Message transceiving method and apparatus, and communication device and storage medium

Abstract

The present disclosure relates to the technical field of communications, and particularly relates to a positioning method and apparatus, and a communication device and a storage medium. The positioning method comprises: a first device receiving a first SLPP message, which is sent by a second device, wherein the first SLPP message comprises first information, and the first information is used for indicating the quality of service of a position measurement. In the present disclosure, a first device may receive a first SLPP message, which is sent by a second device, wherein the first SLPP message may comprise first information for indicating the quality of service of a position measurement. Thus, in sidelink positioning, the second device may indicate the quality of service of the position measurement to the first device, such that the first device may learn of the quality of service of the position measurement, and the first device may thus perform the position measurement according to the quality of service, thereby facilitating ensuring that a measurement result meets a requirement.

Description

Message sending and receiving method, device, communication equipment and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a positioning method, apparatus, communication device, and storage medium. Background Art

[0002] Sidelink (SL) positioning refers to the ability to locate a terminal based on a sidelink between terminals.

[0003] The Sidelink Positioning Protocol (SLPP) is a protocol for exchanging positioning messages between two terminals. For SL positioning, the positioning messages exchanged between a terminal and the Location Management Function (LMF) are referred to as SLPP messages. SLPP supports both distance measurement (abbreviated as "ranging") and angle measurement (abbreviated as "angle measurement").

[0004] Summary of the Invention

[0005] The embodiments of the present disclosure provide a positioning method, apparatus, communication device, and storage medium to solve technical problems in related technologies.

[0006] According to a first aspect of an embodiment of the present disclosure, a positioning method is proposed, which is performed by a first device. The method includes: receiving a first SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the location measurement.

[0007] According to a second aspect of an embodiment of the present disclosure, a positioning method is proposed, which is performed by a second device. The method includes: sending a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the position measurement.

[0008] According to a third aspect of an embodiment of the present disclosure, a positioning device is proposed, comprising: a transceiver module, configured to receive a first SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the location measurement.

[0009] According to a fourth aspect of an embodiment of the present disclosure, a positioning apparatus is proposed, comprising: a transceiver module, configured to send a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service for position measurement.

[0010] According to a fifth aspect of an embodiment of the present disclosure, a first device is proposed, comprising: one or more processors; wherein the processor is used to call instructions to enable the first device to execute the positioning method of the first aspect above.

[0011] According to a sixth aspect of an embodiment of the present disclosure, a second device is proposed, comprising: one or more processors; wherein the processor is used to call instructions to enable the second device to execute the positioning method of the second aspect above.

[0012] According to the seventh aspect of an embodiment of the present disclosure, a communication device is proposed, comprising: one or more processors; wherein the processor is used to call instructions so that the communication device executes the positioning method of the first aspect above and / or the positioning method of the second aspect above.

[0013] According to an eighth aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first device and a second device, wherein the first device is configured to implement the positioning method of the first aspect, and the second device is configured to implement the positioning method of the second aspect.

[0014] According to a ninth aspect of an embodiment of the present disclosure, a storage medium is proposed, wherein the storage medium stores instructions. When the instructions are executed on a communication device, the communication device executes the positioning method of the first aspect and / or the positioning method of the second aspect.

[0015] According to an embodiment of the present disclosure, a first device may receive a first SLPP message sent by a second device. The first SLPP message may include first information indicating the quality of service of the location measurement. Accordingly, during sidelink positioning, the second device may indicate the quality of service of the location measurement to the first device, allowing the first device to obtain the quality of service of the location measurement. The first device may then perform location measurement based on the quality of service, thereby ensuring that the measurement result meets requirements.

[0016] Furthermore, by implementing one or more of the above embodiments, the second device may indicate the location measurement service quality to the first device, so that the first device can learn the location measurement service quality expected by the second device. For example, when the second device indicates to the first device a higher location measurement service quality, this is beneficial for improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] FIG1 is a schematic diagram showing the architecture of a communication system according to an embodiment of the present disclosure.

[0019] FIG2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

[0020] FIG3 is a schematic diagram showing a positioning method based on DL TDOA according to an embodiment of the present disclosure.

[0021] FIG4 is a schematic flowchart showing a positioning method according to an embodiment of the present disclosure.

[0022] FIG5 is a schematic flowchart showing another positioning method according to an embodiment of the present disclosure.

[0023] FIG6 is a schematic block diagram of a positioning device according to an embodiment of the present disclosure.

[0024] FIG7 is a schematic block diagram of another positioning device according to an embodiment of the present disclosure.

[0025] FIG8 is a schematic structural diagram of a communication device proposed in an embodiment of the present disclosure.

[0026] FIG9 is a schematic diagram of the structure of a chip proposed in an embodiment of the present disclosure. DETAILED DESCRIPTION

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

[0028] In a first aspect, an embodiment of the present disclosure proposes a positioning method, which is performed by a first device, and the method includes: receiving a first sidelink positioning protocol SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the position measurement.

[0029] In the above embodiment, the first device may receive a first SLPP message sent by the second device. The first SLPP message may include first information indicating the quality of service of the location measurement. Accordingly, during sidelink positioning, the second device may indicate the quality of service of the location measurement to the first device, allowing the first device to obtain the quality of service of the location measurement. The first device can then perform location measurement based on the quality of service, thereby ensuring that the measurement result meets requirements.

