth routing identifier of the third terminal as the first routing identifier; Receive the first routing identifier sent by the Location Management Function (LMF), where the first routing identifier is determined and sent by the AMF to the LMF. According to the second aspect of the embodiments of the present disclosure, a positioning method is proposed. The method is executed by a second terminal, and the method includes: Receive the positioning calculation device information sent by the first terminal, where the positioning calculation device information is used to indicate that the second terminal is the positioning calculation device; Determine at least one of the positioning result and positioning measurement data of the first terminal according to the positioning process corresponding to the positioning assistance information and the first routing identifier, where the first routing identifier corresponds to Side-chain-Terminal Originated-Location Request (SL-MO-LR). In the above embodiments, a determination mechanism for a positioning calculation device can be provided, which can distinguish the positioning process corresponding to SL-MO-LR from the normal positioning process, and the data transmission method when the first terminal determines that the positioning calculation device is the second terminal, reducing the situation where inaccurate positioning results or positioning measurement data are caused by unclear data transmission, and improving the accuracy of positioning results or positioning measurement data. Combined with some embodiments of the second aspect, in some embodiments, the method further includes at least one of the following: Receive the positioning assistance information and the first routing identifier sent by the first terminal; Receive the positioning assistance information and the first routing identifier sent by the Location Management Function (LMF). Combined with some embodiments of the second aspect, in some embodiments, the method further includes at least one of the following: Determine to perform ranging / side-chain positioning with the first terminal according to the first routing identifier; Perform a terminal originated location request according to the first routing identifier; Perform a network originated location request according to the first routing identifier. Combined with some embodiments of the second aspect, in some embodiments, where the positioning information includes at least one of the following: Positioning assistance information; The first relative position of the first terminal; The first absolute position of the first terminal; The second relative position of the second terminal; The second absolute position of the second terminal; Measurement data. Combined with some embodiments of the second aspect, in some embodiments, the method further includes: Send at least one of the positioning result and the positioning measurement data to the first terminal. Combined with some embodiments of the second aspect, in some embodiments, the method further includes: Send the first parameter of the second terminal to the first terminal; Receive the second parameter of the first terminal sent by the first terminal. Combined with some embodiments of the second aspect, in some embodiments, where the first parameter includes at least one of the following: First positioning capability information; First computing capability information; Second routing identifier; First network connection status information; Wherein, the second parameter includes at least one of the following: Second positioning capability information; Second computing capability information; Third routing identifier; Second network connection status information. Combined with some embodiments of the second aspect, the method further includes: Sending at least one of the positioning result and the positioning measurement data to at least one of a location service client LCS Client and an application function AF. According to a third aspect of the embodiments of the present disclosure, a positioning method is provided. The method is executed by a fourth terminal, and the method includes: Determining a positioning result of a first terminal according to a positioning process corresponding to a first routing identifier, wherein the first routing identifier corresponds to a side chain-terminal originating-positioning request SL-MO-LR; Sending the positioning result of the first terminal to the first terminal. In the above embodiments, a determination mechanism for a positioning calculation device can be provided, which can distinguish the positioning process corresponding to SL-MO-LR from the normal positioning process, and the data transmission method when the first terminal determines that the positioning calculation device is the fourth terminal, reducing the situation where the positioning result or the positioning measurement data is inaccurate due to unclear data transmission, and improving the accuracy of the positioning result or the positioning measurement data. Combined with some embodiments of the third aspect, in some embodiments, the determining the positioning result of the first terminal includes: Receiving a second message sent by the first terminal, where the second message includes at least one of a first absolute position of the first terminal, a second absolute position of a second terminal, measurement data, positioning assistance information, and a first relative position of the first terminal; Determining the positioning result of the first terminal according to at least one of the first absolute position, the second absolute position, the measurement data, the positioning assistance information, and the first relative position. According to a fourth aspect of the embodiments of the present disclosure, a first terminal is provided. The device includes: A processing module, configured to determine to execute a side chain-terminal originating-positioning request SL-MO-LR; The processing module is further configured to determine a first routing identifier corresponding to the side chain-terminal originating-positioning request SL-MO-LR and a positioning calculation device. According to a fifth aspect of the embodiments of the present disclosure, a second terminal is provided. The device includes: A transceiver module, configured to receive positioning calculation device information sent by a first terminal, where the positioning calculation device information is used to indicate that the second terminal is a positioning calculation device; A processing module, configured to determine at least one of a positioning result and positioning measurement data of the first terminal according to positioning assistance information and a positioning process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originated-positioning request SL-MO-LR. According to a sixth aspect of the embodiments of the present disclosure, a fourth terminal is provided. The device includes: A processing module, configured to determine a positioning result of a first terminal according to a positioning process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originated-positioning request SL-MO-LR; A transceiver module, configured to send the positioning result of the first terminal to the first terminal. According to a seventh aspect of the embodiments of the present disclosure, a first terminal is provided, including: One or more processors; Wherein, the first terminal is configured to execute the message sending method according to any one of the first aspect. According to an eighth aspect of the embodiments of the present disclosure, a second terminal is provided, including: One or more processors; Wherein, the second terminal is configured to execute the message sending method according to any one of the second aspect. According to a ninth aspect of the embodiments of the present disclosure, a fourth terminal is provided, including: One or more processors; Wherein, the fourth terminal is configured to execute the message sending method according to any one of the third aspect. According to a tenth aspect of the embodiments of the present disclosure, a communication system is provided, including a terminal and a core network device, where the terminal is configured to implement the positioning method according to any one of the first aspect to the third aspect. According to an eleventh aspect of the embodiments of the present disclosure, a storage medium is provided. The storage medium stores instructions, and when the instructions run on a communication device, the communication device is caused to execute the positioning method according to any one of the first aspect, or the positioning method according to any one of the second aspect, or the positioning method according to any one of the third aspect. The embodiments of the present disclosure propose a positioning method. In some embodiments, terms such as the positioning method, the information processing method, and the communication method may be interchangeable, terms such as the positioning device, the information processing device, and the communication device may be interchangeable, and terms such as the information processing system and the communication system may be interchangeable. The embodiments of the present disclosure are not exhaustive, but only schematic illustrations of some embodiments, and do not specifically limit the protection scope of the present disclosure. Without contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily. For example, the solution after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily. In addition, the optional implementation manners in an embodiment can be combined arbitrarily; moreover, the embodiments can be combined arbitrarily. For example, some or all of the steps of different embodiments can be combined arbitrarily, and an embodiment can be combined arbitrarily with the optional implementation manners of other embodiments. In each embodiment of the present disclosure, if there is no special explanation and logical conflict, the terms and / or descriptions among the embodiments are consistent and can be cited from each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships. The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above-mentioned", "said", "aforementioned", "this", etc., can mean "one and only one", or can also mean "one or more", "at least one", etc. For example, in the case of using articles such as "a", "an", "the" in English in the translation, the noun after the article can be understood as a singular expression form or a plural expression form. In the embodiments of the present disclosure, "a plurality of" means two or more. In some embodiments, terms such as "at least one of (at least one item, at least one)", "one or more", "a plurality of", "multiple", etc. can be replaced with each other. In some embodiments, notations such as "at least one of A and B", "A and / or B", "A in one case, B in another case", "in response to one case A, in response to another case B", etc. may include the following technical solutions according to the situation: In some embodiments, A (executing A independently of B); in some embodiments, B (executing B independently of A); in some embodiments, selecting to execute from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). The same is true when there are more branches such as A, B, C, etc. In some embodiments, notations such as "A or B" may, depending on the circumstances, include the following technical solutions: In some embodiments, A (executing A independently of B); in some embodiments, B (executing B independently of A); in some embodiments, selecting to execute from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc. Prefix words such as "first", "second", etc. in the embodiments of the present disclosure are only used to distinguish different described objects, and do not constitute a limitation on the position, order, priority, quantity, or content of the described objects. For the statements of the described objects, refer to the description in the claims or the context of the embodiments. There should be no redundant limitation due to the use of prefix words. For example, if the described object is "field", the ordinal numbers before "field" in "the first field" and "the second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of "the first field" and "the second field". Another example, if the described object is "level", the ordinal numbers before "level" in "the first level" and "the second level" do not limit the priority between the "levels". Another example, the quantity of the described object is not limited by the ordinal number and can be one or more. Taking "the first device" as an example, the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", "the first device" and "the second device" can be the same device or different devices, and their types can be the same or different; another example, if the described object is "information", "the first information" and "the second information" can be the same information or different information, and their contents can be the same or different. In some embodiments, "including A", "containing A", "used to indicate A", "carrying A" can be interpreted as directly carrying A or indirectly indicating A. In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "when...", "while...", "if...", "if...", etc. can be mutually replaced. In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", etc. can be mutually replaced, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", etc. can be mutually replaced. In some embodiments, the apparatus and device may be interpreted as physical or virtual, and their names are not limited to those recorded in the embodiments. In some cases, they may also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc. In some embodiments, the "network" may be interpreted as the apparatus included in the network. For example, access network devices, core network devices, etc. In some embodiments, the "access network device (AN device)" may also be referred to as the "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station". In some embodiments, it may also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission / reception point (TRP)", "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc. In some embodiments, a "terminal" or "terminal device" may be referred to as a "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc. In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where it is located. In some embodiments, data, information, etc. may be obtained after obtaining the consent of the user. In addition, each element, each row, or each column in the tables of the embodiments of the present disclosure may be implemented as an independent embodiment, and any combination of any element, any row, or any column may also be implemented as an independent embodiment. FIG. 1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG. 1, the communication system 100 includes a terminal 101 and a network device 102. In some embodiments, the terminal 101 includes, for example, at least one of a mobile phone, a wearable device, an Internet of Things device, a vehicle with communication function, a smart vehicle, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, and a wireless terminal device in smart home, but is not limited thereto. In some embodiments, the network device 102 may include, for example, at least one of an access network device and a core network device. In some embodiments, the access network device is, for example, a node or device that connects a terminal to a wireless network. The access network device may include at least one of an evolved NodeB (eNB) in a 5G communication system, a next generation eNB (ng-eNB), a next generation NodeB (gNB), a NodeB (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6th generation mobile networks (6G) communication system, an Open RAN, a Cloud RAN, a base station in other communication systems, and an access node in a Wi-Fi system, but is not limited thereto. In some embodiments, the technical solutions of the present disclosure can be applied to the Open RAN architecture. At this time, the interfaces between access network devices or within access network devices involved in the embodiments of the present disclosure can become internal interfaces of Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs. In some embodiments, the access network device can be composed of a central unit (CU) and a distributed unit (DU). Among them, the CU can also be called a control unit. Adopting the CU-DU structure can split the protocol layer of the access network device. The functions of some protocol layers are centrally controlled by the CU, and the functions of the remaining part or all protocol layers are distributed in the DU. The CU centrally controls the DU, but is not limited thereto. In some embodiments, the core network device can be a single device including one or more network elements, or can be multiple devices or a group of devices, respectively including all or part of the above one or more network elements. The network elements can be virtual or physical. The core network includes, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC). In some embodiments, the core network device can be a single device including a first network element, a second network element, etc., or can be multiple devices or a group of devices, respectively including all or part of the first network element, the second network element, etc. The network elements can be virtual or physical. The core network includes, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC). In some embodiments, the first network element is, for example, a Location Management Function (LMF). In some embodiments, the first network element is used for "the core network element that provides control plane positioning in 5GC, completes the calculation and feedback of location information in the 5G network, and provides functions such as positioning process management, terminal capability acquisition, auxiliary data provision, and terminal location estimation", and the name is not limited thereto. In some embodiments, the second network element and the third network element are, for example, a Gateway Mobile Location Center (GMLC). In some embodiments, the second network element or the third network element can be used, for example, to "perform registration authorization checks and request routing information from the Home Location Register (HLR)", and the name is not limited to this. In some embodiments, the fourth network element is, for example, the Unified Data Management (UDM) function. In some embodiments, the fourth network element is used to "be responsible for the management of user identification, subscribed data, authentication data, and the registration management of the user's serving network element", and the name is not limited to this. In some embodiments, the fifth network element is, for example, the Access and Mobility Management Function (AMF). In some embodiments, the fifth network element is used to "be responsible for functions such as terminal authentication, authorization, registration, mobility management, and connection management", and the name is not limited to this. In some embodiments, the third network element can be independent of the core network device. In some embodiments, the third network element can be a part of the core network device. It can be understood that the communication system described in the embodiments of the present disclosure is to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation to the technical solutions proposed in the embodiments of the present disclosure. Those of ordinary skill in the art know that with the evolution of the system architecture and the emergence of new service scenarios, the technical solutions proposed in the embodiments of the present disclosure are equally applicable to similar technical problems. The following embodiments of the present disclosure can be applied to the communication system 100 shown in FIG. 1, or part of the entities, but are not limited thereto. Each entity shown in FIG. 1 is an illustration. The communication system can include all or part of the entities in FIG. 1, or can also include other entities outside FIG. 1. The number and form of each entity are arbitrary. Each entity can be physical or virtual. The connection relationships between the entities are illustrations. The entities can be not connected or connected. Their connections can be in any way, can be directly connected or indirectly connected, can be wired connections or wireless connections. The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) network, Device-to-Device (D2D) system, Machine to Machine (M2M) system, Internet of Things (IoT) system, Vehicle-to-Everything (V2X), systems using other communication methods, next-generation systems extended based on them, etc. In addition, multiple systems can be combined (for example, a combination of LTE or LTE-A and 5G, etc.) and applied. Optionally, in one embodiment of the present disclosure, ranging may, for example, refer to determining the distance between two or more terminals and / or the direction of one terminal (i.e., the target terminal) with respect to another terminal (i.e., the reference terminal) through the PC5 interface. Sidelink positioning may refer to positioning a terminal using PC5. Ranging-based services and sidelink positioning include distance measurement, direction measurement, or both. Network-based Operation: Ranging / sidelink positioning operation, where 5GC NF participates in service request processing and result calculation. UE-only Operation: Ranging / sidelink positioning operation, where the terminal performs service request processing and result calculation. Optionally, in one embodiment of the present disclosure, Located UE: A UE whose location is known or can be made known using Uu-based positioning. The Located UE can be used to determine the location of the target terminal using sidelink positioning. SL Reference UE: A UE that supports the positioning of the target terminal, for example, by using sidelink to send and / or receive reference signals for positioning, providing positioning-related information, etc. Note: The SL Reference UE is understood as the "anchor UE" in the RAN WG. SL Positioning Client UE: A third-party UE other than the SL Reference UE and the target terminal that initiates a ranging / sidelink positioning service request on behalf of the application residing on it. Note: The SL Positioning Client UE does not have to support ranging / sidelink positioning capabilities, but must establish communication between the SL Positioning Client and the SL Reference UE / target terminal through PC5 or 5GC to transmit service requests and results. SL Positioning Server UE: A UE that provides method determination, auxiliary data distribution, and / or position calculation functions for sidelink positioning and ranging-based services. It interacts with other UEs through PC5 when necessary to determine the ranging / SL positioning method, distribute auxiliary data, and calculate the location of the target terminal. If any of the functions are supported, the target terminal or the SL Reference UE can act as the SL Positioning Server UE. Target UE: A UE that measures its distance, direction, and / or location with the support of one or more SL Reference UEs using sidelink in ranging-based services and sidelink positioning. Figure 2 is an interaction diagram of an SL-MO-LR process involving LMF provided by an embodiment of the present disclosure. Figure 2 illustrates a process that enables a terminal to use one or more other terminals with the help of an LMF in the serving Public Land Mobile Network (PLMN) of Terminal 1 to obtain sidechain positioning / ranging position results. The ranging / SL positioning results may include absolute position, relative position, or distance and direction, depending on the service request. If the target terminal decides to initiate the SL-MO-LR process, it includes one or more sidechain (Sindlink, SL) reference terminals / location terminals in the service request. Among them, Terminal 1 is within the coverage area and registered with the serving PLMN. Terminals 2 to n may or may not be within the coverage area, and if within the coverage area, they may be registered with the same serving PLMN as Terminal 1 or not registered with it. As shown in Figure 2, the method includes: 1. The procedures and signaling specified in Article 6.2 of TS 23.586

