Positioning method and apparatus, device, and storage medium

Abstract

The present disclosure provides a positioning method and apparatus, a device, and a storage medium. The method is executed by a first terminal and comprises: in a first time window, sending a positioning reference signal to a second terminal. A solution of the present disclosure, by means of sending a positioning reference signal to a second terminal in a first time window, achieves sending and receiving a positioning reference signal in a specific time period, reducing deviation of a positioning measurement result caused by deviations in measurement changing with time, and increasing positioning measurement result accuracy.

Description

Positioning method, device, equipment and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to positioning methods, devices, equipment, and storage media. Background Art

[0002] In a communication system, terminal devices can communicate with each other through sidelinks (SL), for example, by transmitting sidelink positioning reference signals (SL PRS) to perform SL positioning, thereby meeting the 5G system's requirements for high-precision positioning.

[0003] Summary of the Invention

[0004] The present disclosure provides a positioning method, apparatus, device, and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a positioning method is proposed, which is performed by a first terminal. The method includes: sending a positioning reference signal to a second terminal within a first time window.

[0006] In the above aspect, by sending the positioning reference signal to the second terminal within the first time window, the positioning reference signal is sent within a specific time period, which reduces the deviation of the positioning measurement result caused by the time-varying measurement deviation and improves the accuracy of the positioning measurement result.

[0007] According to a second aspect of an embodiment of the present disclosure, a positioning method is proposed, which is executed by a second terminal. The method includes: receiving a positioning reference signal sent by a first terminal within a first time window.

[0008] In the above aspect, by receiving the positioning reference signal sent by the first terminal within the first time window, the reception of the positioning reference signal within a specific time period is achieved, thereby reducing the deviation of the positioning measurement results caused by the time-varying nature of the measurement deviation and improving the accuracy of the positioning measurement results.

[0009] According to a third aspect of an embodiment of the present disclosure, a first terminal is proposed, including: a transceiver module, configured to send a positioning reference signal to a second terminal within a first time window.

[0010] According to a fourth aspect of an embodiment of the present disclosure, a second terminal is proposed, including: a transceiver module, configured to receive a positioning reference signal sent by a first terminal within a first time window.

[0011] According to the fifth aspect of the embodiment of the present disclosure, a communication device is proposed, including: a transceiver; a memory; and a processor, which is connected to the transceiver and the memory respectively, and is configured to control the wireless signal reception and transmission of the transceiver by executing computer-executable instructions on the memory, and is capable of executing the method described in any one of the first and second aspects.

[0012] According to a sixth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions, and is characterized in that when the instructions are executed by a processor, the positioning method described in any one of the first and second aspects can be executed.

[0013] According to an eighth aspect of an embodiment of the present disclosure, a communication system is proposed, comprising: a first terminal and a second terminal, wherein the first terminal is used to execute the method as described in the first aspect; the second terminal is used to execute the method as described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0015] FIG1a is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

[0016] FIG1b is an exemplary diagram of a communication system provided by an embodiment of the present disclosure;

[0017] FIG2 is an example diagram of an interaction of a positioning method provided by an embodiment of the present disclosure;

[0018] 3a-3d are flowcharts of positioning methods provided by some embodiments of the present disclosure;

[0019] 4a-4d are flowcharts of positioning methods provided in other embodiments of the present disclosure;

[0020] FIG5 is an interactive diagram of a positioning method provided by an embodiment of the present disclosure;

[0021] FIG6 is a flowchart illustrating an exemplary positioning method according to an embodiment of the present disclosure;

[0022] FIG7a is a schematic structural diagram of a first terminal provided by an embodiment of the present disclosure;

[0023] FIG7b is a schematic structural diagram of a second terminal provided by an embodiment of the present disclosure;

[0024] FIG8a is a schematic structural diagram of a communication device provided by an embodiment of the present disclosure;

[0025] FIG8 b is a schematic structural diagram of a chip provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The method disclosed in the present invention can be used to solve the problem of "low accuracy of positioning measurement results due to different measurement deviations of signals at different times".

[0027] The embodiments of the present disclosure provide a positioning method, apparatus, device, and storage medium.

[0028] In a first aspect, an embodiment of the present disclosure proposes a positioning method, which is executed by a first terminal. The method includes: sending a positioning reference signal to a second terminal within a first time window.

[0029] In the above embodiment, by sending the positioning reference signal to the second terminal within the first time window, the positioning reference signal is sent within a specific time period, thereby reducing the deviation of the positioning measurement result caused by the time-varying nature of the measurement deviation and improving the accuracy of the positioning measurement result.

[0030] In combination with some embodiments of the first aspect, in some embodiments, the first time window includes: a periodic time window; or a non-periodic time window.

[0031] In the above embodiment, by dividing the first time window into a periodic time window and a non-periodic time window, the solution can be used flexibly, thereby expanding the scope of application of the solution.

[0032] In combination with some embodiments of the first aspect, in some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows.

[0033] In combination with some embodiments of the first aspect, in some embodiments, the period start position and / or the time window start position is determined based on absolute time or relative time, the absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the Orthogonal Frequency Division Multiplexing OFDM symbol sequence number or the OFDM symbol offset value.

[0034] In the above embodiment, since the period start position and / or the time window start position can be determined based on absolute time or relative time, the solution can be used flexibly, thereby expanding the scope of application of the solution.

[0035] In combination with some embodiments of the first aspect, the parameters of the first time window are determined by at least one of the following entities: the first terminal, the second terminal, the network device, and a third-party terminal.

[0036] In the above embodiment, since the parameters of the first time window can be determined by at least one of the first terminal, the second terminal, the network device, and the third-party terminal, the solution can be used flexibly, thereby expanding the scope of application of the solution.

[0037] In combination with some embodiments of the first aspect, in some embodiments, the third-party terminal is used to perform at least one of the following: initiating a positioning request, determining a positioning method, and calculating a positioning position.

[0038] In combination with some embodiments of the first aspect, in some embodiments, the method further includes: determining parameters of the first time window.

[0039] In the above embodiment, the parameters of the first time window are determined so that the first terminal can send a positioning reference signal to the second terminal within the first time window, thereby implementing the method proposed in the present disclosure.

[0040] In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the first time window includes any one of the following: determining the parameters of the first time window based on protocol agreement; obtaining the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal.

[0041] In the above embodiment, the first time window parameter is determined by the above two methods, so that the solution can be used flexibly, thereby expanding the scope of application of the solution.

[0042] In combination with some embodiments of the first aspect, in some embodiments, obtaining the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: receiving a Side Link Positioning Protocol SLPP request message from at least one of the second terminal, the network device, and the third-party terminal, the SLPP request message carrying the parameters of the first time window.

[0043] In the above embodiment, by receiving the Sidelink Positioning Protocol SLPP request message, which carries the parameters of the first time window, the first terminal determines the parameters of the first time window, laying a foundation for implementing this solution.

[0044] In a second aspect, an embodiment of the present disclosure proposes a positioning method, which is executed by a second terminal. The method includes: receiving a positioning reference signal sent by the first terminal within a first time window.

[0045] In the above embodiment, by receiving the positioning reference signal sent by the first terminal within the first time window, the reception of the positioning reference signal within a specific time period is achieved, thereby reducing the deviation of the positioning measurement result caused by the time-varying nature of the measurement deviation and improving the accuracy of the positioning measurement result.

[0046] In combination with some embodiments of the second aspect, in some embodiments, the first time window includes: a periodic time window or a non-periodic time window.

[0047] In combination with some embodiments of the second aspect, in some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows.

[0048] In combination with some embodiments of the second aspect, in some embodiments, the period start position and / or the time window start position is determined based on absolute time or relative time, the absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the Orthogonal Frequency Division Multiplexing OFDM symbol sequence number or the OFDM symbol offset value.