[0030] In conjunction with some embodiments of the first aspect, in some embodiments, the quality of service includes at least one of the following: quality of service of distance measurement; and quality of service of angle measurement.

[0031] In combination with some embodiments of the first aspect, in some embodiments, the quality of service of the distance measurement includes at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement.

[0032] In combination with some embodiments of the first aspect, in some embodiments, the quality of service of the angle measurement includes at least one of the following: accuracy of the angle measurement; and confidence of the angle measurement.

[0033] In combination with some embodiments of the first aspect, in some embodiments, the accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; and the confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

[0034] In combination with some embodiments of the first aspect, in some embodiments, the first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

[0035] In combination with some embodiments of the first aspect, in some embodiments, the type includes at least one of the following: whether to perform distance measurement; and whether to perform angle measurement.

[0036] In combination with some embodiments of the first aspect, in some embodiments, whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; and whether to perform elevation angle measurement.

[0037] In combination with some embodiments of the first aspect, in some embodiments, the second information is carried in a public location information request information element IE of the first SLPP message.

[0038] In combination with some embodiments of the first aspect, in some embodiments, the second information is carried in a location coordinate type IE under the public location information request IE.

[0039] In combination with some embodiments of the first aspect, in some embodiments, the method further includes: sending a second SLPP message to the second device, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

[0040] In combination with some embodiments of the first aspect, in some embodiments, the third information is further used to indicate at least one of the following: uncertainty of the position measurement result; and confidence level of the position measurement result.

[0041] In combination with some embodiments of the first aspect, in some embodiments, the position measurement result includes at least one of the following: a distance measurement result; and an angle measurement result.

[0042] In combination with some embodiments of the first aspect, in some embodiments, the angle measurement result includes at least one of the following: an azimuth angle measurement result; and a pitch angle measurement result.

[0043] In combination with some embodiments of the first aspect, in some embodiments, the third information includes a mapping value of the uncertainty of the position measurement result.

[0044] In combination with some embodiments of the first aspect, in some embodiments, the mapping value includes at least one of the following: a first mapping value obtained by mapping the uncertainty of the distance measurement result; and a second mapping value obtained by mapping the uncertainty of the angle measurement result.

[0045] In combination with some embodiments of the first aspect, in some embodiments, the second mapped value includes at least one of the following: a second mapped value obtained by mapping the uncertainty of the azimuth angle measurement result; or a second mapped value obtained by mapping the uncertainty of the elevation angle measurement result.

[0046] In conjunction with some embodiments of the first aspect, in some embodiments, the first mapping value is obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule, wherein the first mapping rule includes a nonlinear mapping rule.

[0047] In combination with some embodiments of the first aspect. In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; wherein the first mapping rule includes a nonlinear mapping rule; and the second mapping rule includes a linear mapping rule.

[0048] In combination with some embodiments of the first aspect, in some embodiments, the third information is carried in a public provision location information IE of the second SLPP message.

[0049] In combination with some embodiments of the first aspect, in some embodiments, the third information is carried in a location coordinate IE under the publicly provided location information IE.

[0050] In a second aspect, an embodiment of the present disclosure proposes a positioning method, which is performed by a second device. The method includes: sending a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the location measurement.

[0051] In the above embodiment, the second device may send a first SLPP message to the first device. The first SLPP message may include first information indicating the quality of service of the location measurement. Accordingly, during sidelink positioning, the second device may indicate the quality of service of the location measurement to the first device, allowing the first device to obtain the quality of service of the location measurement. The first device can then perform location measurement based on the quality of service, thereby ensuring that the measurement result meets requirements.

[0052] In conjunction with some embodiments of the second aspect, in some embodiments, the quality of service includes at least one of the following: quality of service of distance measurement; and quality of service of angle measurement.

[0053] In conjunction with some embodiments of the second aspect, in some embodiments, the quality of service of the distance measurement includes at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement.

[0054] In conjunction with some embodiments of the second aspect, in some embodiments, the quality of service of the angle measurement includes at least one of the following: accuracy of the angle measurement; and confidence of the angle measurement.

[0055] In conjunction with some embodiments of the second aspect, in some embodiments, the accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; and the confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

[0056] In combination with some embodiments of the second aspect, in some embodiments, the first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

[0057] In conjunction with some embodiments of the second aspect, in some embodiments, the type includes at least one of the following: whether to perform distance measurement; and whether to perform angle measurement.

[0058] In combination with some embodiments of the second aspect, in some embodiments, whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; and whether to perform elevation angle measurement.

[0059] In combination with some embodiments of the second aspect, in some embodiments, the second information is carried in a public location information request IE of the first SLPP message.

[0060] In combination with some embodiments of the second aspect, in some embodiments, the second information is carried in a location coordinate type IE under the public location information request IE.

[0061] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: receiving a second SLPP message sent by the first device, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

[0062] In combination with some embodiments of the second aspect, in some embodiments, the third information is further used to indicate at least one of the following: uncertainty of the position measurement result; and confidence level of the position measurement result.