[0040] can be used to provide ranging / SL positioning service authorization and policy / parameter provision to Terminals 1 to n when in coverage. Note: If an indication of terminal operation only is received, execute the ranging / sidechain positioning control procedures defined in Article 6.8 of 3GPP TS 23.586. 2. Based on the trigger of the service request (e.g., received from the application layer), which includes Terminal 1 / ... / Terminal n, perform terminal discovery for ranging / SL positioning according to the provisions of Article 6.4 of 3GPP TS 23.586: If Terminal 1 is the target terminal, Terminal 1 discovers Terminals 2 to n; If Terminal 1 is the location terminal, the target terminal (i.e., one of Terminals 2 to n) discovers Terminal 1 (and other location terminals in the set of Terminals 2 to n). 3. Establish a secure multicast and / or unicast link between Terminals 1 to n as defined in Clause 5.3 of TS 23.586, enabling Terminal 1 to exchange ranging and sidechain positioning protocol (RSPP) messages with each of Terminals 2 to n at the PC5-U reference point, and possibly enabling Terminals 2 to n to exchange RSPP with each other at PC5-U. 4. The terminals 1 and 2 to n can communicate via PC5 to authorize ranging / SL positioning and receive QoS parameters when needed. Each terminal verifies the allowed ranging / SL positioning according to any service authorization and policy / parameter provision received in step 1, including whether the positioning result of ranging / SL can be transmitted to the location service client LCS Client or AF. The QoS requirements for ranging / SL positioning can also be provided based on the QoS requirements in the service request. 5. Terminal 1 can use the multicast and / or unicast links established in step 3 to obtain the sidelink positioning capabilities of terminals 2 to n. Steps 4 and 5 can be executed to transmit information of terminals not served by the LMF. Note: It is not assumed that terminals 2 / ... / terminal n are served by the same LMF serving terminal 1. Note: It needs to be verified that RAN2 will provide support for steps 4 and 5. 6. Based on the sidelink positioning capabilities of terminals 1 / … / terminal n, the target terminal determines to execute SL-MO-LR. If terminal 1 is the positioning terminal (i.e., when the target terminal is one of terminals 2 / … / terminal n and does not have a NAS connection), the target terminal initiates an SL-MO-LR service request to terminal 1. 7. If terminal 1 is in the CM-IDLE state, terminal 1 initiates a terminal-triggered service request to establish a signaling connection with the serving AMF of terminal 1. 8. Terminal 1 sends a supplementary service SL-MO-LR request to the serving AMF in the UL NAS TRANSPORT message in the uplink non-access stratum. The SL-MO-LR request indicates the other terminals 2 to n (using the Application Layer ID and / or a Generic Public Subscription Identifier (GSPI), indicates any required auxiliary data, indicates whether location calculation assistance is needed, and indicates whether the location result should be sent to the Location Service Client LCS Client or the AF. The message shall include the identity of the Location Service Client LCS Client or the AF and may include the address of the Gateway Mobile Location Center (GMLC) through which the Location Service Client LCS Client and the AF shall be accessed (through the Network Repository Function (NRF)). Additionally, it may include an indication of the service type of which MO-LR service of the Location Service Client LCS Client the terminal is requesting. For location calculation assistance from the LMF, it includes the preferred type of sidelink positioning / ranging location result (e.g., absolute location, relative location, or distance and direction between terminals) and the required Quality of Service (QoS). If terminal 1 is the positioning terminal and any one of terminals 2 / … / terminal n that has no Non-access stratum (NAS) connection with terminal 1 is the target terminal, the supplementary service SL-MO-LR request includes that terminals 2 / ... / terminal n are the target terminals instead of terminal 1. 9. The serving AMF selects the LMF serving terminal 1 (e.g., an LMF supporting sidelink positioning / ranging) and sends the Nlmf_LocationDetermine-Location service operation to the LMF using the information from the SL-MO-LR request. The service operation includes a Location Correlation (LCS) identifier. 10. The LMF sends a request for the capabilities of terminals 1 to n to terminal 1. Note: It is not assumed that terminals 2 / ... / terminal n are served by the same LMF serving terminal 1. 11. Terminal 1 returns its capabilities to the LMF. If requested by the LMF in step 10, terminal 1 may additionally return the capabilities of the terminals obtained in step 5. 12. Terminal 1 may send a request for specific auxiliary data to the LMF. 13. The LMF sends the requested auxiliary data to terminal 1, and terminal 1 forwards the auxiliary data received from the LMF to terminals 2 / ... / terminal n. The auxiliary data may help terminals 1 to n obtain sidelink position measurements in step 15, and / or may help terminal 1 calculate the sidelink positioning / ranging location result in step 16. Note: If the terminal 1 includes a message containing the capabilities of terminals 1 to n in the SL-MO-LR request in step 8, steps 10 and 11 can be omitted. If the terminal 1 includes a message containing a request for specific assistance data in the SL-MO-LR request in step 8, step 12 can be omitted. 14. If the SL-MO-LR request in step 8 indicates the need for location calculation assistance and / or indicates the transmission of sidechain positioning / ranging location results to the location service client LCS Client or AF, the LMF sends a request for positioning information to the terminal 1, and may also send requests to terminals 2 / ... / terminal n if it is served by the LMF. If the LMF determines to apply terminal-based SL positioning, the LMF includes an indication of terminal-based SL positioning in the request. If an absolute position is requested in step 8, the LMF may also provide a list of candidate positioning terminals. If the scheduled positioning time is received in step 14, the LMF may include the scheduled position time. 15. The terminal 1 initiates a sidechain positioning / ranging process among terminals 1 to n, where terminals 1 to n obtain sidechain position measurements, and terminals 2 to n transmit their sidechain position measurements to the terminal 1 and / or the LMF (depending on the requested assistance). If the scheduled position time is received in step 14, the sidechain positioning / ranging is performed at the scheduled position moment. 16. If the absolute position information of the target terminal is required in step 8 and the absolute positioning of the positioning terminal is unavailable, the target terminal sends a request to the positioning terminal to trigger the 5th generation Core Network (5GC-MO-LR) process so that the positioning terminal obtains its own absolute position. The QoS requirements received in step 8 are included in the request, which is used to derive the QoS for the positioning of the positioning terminal. 17. If the LMF determines to use terminal-based calculation, at least one of terminals 1 / … / terminal n calculates the sidechain positioning / ranging position result based on the sidechain position measurements obtained in step 15 and possibly using the assistance data received in step 13. The sidechain positioning / ranging position result may include the absolute position, relative position, or range and direction related to terminals 1 to n. 18. If the terminal 1 receives a request for positioning information in step 14, the terminal 1 sends a response to the LMF and includes the sidechain position measurements obtained in step 15, the sidechain positioning / ranging position result obtained in step 17 if step 17 is executed, or the absolute position of the positioning terminal obtained in step 16. 19. If the absolute location information of the target terminal is required in step 8 and if the absolute location of the positioning terminal is not received in step 18, the LMF may retrieve the location of the positioning terminal locally or trigger the 5GC-MT-LR procedure to the GMLC to obtain the absolute location of the positioning terminal using the application layer ID or GPSI of the positioning terminal. The LMF includes in the request the QoS requirements received in step 8, which are used to derive the QoS of the positioning terminal. If a scheduled positioning time is used, the LMF includes in the request to the GMLC the scheduled positioning moment. 20. The LMF calculates the sidelink positioning / ranging position results of terminals 1 to n based on the sidelink position measurements received in step 18 and the absolute location of the terminals positioned in step 19. The sidelink positioning / ranging position results may include the absolute location, relative location, or range and direction associated with terminals 1 to n, depending on the location request received in step 8. 21. The LMF returns an Nlmf_Location_DetermineLocation service operation response to the AMF and includes the sidelink positioning / ranging position results received in step 18 or calculated in step 20. 22. If the sidelink positioning / ranging position results are received in step 21, the AMF performs steps 7 - 12 of clause 6.2 to send the sidelink positioning or ranging position results to the GMLC and, if requested in step 8, to the AF or the location service client LCS Client. The sidelink positioning / ranging position results include the identities of the respective terminals 1 to n received in step 8. Note: Sending the location results and global identities of terminals 1 to n to the AF or the location service client LCS Client may require privacy verification from terminals 1 to n and / or from the home public land mobile network HPLMN of terminals 1 to n. 23. The LMF returns a supplementary service SL-MO-LR response to terminal 1 in the downlink non-access stratum transport DL NAS TRANSPORT message and, if step 20 is executed, the LMF includes any sidelink positioning / ranging position results calculated in step 20. If terminal 1 is the positioning terminal and the target terminal is one of terminals 2 to n and does not have a NAS connection, terminal 1 may transmit the sidelink positioning / ranging position results to the target terminal. Therefore, in the above embodiments, it is not clear how the positioning results or positioning measurement data are transmitted when calculations are performed on the terminal, nor can the positioning processes used in SL-MO-LR and the normal positioning processes be distinguished. Among them, the positioning processes may include, for example, the 5GC-MO-LR process and the SL positioning / location process. The following provides a detailed description of a positioning method, apparatus, device, and storage medium according to embodiments of the present disclosure with reference to the accompanying drawings. FIG. 3 is an interaction schematic diagram of a positioning method provided by an embodiment of the present disclosure. As shown in FIG. 3, the method may include the following steps: Step S3101, the first terminal and the second terminal perform information interaction through the PC5 link; Among them, in an embodiment of the present disclosure, in some embodiments, the names of information and the like are not limited to the names recorded in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", "chip" and the like can be replaced with each other. Exemplarily, in an embodiment of the present disclosure, the first terminal may be, for example, a target terminal, and the second terminal may be, for example, any one of at least one positioning terminal and the second terminal is different from the first terminal. Among them, at least one second terminal may also perform information interaction through the PC5 link, for example. Among them, in an embodiment of the present disclosure, performing information interaction with the second terminal includes at least one of the following: Performing information interaction with the second terminal using the RSPP protocol; Performing information interaction with the second terminal using the SLPP protocol; Performing information interaction with the second terminal using the PC5-S protocol. Exemplarily, in an embodiment of the present disclosure, the first terminal may perform information interaction with the second terminal using the RSPP protocol, for example. Exemplarily, in an embodiment of the present disclosure, the first terminal may perform information interaction with the second terminal using the SLPP protocol, for example. Exemplarily, in an embodiment of the present disclosure, the first terminal may perform information interaction with the second terminal using the PC5-S protocol. Among them, the protocol used by the first terminal and the second terminal for information interaction is not limited in the embodiments of the present disclosure, and protocols other than the above three protocols may also be used, for example. Among them, in one embodiment of the present disclosure, the information interaction with the second terminal includes at least one of the following: Receiving a first parameter of the second terminal sent by the second terminal; Sending a second parameter of the first terminal to the second terminal. Among them, in one embodiment of the present disclosure, the information interaction between the first terminal and the second terminal may be, for example, receiving the first parameter of the second terminal sent by the second terminal. Among them, the first parameter is used to indicate the parameter for interaction of the second terminal, and the first parameter does not specifically refer to a certain fixed parameter. For example, the first parameter may