[0049] In combination with some embodiments of the second aspect, in some embodiments, the parameters of the first time window are determined by at least one of the following entities: the first terminal, the second terminal, the network device, and the third-party terminal.

[0050] In combination with some embodiments of the second aspect, in some embodiments, the third-party terminal is used to perform at least one of the following: initiating a positioning request, determining a positioning method, and calculating a positioning position.

[0051] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining parameters of the first time window.

[0052] In the above embodiment, by determining the parameters of the first time window, the second terminal can receive the positioning reference signal sent by the first terminal within the first time window.

[0053] In combination with some embodiments of the second aspect, in some embodiments, determining the parameters of the first time window includes any one of the following: determining the parameters of the first time window based on protocol agreement; obtaining the parameters of the first time window from at least one of the first terminal, the network device, and the third-party terminal.

[0054] In the above embodiment, the first time window parameter is determined by the above two methods, so that the solution can be used flexibly, thereby expanding the scope of application of the solution.

[0055] In combination with some embodiments of the second aspect, in some embodiments, obtaining the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: receiving a Side Link Positioning Protocol SLPP request message from at least one of the second terminal, the network device, and the third-party terminal, the SLPP request message carrying the parameters of the first time window.

[0056] In the above embodiment, by receiving the Sidelink Positioning Protocol SLPP request message, which carries the parameters of the first time window, the second terminal determines the parameters of the first time window, laying a foundation for implementing this solution.

[0057] In combination with some embodiments of the second aspect, the method further includes: measuring the positioning reference signal.

[0058] In the above embodiment, the position of the positioned subject is determined by measuring the positioning reference signal.

[0059] In a third aspect, an embodiment of the present disclosure provides a first terminal, including:

[0060] The transceiver module is configured to send a positioning reference signal to the second terminal within a first time window.

[0061] In a fourth aspect, an embodiment of the present disclosure provides a second terminal, including:

[0062] The transceiver module is configured to receive a positioning reference signal sent by a first terminal within a first time window.

[0063] In a fifth aspect, an embodiment of the present disclosure proposes a communication device, which includes: a transceiver; a memory; and a processor, which are connected to the transceiver and the memory respectively, and are configured to control the wireless signal reception and transmission of the transceiver by executing computer-executable instructions on the memory, and can execute the positioning method described in the first and second aspects, and the optional implementation methods of the first and second aspects.

[0064] In a sixth aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed by a processor, the method described in the first aspect, the optional implementation of the first aspect, the second aspect, and the optional implementation of the second aspect can be implemented.

[0065] In the seventh aspect, an embodiment of the present disclosure proposes a communication system, which includes: a first terminal and a second terminal; wherein the first terminal is configured to execute the method described in the first aspect and the optional implementation of the first aspect, and the second terminal is configured to execute the method described in the second aspect and the optional implementation of the second aspect.

[0066] It is understandable that the first terminal, the second terminal, the communication device, the communication system, and the storage medium are all used to execute the method proposed in the embodiment of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method and will not be repeated here.

[0067] The present disclosure provides a positioning method, apparatus, device, and storage medium. In some embodiments, the terms positioning method, information processing method, and communication method are interchangeable; the terms positioning apparatus, information processing apparatus, and communication apparatus are interchangeable; and the terms information processing system, communication system, and so on are interchangeable.

[0068] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0069] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0070] 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.

[0071] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0072] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0073] In some embodiments, the terms "at least one of", "at least one of", "at least one of", "one or more", "plurality of", "multiple", etc. can be used interchangeably.

[0074] In the embodiments of the present disclosure, descriptions such as “at least one of A, B, C…”, “A and / or B and / or C…”, etc. include the situation where any one of A, B, C… exists alone, and also include any combination of any multiple of A, B, C…, and each situation can exist alone; for example, “at least one of A, B, C” includes the situation where A exists alone, B exists alone, C exists alone, the combination of A and B, the combination of A and C, the combination of B and C, and the combination of A, B, and C; for example, A and / or B includes the situation where A exists alone, B exists alone, and the combination of A and B.

[0075] In some embodiments, descriptions such as "in one case A, in another case B," or "in response to one case A, in response to another case B," may include the following technical solutions depending on the situation: executing A independently of B (in some embodiments, A); executing B independently of A (in some embodiments, B); selectively executing A and B (in some embodiments, selecting between A and B); and executing both A and B (in some embodiments, A and B). The same applies when there are more branches, such as A, B, and C.

[0076] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "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". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0077] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0078] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0079] 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 less than", and "above" can be replaced with each other, 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", and "below" can be replaced with each other.

[0080] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0081] In some embodiments, the terms "access network device (AN device)", "radio access network device (RAN device)", "base station (BS)", "radio base station" "fixed station", "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", "carrier", "component carrier", "bandwidth part (BWP)" and the like may be used interchangeably.

[0082] In some embodiments, the terms "terminal", "terminal device", "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. can be used interchangeably.

[0083] In some embodiments, the access network device, the core network device, or the network device can be replaced by a terminal. For example, the various embodiments of the present disclosure can also be applied to a structure in which the communication between the access network device, the core network device, or the network device and the terminal is replaced by communication between multiple terminals (for example, it can also be called device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it can also be set as a structure in which the terminal has all or part of the functions of the access network device. In addition, language such as "uplink" and "downlink" can also be replaced by language corresponding to communication between terminals (for example, "side"). For example, uplink channels, downlink channels, etc. can be replaced by side channels, and uplinks, downlinks, etc. can be replaced by side links.

[0084] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, the core network device, or the network device may have a structure that has all or part of the functions of the terminal.

[0085] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codeword", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0086] FIG1a is a schematic diagram illustrating an architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG1a , a communication system 100 may include a first terminal 101 and a second terminal 102 .

[0087] In some embodiments, the first terminal 101 and the second terminal 102 include, for example, at least one of a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer, 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 a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and a wireless terminal device in a smart home, but are not limited thereto.

[0088] Optionally, in some embodiments, the communication system 100 may further include an access network device, which is, for example, a node or device that accesses the terminal to the wireless network. The access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (H eNB), 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 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a wireless fidelity (WiFi) system, but is not limited thereto.

[0089] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between access network devices or within access network devices involved in the embodiments of the present disclosure can be changed into internal interfaces of Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0090] In some embodiments, the access network device can be composed of a centralized unit (CU) and a distributed unit (DU), where the CU can also be called a control unit. The CU-DU structure can be used to split the protocol layer of the access network device, with the functions of some protocol layers centrally controlled by the CU, and the functions of the remaining part or all of the protocol layers distributed in the DU, which is centrally controlled by the CU, but is not limited to this.

[0091] Optionally, in some embodiments, the communication system 100 may further include a core network device, which may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of one or more network elements. The network element may be virtual or physical. The core network includes, for example, at least one of a location management function (LMF), an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0092] FIG1b is an exemplary diagram of a communication system according to an embodiment of the present disclosure. As shown in FIG1b , the communication system may include an anchor terminal i, an anchor terminal j, a positioning reference unit (PRU) terminal a, and a target terminal b.

[0093] In some embodiments, the same terminal may perform different operations in different positioning modes.

[0094] For example, in the positioning process of mode one, the positioning reference unit PRU terminal a and / or the target terminal b sends a sidelink positioning reference signal (SL PRS), and the anchor terminal i and / or the anchor terminal j receives and measures the SL PRS, where the PRU terminal a and / or the target terminal b is the first terminal 101, and the anchor terminal i and / or the anchor terminal j is the second terminal 102.

[0095] For example, in the positioning process of mode 2, anchor terminal i and / or anchor terminal j sends SL PRS, and PRU terminal a and / or target terminal b receives and measures SL PRS, where anchor terminal i and / or anchor terminal j is the first terminal 101, and positioning reference unit PRU terminal a and / or target terminal b is the second terminal 102. The signal flow of the arrows in Figure 1b is illustrated by taking mode 2 as an example and should not constitute a limitation to the present invention.