[0063] In conjunction with some embodiments of the second aspect, in some embodiments, the position measurement result includes at least one of the following: a distance measurement result; and an angle measurement result.

[0064] In conjunction with some embodiments of the second aspect, in some embodiments, the angle measurement result includes at least one of the following: an azimuth angle measurement result; or a pitch angle measurement result.

[0065] In combination with some embodiments of the second aspect, in some embodiments, the third information includes a mapping value of the uncertainty of the position measurement result.

[0066] In conjunction with some embodiments of the second aspect, in some embodiments, the mapping value includes at least one of the following: a first mapping value obtained by mapping the uncertainty of the distance measurement result; and a second mapping value obtained by mapping the uncertainty of the angle measurement result.

[0067] In combination with some embodiments of the second aspect, in some embodiments, the second mapped value includes at least one of the following: a second mapped value obtained by mapping the uncertainty of the azimuth angle measurement result; or a second mapped value obtained by mapping the uncertainty of the elevation angle measurement result.

[0068] In conjunction with some embodiments of the second aspect, in some embodiments, the first mapping value is obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule, wherein the first mapping rule includes a nonlinear mapping rule.

[0069] In combination with some embodiments of the second aspect. In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; wherein the first mapping rule includes a nonlinear mapping rule; and the second mapping rule includes a linear mapping rule.

[0070] In combination with some embodiments of the second aspect, in some embodiments, the third information is carried in a public provision location information IE of the second SLPP message.

[0071] In combination with some embodiments of the second aspect, in some embodiments, the third information is carried in a location coordinate IE under the publicly provided location information IE.

[0072] In a third aspect, an embodiment of the present disclosure provides a positioning device, comprising:

[0073] The transceiver module is configured to receive a first SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate the quality of service of the location measurement.

[0074] In a fourth aspect, an embodiment of the present disclosure provides a positioning device, comprising:

[0075] The transceiver module is configured to send a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service for location measurement.

[0076] In a fifth aspect, an embodiment of the present disclosure proposes a first device, comprising: one or more processors; wherein the above-mentioned processor is used to call instructions to enable the first device to execute the positioning method described in the first aspect and the optional embodiment of the first aspect.

[0077] In a sixth aspect, an embodiment of the present disclosure proposes a second device, comprising: one or more processors; wherein the above-mentioned processor is used to call instructions to enable the second device to execute the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0078] In the seventh aspect, an embodiment of the present disclosure proposes a communication device, which includes: one or more processors; one or more memories for storing instructions; wherein the processor is used to call the instructions so that the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0079] In the eighth aspect, an embodiment of the present disclosure proposes a communication system, which includes: a first device and a second device; wherein the first device is configured to execute the method described in the first aspect and the optional embodiment of the first aspect, and the second device is configured to execute the method described in the second aspect and the optional embodiment of the second aspect.

[0080] In the ninth aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed on a communication device, the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0081] In a tenth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0082] In an eleventh aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute the methods described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0083] It should be noted that, when implementing one or more of the above embodiments, the second device may indicate the location measurement service quality to the first device, so that the first device can know the location measurement service quality expected by the second device. For example, when the second device indicates to the first device a higher location measurement service quality, this is conducive to improving positioning accuracy.

[0084] It is understandable that the first device, the second device, the communication device, the communication system, the storage medium, the program product, and the computer program are all used to perform the method proposed in the embodiment of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method and will not be repeated here.

[0085] The present disclosure provides positioning methods, apparatuses, communication devices, and storage media. 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 positioning system, information processing system, and communication system are interchangeable.

[0086] 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 embodiments 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 embodiments of other embodiments.

[0087] 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.

[0088] 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.

[0089] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc.

[0090] For example, when using articles such as “a”, “an”, and “the” in English in translation, the noun following the article can be understood as a singular expression or a plural expression.

[0091] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0092] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0093] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0094] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0095] 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 restrictions on the position, order, priority, quantity or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes.

[0096] For example, if the description object is "field," the ordinal number preceding "field" in "first field" and "second field" does not restrict the position or order of the "fields." "First" and "second" do not restrict whether the modified "fields" are in the same message, nor do they restrict the order of the "first field" and "second field." For another example, if the description object is "level," the ordinal number preceding "level" in "first level" and "second level" does not restrict the priority of the "levels." For another example, the number of description objects is not restricted by the ordinal number and can be one or more. For example, in the case of "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the description object is "device," "first device" and "second device" can be the same or different devices, and their types can be the same or different. For another example, if the description object is "information," "first information" and "second information" can be the same or different information, and their content can be the same or different.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] In some embodiments, devices and the like can be interpreted as physical or virtual, and their names are not limited to those in the embodiments.

[0101] The recorded names, "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject" and other terms can be used interchangeably.

[0102] In some embodiments, "network" can be interpreted as devices included in the network (eg, access network equipment, core network equipment, etc.).

[0103] 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", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)" and the like may be used interchangeably.

[0104] 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.

[0105] 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, device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it is also possible to set the structure in which the terminal has all or part of the functions of the access network device. In addition, terms such as "uplink" and "downlink" can also be replaced by terms 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.

[0106] 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.

[0107] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0108] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0109] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0110] FIG1 is a schematic diagram showing the architecture of a communication system according to an embodiment of the present disclosure.