include at least one of the following: first positioning ability information, first computing ability information, fourth routing identifier, and first network connection status information. The first parameter may include the first positioning ability information, the first parameter may also include the first computing ability information, the first parameter may also include the fourth routing identifier, and the first parameter may also include the first network connection status information. Among them, in one embodiment of the present disclosure, the information interaction between the first terminal and the second terminal may be that the first terminal sends a second parameter of the first terminal to the second terminal. Among them, the second parameter is used to indicate the parameter for interaction of the first terminal, and the second parameter does not specifically refer to a certain fixed parameter. For example, the second parameter may include at least one of the following: second positioning ability information, second computing ability information, second routing identifier, and second network connection status information. Among them, in one embodiment of the present disclosure, the first parameter includes at least one of the following: Among them, the first parameter includes at least one of the following: First positioning ability information; First computing ability information; Second routing identifier; First network connection status information; Among them, the second parameter includes at least one of the following: Second positioning ability information; Second computing ability information; Third routing identifier; Second network connection status information. In some embodiments, "acquire", "obtain", "get", "receive", "transmit", "two-way transmission", "send and / or receive" can be replaced with each other, and it can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, self-processing and obtaining, self-implementation, etc. In some embodiments, terms such as "send", "transmit", "report", "issue", "transmit", "two-way transmission", "send and / or receive" can be replaced with each other. In some embodiments, terms such as "certain", "preseted", "preset", "set", "indicated", "a certain", "any", "first", etc. may be interchangeable. "Certain A", "preseted A", "preset A", "set A", "indicated A", "a certain A", "any A", "first A" may be interpreted as A pre-specified in a protocol, etc., or as A obtained through setting, configuration, or indication, etc., or as certain A, a certain A, any A, or first A, etc., but not limited thereto. Step S3102, the first terminal determines to execute a side-chain - terminal-originated - positioning request SL-MO-LR; Among them, in an embodiment of the present disclosure, terms such as "determine", "decide", "make a decision", "select", "affirm", "be determined", "calculate", etc. may be interchangeable. For example, the first terminal may determine to execute a side-chain - terminal-originated - positioning request SL-MO-LR. For example, the first terminal may decide to execute a side-chain - terminal-originated - positioning request SL-MO-LR. Among them, in an embodiment of the present disclosure, for example, it may be that at least one of the first terminal and the second terminal performs ranging / side-chain positioning and the second terminal performs the MO-LR process. Exemplarily, in an embodiment of the present disclosure, the first terminal may, for example, determine to execute a side-chain - terminal-originated - positioning request SL-MO-LR according to the second parameter of the first terminal and the first parameter of at least one second terminal. Exemplarily, in an embodiment of the present disclosure, the first terminal may, for example, determine to execute a side-chain - terminal-originated - positioning request SL-MO-LR according to the first positioning capability information of the first terminal and the second positioning capability information of at least one second terminal. The first positioning capability information may be, for example, the first side-chain positioning capability information, and the second positioning information may be, for example, the second side-chain positioning capability information. Step S3103, the first terminal determines the first routing identifier corresponding to the side-chain - terminal-originated - positioning request SL-MO-LR and the positioning calculation device; Among them, in an embodiment of the present disclosure, the first routing identifier may be, for example, the routing identifier corresponding to the side-chain - terminal-originated - positioning request SL-MO-LR. The first routing identifier may be used to identify the side-chain - terminal-originated - positioning request SL-MO-LR. This first routing identifier does not specifically refer to a certain fixed identifier. For example, when the determination method of the first routing identifier changes, the first routing identifier may also change accordingly. The first routing identifier may be used to indicate the positioning process used in the SL-MO-LR. This positioning process may include 5GC-MO-LR process and SL positioning / location process. For example, in one embodiment of the present disclosure, the first terminal may determine the first routing identifier according to at least one of the following: Determine the second routing identifier of the first terminal as the first routing identifier; Determine the fourth routing identifier of the third terminal as the first routing identifier; Receive the first routing identifier sent by the Location Management Function (LMF), where the first routing identifier is determined by the Access and Mobility Management Function (AMF) and sent to the LMF. That is to say, the first terminal may determine its own routing identifier as the first routing identifier, may determine the routing identifier of other terminals as the first routing identifier, or may also receive the first routing identifier determined by the AMF and sent to itself via the LMF. Exemplarily, in one embodiment of the present disclosure, the first terminal may, for example, determine the second routing identifier of the first terminal as the first routing identifier. For example, the second routing identifier of the first terminal may be the first routing identifier corresponding to the Side-Link - Mobile Originated - Location Request (SL-MO-LR). When the first terminal determines the first routing identifier, it may send the first routing identifier to the LMF, and the LMF then sends it to at least one positioning terminal. Exemplarily, in one embodiment of the present disclosure, the first terminal may, for example, determine the fourth routing identifier of the third terminal as the first routing identifier. For example, the fourth routing identifier of the third terminal may be the first routing identifier corresponding to the Side-Link - Mobile Originated - Location Request (SL-MO-LR). Exemplarily, in one embodiment of the present disclosure, the first terminal may determine the third terminal through at least one of the following: The first terminal is unable to perform signaling interaction with the network, and determines the third terminal according to the first parameters of at least one second terminal, where the third terminal is able to perform signaling interaction with the network; The first terminal is unable to perform signaling interaction with the network, and randomly determines the third terminal from at least one second terminal; The first terminal is able to perform signaling interaction with the network, and determines the first terminal as the third terminal. Wherein, in one embodiment of the present disclosure, the first terminal being unable to perform signaling interaction with the network may, for example, mean that the first terminal does not have a NAS connection. Wherein, in one embodiment of the present disclosure, the first terminal being able to perform signaling interaction with the network may, for example, mean that the first terminal has a NAS connection. Wherein, in one embodiment of the present disclosure, when the first terminal is unable to perform signaling interaction with the network, the third terminal may be the second terminal. When the first terminal is able to perform interaction with the network, the third terminal may, for example, be the first terminal. Exemplarily, in one embodiment of the present disclosure, the first terminal may determine a third terminal according to at least one first parameter of at least one second terminal, including: Determine the third terminal according to the signal strength of at least one positioning terminal and the first parameter. Wherein, in one embodiment of the present disclosure, the positioning calculation device may be, for example, a device that calculates positioning results or positioning measurement data. The first terminal determines that the positioning calculation device may be determined by the first terminal according to the parameters of at least one terminal. Wherein, the at least one terminal includes the first terminal and at least one second terminal. In some embodiments, terms such as "uplink", "uplink link", "physical uplink" can be replaced with each other, terms such as "downlink", "downlink link", "physical downlink" can be replaced with each other, and terms such as "side", "sidelink", "sidelink communication", "sidelink communication", "direct connection", "direct connection link", "direct connection communication", "direct connection link communication" can be replaced with each other. Wherein, steps S3104, steps S3105 to steps S3109, steps S3110 to steps S3114 may be parallel embodiments. Wherein, step S3104 may be that the first terminal is the positioning calculation device, steps S3105 to steps S3109 may be that the second terminal is the positioning calculation device, and steps S3110 to steps S3114 may be that the fourth terminal is the positioning calculation device. The specific detailed steps are as follows: Step S3104, the first terminal determines at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning process corresponding to the first routing identifier; Wherein, the positioning result includes at least one of the following: The first relative position of the first terminal; The first absolute position of the first terminal. Exemplarily, in one embodiment of the present disclosure, the positioning result may include, for example, the first relative position of the first terminal. The positioning result may include, for example, the first absolute position of the first terminal. Exemplarily, in one embodiment of the present disclosure, wherein the positioning result includes the first relative position, determining the positioning result of the first terminal includes: Determine the first relative position of the first terminal according to the positioning assistance information and the ranging measurement result. Exemplarily, in one embodiment of the present disclosure, the first terminal may perform a ranging measurement process to obtain a ranging measurement result. The first terminal may, for example, receive the positioning assistance information sent by the LMF. The first terminal may determine the first relative position of the first terminal according to the positioning assistance information and the ranging measurement result. Exemplarily, in an embodiment of the present disclosure, where the positioning result includes a first absolute position, determining the positioning result of the first terminal includes: Receiving at least one of the second absolute position of the second terminal and the measurement of the second absolute position sent by the second terminal, where the second terminal is any one of at least one positioning terminal and the second terminal is different from the first terminal; Determining the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, positioning assistance information, and the first relative position. Exemplarily, in an embodiment of the present disclosure, where the positioning result includes a first absolute position, before determining the positioning result of the first terminal, it further includes: Sending a first message to the second terminal, where the first message is used to request at least one of the second absolute position of the second terminal and the measurement of the second absolute position, and the second terminal is any one of at least one positioning terminal and the second terminal is different from the first terminal; Receiving at least one of the second absolute position of the second terminal and the measurement of the second absolute position sent by the second terminal; Determining the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, positioning assistance information, and the first relative position. Exemplarily, in an embodiment of the present disclosure, the first message may be an absolute position request, for example. Exemplarily, in an embodiment of the present disclosure, the method further includes at least one of the following: The first terminal can perform signaling interaction with the network device and receive positioning assistance information sent by the positioning management function (LMF); The first terminal cannot perform signaling interaction with the network device and receives positioning assistance information sent by the second terminal. Wherein, in an embodiment of the present disclosure, the positioning measurement data of the embodiments of the present disclosure may include at least one of ranging measurement data and MO-LR measurement data, for example. Wherein, in an embodiment of the present disclosure, the first terminal can perform signaling interaction with the network device, and the first terminal can receive positioning assistance information sent by the positioning management function (LMF). Wherein, in an embodiment of the present disclosure, the first terminal cannot perform signaling interaction with the network device, and the first terminal can receive positioning assistance information sent by the second terminal. Wherein, the second terminal may be a device that can perform signaling interaction with the network device, for example. The second terminal can receive positioning assistance information sent by the positioning management function (LMF), and the second terminal then sends the positioning assistance information to the first terminal. Among them, in one embodiment of the present disclosure, the first terminal sends at least one of the positioning result and the positioning measurement data to at least one of the positioning management function LMF, the location service client LCS Client, and the AF. Among them, in one embodiment of the present disclosure, the first terminal sends at least one of the positioning result and the positioning measurement data to the location service client LCS Client. Among them, in one embodiment of the present disclosure, when the first terminal sends at least one of the positioning result and the positioning measurement data to the location service client LCS Client, for example, the first terminal may send at least one of the positioning result and the positioning measurement data to the LMF, the LMF then sends at least one of the positioning result and the positioning measurement data to the GMLC, and the GLMC then sends at least one of the positioning result and the positioning measurement data to the location service client LCS Client. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning result to the location service client LCS Client. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning measurement data to the location service client LCS Client. Among them, in one embodiment of the present disclosure, the first terminal sends at least one of the positioning result and the positioning measurement data to the AF. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning result to the AF. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning measurement data to the AF. Among them, in one embodiment of the present disclosure, the first terminal sends at least one of the positioning result and the positioning measurement data to the positioning management function LMF. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning result to the positioning management function LMF. Among them, in one embodiment of the present disclosure, the first terminal sends the positioning measurement data to the positioning management function LMF. Exemplarily, in one embodiment of the present disclosure, the first terminal may receive the scheduled location time sent by the LMF. Wherein, the scheduled location time is used to indicate the execution time point for determining at least one of the positioning result and the positioning measurement data of the first terminal. When the scheduled location time is reached, the first terminal may perform an operation of determining at least one of the positioning result and the positioning measurement data of the first terminal. Step S3105, the first terminal sends an SL-MO-LR request to the LMF; Step S3106, the first terminal receives the positioning calculation device information sent by the LMF in response to the SL-MO-LR request; Exemplarily, in an embodiment of the present disclosure, when the first terminal sends an SL-MO-LR request to the LMF, specifically, for example, the first terminal sends an SL-MO-LR request to the AMF, and the AMF sends the SL-MO-LR request to the LMF. The LMF may send the positioning calculation device information to the first terminal in response to the SL-MO-LR request. Specifically, for example, the LMF may send the positioning calculation device information to the AMF in response to the SL-MO-LR request, and the AMF sends the positioning calculation device information to the first terminal. Exemplarily, in an embodiment of the present disclosure, for example, the LMF may also send the positioning calculation device information, the positioning result or the indication information of the positioning measurement data, as well as the first identifier of the first terminal and the second identifier of the second terminal to the AMF in response to the SL-MO-LR request. The AMF may send the positioning calculation device information, the positioning result or the indication information of the positioning measurement data, as well as the first identifier of the first terminal and the second identifier of the second terminal to the first terminal. Among them, in an embodiment of the present disclosure, the SL-MO-LR request may be used to request, for example, the indication information of the positioning calculation device information, the positioning result or the positioning measurement data, as well as the first identifier of the first terminal and the second identifier of the second terminal. Among them, the identifier includes at least one of a Generic Public Subscription Identifier (GSPI) and a Subscription Permanent Identifier (SUPI). Among them, the first identifier may be, for example, the first GPSI. Among them, the first identifier may be, for example, the first SUPI. Among them, the second identifier may be, for example, the second GPSI. Among them, the second identifier may be, for example, the second SUPI. Among them, in step 3106, this step further includes: the first terminal sends the positioning calculation device information to the second terminal. The positioning calculation device information sent by the first terminal to the second terminal may, for example, indicate that the second terminal is a positioning calculation device. Among them, in an embodiment of the present disclosure, the positioning calculation device corresponding to steps S3106 to S3110 may be, for example, the second terminal. Among them, for example, the first terminal determines that the second terminal is a positioning calculation device according to the parameters of at least one terminal. Among them, in an embodiment of the present disclosure, the positioning calculation device information may, for example, indicate that the second terminal is a positioning calculation device. Exemplarily, in an embodiment of the present disclosure, the positioning assistance information includes at least one of the following: The first relative position of the first terminal; The first absolute position of the first terminal; The second relative position of the second terminal; The second absolute position of the second terminal; Measurement data. Wherein, in an embodiment of the present disclosure, the measurement data can be used, for example, to indicate at least one of ranging / sidelink positioning measurement data, terminal-originated positioning request measurement, and network-originated positioning request measurement performed with the first terminal. Wherein, in an embodiment of the present disclosure, the second terminal can be, for example, any one of at least one positioning terminal. For example, the first terminal can send the relative or absolute positions of all positioning terminals to the second terminal. Step S3107, the second terminal receives the positioning calculation device information sent by the first terminal, wherein the positioning calculation device information is used to indicate that the second terminal is a positioning calculation device; Wherein, in an embodiment of the present disclosure, the first routing identifier can be, for example, a routing identifier corresponding to SL-MO-LR. Wherein, in an embodiment of the present disclosure, the method further includes at least one of the following: Receiving positioning assistance information and a first routing identifier sent by the first terminal; Receiving positioning assistance information and a first routing identifier sent by the positioning management function LMF. Exemplarily, in an embodiment of the present disclosure, the second terminal can receive the positioning assistance information and the first routing identifier sent by the first terminal. Exemplarily, in an embodiment of the present disclosure, the second terminal can receive the positioning assistance information and the first routing identifier sent by the positioning management function LMF. Wherein, the routing identifier sent by the positioning management function LMF can be, for example, sent by the first terminal to the LMF, and the routing identifier sent by the positioning management function LMF can also be, for example, determined by the AMF and sent to the LMF. Wherein, in an embodiment of the present disclosure, the method further includes at least one of the following: Determining to perform ranging / sidelink positioning with the first terminal according to the first routing identifier; Performing a terminal-originated positioning request according to the first routing identifier; Performing a network-originated positioning request according to the first routing identifier. For example, in an embodiment of the present disclosure, according to the first routing identifier, the second terminal can determine to perform ranging / sidelink positioning with the first terminal. For example, in an embodiment of the present disclosure, according to the first routing identifier, the second terminal can perform a terminal-originated positioning request. For example, in an embodiment of the present disclosure, according to the first routing identifier, the second terminal may execute a network-originated positioning request. Exemplarily, in an embodiment of the present disclosure, the second terminal may determine to execute a side-chain-terminal-originated positioning request SL-MO-LR according to the first routing identifier. Exemplarily, in an embodiment of the present disclosure, the method further includes: Sending a first parameter of the second terminal to the first terminal; Receiving a second parameter of the first terminal sent by the first terminal. Wherein, the parameter includes at least one of the following: Positioning capability information; Computing capability information; Routing identifier; Network connection status information. Exemplarily, in an embodiment of the present disclosure, the first parameter may include at least one of the following, for example: First positioning capability information; First computing capability information; Fourth routing identifier; First network connection status information. Exemplarily, in an embodiment of the present disclosure, the second parameter may include at least one of the following, for example: Second positioning capability information; Second computing capability information; Second routing identifier; Second network connection status information. Step S3108, the second terminal determines at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning assistance information and the positioning process corresponding to the first routing identifier; Wherein, in an embodiment of the present disclosure, when the second terminal is a positioning calculation device, for example, the second device may determine at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning assistance information and the positioning process corresponding to the first routing identifier. Wherein, in an embodiment of the present disclosure, the first routing identifier corresponds to a side-chain-terminal-originated positioning request SL-MO-LR. For example, the first routing identifier may be used to identify the side-chain-terminal-originated positioning request SL-MO-LR. Among them, in an embodiment of the present disclosure, when the second terminal is a positioning calculation device, specifically, for example, the second device may determine at least one of the positioning result and positioning measurement data of the first terminal according to positioning assistance information, relative position measurement determined by the second terminal, absolute position measurement or result of the second terminal executing the MO-LR process, and the first routing identifier. Among them, the second terminal may, for example, obtain relative position measurement for performing ranging or side-chain positioning. Among them, in an embodiment of the present disclosure, when the second terminal is a positioning calculation device, for example, the second device may determine the positioning result of the first terminal according to the positioning assistance information and the positioning process corresponding to the first routing identifier. Among them, in an embodiment of the present disclosure, the determination of the positioning measurement data in the embodiments of the present disclosure may be, for example, data determined by at least one of ranging / side-chain positioning measurement, terminal-originated positioning request measurement, and network-originated positioning request measurement performed by the second terminal. Among them, in an embodiment of the present disclosure, the positioning measurement data may be, for example, data determined by ranging / side-chain positioning measurement performed by the second terminal. Among them, in an embodiment of the present disclosure, the positioning measurement data may be, for example, terminal-originated positioning request measurement performed by the second terminal Determined data. Among them, in an embodiment of the present disclosure, the positioning measurement data may be, for example, data determined by network-originated positioning request measurement performed by the second terminal. Step S3109a, the second terminal sends at least one of the positioning result and positioning measurement data to the first terminal; Among them, in an embodiment of the present disclosure, when the second terminal determines at least one of the positioning result and positioning measurement data, the second terminal may send at least one of the positioning result and positioning measurement data to the first terminal. Among them, in an embodiment of the present disclosure, when the