[0096] In some embodiments, there is no limit on the number of different types of terminals participating in the positioning process. That is, one or more anchor terminals, one or more positioning reference unit (PRU) terminals, and one or more target terminals may participate in the positioning process. For example, when using trilateration to determine the position of a target terminal, in addition to the main body shown in FIG1b , an anchor terminal k may also be included.

[0097] Optionally, in some embodiments, the number of anchor terminals participating in the positioning process may be greater than or equal to three.

[0098] It should be understood that FIG1b is for illustration only, and the types and numbers of terminals in FIG1b should not constitute a limitation on the present invention.

[0099] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0100] The following embodiments of the present disclosure may be applied to the communication system shown in Figures 1a and 1b, or partial entities, but are not limited thereto. The entities shown in Figures 1a and 1b are examples. The communication system may include all or part of the entities shown in Figures 1a and 1b, or may include other entities other than those shown in Figures 1a and 1b. The number and form of the entities may be arbitrary. The connection relationship between the entities is an example. The entities may be connected or disconnected, and the connection may be in any manner, either directly or indirectly, and may be wired or wireless.

[0101] FIG2 is an interactive diagram of a positioning method according to an embodiment of the present disclosure. As shown in FIG2 , the embodiment of the present disclosure relates to a positioning method for a communication system 100, the method comprising:

[0102] Step 2101: The first terminal 101 determines a first time window parameter.

[0103] In some embodiments, the first terminal 101 determines a first time window parameter so that the first terminal 101 can send a positioning reference signal within the first time window, thereby reducing a positioning measurement error.

[0104] In some embodiments, the type of first terminal 101 is not limited. For example, in the positioning process of Mode 1, first terminal 101 can be a target terminal (target UE) and / or a positioning reference unit (PRU) terminal; for example, in the positioning process of Mode 2, first terminal 101 can be an anchor terminal (anchor UE). In other words, first terminal 101 is a terminal that sends a positioning reference signal. This disclosure does not limit the name of first terminal 101, which can be, for example, "sending terminal" or "determining terminal".

[0105] In some embodiments, the first time window is a time interval or time period in which the first terminal 101 sends a positioning reference signal in the time domain. The present disclosure does not limit the name of the first time window, which may be, for example, a "time window" or a "indication window".

[0106] In some embodiments, the first time window includes: a periodic time window or a non-periodic time window. The periodic time window, i.e., the multiple time windows determined by the first terminal 101, are periodic in the time domain. In other words, the first terminal 101 can determine the positions of the multiple time windows by determining parameters such as the starting position of the time window, the duration of the time window, and the period of the time window within the first period. The non-periodic time window, i.e., the multiple time windows determined by the first terminal 101 are not periodic in the time domain. In other words, the first terminal 101 directly determines the positions of the multiple time windows.

[0107] In some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows. It should be understood that the period of the time window may include at least one of parameters such as period length, period starting position, and number of periods, and the position parameters such as the period starting position and the time window starting position are time-domain position parameters.

[0108] In some embodiments, the period start position and / or the time window start position can be determined based on absolute time or relative time. Optionally, the absolute time includes at least one of the Universal Coordinated Time (UTC) and the Global Navigation Satellite System (GNSS) time, and the relative time includes at least one of the Direct Frame Number (DFN) sequence number, the time slot sequence number or the timing offset value, the Orthogonal Frequency Division Multiplexing (OFDM) symbol sequence number or the OFDM symbol offset value, but is not limited thereto. The absolute time may also include the International Atomic Time (ATI), the Global Positioning System Time (GPST), etc.; the relative time may also include the System Frame Number (SFN), etc.

[0109] In some embodiments, first terminal 101 may determine the parameters of the first time window based on a protocol agreement. However, without limitation, first terminal 101 may also obtain the parameters of the first time window from at least one of second terminal 102, a network device, or a third-party terminal. In other words, the parameters of the first time window may be determined by at least one of second terminal 102, a network device, or a third-party terminal.

[0110] In some embodiments, the first terminal 101 may independently select the subject for determining the first time window parameters, or may select the subject for determining the first time window parameters based on the indication information, which is not limited in the present disclosure.

[0111] In some embodiments, the first terminal 101 may receive a Sidelink Positioning Protocol (SLPP) request message from at least one of the second terminal 102, the network device, and the third-party terminal, where the SLPP request message carries parameters of the first time window. This disclosure does not limit the SLPP message, which may be, for example, an SLPP location request message, an SLPP assisted positioning message, or the like.

[0112] For example, the first terminal 101 determines the first time window parameter from the network device, and the network device is a location management function network element (LMF) network element. The LMF network element can send the first time window parameter to the access network device gNB corresponding to the first terminal 101 through an SLPP message, or send the first time window parameter to the gNB corresponding to the first terminal 101 through the first terminal 101, and the gNB allocates SL PRS transmission resources to one or more first terminals 101 within the first time window.

[0113] For example, the first terminal 101 determines the first time window parameter from the second terminal 102 or the third-party terminal. The second terminal 102 or the third-party terminal can directly send the first time window parameter to the first terminal 101 through an SLPP message, where the SLPP message is, for example, an SLPP location request message, an SLPP assisted positioning message, etc.

[0114] In some embodiments, the third-party terminal is used to perform at least one of initiating a positioning request, determining a positioning method, and calculating a positioning position. This disclosure does not limit the type of the third-party terminal, which may be, for example, a positioning reference unit (PRU) terminal, an anchor terminal, or the like.

[0115] Step 2102: The second terminal 102 determines parameters of the first time window.

[0116] In some embodiments, the second terminal 102 determines a first time window parameter so that the second terminal 102 can receive a positioning reference signal within the first time window, thereby reducing a positioning measurement error.

[0117] In some embodiments, the type of second terminal 102 is not limited. For example, in the positioning process of Mode 1, second terminal 102 can be an anchor terminal; for example, in the positioning process of Mode 2, second terminal 102 can be a target terminal and / or a positioning reference unit (PRU) terminal. In other words, second terminal 102 is a terminal that sends positioning reference signals. This disclosure does not limit the name of second terminal 102, and examples include "receiving terminal" and "measuring terminal."

[0118] In some embodiments, the first time window is a time interval or time period during which the second terminal 102 receives the positioning reference signal in the time domain. The present disclosure does not limit the name of the first time window, which may be, for example, a "time window" or a "indication window".

[0119] In some embodiments, the first time window includes: a periodic time window or a non-periodic time window. The periodic time window, i.e., the multiple time windows determined by the second terminal 102, are periodic in the time domain. In other words, the second terminal 102 can determine the positions of the multiple time windows by determining parameters such as the starting position of the time window, the duration of the time window, and the period of the time window within the first period. The non-periodic time window, i.e., the multiple time windows determined by the second terminal 102 are not periodic in the time domain. In other words, the second terminal 102 directly determines the positions of the multiple time windows.

[0120] In some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows. It should be understood that the period of the time window may include at least one of parameters such as period length, period starting position, and number of periods, and the position parameters such as the period starting position and the time window starting position are time-domain position parameters.

[0121] In some embodiments, the period start position and / or the time window start position may be determined based on absolute time or relative time. Optionally, the absolute time includes at least one of the Universal Coordinated Time (UTC) and the Global Navigation Satellite System (GNSS) time, and the relative time includes at least one of the Direct Frame Number (DFN) sequence number, the time slot sequence number or the timing offset value, the OFDM symbol sequence number or the OFDM symbol offset value, but is not limited thereto. The absolute time may also include the International Atomic Time (ATI) and the Global Positioning System Time (GPST); and the relative time may also include the System Frame Number (SFN).