[0111] As shown in FIG. 1 , a communication system 100 includes a first device 101 and a second device 102 .

[0112] In some embodiments, the first device 101 may be a terminal, and the second device 102 may be another terminal or a network device other than the first device. The other terminal may include a target UE, an anchor UE, or a server UE; and the network device may include at least one of the following: an access network device, a core network device, etc.

[0113] In some embodiments, the terminal includes, for example, 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 at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0114] In a possible implementation, the first device 101 may be a first terminal, and the second device 102 may be a second terminal.

[0115] In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a 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 (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 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 Wi-Fi system, but is not limited thereto.

[0116] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can be transformed into internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0117] 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.

[0118] In some embodiments, a core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0119] In some embodiments, the core network device may include a location management function (LMF).

[0120] In a possible implementation, the first device 101 may be a terminal, and the second device 102 may be a LMF.

[0121] 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.

[0122] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or a portion thereof, but are not limited thereto. The entities shown in FIG1 are illustrative only. The communication system may include all or part of the entities shown in FIG1 , or may include other entities outside of FIG1 . The number and form of the entities are arbitrary, and the entities may be physical or virtual. The connection relationships between the entities are illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0123] The embodiments of the present disclosure may be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G New Radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New Radio Access (NX), Future Generation Radio Access (FX), Global System for Mobile Communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.17 (WiMAX (registered trademark)), IEEE 802.18 (WiMAX (registered trademark)), IEEE 802.19 (WiMAX (registered trademark)), IEEE 802.20 (WiMAX (registered trademark)), IEEE 802.21 (WiMAX (registered trademark)), IEEE 802.22 (WiMAX (registered trademark)), IEEE 802.23 (WiMAX (registered trademark)), IEEE 802.24 (WiMAX (registered trademark)), IEEE 802.25 (WiMAX (registered trademark)), IEEE 802.26 (WiMAX (registered trademark)), IEEE 802.27 (WiMAX (registered trademark)), IEEE 802.28 (WiMAX (registered trademark)), IEEE 802.29 (WiMAX (registered trademark)), IEEE 802.30 (WiMAX (registered trademark)), IEEE 802.31 (WiMAX (registered trademark)), IEEE 802.32 (WiMAX (registered trademark)), IEEE 802.33 (WiMAX (registered trademark)), 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0124] FIG2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

[0125] As shown in Figure 2, the positioning method includes:

[0126] Step S201: The second device sends a first SLPP message to the first device.

[0127] In some embodiments, the first SLPP message may include first information. In one possible implementation, the first information may be used to indicate the quality of service of the location measurement.

[0128] In some embodiments, the first device may include a node that receives the first SLPP message, and the second device may include a node that sends the first SLPP message.

[0129] In some embodiments, the first device may include any of the following: a terminal; a roadside unit (RSU). The second device may include any of the following: a terminal; an RSU; or a LMF. In one possible implementation, the first device may be a terminal, and the second device may be another terminal. In another possible implementation, the first device may be a terminal, and the second device may be an LMF.

[0130] In some embodiments, the first SLPP message may include a message using SLPP. The first SLPP message may be used to indicate relevant parameters of the position measurement. In a possible implementation, the first SLPP message may include an SLPP positioning request message.

[0131] In some embodiments, the first information may include Quality of Service (QoS) information, wherein the QoS information may be used to indicate the quality of service of the location measurement.

[0132] In some embodiments, the first device may receive a first SLPP message sent by the second device.

[0133] In some embodiments, the quality of service may include at least one of the following: quality of service for range measurement; quality of service for angle measurement. In the embodiments of the present disclosure, the quality of service for range measurement may also be described as accuracy requirement information for range measurement; and the quality of service for angle measurement may also be described as accuracy requirement information for angle measurement.

[0134] In a possible implementation, the quality of service of the distance measurement may include at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement. The accuracy may represent the quality of service expected by the second device.

[0135] In a possible implementation, the service quality of the angle measurement may include at least one of the following: accuracy of the angle measurement; and confidence of the angle measurement.

[0136] In one possible implementation, the QoS of the angle measurement may be differentiated into QoS of azimuth measurement and QoS of elevation measurement. For example, the QoS of the angle measurement may include at least one of the following: accuracy of azimuth measurement; accuracy of elevation measurement; confidence of azimuth measurement; and confidence of elevation measurement.

[0137] In the above embodiment, through the first information included in the first SLPP message, the service quality of the location measurement indicated by the second device to the first device may specifically include one or more of the accuracy and / or confidence of distance measurement, the accuracy and / or confidence of azimuth measurement, and the accuracy and / or confidence of pitch angle measurement, thereby improving the accuracy of the service quality of the indicated location measurement.

[0138] In some embodiments, the first SLPP message may further include second information, where the second information may be used to indicate a type of sidelink positioning measurement.

[0139] In one possible implementation, the type may include at least one of the following: whether to perform distance measurement; whether to perform angle measurement. In a further embodiment, whether to perform angle measurement may include at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

[0140] In some embodiments, the second information may be carried in a public location information request information element (IE) of the first SLPP message, wherein the public location information request IE may be used to indicate the type of location information required.