second terminal determines at least one of the positioning result and positioning measurement data, the second terminal may send at least one of the positioning result and positioning measurement data to the first terminal. The first terminal may send at least one of the positioning result and positioning measurement data to at least one of the positioning management function LMF, location service client LCS Client, and application function AF. Among them, in an embodiment of the present disclosure, when the second terminal determines at least one of the positioning result and positioning measurement data, the second terminal may send at least one of the positioning result and positioning measurement data to the LMF. Among them, in an embodiment of the present disclosure, step S3109a and step S3109b may be executed simultaneously or alternatively. Step S3109b, the second terminal sends at least one of the positioning result and the positioning measurement data to the Location Management Function (LMF). Among them, in one embodiment of the present disclosure, when the second terminal determines at least one of the positioning result and the positioning measurement data, the second terminal may send at least one of the positioning result and the positioning measurement data to at least one of the Location Management Function (LMF), the Location Service Client (LCS Client), and the Application Function (AF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning result to at least one of the Location Management Function (LMF), the Location Service Client (LCS Client), and the Application Function (AF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning result to the Location Management Function (LMF). When the second terminal sends the positioning result to the Location Management Function (LMF), for example, the second terminal may send the positioning result to the Access and Mobility Management Function (AMF), and the AMF sends the positioning result to the Location Management Function (LMF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning result to the Location Service Client (LCS Client). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning result to the Application Function (AF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning measurement data to at least one of the Location Management Function (LMF), the Location Service Client (LCS Client), and the Application Function (AF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning measurement data to the Location Management Function (LMF). When the second terminal sends the positioning measurement data to the Location Management Function (LMF), for example, the second terminal may send the positioning measurement data to the Access and Mobility Management Function (AMF), and the AMF sends the positioning measurement data to the Location Management Function (LMF). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning measurement data to the Location Service Client (LCS Client). Among them, in one embodiment of the present disclosure, the second terminal may send the positioning measurement data to the AF. Among them, in one embodiment of the present disclosure, the second terminal may send the positioning measurement data to the Application Function (AF). Step S3110, the first terminal determines that the positioning calculation device is a fourth terminal different from the first terminal, and sends a second message to the fourth terminal, where the second message includes at least one of the first relative position of the first terminal, the first absolute position of the first terminal, the second relative position of the second terminal, the second absolute position of the second terminal, the measurement data, and the positioning assistance information. Among them, in an embodiment of the present disclosure, the second message may be, for example, a positioning request. Specifically, the positioning request may be, for example, an SL-MO-LR service request. Among them, in an embodiment of the present disclosure, the fourth terminal may be, for example, a service terminal selected by the first terminal from at least one positioning terminal. Exemplarily, in an embodiment of the present disclosure, the measurement data may be, for example, data obtained by measuring the first relative position of the first terminal, the first absolute position of the first terminal, the second relative position of the second terminal, and the second absolute position of the second terminal. Step S3111: The fourth terminal receives the second message sent by the first terminal, where the second message includes at least one of the first absolute position of the first terminal, the second absolute position of the second terminal, the measurement data, the positioning assistance information, and the first relative position of the first terminal; Among them, in an embodiment of the present disclosure, according to the positioning process corresponding to the first routing identifier, the fourth terminal may determine the positioning result of the first terminal. Among them, the first routing identifier may be, for example, sent by the first terminal to the fourth terminal. Among them, the first routing identifier may be sent by the LMF to the fourth terminal. Step S3112: The fourth terminal determines the positioning result of the first terminal according to at least one of the first absolute position, the second absolute position, the measurement data, the positioning assistance information, and the first relative position; Among them, in an embodiment of the present disclosure, the fourth terminal may determine the first absolute position of the first terminal according to the second absolute position, the measurement data, the positioning assistance information, and the first relative position. Among them, in an embodiment of the present disclosure, the fourth terminal determines the first relative position of the first terminal according to the first absolute position, the second absolute position, the measurement data, and the positioning assistance information. Step S3113: The fourth terminal sends the positioning result of the first terminal to the first terminal; Step S3114: The first terminal receives the positioning result of the first terminal sent by the fourth terminal in response to the second message; Step S3115: The first terminal sends the positioning result of the first terminal to the LMF; Step S3116: The LMF receives the positioning result of the first terminal sent by the first terminal. Among them, in an embodiment of the present disclosure, when the first terminal receives the positioning result of the first terminal sent by the fourth terminal in response to the second message, the first terminal may send the positioning result to at least one of the positioning management function LMF, the location service client LCS Client, and the application function AF. Among them, in one embodiment of the present disclosure, when the first terminal receives the positioning result of the first terminal sent by the fourth terminal for the second message, the first terminal may send the positioning result to the LMF. The LMF may receive the positioning result of the first terminal sent by the first terminal. Among them, in one embodiment of the present disclosure, when the first terminal receives the positioning result of the first terminal sent by the fourth terminal for the second message, the first terminal may send the positioning result to the Location Service Client (LCS Client). Among them, in one embodiment of the present disclosure, when the first terminal receives the positioning result of the first terminal sent by the fourth terminal for the second message, the first terminal may send the positioning result to the Application Function (AF). The positioning method involved in the embodiments of the present disclosure may include at least one of steps S3101 to S3116. For example, step S3101 may be implemented as an independent embodiment, step S3103 may be implemented as an independent embodiment, step S3101 and step S3113 may be implemented as an independent embodiment, steps S3110 to S3116, and steps S3106 to S3109 may be implemented as independent embodiments, but not limited thereto. In some embodiments, steps S3102 to S3116 are optional, and one or more of these steps may be omitted or replaced in different embodiments. In some embodiments, reference may be made to other optional implementation manners described before or after the specification corresponding to FIG. 3. FIG. 4A is a schematic flowchart of a positioning method shown according to an embodiment of the present disclosure. As shown in FIG. 4A, the embodiment of the present disclosure relates to a positioning method executed by a first terminal, and the above method includes: Step S4101, determining to execute the SideLink-Mobile Originated-Location Request (SL-MO-LR); Step S4102, determining the first routing identifier corresponding to the SideLink-Mobile Originated-Location Request (SL-MO-LR) and the positioning calculation device. Among them, in one embodiment of the present disclosure, when the positioning calculation device is the first terminal, the method further includes: Determining at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning process corresponding to the first routing identifier. Among them, in one embodiment of the present disclosure, the positioning result includes at least one of the following: The first relative position of the first terminal; The first absolute position of the first terminal. Among them, in one embodiment of the present disclosure, when the positioning result includes the first relative position, determining the positioning result of the first terminal includes: Determine the first relative position of the first terminal according to the positioning assistance information and the ranging measurement result. Among them, in an embodiment of the present disclosure, the positioning result includes the first absolute position. Determining the positioning result of the first terminal includes: Receive at least one of the second absolute position of the second terminal sent by the second terminal and the measurement of the second absolute position, where the second terminal is any one of at least one positioning terminal and the second terminal is different from the first terminal; Determine the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, the positioning assistance information, and the first relative position. Among them, in an embodiment of the present disclosure, the positioning result includes the first absolute position. Before determining the positioning result of the first terminal, it further includes: Send a first message to the second terminal, where the first message is used to request at least one of the second absolute position of the second terminal and the measurement of the second absolute position, and the second terminal is any one of at least one positioning terminal and the second terminal is different from the first terminal; Receive at least one of the second absolute position of the second terminal sent by the second terminal and the measurement of the second absolute position; Determine the first absolute position of the first terminal according to at least one of the second absolute position and the measurement of the second absolute position, the positioning assistance information, and the first relative position. Among them, in an embodiment of the present disclosure, the method further includes at least one of the following: The first terminal can perform signaling interaction with the network device and receive the positioning assistance information sent by the Location Management Function (LMF); The first terminal cannot perform signaling interaction with the network device and receives the positioning assistance information sent by the second terminal. Among them, in an embodiment of the present disclosure, the method further includes: Perform information interaction with the second terminal through the PC5 link. Among them, in an embodiment of the present disclosure, performing information interaction with at least one terminal involved in the positioning operation includes at least one of the following: Perform information interaction with the second terminal using the RSPP protocol; Perform information interaction with the second terminal using the SLPP protocol; Perform information interaction with the second terminal using the PC5-S protocol. Among them, in an embodiment of the present disclosure, performing information interaction with the second terminal includes at least one of the following: Receive the first parameter of the second terminal sent by the second terminal; Send the second parameter of the first terminal to the second terminal. Among them, in one embodiment of the present disclosure, the first parameter includes at least one of the following: First positioning capability information; First computing capability information; Second routing identifier; First network connection status information; Among them, the second parameter includes at least one of the following: Second positioning capability information; Second computing capability information; Third routing identifier; Second network connection status information. Among them, in one embodiment of the present disclosure, the method further includes at least one of the following: If the first terminal cannot perform signaling interaction with the network, determine a third terminal according to the first parameters of at least one second terminal, where the third terminal can perform signaling interaction with the network; If the first terminal cannot perform signaling interaction with the network, randomly determine a third terminal from at least one second terminal; If the first terminal can perform signaling interaction with the network, determine the first terminal as the third terminal. Among them, in one embodiment of the present