[0122] In some embodiments, the second terminal 102 may determine the parameters of the first time window based on a protocol agreement. However, the second terminal 102 may also obtain the parameters of the first time window from at least one of the first terminal 101, a network device, or a third-party terminal. In other words, the parameters of the first time window may be determined by at least one of the first terminal 101, the second terminal 102, the network device, or the third-party terminal.

[0123] In some embodiments, the second terminal 102 may independently select the subject to determine the first time window parameters, or may select the subject to determine the first time window parameters based on the indication information, which is not limited in the present disclosure.

[0124] In some embodiments, the second terminal 102 may receive a Sidelink Positioning Protocol (SLPP) request message from at least one of the first terminal 101, the second terminal 102, a network device, and a third-party terminal. The SLPP request message carries parameters of the first time window. This disclosure does not limit the SLPP message, which may be, for example, an SLPP location request message, an SLPP assisted positioning message, or the like.

[0125] For example, the second terminal 102 determines the first time window parameter from the network device, and the network device is a location management function network element (LMF) network element. The LMF network element can send the first time window parameter to the access network device gNB corresponding to the second terminal 102 through an SLPP message, or send the first time window parameter to the gNB corresponding to the second terminal 102 through the second terminal 102, and the gNB allocates SL PRS transmission resources to one or more second terminals 102 within the first time window.

[0126] For example, the second terminal 102 determines the first time window parameter from the first terminal 101 or the third-party terminal. The first terminal 101 or the third-party terminal can directly send the first time window parameter to the second terminal 102 via an SLPP message, where the SLPP message is, for example, an SLPP location request message, an SLPP assisted positioning message, etc.

[0127] In some embodiments, the third-party terminal is used to perform at least one of initiating a positioning request, determining a positioning method, and calculating a positioning position. This disclosure does not limit the type of the third-party terminal, which may be, for example, a positioning reference unit (PRU) terminal, an anchor terminal, or the like.

[0128] In some embodiments, step 2102 is optional. For example, if the second terminal 102 performs measurement positioning in a single differential manner, it is only necessary to ensure that the first terminal 101 sends a positioning reference signal within the first time window. In this case, the second terminal 102 may not perform step 2102.

[0129] Step 2103: The first terminal 101 sends a positioning reference signal to the second terminal 102 within the first time window.

[0130] In some embodiments, the first terminal 101 sends a positioning reference signal to the second terminal 102 within the first time window, so that the second terminal 102 can measure the positioning reference signal, thereby reducing positioning measurement errors and improving the accuracy of positioning measurement results.

[0131] In some embodiments, the second terminal 102 can receive the positioning reference signal sent by the first terminal 101 within the first time window. For example, if the second terminal 102 performs measurement and positioning in a double differential manner, the second terminal 102 needs to receive the positioning reference signal sent by the first terminal 101 within the first time window to eliminate the measurement deviation on the second terminal 102 side.

[0132] Optionally, the second terminal 102 may not receive the positioning reference signal sent by the first terminal 101 within the first time window. For example, the second terminal 102 performs measurement and positioning in a single differential manner. At this time, the measurement deviation on the second terminal 102 side does not affect the accuracy of the positioning measurement result. At this time, the terminal 102 can receive the positioning reference signal sent by the first terminal 101 at any time.

[0133] Step 2104: The second terminal 102 measures the positioning reference signal.

[0134] In some embodiments, the second terminal 102 measures the positioning reference signal to achieve positioning measurement.

[0135] In some embodiments, the time for the second terminal 102 to measure the reference signal is not limited. It can measure the positioning reference signal within the first time window, or at any time outside the first time window.

[0136] In some embodiments, the second terminal 102's measurement of the positioning reference signal includes at least one of the time of arrival (TOA) and carrier phase, but is not limited thereto, and may also include measurement of parameters such as the direction of arrival (DOA) and the angle of arrival (Angel of Arrival).

[0137] Optionally, in some embodiments, the TOA measurement value of the second terminal 102 may be expressed as follows, but is not limited thereto:

[0138] Wherein, i represents the first terminal 101, a represents the second terminal 102, is the TOA measurement, is the distance from the first terminal 101 to the second terminal 102, c is the speed of light, δ a is the timing offset on the second terminal 102 side, δ i is the timing offset on the first terminal 101 side, is the TOA measurement error.

[0139] Optionally, in some embodiments, the carrier phase measurement value measured by the second terminal 102 may be expressed as follows, but is not limited thereto:

[0140] in, is the carrier phase measurement, is the carrier phase measurement error, λ is the carrier wavelength, is the initial phase on the second terminal 102 side, The initial phase on the first terminal 101 side, is the unknown integer ambiguity.

[0141] Optionally, in some embodiments, the second terminal 102 may also use a single differential or double differential calculation method to eliminate the measurement error between the first terminal side 101 and the second terminal side 102 based on the measurement result of the positioning reference signal to determine the position of the positioned subject.

[0142] Optionally, in some embodiments, the single difference is calculated as follows, but not limited to:

[0143] Wherein, i and j are the first terminal 101, a is the second terminal 102, The difference between the TOA measurements of the first terminal i and the first terminal j measured for the second terminal a, is the difference between the distances from the second terminal a to the first terminal i and to the first terminal j, The difference between the carrier phase measurements of the first terminal i and the first terminal j measured by the second terminal a, The difference between the TOA measurement errors of the first terminal i and the first terminal j measured by the second terminal a, The difference between the carrier phase measurement errors of the first terminal i and the first terminal j measured for the second terminal a.

[0144] in, It can be expressed as follows, but not limited to:

[0145] It can be expressed as follows, but not limited to:

[0146] It can be expressed as follows, but not limited to:

[0147] It can be expressed as follows, but not limited to:

[0148] It can be expressed as follows, but not limited to:

[0149] It can be expressed as follows, but not limited to:

[0150] It can be seen from the above formula that the influence of the TOA measurement error and the carrier phase measurement error on the positioning measurement result on the second terminal 102 side can be eliminated by the single differential calculation method.

[0151] Optionally, in some embodiments, the double difference is calculated as follows, but not limited to:

[0152] Among them, i and j are the first terminal 101, a and b are the second terminal 102, and the remaining parameters can refer to the above explanation.

[0153] in, It can be expressed as follows, but not limited to:

[0154] It can be expressed as follows, but not limited to:

[0155] It can be expressed as follows, but not limited to:

[0156] It can be expressed as follows, but not limited to:

[0157] It can be expressed as follows, but not limited to:

[0158] It can be expressed as follows, but not limited to:

[0159] As can be seen from the above formula, the influence of the TOA measurement error and the carrier phase measurement error on the positioning measurement result at the first terminal 101 side and the second terminal 102 side can be eliminated by the double differential calculation method.

[0160] For example, when multiple first terminals 101 send positioning reference signals to one second terminal 102, a single difference calculation method can be used to determine the position of the located subject.

[0161] For example, when multiple first terminals 101 send positioning reference signals to multiple second terminals 102, a double-difference calculation method can be used to determine the position of the subject being located. In particular, when the first terminal 101 and / or the second terminal 102 is a positioning reference unit (PRU) terminal with a known position, the double-difference calculation method can be converted to a single-difference calculation to determine the position of the subject being located, thereby reducing the amount of calculation and improving positioning speed.

[0162] In some embodiments, the terminal type of the second terminal 102 is different, and the corresponding positioning process is also different.

[0163] For example, in the positioning process of mode 1, that is, the second terminal 102 is the target terminal and / or the positioning reference unit PRU terminal, the target terminal can be positioned in any of the following ways:

[0164] Method 1: When there is network coverage, the target terminal and / or positioning reference unit PRU terminal reports or forwards the measurement results to the network device (such as LMF network element), and the network device calculates the position of the target terminal, that is, the second terminal 102 assists the network in calculating the position of the target terminal.