[0141] In a possible implementation, the second information may be carried in a location coordinate type IE under the public location information request IE, wherein the location coordinate type IE may be used to indicate a representation method of the required location information.

[0142] In the above embodiment, through the second information contained in the first SLPP message, the second device can instruct the first device which specific types of side link positioning measurements to perform, so that the first device can perform one or more of distance measurement, azimuth measurement, and pitch angle measurement as needed according to the second information, thereby helping to save terminal power consumption of the first device.

[0143] In some embodiments, after receiving the first SLPP message, the first device may perform location measurement according to the first information and / or second information included in the first SLPP message to obtain a location measurement result.

[0144] Step S202: The first device sends a second SLPP message to the second device.

[0145] In some embodiments, the second SLPP message includes third information. In a possible implementation, the third information is used to indicate a location measurement result.

[0146] In some embodiments, the second SLPP message may include a message using SLPP. The second SLPP message may be used to report the location measurement result. In one possible implementation, the second SLPP message may include an SLPP providing location information message.

[0147] In some embodiments, the third information may include location information, wherein the location information may be used to indicate a location measurement result of the first device.

[0148] In some embodiments, the second device may receive the second SLPP message sent by the first device.

[0149] In the above embodiment, the first device may send a second SLPP message to the second device, and the second SLPP message may include third information indicating the position measurement result. Accordingly, in sidelink positioning, the first device may report the position measurement result to the second device, thereby allowing the second device to determine the positioning result based on the position measurement result reported by the first device.

[0150] In some embodiments, the position measurement result may include at least one of the following: a distance measurement result; an angle measurement result. In a possible implementation, the angle measurement result may include at least one of the following: an azimuth angle measurement result; and a pitch angle measurement result.

[0151] In some embodiments, the third information may further be used to indicate at least one of the following: uncertainty of the location measurement result; or confidence in the location measurement result. The uncertainty may be described as the accuracy of the location measurement result actually provided by the first device to the second device.

[0152] In one possible implementation, the uncertainty of the position measurement result may include at least one of the following: uncertainty of distance measurement; uncertainty of angle measurement. The uncertainty of angle measurement may include at least one of the following: uncertainty of azimuth angle measurement; and uncertainty of elevation angle measurement.

[0153] In one possible implementation, the confidence level of the position measurement result may include at least one of the following: the confidence level of distance measurement; the confidence level of angle measurement. The confidence level of angle measurement may include at least one of the following: the confidence level of azimuth measurement; the confidence level of elevation measurement.

[0154] In some embodiments, the third information is used to indicate the uncertainty of the position measurement result, and the third information may include a mapping value of the uncertainty of the position measurement result.

[0155] In one possible implementation, the mapped value may include at least one of the following: a first mapped value obtained by mapping the uncertainty of a distance measurement result; or a second mapped value obtained by mapping the uncertainty of an angle measurement result. The second mapped value may include at least one of the following: a second mapped value obtained by mapping the uncertainty of an azimuth angle measurement result; or a second mapped value obtained by mapping the uncertainty of an elevation angle measurement result.

[0156] In the above embodiment, since the uncertainty of the location measurement result is large, directly reporting the uncertainty of the location measurement result may require occupying more bits. Therefore, the first device can first map the location measurement result according to the mapping rule to obtain the mapping value of the uncertainty of the location measurement result, and then report the mapping value of the uncertainty of the location measurement result to the second device, thereby saving the signaling overhead of reporting the location measurement result.

[0157] In some embodiments, the first mapping value may be obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0158] In the above embodiment, since the uncertainty of the distance measurement result may be relatively large, the uncertainty of the distance measurement result may be mapped according to a nonlinear mapping rule to obtain a first mapping value, thereby further saving signaling overhead.

[0159] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0160] In the above embodiments, since the first mapping rule used to map the uncertainty of the distance measurement result and the second mapping rule used to map the uncertainty of the angle measurement result are consistent, for example, the first mapping value and the second mapping value are obtained according to the same mapping rule (such as the same nonlinear mapping rule), the operational complexity of the first device reporting the position measurement result is reduced.

[0161] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a second mapping rule; wherein the second mapping rule includes a linear mapping rule.

[0162] In the above embodiment, since the uncertainty of the angle measurement result is small (will not exceed 360), the first device can map the uncertainty of the angle measurement result according to the linear mapping rule to obtain a second mapping value of the uncertainty of the angle measurement result, so that the second mapping value can accurately reflect the size of the uncertainty.

[0163] In some embodiments, the third information may be carried in a public provision location information IE of the second SLPP message.

[0164] In a possible implementation manner, the third information may be carried in the location coordinate IE under the publicly provided location information IE.

[0165] In one possible implementation, the third information can be used to jointly indicate at least one of the following: the azimuth measurement result; the uncertainty of the azimuth measurement result; the confidence of the azimuth measurement result; the pitch angle measurement result; the uncertainty of the pitch angle measurement result; the confidence of the pitch angle measurement result.

[0166] It should be noted that the above embodiments are merely exemplary descriptions. The angle measurement result and the confidence level of the angle measurement result may be jointly indicated, such as Elevation with uncertainty, or the angle measurement result, the uncertainty level of the angle measurement result and the confidence level of the angle measurement result may be jointly indicated, which will not be elaborated here.