disclosure, determining a third terminal according to the positioning parameters of at least one second terminal includes: Determine a third terminal according to the signal strength of at least one positioning terminal and the first parameter. Among them, in one embodiment of the present disclosure, determining the positioning result of the first terminal includes: Determine that the positioning calculation device is a fourth terminal different from the first terminal, and send a second message to the fourth terminal, where the second message includes at least one of the first relative position of the first terminal, the first absolute position of the first terminal, the second relative position of the second terminal, the second absolute position of the second terminal, measurement data, and positioning assistance information; Receive the positioning result of the first terminal sent by the fourth terminal in response to the second message. Among them, in one embodiment of the present disclosure, the method further includes: Send at least one of the positioning result and the positioning measurement data to at least one of the Location Management Function (LMF), Location Service Client (LCS Client), and Application Function (AF). Among them, in one embodiment of the present disclosure, the method further includes: Send an SL-MO-LR request to the LMF; Receive the positioning calculation device information sent by the LMF. Among them, in one embodiment of the present disclosure, the method further includes: Send the positioning calculation device information to a second terminal different from the first terminal. Among them, in one embodiment of the present disclosure, the method further includes at least one of the following: Determine the second routing identifier of the first terminal as the first routing identifier; Determine the fourth routing identifier of the third terminal as the first routing identifier; Receive the first routing identifier sent by the positioning management function LMF, where the first routing identifier is determined and sent by the AMF to the LMF. For the optional implementation manners of steps S3101 to S3102, reference may be made to the optional implementation manners of steps S3101, S3102, S3103, and S3104 in FIG. 3, and other related parts in the embodiments related to FIG. 3, which will not be elaborated here. The positioning method involved in the embodiments of the present disclosure may include at least one of steps S3101 to S3102. For example, step S3101 may be implemented as an independent embodiment, and step S3102 may be implemented as an independent embodiment, but not limited thereto. In some embodiments, step S3102 is optional, and one or more of these steps may be omitted or replaced in different embodiments. In some embodiments, reference may be made to other optional implementation manners recorded before or after the specification corresponding to FIG. 4A. FIG. 5A is a schematic flowchart of a positioning method according to an embodiment of the present disclosure. As shown in FIG. 5A, the embodiment of the present disclosure relates to a positioning method executed by a second terminal. The above method includes: Step S5101, receiving the positioning calculation device information sent by the first terminal, where the positioning calculation device information is used to indicate that the second terminal is a positioning calculation device; Step S5102, determining at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning assistance information and the positioning process corresponding to the first routing identifier, where the first routing identifier corresponds to the side link - terminal originated - positioning request SL - MO - LR. Among them, in one embodiment of the present disclosure, the method further includes at least one of the following: Receiving the positioning assistance information and the first routing identifier sent by the first terminal; Receiving the positioning assistance information and the first routing identifier sent by the positioning management function LMF. Among them, in one embodiment of the present disclosure, the positioning assistance information includes at least one of the following: The first relative position of the first terminal; The first absolute position of the first terminal; The second relative position of the second terminal; The second absolute position of the second terminal; Measurement data. Wherein, in one embodiment of the present disclosure, the method further includes: Sending at least one of the positioning result and the positioning measurement data to the first terminal. Wherein, in one embodiment of the present disclosure, the method further includes: Sending the first parameter of the second terminal to the first terminal; Receiving the second parameter of the first terminal sent by the first terminal. Wherein, in one embodiment of the present disclosure, the first parameter includes at least one of the following: First positioning capability information; First computing capability information; Second routing identifier; First network connection status information; Wherein, the second parameter includes at least one of the following: Second positioning capability information; Second computing capability information; Third routing identifier; Second network connection status information. Wherein, in one embodiment of the present disclosure, the method further includes: Sending at least one of the positioning result and the positioning measurement data to at least one of the Location Management Function (LMF), the Location Service Client (LCS Client), and the Application Function (AF). Exemplarily, in one embodiment of the present disclosure, the second terminal may calculate the positioning result and send the positioning result and the routing identifier of the second terminal to the first terminal. Wherein, in one embodiment of the present disclosure, the positioning result calculated by the second terminal may include, for example, the absolute position of the second terminal. Wherein, in one embodiment of the present disclosure, the second terminal may also calculate the positioning result and send the positioning result and the routing identifier of the second terminal to the Access and Mobility Management Function (AMF). For the optional implementation manners of steps S5101 to S5102, reference may be made to the optional implementation manners of steps S3106 to S3109 in FIG. 3 and other related parts in the embodiments related to FIG. 3, which will not be elaborated herein. The positioning method involved in the embodiments of the present disclosure may include at least one of steps S5101 to S5102. For example, step S5101 may be implemented as an independent embodiment, and steps S5101 to S5102 may be implemented as an independent embodiment, but not limited thereto. In some embodiments, step S5102 is optional, and one or more of these steps may be omitted or replaced in different embodiments. In some embodiments, reference may be made to other optional implementation manners described before or after the specification corresponding to FIG. 5A. FIG. 6A is a schematic flowchart of a positioning method according to an embodiment of the present disclosure. As shown in FIG. 6A, the embodiment of the present disclosure relates to a positioning method, which is executed by a third terminal. The method includes: Step S6101: Determine a positioning result of a first terminal according to a positioning process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originating-positioning request SL-MO-LR; Step S6102: Send the positioning result of the first terminal to the first terminal. Among them, in an embodiment of the present disclosure, determining the positioning result of the first terminal includes: Receiving a second message sent by the first terminal, where the second message includes a first absolute position of the first terminal, a second absolute position of a second terminal, measurement data, positioning assistance information, and a first relative position of the first terminal; Determine the positioning result of the first terminal according to the first absolute position, the second absolute position, the measurement data, the positioning assistance information, and the first relative position. Optional implementation manners of steps S6101 to S6102 may refer to the optional implementation manners of steps S3110 to S3116 in FIG. 3 and other related parts in the embodiments related to FIG. 3, which will not be elaborated here. The positioning method according to the embodiment of the present disclosure may include at least one of steps S6101 to S6102. For example, step S6101 may be implemented as an independent embodiment, and step S6102 may be implemented as an independent embodiment, but not limited thereto. In some embodiments, step S6102 is optional, and one or more of these steps may be omitted or replaced in different embodiments. In some embodiments, reference may be made to other optional implementation manners described before or after the specification corresponding to FIG. 6A. FIG. 7A is an interaction diagram of a positioning method according to an embodiment of the present disclosure. As shown in FIG. 7A, the embodiment of the present disclosure relates to a positioning method. The method includes: If a UE-based method is determined and the serving user equipment (UE) is the target UE, steps (7106), 7107, and 7108 shall be executed. If a UE-based method is determined and the serving terminal is the positioning terminal, steps (7106), 7107, 7109, 7110, and 7111 shall be executed. If a UE-based method is determined and the result needs to be sent to a Location Services (LCS) client or an Application Function (AF), steps 7112 and 7113a are also required. If UE1 is the serving UE, step 7112 can be omitted. If a Location Management Function (LMF)-based method is determined, steps (7106), 7107, 7112, 10113a or steps (7106, 7113b) can be executed. Steps 1 to 4 in the process of the side-link - mobile originated - location request (SL-MO-LR) involving the LMF are executed as described in clause 6.20.1 and 3rd Generation Partnership Project (3GPP) TS 23.273. Specifically, reference can be made to the positioning method shown in Figure 2. In step S7101, UE1 can use the multicast and / or unicast links established in steps 1 to 4 shown in Figure 2 to obtain the side-link positioning capabilities, computing capabilities, non-access stratum (NAS) connection status, absolute location, and identity (ID) of UEs 2 to n. Step S7102: Based on the sidelink positioning capabilities of UE1 / ... / UEn, the target UE can determine to perform SL-MO-LR and the specified positioning method to be used during the SL positioning / ranging process. If the target UE decides to use UE-based positioning, the target UE can also select a serving UE to perform the position calculation. The serving UE can be one of the target UE or the positioning UE, a serving UE, such as UE1, …, UEn. If no positioning method is specified in this step, the LMF can also specify the positioning method and provide it to UE1 in step 14 as shown in Figure 2 of the SL-MO-LR process. If the target UE does not have an NAS connection, the target UE can select a positioning UE with an NAS connection from all the positioning UEs to act as UE1. The target UE can select UE1 from all the positioned UEs with NAS connections based on the signal strength and the capabilities obtained in the previous step, or just select it randomly. If UE1 is a positioning UE (i.e., when the target UE is one of UE2 / … / UEn and does not have an NAS connection), the target UE initiates an SL-MO-LR service request to UE1. Step S7103: As described in clause 6.20.1 of 3GPP TS 23.273, steps 7-14 in the process of SL-MO-LR involving the LMF can be executed (as shown in Figure 2). The positioned UE (e.g., UEn) can receive its absolute position, assistance data, and routing ID from the LMF or UE1 or the target UE, i.e., LMF->UEn, LMF->Target UE->UEn, LMF->UE1->Target UE->UEn. Step S7104: The target UE can initiate a sidelink positioning / ranging process among UE 1 to n, where UE 1 to n obtain sidelink position measurements, and UE 2 to n can transmit their sidelink position measurements / results to the same UE 1 and / or the same LMF (depending on the requested assistance) based on the routing ID obtained from the LMF or UE1 or the target UE in the last step. If the scheduled position time is received in step 14 as shown in Figure 2, the sidelink positioning / ranging is performed at the scheduled position moment as shown in Figure 2. Step S7105, (optional) If in step 8 shown in Figure 2 the absolute position information of the target UE is required and the absolute positioning of the positioning UE is unavailable (i.e., the target UE does not obtain the absolute position from the positioning UE in step 1 or the target UE does not receive the absolute position from the LMF in step 3), the target UE sends a request including the routing ID to the positioning UE as shown in Figure 2 to trigger the 5GC-MO-LR process, so that the positioning UE obtains its own absolute positioning. The quality of service QoS requirements received in step 8 shown in Figure 2 are included in the request, and this request is used to derive the QoS for the positioning of the positioning UE. After step S7105, all positioned UEs will obtain their absolute positions. Step S7106, (optional) In step S7104, the target UE performs the ranging process n - 1 times with the positioned UE as shown in Figure 2, and during the ranging process, the positioned UE or the target UE can maintain the ranging measurement. The positioned UE can obtain their absolute positions in step S7105, or can be pre-configured. If the UE-based calculation is determined, in this step, the UE can only calculate the relative positioning result based on the ranging measurement in step S7104, or the UE can also calculate the absolute positioning result based