[0165] Mode 2: The target terminal and / or the positioning reference unit (PRU) terminal sends the measurement results to a third-party terminal (eg, a server UE), and the third-party terminal calculates the position of the target terminal.

[0166] Method 3: The target terminal calculates its own position based on the measurement results.

[0167] For example, in the positioning process of mode 2, that is, the second terminal 102 is the anchor terminal, the target terminal can be positioned in any of the following ways:

[0168] Mode 4: When there is network coverage, the anchor terminal reports or forwards the measurement result to the network device (eg, LMF network element), and the network device calculates the location of the target terminal. That is, the second terminal 102 assists the network in calculating the location of the target terminal.

[0169] Mode 5: The anchor terminal sends the measurement result to a third-party terminal (eg, server UE), and the third-party terminal calculates the location of the target terminal.

[0170] Method 6: The anchor terminal calculates the target terminal's position based on the measurement results.

[0171] In some embodiments, after the computing node calculates and obtains the target terminal location, it may also send the target terminal location, wherein the computing node is one or more entities that perform the calculation of the target terminal location in the above-mentioned manners.

[0172] For example, the computing node sends the computing result to the device requesting to obtain the location of the target terminal. Depending on the application scenario, the device requesting to obtain the location of the target terminal can be the target terminal itself or another device, which is not limited in this disclosure.

[0173] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0174] The communication method involved in the embodiments of the present disclosure may include at least one of steps 2101 to 2104. For example, step 2101 may be implemented as an independent embodiment, step 2102 may be implemented as an independent embodiment, steps 2101+2103+2104 may be implemented as an independent embodiment, and steps 2102+2103+2104 may be implemented as an independent embodiment, but the present invention is not limited thereto.

[0175] In some embodiments, steps 2101 and 2102 may be performed in an interchangeable order or simultaneously.

[0176] In some embodiments, step 2101 , step 2102 , and step 2104 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0177] In some embodiments, the execution order of step 2102 may be before or after step 2101 or simultaneously with step 2101, which is not limited by the present disclosure.

[0178] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0179] FIG3a is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG3a, the embodiment of the present disclosure relates to a positioning method, which is executed by the first terminal 101 and includes:

[0180] Step 3101: Determine the first time window parameters based on the protocol agreement.

[0181] The optional methods of step 3101 can be found in step 2101 of FIG. 2 and other related parts of the embodiment involved in FIG. 2 , and will not be described in detail here.

[0182] In some embodiments, the first terminal 101 may determine the first time window parameter based on a protocol agreement, but is not limited thereto. The first time window parameter may also be determined by receiving information sent by other entities.

[0183] In some embodiments, the first terminal 101 performs processing to obtain the first time window parameter.

[0184] In some embodiments, the first terminal 101 may obtain the first time window parameter from an upper layer(s).

[0185] In some embodiments, step 3101 is omitted, the first terminal 101 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0186] Step 3102: Send a positioning reference signal to the second terminal 102 within the first time window.

[0187] The optional methods of step 3102 can be referred to step 2103 of FIG. 2 and other related parts of the embodiment involved in FIG. 2 , which will not be described in detail here.

[0188] In some embodiments, the first terminal 101 may send a positioning reference signal to the second terminal 102 within the first time window, but is not limited thereto and may also send a positioning reference signal to other entities.

[0189] In some embodiments, step 3102 is omitted and the above functions are default or by default.

[0190] In some embodiments, step 3101 is optional and may be omitted or replaced in different embodiments.

[0191] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0192] FIG3b is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG3b , the present disclosure embodiment relates to a positioning method, which is executed by the first terminal 101 and includes:

[0193] Step 3201: Obtain parameters of a first time window from at least one of a second terminal, a network device, and a third-party terminal.

[0194] The optional methods of step 3201 can be found in step 2101 of FIG. 2 and other related parts of the embodiment involved in FIG. 2 , and will not be described in detail here.

[0195] In some embodiments, the first terminal 101 may receive a Sidelink Positioning Protocol (SLPP) request message from at least one of the second terminal, the network device, and a third-party terminal. The SLPP request message carries parameters of the first time window. However, this is not limiting. A message sent by another entity may also be received to obtain the parameters of the first time window.

[0196] In some embodiments, the first terminal 101 performs processing to obtain parameters of the first time window.

[0197] In some embodiments, the first terminal 101 may obtain parameters of the first time window from a higher layer.

[0198] In some embodiments, step 3201 is omitted, the first terminal 101 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0199] Step 3202: Send a positioning reference signal to the second terminal 102 within the first time window.

[0200] Optional methods of step 3202 can be found in step 2103 of FIG. 2 , step 3102 of FIG. 3 a , and other related parts of the embodiment involved in FIG. 2 , which will not be described in detail here.

[0201] In some embodiments, the first terminal 101 may send a positioning reference signal to the second terminal 102 within the first time window, but is not limited thereto and may also send a positioning reference signal to other entities.

[0202] In some embodiments, step 3202 is omitted and the above functions are default or by default.

[0203] In some embodiments, step 3201 is optional and may be omitted or replaced in different embodiments.

[0204] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0205] FIG3c is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG3c, the present disclosure embodiment relates to a positioning method, which is executed by the first terminal 101 and includes:

[0206] Step 3301: Determine the first time window parameters.

[0207] Optional methods of step 3301 can be found in step 2101 of FIG. 2 , step 3101 of FIG. 3 a , step 3201 of FIG. 3 b , and other related parts in the embodiments involved in FIG. 2 , FIG. 3 a , and FIG. 3 b , which will not be described in detail here.

[0208] In some embodiments, the first terminal 101 can determine the parameters of the first time window based on the protocol agreement; the first terminal 101 can also obtain the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal, but is not limited to this, and the first time window parameters can also be determined by other means.

[0209] In some embodiments, the first terminal 101 performs processing to determine the first time window parameters.

[0210] In some embodiments, the first terminal 101 may obtain the first time window parameters from a higher layer.

[0211] In some embodiments, step 3301 is omitted, the first terminal 101 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0212] Step 3302: Send a positioning reference signal to the second terminal within the first time window.

[0213] Optional methods of step 3302 can be found in step 2103 of FIG. 2 , step 3102 of FIG. 3 a , step 3202 of FIG. 3 b , and other related parts in the embodiments involved in FIG. 2 , FIG. 3 a , and FIG. 3 b , which will not be described in detail here.

[0214] In some embodiments, the first terminal 101 may send a positioning reference signal to the second terminal 102 within the first time window, but is not limited thereto and may also send a positioning reference signal to other entities.

[0215] In some embodiments, step 3302 is omitted and the above functions are default or by default.

[0216] In some embodiments, step 3301 is optional and may be omitted or replaced in different embodiments.

[0217] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0218] FIG3 d is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG3 d , the embodiment of the present disclosure relates to a positioning method, which is executed by the first terminal 101 and includes:

[0219] Step 3401: Send a positioning reference signal to a second terminal within a first time window.

[0220] In some embodiments, the first terminal 101 may send a positioning reference signal to the second terminal 102 within a first time window.

[0221] The optional implementation methods of step 3401 can be found in the optional implementation methods of step 2103 in Figure 2, step 3102 in Figure 3a, step 3202 in Figure 3b, and step 3302 in Figure 3c, as well as other related parts in the embodiments involved in Figures 2, 3a, 3b, and 3c, which will not be repeated here.

[0222] Optionally, in some embodiments, the first time window includes: a periodic time window or a non-periodic time window.

[0223] Optionally, in some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows.

[0224] Optionally, in some embodiments, the cycle start position and / or time window start position is determined based on absolute time or relative time, the absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the OFDM symbol sequence number or the OFDM symbol offset value.

[0225] Optionally, in some embodiments, the parameters of the first time window are determined by at least one of the following entities: the first terminal 101, the second terminal 102, a network device, or a third-party terminal.