[0167] In the above embodiments, compared with using different IEs to separately indicate the angle measurement results, and the uncertainty and / or confidence of the angle measurement results, a joint indication method is adopted, and at least one of the above information can be indicated by one IE, thereby saving the signaling overhead of reporting the measurement results.

[0168] It should be noted that, when implementing one or more of the above embodiments, the second device may indicate the location measurement service quality to the first device, so that the first device can know the location measurement service quality expected by the second device. For example, when the second device indicates to the first device a higher location measurement service quality, this is conducive to improving positioning accuracy.

[0169] In some embodiments, reference may be made to other optional embodiments described before or after the description corresponding to FIG. 2 .

[0170] In some embodiments, sidelink (SL) positioning refers to the ability to locate a terminal based on a sidelink between terminals. SL positioning can include absolute positioning, relative positioning, and ranging. Absolute positioning is used to determine the absolute coordinates of a terminal, relative positioning is used to determine the coordinates of a terminal relative to a reference point, and ranging is used to determine the distance and / or angle of a terminal relative to a reference point.

[0171] The side link involved in the present disclosure can also be translated as a direct link, a side link, a side link, etc., and the present disclosure does not limit it.

[0172] In some embodiments, ranging may typically involve two terminals participating in ranging, and absolute positioning and relative positioning may typically involve two or more terminals participating in positioning. The terminal being positioned may be referred to as a target UE, and the other terminals participating in positioning may be referred to as anchor UEs or positioning assistance terminals. In one possible implementation, if positioning involves only two terminals, the two terminals serve as each other's anchor terminals.

[0173] In some embodiments, anchor terminals come in different types. For example, a roadside unit (RSU) type anchor terminal is a type of infrastructure that can provide positioning services by collaborating with other RSUs. For example, an ordinary terminal can also serve as an anchor terminal, but it may be difficult for it to collaborate with other terminals to provide positioning services. For example, some anchor terminals have location information such as the Global Positioning System (GPS) and can be used to assist other terminals in absolute positioning, while other anchor terminals may not have location information such as GPS.

[0174] For example, FIG3 is a schematic diagram of a positioning method based on downlink-time difference of arrival (DL-TDOA) according to an embodiment of the present disclosure. As shown in FIG3 , a terminal, such as a user equipment (UE), can determine the specific position of the UE relative to multiple RSUs by measuring the sidelink position reference signal (SL PRS) sent by multiple RSUs through the sidelink. In one possible implementation, if the positioning result is not converted into absolute position coordinates based on the absolute position information such as GPS of the RSU, then the positioning result is relative positioning; otherwise, it is absolute positioning.

[0175] In addition to DL-TDOA, there are also uplink-time difference of arrival (UL-TDOA), multiple round-trip time (multiple RTT), angle of arrival (AOA) / angle of departure (AOD), carrier phase positioning and other positioning solutions, which will not be listed here one by one.

[0176] In some embodiments, the Sidelink Positioning Protocol (SLPP) refers to a protocol for exchanging positioning messages between two terminals. Furthermore, for SL positioning, positioning messages exchanged between a terminal and a Location Management Function (LMF) may be referred to as SLPP messages. In one possible implementation, SLPP may support both distance measurement (abbreviated as "ranging") and angle measurement (abbreviated as "angle measurement").

[0177] The distance and angle measurements required are new to SL positioning and are not present in Uu positioning. These new measurements can be used to determine the results of SL positioning, and their quality of service (QoS) can therefore affect the results. Therefore, it is necessary to clearly define the QoS during SL positioning so that the terminal performing positioning can perform positioning based on this QoS and obtain appropriate positioning results.

[0178] It should be noted that for Uu port positioning, the positioning messages exchanged between the terminal and the LMF are called Long Term Evolution Positioning Protocol (LTE Positioning Protocol, LPP) messages. The Uu port involved in this disclosure refers to the interface between the terminal and the access network, which can also be called the air interface, wireless interface, etc.

[0179] There are still some technical issues with distance and angle measurement. For example, it is not clear how to indicate the relevant parameters of position measurement and how to report the position measurement results.

[0180] In a first aspect, embodiments of the present disclosure provide a positioning method. Figure 4 is a schematic flow chart illustrating a positioning method according to an embodiment of the present disclosure. The positioning method illustrated in this embodiment can be executed by a first device.

[0181] As shown in FIG4 , the positioning method may include the following steps:

[0182] In step S401, a first SLPP message sent by a second device is received, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of location measurement.

[0183] In some embodiments, the first device may include a node that receives the first SLPP message, and the second device may include a node that sends the first SLPP message.

[0184] In some embodiments, the first device may include any of the following: a terminal; an RSU. The second device may include any of the following: a terminal; an RSU; or an LMF. In one possible implementation, the first device may be a terminal, and the second device may be another terminal. In another possible implementation, the first device may be a terminal, and the second device may be an LMF. The following description of the present disclosure uses the example of the first device being a first terminal and the second device being a second terminal as an example, which does not constitute a specific limitation on the present disclosure.

[0185] In some embodiments, the first SLPP message may include a message using SLPP. The first SLPP message may be used to indicate relevant parameters of the position measurement. In a possible implementation, the first SLPP message may include an SLPP positioning request message.