on the ranging measurement in step S7104 and the absolute position of the positioning UE obtained in step S7101 or step S7105. Step S7107, the positioning UE can provide the absolute position of the positioning UE obtained in step S7105 and / or the ranging measurement and / or ranging result obtained in step S7106 and / or the estimated absolute position of the target UE obtained in step S7106 and the routing ID to the target UE via the PC5 interface. Step S7108, (optional) If the target UE is selected as the serving UE, the target UE can perform the absolute position calculation of the target UE based on the information received in step S7107. For example, the target UE can use the estimated absolute position of the target UE from the target UE to calculate its position, or can also use the ranging measurement and the absolute position of the positioning UE from the positioning UE. If the position is calculated on the UE and there is no need to transmit the result to the location service client LCS Client or AF, the process ends. Step S7109, (optional) If the target UE is selected as the serving UE, one of the positioning UEs is selected as the serving UE as shown in Figure 2, such as UEn. The target UE can transmit the positioning measurement / result together with the routing ID received in step S7107 to UEn via the PC5 interface. Step S7110, UEn performs the absolute position calculation of the target UE based on the information received in step S7109 as shown in Figure 2. Step S7111, the UE transmits the calculated absolute position of the target UE with a routing ID to the target UE as shown in FIG. 2. If the position is calculated on the UE and there is no need to transmit the result to the Location Service Client LCS Client or AF, the process ends. Step S7112, the target UE sends the provided location information and routing ID to UE1 via PC5 as shown in FIG. 2. If UE1 is the serving UE, step S7112 can be omitted and step S7113 is executed. Step S7113, the UE sends the provided location information and routing ID to the LMF via the AMF as shown in FIG. 2. If the location result is calculated on the UE and the result needs to be transmitted to the Location Service Client LCS Client or AF, step S7113a is executed, and the provided location information is the absolute position of the target UE. If the location result is calculated on the LMF, only steps 4 and 13b and optional steps S7105 and S7106 are executed, or steps S7104, S7107, S7112, and S7113a and optional step S7105 are executed, then the provided location information can be the absolute position of the target UE or the ranging measurement obtained in step S7105 and the absolute positioning of the positioning UE. In the embodiments of the present disclosure, some or all of the steps and their optional implementation manners can be arbitrarily combined with some or all of the steps in other embodiments, and can also be arbitrarily combined with the optional implementation manners in other embodiments. The embodiments of the present disclosure also propose a device for implementing any of the above methods. For example, a device is proposed. The above device includes units or modules for implementing each step executed by the terminal in any of the above methods. Again, another device is proposed, including units or modules for implementing each step executed by a network device (such as an access network device, a core network function node, a core network device, etc.) in any of the above methods. It should be understood that the division of each unit or module in the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. In addition, the units or modules in the device can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or the functions of each unit or module of the above device. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside or outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be implemented through the design of the hardware circuits. The above hardware circuits can be understood as one or more processors. For example, in one implementation, the above hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units or modules are implemented through the design of the logical relationship of the components in the circuit. Another example is that in another implementation, the above hardware circuit can be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file to implement the functions of some or all of the above units or modules. All the units or modules of the above device can be fully implemented in the form of a processor calling software, or fully implemented in the form of hardware circuits, or partially implemented in the form of a processor calling software, and the remaining part is implemented in the form of hardware circuits. In the embodiments of the present disclosure, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and running capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can implement certain functions through the logical relationship of hardware circuits, and the logical relationship of the above hardware circuits is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), a Tensor Processing Unit (TPU), a Deep learning Processing Unit (DPU), etc. FIG. 8A is a schematic structural diagram of a first terminal according to an embodiment of the present disclosure. As shown in FIG. 8A, the first terminal 8100 may include: a processing module 8101. In some embodiments, the above processing module is used to determine to execute a side-chain-terminal-originated-location request SL-MO-LR; the processing module is further used to determine a first routing identifier corresponding to the side-chain-terminal-originated-location request SL-MO-LR and determine a positioning calculation device. FIG. 8B is a schematic structural diagram of a second terminal according to an embodiment of the present disclosure. As shown in FIG. 8B, the second terminal 8200 may include: a transceiver module 8201 and a processing module 8202. In some embodiments, the transceiver module is used to receive the positioning calculation device information sent by the first terminal, where the positioning calculation device information is used to indicate that the second terminal is a positioning calculation device; the processing module is used to determine at least one of the positioning result and the positioning measurement data of the first terminal according to the positioning assistance information and the positioning process corresponding to the first routing identifier, where the first routing identifier corresponds to the side-chain-terminal-originated-location request SL-MO-LR. FIG. 8C is a schematic structural diagram of a fourth terminal according to an embodiment of the present disclosure. As shown in FIG. 8C, the fourth terminal 8300 may include: a processing module 8301 and a transceiver module 8302. In some embodiments, the processing module is configured to determine a positioning result of a first terminal according to a positioning process corresponding to a first routing identifier, where the first routing identifier corresponds to a side-chain-terminal-originating-positioning request SL-MO-LR; the transceiver module is configured to send the positioning result of the first terminal to the first terminal. In some embodiments, the transceiver module may include a sending module and / or a receiving module. The sending module and the receiving module may be separate or integrated together. Optionally, the transceiver module may be replaced with a transceiver. In some embodiments, the processing module may be a single module or may include multiple sub-modules. Optionally, the above-mentioned multiple sub-modules respectively execute all or part of the steps required to be executed by the processing module. Optionally, the processing module may be replaced with a processor. FIG. 9A is a schematic structural diagram of a communication device 9100 according to an embodiment of the present disclosure. The communication device 9100 may be a network device (such as an access network device, a core network device, etc.), or a terminal (such as a user equipment, etc.), or a chip, a chip system, or a processor, etc. that supports the network device to implement any of the above methods, and may also be a chip, a chip system, or a processor, etc. that supports the terminal to implement any of the above methods. The communication device 9100 can be used to implement the methods described in the above method embodiments, and for details, reference may be made to the descriptions in the above method embodiments. As shown in FIG. 9A, the communication device 9100 includes one or more processors 9101. The processor 9101 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control a communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process program data. The communication device 9100 is used to execute any of the above methods. In some embodiments, the communication device 9100 further includes one or more memories 9102 for storing instructions. Optionally, all or part of the memories 9102 may also be outside the communication device 9100. In some embodiments, the communication device 9100 further includes one or more transceivers 9103. When the communication device 9100 includes one or more transceivers 9103, the transceivers 9103 perform at least one of the communication steps such as sending and / or receiving in the above method (such as steps S3105, S3107, S3108, S3109, S3111, S3113, S3114, S3115, S3116, but not limited thereto), and the processor 9101 performs at least one of the other steps (such as steps S3101, S3102, S3103, S3104, S3106, S3110, S3112, but not limited thereto). In some embodiments, the transceiver may include a receiver and / or a transmitter, and the receiver and the transmitter may be separate or integrated together. Optionally, terms such as transceiver, transceiver unit, transceiver machine, transceiver circuit, etc. may be used interchangeably, terms such as transmitter, transmitter unit, transmitter machine, transmitter circuit, etc. may be used interchangeably, and terms such as receiver, receiver unit, receiver machine, receiver circuit, etc. may be used interchangeably. In some embodiments, the communication device 9100 may include one or more interface circuits 9104. Optionally, the interface circuit 9104 is connected to the memory 9102, and the interface circuit 9104 can be used to receive signals from the memory 9102 or other devices and can be used to send signals to the memory 9102 or other devices. For example, the interface circuit 9104 can read the instructions stored in the memory 9102 and send the instructions to the processor 9101. The communication device 9100 described in the above embodiments can be a network device or a terminal, but the scope of the communication device 9100 described in the present disclosure is not limited thereto, and the structure of the communication device 9100 can be unrestricted by Figure 9A. The communication device can be an independent device or can be a part of a larger device. For example, the communication device can be: 1) an independent integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, a smart terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc. Figure 9B is a schematic structural diagram of a chip 9200 proposed in an embodiment of the present disclosure. For the case where the communication device 9100 can be a chip or a chip system, reference can be made to the schematic structural diagram of the chip 9200 shown in Figure 9B, but not limited thereto. The chip 9200 includes one or more processors 9201, and the chip 9200 is used to execute any of the above methods. In some embodiments, the chip 9200 further includes one or more interface circuits 9202. Optionally, the interface circuit 9202 is connected to the memory 9203. The interface circuit 9202 can be used to receive signals from the memory 9203 or other devices, and the interface circuit 9202 can be used to send signals to the memory 9203 or other devices. For example, the interface circuit 9202 can read the instructions stored in the memory 9203 and send the instructions to the processor 9201. In some embodiments, the interface circuit 9202 executes at least one of the communication steps such as sending and / or receiving in the above method (such as step S3105, step S3107, step S3108, step S3109, step S3111, step S3113, step S3114, step S3115, step S3116, but not limited thereto), and the processor 9201 executes at least one of the other steps (such as step S3101, step S3102, step S3103, step S3104, step S3106, step S3110, step S3112, but not limited thereto). In some embodiments, terms such as interface circuit, interface, transceiver pin, transceiver, etc. can be used interchangeably. In some embodiments, the chip 9200 further includes one or more memories 9203 for storing instructions. Optionally, all or part of the memory 9203 can be outside the chip 9200. The present disclosure also provides a storage medium. Instructions are stored on the above storage medium. When the above instructions run on the communication device 9100, the communication device 9100 is caused to execute any of the above methods. Optionally, the above storage medium is an electronic storage medium. Optionally, the above storage medium is a computer-readable storage medium, but not limited thereto, and it can also be a storage medium readable by other devices. Optionally, the above storage medium can be a non-transitory storage medium, but not limited thereto, and it can also be a transitory storage medium. The present disclosure also provides a program product. When the above program product is executed by the communication device 9100, the communication device 9100 is caused to execute any of the above methods. Optionally, the above program product is a computer program product. The present disclosure also provides a computer program. When it runs on a computer, the computer is caused to execute any of the above methods.