[0226] Optionally, in some embodiments, the third-party terminal is configured to perform at least one of the following: initiating a positioning request, determining a positioning method, and calculating a positioning position.

[0227] Optionally, in some embodiments, the method further includes: the first terminal 101 determining parameters of the first time window.

[0228] Optionally, in some embodiments, determining the parameters of the first time window includes any one of the following: the first terminal 101 determines the parameters of the first time window based on protocol agreement; the first terminal 101 obtains the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal.

[0229] Optionally, in some embodiments, obtaining the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: the first terminal 101 receives a side link positioning protocol SLPP request message from at least one of the second terminal, the network device, and the third-party terminal, and the SLPP request message carries the parameters of the first time window.

[0230] FIG4a is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG4a , the present disclosure embodiment relates to a positioning method, which is executed by the second terminal 102 and includes:

[0231] Step 4101: Determine the parameters of the first time window based on the protocol agreement.

[0232] The optional implementation of step 4101 can be found in step 2102 of FIG. 2 and other related parts of the embodiment involved in FIG. 2 , which will not be described in detail here.

[0233] In some embodiments, the second terminal 102 may determine the parameters of the first time window based on a protocol agreement, but is not limited thereto and may also determine the parameters of the first time window in other ways.

[0234] In some embodiments, the second terminal 102 performs processing to determine the first time window parameters.

[0235] In some embodiments, the second terminal 102 may obtain the first time window parameter from a higher layer.

[0236] In some embodiments, step 4101 is omitted, the second terminal 102 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0237] Step 4102: Receive a positioning reference signal sent by the first terminal 101 within the first time window.

[0238] The optional implementation of step 4102 can refer to the optional implementation of step 2103 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0239] In some embodiments, the second terminal 102 may receive a positioning reference signal sent by the first terminal within the first time window, but is not limited thereto. The second terminal 102 may also receive positioning reference signals sent by other entities.

[0240] Optionally, in some embodiments, the second terminal 102 may not receive the positioning reference signal sent by the first terminal 101 within the first time window.

[0241] In some embodiments, step 4102 is omitted and the above functions are default or by default.

[0242] Step 4103: Measure the positioning reference signal.

[0243] The optional implementation of step 4103 can refer to the optional implementation of step 2104 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0244] Optionally, in some embodiments, the second terminal 102 may also determine the position of the located subject based on the measurement result of the positioning reference signal.

[0245] The positioning method involved in the embodiments of the present disclosure may include at least one of steps 4101 to 4103. For example, step 4101 may be implemented as an independent embodiment, step 4102 may be implemented as an independent embodiment, steps 4101+4102 may be implemented as an independent embodiment, and steps 4102+4103 may be implemented as independent embodiments.

[0246] In some embodiments, step 4101, step 4102, and step 4103 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0247] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, and the optional methods or optional examples can be arbitrarily combined and can be arbitrarily combined with other embodiments or examples.

[0248] FIG4 b is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG4 b , the present disclosure embodiment relates to a positioning method, which is executed by the second terminal 102 and includes:

[0249] Step 4201: Obtain parameters of a first time window from at least one of a first terminal, a network device, and a third-party terminal.

[0250] The optional implementation of step 4201 can refer to the optional implementation of step 2102 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0251] In some embodiments, the second terminal 102 may receive a Sidelink Positioning Protocol (SLPP) request message from at least one of the first terminal, the network device, and a third-party terminal. The SLPP request message carries parameters of the first time window. However, this is not limiting. The second terminal 102 may also receive a message sent by another entity to obtain the parameters of the first time window.

[0252] In some embodiments, the second terminal 102 performs processing to obtain parameters of the first time window.

[0253] In some embodiments, the second terminal 102 may obtain parameters of the first time window from a higher layer.

[0254] In some embodiments, step 4201 is omitted, the second terminal 101 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0255] Step 4202: Receive a positioning reference signal sent by the first terminal 101 within the first time window.

[0256] The optional implementation of step 4202 can refer to step 2103 in Figure 2, the optional implementation of step 4102 in Figure 4a, and other related parts in the embodiments involved in Figures 2 and 4a, which will not be repeated here.

[0257] In some embodiments, the second terminal 102 may receive a positioning reference signal sent by the first terminal within the first time window, but is not limited thereto. The second terminal 102 may also receive positioning reference signals sent by other entities.

[0258] Optionally, in some embodiments, the second terminal 102 may not receive the positioning reference signal sent by the first terminal 101 within the first time window.

[0259] In some embodiments, step 4202 is omitted and the above functions are default or by default.

[0260] Step 4203: Measure the positioning reference signal.

[0261] The optional implementation of step 4203 can refer to step 2104 in FIG. 2 , the optional implementation of step 4103 in FIG. 4 a , and other related parts in the embodiments involved in FIG. 2 and FIG. 4 a , which will not be described in detail here.

[0262] Optionally, in some embodiments, the second terminal 102 may also determine the position of the located subject based on the measurement result of the positioning reference signal.

[0263] The positioning method involved in the embodiments of the present disclosure may include at least one of steps 4201 to 4203. For example, step 4201 may be implemented as an independent embodiment, step 4202 may be implemented as an independent embodiment, steps 4201+4202 may be implemented as an independent embodiment, and steps 4202+4203 may be implemented as independent embodiments, but are not limited thereto.

[0264] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, and the optional methods or optional examples can be arbitrarily combined and can be arbitrarily combined with other embodiments or examples.

[0265] FIG4c is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG4c, the embodiment of the present disclosure relates to a positioning method, which is executed by the second terminal 102 and includes:

[0266] Step 4301: Determine the first time window parameters.

[0267] The optional implementation of step 4201 can be found in step 2102 of Figure 2, step 4101 of Figure 4a, the optional implementation of step 4201 of Figure 4b, and other related parts in the embodiments involved in Figures 2, 4a, and 4b, which will not be repeated here.

[0268] In some embodiments, the second terminal 102 can determine the parameters of the first time window based on the protocol agreement; the second terminal 102 can also obtain the parameters of the first time window from at least one of the first terminal, the network device, and the third-party terminal, but is not limited to this, and the first time window parameters can also be determined by other means.

[0269] In some embodiments, the second terminal 102 performs processing to determine the first time window parameters.

[0270] In some embodiments, the second terminal 102 may obtain the first time window parameter from a higher layer.

[0271] In some embodiments, step 4301 is omitted, the first terminal 101 autonomously obtains the first time window parameters, or the above function is default or acquiescent.

[0272] Step 4302: Receive a positioning reference signal sent by the first terminal 101 within the first time window.

[0273] The optional implementation of step 4302 can refer to the optional implementation of step 2103 in Figure 2, step 4102 in Figure 4a, step 4202 in Figure 4b, and other related parts in the embodiments involved in Figures 2, 4a, and 4b, which will not be repeated here.

[0274] In some embodiments, the second terminal 102 may receive a positioning reference signal sent by the first terminal within the first time window, but is not limited thereto. The second terminal 102 may also receive positioning reference signals sent by other entities.

[0275] Optionally, in some embodiments, the second terminal 102 may not receive the positioning reference signal sent by the first terminal 101 within the first time window.

[0276] In some embodiments, step 4302 is omitted and the above functions are default or by default.

[0277] Step 4303: Measure the positioning reference signal.

[0278] The optional implementation of step 4303 can refer to the optional implementation of step 2104 in Figure 2, step 4103 in Figure 4a, step 4203 in Figure 4b, and other related parts in the embodiments involved in Figures 2, 4a, and 4b, which will not be repeated here.

[0279] Optionally, in some embodiments, the second terminal 102 may also determine the position of the located subject based on the measurement result of the positioning reference signal.