[0186] In some embodiments, the first information may include Quality of Service (QoS) information, wherein the QoS information may be used to indicate the quality of service of the location measurement.

[0187] For example, the first terminal may receive an SLPP positioning request message sent by the second terminal, where the SLPP positioning request message may include QoS information.

[0188] It should be noted that the embodiment shown in FIG. 4 can be implemented independently or in combination with at least one other embodiment in the present disclosure. The specific selection can be made as needed and the present disclosure does not limit it.

[0189] Optionally, the second device may send a first SLPP message to the first device.

[0190] According to an embodiment of the present disclosure, a first device may receive a first SLPP message sent by a second device. The first SLPP message may include first information indicating the quality of service of the location measurement. Accordingly, during sidelink positioning, the second device may indicate the quality of service of the location measurement to the first device, allowing the first device to obtain the quality of service of the location measurement. The first device may then perform location measurement based on the quality of service, thereby ensuring that the measurement result meets requirements.

[0191] In some embodiments, the quality of service may include at least one of the following: quality of service for range measurement; quality of service for angle measurement. In the embodiments of the present disclosure, the quality of service for range measurement may also be described as accuracy requirement information for range measurement; and the quality of service for angle measurement may also be described as accuracy requirement information for angle measurement.

[0192] In a possible implementation, the quality of service of the distance measurement may include at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement. The accuracy may represent the quality of service expected by the second device.

[0193] In a possible implementation, the service quality of the angle measurement may include at least one of the following: accuracy of the angle measurement; and confidence of the angle measurement.

[0194] In one possible implementation, the QoS of the angle measurement may be differentiated into QoS of azimuth measurement and QoS of elevation measurement. For example, the QoS of the angle measurement may include at least one of the following: accuracy of azimuth measurement; accuracy of elevation measurement; confidence of azimuth measurement; and confidence of elevation measurement.

[0195] In the above embodiment, through the first information included in the first SLPP message, the service quality of the location measurement indicated by the second device to the first device may specifically include one or more of the accuracy and / or confidence of distance measurement, the accuracy and / or confidence of azimuth measurement, and the accuracy and / or confidence of pitch angle measurement, thereby improving the accuracy of the service quality of the indicated location measurement.

[0196] In some embodiments, the first SLPP message may further include second information, where the second information may be used to indicate a type of sidelink positioning measurement.

[0197] In one possible implementation, the type may include at least one of the following: whether to perform distance measurement; whether to perform angle measurement. In a further embodiment, whether to perform angle measurement may include at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

[0198] In some embodiments, the second information may be carried in a public location information request information element (IE) of the first SLPP message, wherein the public location information request IE may be used to indicate the type of location information required.

[0199] In a possible implementation, the second information may be carried in a location coordinate type IE under the public location information request IE, wherein the location coordinate type IE may be used to indicate a representation method of the required location information.

[0200] For example, the first terminal may receive an SLPP positioning request message sent by the second terminal, and the SLPP positioning request message may include second information; wherein the second information may be carried in the location coordinate type (LocationCoordinateType) IE under the public location information request IE, as shown below:

[0201] That is, three BOOLEAN (Boolean) type IEs may be used to respectively indicate: whether to perform distance measurement, whether to perform azimuth angle measurement, and whether to perform elevation angle measurement.

[0202] In the above embodiment, through the second information contained in the first SLPP message, the second device can instruct the first device which specific types of side link positioning measurements to perform, so that the first device can perform one or more of distance measurement, azimuth measurement, and pitch angle measurement as needed according to the second information, thereby helping to save terminal power consumption of the first device.

[0203] In some embodiments, after receiving the first SLPP message, the first device may perform location measurement according to the first information and / or second information included in the first SLPP message to obtain a location measurement result.

[0204] In some embodiments, the positioning method may further include: sending a second SLPP message to the second device, wherein the second SLPP message includes third information, and the third information is used to indicate a position measurement result.

[0205] In some embodiments, the second SLPP message may include a message using SLPP. The second SLPP message may be used to report the location measurement result. In one possible implementation, the second SLPP message may include an SLPP providing location information message.

[0206] In some embodiments, the third information may include location information, wherein the location information may be used to indicate a location measurement result of the first device.

[0207] For example, the first terminal may send an SLPP providing location information message to the second terminal, where the SLPP providing location information message may include a location measurement result.

[0208] Optionally, the second device may receive a second SLPP message sent by the first device.

[0209] In the above embodiment, the first device may send a second SLPP message to the second device, and the second SLPP message may include third information indicating the position measurement result. Accordingly, in sidelink positioning, the first device may report the position measurement result to the second device, thereby allowing the second device to determine the positioning result based on the position measurement result reported by the first device.

[0210] In some embodiments, the position measurement result may include at least one of the following: a distance measurement result; an angle measurement result. In a possible implementation, the angle measurement result may include at least one of the following: an azimuth angle measurement result; and a pitch angle measurement result.

[0211] In some embodiments, the third information may further be used to indicate at least one of the following: uncertainty of the location measurement result; or confidence in the location measurement result. The uncertainty may be described as the accuracy of the location measurement result actually provided by the first device to the second device.