Claims

1. A positioning method, characterized in that: The method is performed by a first terminal, and includes: Determine to execute the side link-terminal origination-positioning request SL-MO-LR; Determine the first routing identifier and positioning calculation device corresponding to the side link-terminal origination-positioning request SL-MO-LR.

2. The method according to claim 1, characterized in that in, The positioning calculation device is the first terminal, and the method further includes: At least one of a positioning result and positioning measurement data of the first terminal is determined according to the positioning process corresponding to the first routing identifier.

3. The method according to claim 1, characterized in that in, The positioning result includes at least one of the following: a first relative position of the first terminal; a first absolute position of the first terminal.

4. The method according to claim 3, characterized in that in, The positioning result includes a first relative position, and determining the positioning result of the first terminal includes: A first relative position of the first terminal is determined according to the positioning assistance information and the ranging measurement result.

5. The method according to claim 3, characterized in that in, The positioning result includes a first absolute position, and the determining the positioning result of the first terminal includes: Receiving at least one of a second absolute position of a second terminal and a measurement of the second absolute position sent by a second terminal, wherein the second terminal is any one of the at least one positioning terminals and the second terminal is different from the first terminal; A first absolute position of the first terminal is determined based on at least one of the second absolute position and a measurement of the second absolute position, the positioning assistance information, and the first relative position.

6. The method according to claim 3, characterized in that in, The positioning result includes a first absolute position, and before determining the positioning result of the first terminal, the method further includes: Sending a first message to a second terminal, wherein the first message is used to request at least one of a second absolute position of the second terminal and measurement of the second absolute position, the second terminal being any terminal of at least one positioning terminal and different from the first terminal; receiving at least one of the second absolute position and a measurement of the second absolute position sent by the second terminal; A first absolute position of the first terminal is determined based on at least one of the second absolute position and a measurement of the second absolute position, the positioning assistance information, and the first relative position.

7. The method according to any one of claims 4 to 5, characterized in that The method further comprises at least one of the following: The first terminal is capable of performing signaling interaction with the network device and receiving the positioning assistance information sent by the positioning management function LMF; The first terminal cannot perform signaling interaction with the network device and receive the positioning assistance information sent by the second terminal.

8. The method according to claim 5 or 6, characterized in that The method further comprises: Information is exchanged with the second terminal via the PC5 link.

9. The method according to claim 8, characterized in that The information interaction with the second terminal includes at least one of the following: Using ranging and side chain positioning protocol RSPP to exchange information with the second terminal; Using the side chain positioning protocol SLPP to exchange information with the second terminal; The PC5-S protocol is used to exchange information with the second terminal.

10. The method according to claim 8 or 9, characterized in that The information interaction with the second terminal includes at least one of the following: receiving a first parameter of the second terminal sent by the second terminal; Sending a second parameter of the first terminal to the second terminal.

11. The method according to claim 10, characterized in that in, The first parameter includes at least one of the following: First positioning capability information; First computing capability information; A second routing identifier; first network connection status information; The second parameter includes at least one of the following: Second positioning capability information; second computing capability information; A third routing identifier; Second network connection status information.

12. The method according to claim 11, characterized in that The method further comprises at least one of the following: The first terminal is unable to perform signaling interaction with the network, and determining the third terminal according to the first parameter of at least one second terminal, wherein the third terminal is able to perform signaling interaction with the network; The first terminal is unable to perform signaling interaction with the network, and randomly determines the third terminal from the at least one second terminal; The first terminal is capable of performing signaling interaction with the network to determine that the first terminal is the third terminal.

13. The method according to claim 12, characterized in that The determining the third terminal according to the first parameter of at least one second terminal includes: The third terminal is determined according to the signal strength of the at least one positioning terminal and the first parameter.

14. The method according to claim 2, characterized in that The determining a positioning result of the first terminal includes: Determining that the positioning calculation device is a fourth terminal different from the first terminal, and sending a second message to the fourth terminal, wherein the second message includes at least one of a first relative position of the first terminal, a first absolute position of the first terminal, a second relative position of the second terminal, a second absolute position of the second terminal, measurement data, and positioning assistance information; receiving a positioning result of the first terminal sent by the fourth terminal in response to the second message.

15. The method according to any one of claims 2 to 14, characterized in that The method further comprises: Send at least one of the positioning result and the positioning measurement data to at least one of a positioning management function LMF, a location service client LCS Client and an AF.

16. The method according to claim 1, wherein: The method further comprises: Send SL-MO-LR request to LMF; Receive the positioning calculation device information sent by the LMF in response to the SL-MO-LR request.

17. The method according to claim 16, characterized in that The method further comprises: The positioning computing device information is sent to a second terminal different from the first terminal, wherein the positioning computing device information is used to indicate that the second terminal is a positioning computing device.

18. The method according to any one of claims 12 to 13, characterized in that The method further comprises at least one of the following: determining a second routing identifier of the first terminal as the first routing identifier; determining a fourth routing identifier of the third terminal as the first routing identifier; Receive the first routing identifier sent by the positioning management function LMF, wherein the first routing identifier is determined by the AMF and sent to the LMF.

19. A positioning method, characterized in that: The method is performed by a second terminal, and the method includes: Receiving positioning computing device information sent by the first terminal, wherein the positioning computing device information is used to indicate that the second terminal is a positioning computing device; According to the positioning process corresponding to the positioning assistance information and the first routing identifier, at least one of the positioning result and positioning measurement data of the first terminal is determined, wherein the first routing identifier corresponds to the side link-terminal origination-positioning request SL-MO-LR.

20. The method of claim 19, wherein: The method further comprises: Receiving the positioning assistance information and the first routing identifier sent by the first terminal; Receive the positioning assistance information and the first routing identifier sent by the positioning management function LMF.

21. The method of claim 20, wherein: The method further comprises at least one of the following: Determine, according to the first routing identifier, to perform ranging / sidelink positioning with the first terminal; executing, according to the first routing identifier, a terminal-originated positioning request; A network-originated positioning request is executed according to the first routing identifier.

22. The method of claim 19, wherein: in, The positioning assistance information includes at least one of the following: a first relative position of the first terminal; a first absolute position of the first terminal; a second relative position of the second terminal; a second absolute position of the second terminal; Measurement data.

23. The method according to any one of claims 19 to 22, characterized in that The method further comprises: Send at least one of the positioning result and the positioning measurement data to the first terminal.

24. The method according to any one of claims 19 to 23, characterized in that The method further comprises: sending a first parameter of the second terminal to the first terminal; A second parameter of the first terminal sent by the first terminal is received.

25. The method of claim 24, wherein: in, The first parameter includes at least one of the following: First positioning capability information; First computing capability information; A second routing identifier; first network connection status information; The second parameter includes at least one of the following: Second positioning capability information; second computing capability information; A third routing identifier; Second network connection status information.

26. The method according to any one of claims 19 to 21, characterized in that The method further comprises: Send at least one of the positioning result and the positioning measurement data to at least one of a positioning management function LMF, a location service client LCS Client and an application function AF.

27. A positioning method, characterized in that: The method is performed by a fourth terminal, and the method includes: Determine the positioning result of the first terminal according to the positioning process corresponding to the first routing identifier, wherein the first routing identifier corresponds to the side link-terminal origination-positioning request SL-MO-LR; Send the positioning result of the first terminal to the first terminal.

28. The method of claim 27, wherein: The determining the positioning result of the first terminal includes: receiving a second message sent by the first terminal, wherein the second message includes at least one of a first absolute position of the first terminal, a second absolute position of the second terminal, measurement data, positioning assistance information, and a first relative position of the first terminal; A positioning result of the first terminal is determined according to at least one of the first absolute position, the second absolute position, the measurement data, the positioning assistance information and the first relative position.

29. A first terminal, characterized in that: The device comprises: A processing module, used for determining to execute a side link-terminal origination-positioning request SL-MO-LR; The processing module is also used to determine the first routing identifier and positioning calculation device corresponding to the side link-terminal origination-positioning request SL-MO-LR.

30. A second terminal, characterized in that: The device comprises: A transceiver module, configured to receive the positioning and computing device information sent by the first terminal, wherein the positioning and computing device information is used to indicate that the second terminal is a positioning and computing device; A processing module is used to determine at least one of the positioning result and positioning measurement data of the first terminal according to the positioning auxiliary information and the positioning process corresponding to the first routing identifier, wherein the first routing identifier corresponds to the side link-terminal origination-positioning request SL-MO-LR.

31. A fourth terminal, characterized in that: The device comprises: A processing module, configured to determine a positioning result of the first terminal according to a positioning process corresponding to a first routing identifier, wherein the first routing identifier corresponds to a side link-terminal origination-positioning request SL-MO-LR; The transceiver module is used to send the positioning result of the first terminal to the first terminal.

32. A first terminal, characterized in that: include: one or more processors; The first terminal is used to execute the positioning method according to any one of claims 1 to 18.

33. A second terminal, characterized in that: include: one or more processors; Wherein, the second terminal is used to execute the positioning method described in any one of claims 19 to 26.

34. A fourth terminal, characterized in that: include: one or more processors; The fourth terminal is used to execute the positioning method described in any one of claims 27 to 28.

35. A communication system, characterized in that: It comprises a terminal and a core network device, wherein the terminal is configured to implement the positioning method according to any one of claims 1 to 28.

36. A storage medium storing instructions, characterized in that: When the instruction is executed on a communication device, the communication device is caused to perform the positioning method according to any one of claims 1 to 18, 19 to 26, or 27 to 28.

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