[0280] The positioning method involved in the embodiments of the present disclosure may include at least one of steps 4301 to 4303. For example, step 4301 may be implemented as an independent embodiment, step 4302 may be implemented as an independent embodiment, steps 4301+4302 may be implemented as an independent embodiment, and steps 4302+4303 may be implemented as independent embodiments, but are not limited thereto.

[0281] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, and the optional methods or optional examples can be arbitrarily combined and can be arbitrarily combined with other embodiments or examples.

[0282] FIG4 d is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG4 d , the embodiment of the present disclosure relates to a positioning method, which is executed by the second terminal 102 and includes:

[0283] Step 4401: Receive a positioning reference signal sent by the first terminal 101 within a first time window.

[0284] Optional implementations of step 4401 may refer to the optional implementations of step 2103 in FIG. 2 , step 4102 in FIG. 4a , step 4202 in FIG. 4b , and step 4302 in FIG. 4c , as well as other related parts in the embodiments involved in FIG. 2 , FIG. 4a , FIG. 4b , and FIG. 4c , which will not be repeated here.

[0285] In some embodiments, the second terminal 102 may receive a positioning reference signal sent by the first terminal within the first time window, but is not limited thereto. The second terminal 102 may also receive positioning reference signals sent by other entities.

[0286] Optionally, in some embodiments, the second terminal 102 may not receive the positioning reference signal sent by the first terminal 101 within the first time window.

[0287] Optionally, in some embodiments, the first time window includes: a periodic time window or a non-periodic time window.

[0288] Optionally, in some embodiments, the parameters of the first time window include at least one of the following: a starting position of the time window, a duration of the time window, a period of the time window, and the number of time windows.

[0289] Optionally, in some embodiments, the cycle start position and / or time window start position is determined based on absolute time or relative time, the absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the OFDM symbol sequence number or the OFDM symbol offset value.

[0290] Optionally, in some embodiments, the parameters of the first time window are determined by at least one of the following entities: the first terminal, the second terminal, the network device, or a third-party terminal.

[0291] Optionally, in some embodiments, the third-party terminal is configured to perform at least one of the following: initiating a positioning request, determining a positioning method, and calculating a positioning position.

[0292] Optionally, in some embodiments, the method further includes: the second terminal 102 determining parameters of the first time window.

[0293] Optionally, in some embodiments, determining the parameters of the first time window includes any one of the following: the second terminal 102 determines the parameters of the first time window based on protocol agreement; the second terminal 102 obtains the parameters of the first time window from at least one of the first terminal, the network device, and the third-party terminal.

[0294] Optionally, in some embodiments, obtaining the parameters of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: the second terminal 102 receives a side link positioning protocol SLPP request message from at least one of the second terminal, the network device, and the third-party terminal, and the SLPP request message carries the parameters of the first time window.

[0295] Optionally, in some embodiments, the method further includes: the second terminal 102 measuring the positioning reference signal.

[0296] FIG5 is a flow chart of a positioning method according to an embodiment of the present disclosure. As shown in FIG5 , an embodiment of the present disclosure relates to a positioning method for a communication system, the method comprising:

[0297] Step 5101: The first terminal 101 sends a positioning reference signal to the second terminal 102 within a first time window.

[0298] For optional implementations of step 5101, please refer to the optional implementations of step 2103 in Figure 2 and other related parts in the embodiment involved in Figure 2. In some optional embodiments, step 5101 may include step 3102 in Figure 3a, step 3202 in Figure 3b, step 3302 in Figure 3c, step 3401 in Figure 3d, step 4102 in Figure 4a, step 4202 in Figure 4b, step 4302 in Figure 4c, and step 4401 in Figure 4d, as well as other related parts in the embodiments involved in Figures 3a-3d and 4a-4d, which are not repeated here.

[0299] In some embodiments, the above method may include the method described in the above embodiments of the communication system side, the first terminal side, the second terminal side, etc., which will not be repeated here.

[0300] The following is an exemplary introduction to the above method. In one embodiment, the method may include the following steps:

[0301] Step 6101: Define a time window.

[0302] In some embodiments, the time windows include periodic time windows and / or non-periodic time windows.

[0303] Optionally, in some embodiments, the parameters of the periodic time window include at least one of the following: a period parameter of the time window, a position parameter of the time window within the period, a continuous number of periods, and a corresponding sending time period.

[0304] Optionally, in some embodiments, the periodic parameters of the time window may include at least one of the following: a period length and a period start position. The periodic parameters of the time window may be defined based on absolute time (e.g., UTC time, GNSS time) or relative time (e.g., DFN sequence number).

[0305] Optionally, in some embodiments, the position parameters of the time window within the cycle may include at least one of the following: a starting position, a window length. The position parameters of the time window within the cycle may be defined based on absolute time (such as UTC time, GNSS time) or relative time (such as slot number).

[0306] Optionally, in some embodiments, the information of the non-periodic time window includes parameters of the time window.

[0307] Optionally, in some embodiments, the time window parameters include at least one of the following: a starting position and a window length. The time window parameters may be defined based on absolute time (e.g., UTC time, GNSS time) or relative time (e.g., DFN number, slot number).

[0308] Step 6202: Instruct one or more first terminals to send SL PRS within a specified time window.

[0309] Optionally, in some embodiments, the base station may determine the selection method of the sidelink transmission resource.

[0310] For example, the LMF network element determines the time window, passes the parameters of the time window to the serving gNB of one or more first terminals through the SLPP message, or sends it to its serving gNB by the one or more first terminals, and the serving gNB of the one or more first terminals allocates SL PRS sending resources to the one or more first terminals within the above-mentioned time window.

[0311] Optionally, in some embodiments, the first terminal may autonomously determine a method for selecting side chain transmission resources.

[0312] For example, a second terminal or a third-party terminal (e.g., a target terminal, a service terminal, or a terminal that determines a positioning method) determines a time window and transmits the time window information to one or more related first terminals via an SLPP message. For example, the window information is transmitted via an SLPP location request message or an SLPP assistance information request message.

[0313] In some embodiments, one or more first terminals that receive the time window parameter choose to send the SL PRS within the above-mentioned time window.

[0314] Step 6203: Instruct one or more second terminals to receive and measure the SL PRS within a specified time window.

[0315] Optionally, in some embodiments, the second terminal may autonomously determine the selection method of the side chain transmission resource.

[0316] For example, a first terminal or a third-party terminal (e.g., a target terminal, a service terminal, or a terminal that determines a positioning method) determines a time window, and transmits the time window information to one or more related first terminals via an SLPP message. For example, the window information is transmitted via an SLPP location request message or an SLPP assistance information request message.

[0317] Optionally, in some embodiments, the selection method of the side chain reception resource may be determined by the base station.

[0318] For example, the LMF network element determines the time window, passes the parameters of the time window to the serving gNB of one or more second terminals through the SLPP message, or sends it to its serving gNB through the one or more second terminals, and the serving gNB of the one or more second terminals allocates SL PRS reception resources to the one or more first terminals within the above-mentioned time window.

[0319] In some embodiments, the one or more second terminals that receive the time window parameter accept and measure the SL PRS within the aforementioned time window.

[0320] The embodiments of the present disclosure further provide an apparatus for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing each step performed by the first terminal 101 in any of the above methods. For another example, another apparatus is provided that includes units or modules for implementing each step performed by the second terminal 102 in any of the above methods.

[0321] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may 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 the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein 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 within the device or a memory 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 realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units or modules by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized 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 by configuring the configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the remaining part by the form of hardware circuits.

[0322] 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 execution 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); in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as 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 hardware circuit configuration 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 ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0323] Figure 7a is a schematic diagram of the structure of the first terminal proposed in an embodiment of the present disclosure. As shown in Figure 7a, the first terminal 7100 may include: at least one of a transceiver module 7101, a processing module 7102, etc. In some embodiments, the transceiver module 7101 is used to send a positioning reference signal to the second terminal within a first time window. Optionally, the transceiver module 7101 is used to perform at least one of the communication steps such as sending and / or receiving (such as step 2103, but not limited to this), which will not be repeated here. Optionally, the processing module 7102 is used to perform at least one of the other steps (such as step 2101, but not limited to this) performed by the first terminal in any of the above methods, which will not be repeated here.

[0324] Figure 7b is a schematic diagram of the structure of the second terminal proposed in an embodiment of the present disclosure. As shown in Figure 7b, the second terminal 7200 includes: at least one of a transceiver module 7201 and a processing module 7202. In some embodiments, the transceiver module 7201 is used to receive a positioning reference signal sent by the first terminal within a first time window. Optionally, the transceiver module 7201 is used to perform at least one of the communication steps such as sending and / or receiving (such as step 2103, but not limited to this), which are not repeated here. Optionally, the processing module 7202 is used to perform at least one of the other steps (such as step 2102, step 2104, but not limited to this) performed by the second terminal 7200 in any of the above methods, which are not repeated here.

[0325] Figure 8a is a schematic diagram of the structure of a communication device 8100 proposed in an embodiment of the present disclosure. Communication device 8100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a terminal), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 8100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0326] As shown in Figure 8a, the communication device 8100 includes one or more processors 8101. The processor 8101 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (such as a base station, baseband chip, terminal device, terminal device chip, DU or CU, etc.), execute programs, and process program data. The processor 8101 is used to call instructions to enable the communication device 8100 to perform any of the above methods.

[0327] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 may be located outside the communication device 8100.

[0328] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the communication steps such as sending and receiving in the above method are performed by the transceiver 8103, and the other steps are performed by the processor 8101.

[0329] In some embodiments, a transceiver may include a receiver and a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0330] Optionally, the communication device 8100 further includes one or more interface circuits 8104, which are connected to the memory 8102. The interface circuits 8104 can be used to receive signals from the memory 8102 or other devices, and can be used to send signals to the memory 8102 or other devices. For example, the interface circuits 8104 can read instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0331] The communication device 8100 described in the above embodiment may be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 may not be limited by FIG. 8a. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a 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 or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0332] FIG8b is a schematic diagram of the structure of a chip 8200 according to an embodiment of the present disclosure. If the communication device 8100 can be a chip or a chip system, reference can be made to the schematic diagram of the structure of the chip 8200 shown in FIG8b, but the present disclosure is not limited thereto.

[0333] The chip 8200 includes one or more processors 8201, and the processor 8201 is used to call instructions so that the chip 8200 executes any of the above methods.

[0334] In some embodiments, chip 8200 further includes one or more interface circuits 8202, which are connected to memory 8203. Interface circuit 8202 can be used to receive signals from memory 8203 or other devices, and can be used to send signals to memory 8203 or other devices. For example, interface circuit 8202 can read instructions stored in memory 8203 and send the instructions to processor 8201. Optionally, the terms interface circuit, interface, transceiver pin, and transceiver are interchangeable.

[0335] In some embodiments, the chip 8200 further includes one or more memories 8203 for storing instructions. Alternatively, all or part of the memories 8203 may be outside the chip 8200.

[0336] The present disclosure also proposes a storage medium having instructions stored thereon, which, when executed on the communication device 8100, causes the communication device 8100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto, and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto, and may also be a temporary storage medium.

[0337] The present disclosure also provides a program product, which, when executed by the communication device 8100, enables the communication device 8100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0338] The program product can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a program product. The program product includes one or more programs. When the program is loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The program can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the program can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0339] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0340] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A positioning method, characterized in that: The method is performed by a first terminal, and includes: In the first time window, a positioning reference signal is sent to the second terminal.

2. The method according to claim 1, characterized in that The first time window includes: Periodic time windows; or Aperiodic time windows.

3. The method according to claim 1 or 2, characterized in that: The parameters of the first time window include at least one of the following: The starting position of the time window; the duration of the time window; the duration of the time window; or The number of time windows.

4. The method according to claim 3, characterized in that The period start position and / or the time window start position are determined based on absolute time or relative time, The absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the Orthogonal Frequency Division Multiplexing OFDM symbol sequence number or the OFDM symbol offset value.

5. The method according to any one of claims 1 to 4, characterized in that The parameters of the first time window are determined by at least one of the following entities: the first terminal; the second terminal; Network equipment; or Third-party terminal.

6. The method according to claim 5, wherein the third-party terminal is configured to perform at least one of the following: Initiate a positioning request; Determine the positioning method; Calculate the positioning position.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Parameters of the first time window are determined.

8. The method according to claim 7, characterized in that The parameter for determining the first time window includes any one of the following: Determine the parameters of the first time window based on the protocol agreement; or Obtain parameters of the first time window from at least one of the second terminal, a network device, and a third-party terminal.

9. The method according to claim 8, characterized in that The acquiring the parameter of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: A Sidelink Positioning Protocol (SLPP) request message is received from at least one of the second terminal, the network device, and the third-party terminal, where the SLPP request message carries parameters of the first time window.

10. A positioning method, characterized in that: The method is performed by a second terminal, and the method includes: In a first time window, a positioning reference signal sent by a first terminal is received.

11. The method according to claim 10, characterized in that The first time window includes: Periodic time windows; or Aperiodic time windows.

12. The method according to claim 10 or 11, characterized in that: The parameters of the first time window include at least one of the following: Cycle length; The starting position of the time window; the duration of the time window; the duration of the time window; or The number of time windows.

13. The method according to claim 12, characterized in that The period start position and / or the time window start position are determined based on absolute time or relative time, The absolute time includes at least one of the Universal Coordinated Time UTC and the Global Navigation Satellite System GNSS time, and the relative time includes at least one of the Direct Frame Number DFN sequence number, the time slot sequence number or the timing offset value, the Orthogonal Frequency Division Multiplexing OFDM symbol sequence number or the OFDM symbol offset value.

14. The method according to any one of claims 10 to 13, characterized in that The parameters of the first time window are determined by at least one of the following entities: the first terminal; the second terminal; Network equipment; or Third-party terminal.

15. The method according to claim 14, wherein the third-party terminal is configured to perform at least one of the following: Initiate a positioning request; Determine the positioning method; Calculate the positioning position.

16. The method according to any one of claims 10 to 15, characterized in that The method further comprises: Parameters of the first time window are determined.

17. The method according to claim 16, characterized in that The parameter for determining the first time window includes any one of the following: Determine the parameters of the first time window based on the protocol agreement; or Obtain parameters of the first time window from at least one of the first terminal, a network device, and a third-party terminal.

18. The method according to claim 17, characterized in that The acquiring the parameter of the first time window from at least one of the second terminal, the network device, and the third-party terminal includes: A Sidelink Positioning Protocol (SLPP) request message is received from at least one of the second terminal, the network device, and the third-party terminal, where the SLPP request message carries parameters of the first time window.

19. The method according to any one of claims 10 to 17, characterized in that The method further comprises: The positioning reference signal is measured.

20. A first terminal, characterized in that: include: The transceiver module is used to send a positioning reference signal to the second terminal within the first time window.

21. A second terminal, characterized in that: include: The transceiver module is used to receive a positioning reference signal sent by a first terminal within a first time window.

22. A communication device, wherein: include: Transceiver; Memory; A processor is connected to the transceiver and the memory, respectively, and is configured to control the wireless signal reception and transmission of the transceiver by executing computer executable instructions on the memory, and can implement any one of the methods of claims 1-19.

23. A computer storage medium, wherein: The computer storage medium stores computer executable instructions; after the computer executable instructions are executed by the processor, the method described in any one of claims 1 to 19 can be implemented.

24. A communication system, characterized in that: include: A first terminal and a second terminal, wherein the first terminal is used to perform the method according to any one of claims 1 to 9; The second terminal is used to execute the method according to any one of claims 10 to 19.

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