[0212] In one possible implementation, the uncertainty of the position measurement result may include at least one of the following: uncertainty of distance measurement; uncertainty of angle measurement. The uncertainty of angle measurement may include at least one of the following: uncertainty of azimuth angle measurement; and uncertainty of elevation angle measurement.

[0213] In one possible implementation, the confidence level of the position measurement result may include at least one of the following: the confidence level of distance measurement; the confidence level of angle measurement. The confidence level of angle measurement may include at least one of the following: the confidence level of azimuth measurement; the confidence level of elevation measurement.

[0214] In some embodiments, the third information is used to indicate the uncertainty of the position measurement result, and the third information may include a mapping value of the uncertainty of the position measurement result.

[0215] In one possible implementation, the mapped value may include at least one of the following: a first mapped value obtained by mapping the uncertainty of a distance measurement result; or a second mapped value obtained by mapping the uncertainty of an angle measurement result. The second mapped value may include at least one of the following: a second mapped value obtained by mapping the uncertainty of an azimuth angle measurement result; or a second mapped value obtained by mapping the uncertainty of an elevation angle measurement result.

[0216] In the above embodiment, since the uncertainty of the location measurement result is large, directly reporting the uncertainty of the location measurement result may require occupying more bits. Therefore, the first device can first map the location measurement result according to the mapping rule to obtain the mapping value of the uncertainty of the location measurement result, and then report the mapping value of the uncertainty of the location measurement result to the second device, thereby saving the signaling overhead of reporting the location measurement result.

[0217] In some embodiments, the first mapping value may be obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0218] For example, the first terminal may map the uncertainty of the distance measurement result according to the following formula to obtain a first mapping value: r = C ((1 + x) K -1),

[0219] Where r is the uncertainty of the distance measurement result, which can be expressed in meters; K is the first mapping value, whose value range is related to the number of bits in K; C is a constant, whose value range can be 0.1 to 10; and x is a constant, whose value range can be 0.1 to 0.01. In one possible implementation, if the number of bits in K is 7 or 8, the value range of K can be 0 to 127 or 0 to 255. In one possible implementation, the value of C can be 10 or 5. In one possible implementation, the value of x can be 0.02.

[0220] In the above embodiment, since the uncertainty of the distance measurement result may be relatively large, the uncertainty of the distance measurement result may be mapped according to a nonlinear mapping rule to obtain a first mapping value, thereby further saving signaling overhead.

[0221] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0222] For example, the first terminal may map the uncertainty of the angle measurement result according to the following formula to obtain a second mapping value: r = C ((1 + x) K -1),

[0223] Where r is the uncertainty of the angle measurement result, in degrees; K is the second mapping value, whose value range is related to the number of bits in K; C is a constant, whose value range is 0.1 to 10; and x is a constant, whose value range is 0.1 to 0.01. In one possible implementation, if the number of bits in K is 7 or 8, the value range of K can be 0 to 127 or 0 to 255. In one possible implementation, the value of C can be 10 or 5. In one possible implementation, the value of x can be 0.02.

[0224] In the above embodiments, since the first mapping rule used to map the uncertainty of the distance measurement result and the second mapping rule used to map the uncertainty of the angle measurement result are consistent, for example, the first mapping value and the second mapping value are obtained according to the same mapping rule (such as the same nonlinear mapping rule), the operational complexity of the first device reporting the position measurement result is reduced.

[0225] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a second mapping rule; wherein the second mapping rule includes a linear mapping rule.

[0226] For example, the first terminal may map the uncertainty of the angle measurement result according to the following formula to obtain a second mapping value: b*N≤X<b*(N+1),

[0227] Where X is the uncertainty of the angle measurement result, in degrees; N is the second mapping value, whose value range is related to the number of bits in N; and b is the step size of X, such as 1 degree, 2 degrees, 3 degrees, etc. The following uses b = 1 as an example to illustrate the value range of N.

[0228] For the azimuth measurement result, the number of bits of N can be 1 to 9. In one possible implementation, if N is 8 bits, the value range of N can be 0 to 255; in this case, the maximum value of N is 255, so when N = 255, it can indicate that the uncertainty of the azimuth measurement result is greater than or equal to the maximum value defined for N, or it can indicate that the uncertainty of the azimuth measurement result is undefined. In another possible implementation, if N is 9 bits, since the azimuth angle is 0° to 359°, the value range of N can be 0 to 359, that is, the value of N∈[360, 511) is not used.

[0229] For the pitch angle measurement result, N can have 1 to 8 bits. In one possible implementation, if N is 7 bits, then the value range of N can be 0 to 127; in this case, the maximum value of N is 127. Therefore, when N = 127, it can indicate that the uncertainty of the pitch angle measurement result is greater than or equal to the maximum value defined for N, or it can indicate that the uncertainty of the pitch angle measurement result is undefined. In another possible implementation, if N is 8 bits, since the azimuth angle is 0° to 179°, then the value range of N can be 0 to 179, that is, the value of N∈[180, 255) is not used.

[0230] It should be noted that compared with the linear mapping method, the nonlinear mapping method will compress the value range more when the uncertainty is large, which will make it difficult for the mapping value to fully reflect the size of the uncertainty.

[0231] In the above embodiment, since the uncertainty of the angle measurement result is small (will not exceed 360), the first device can map the uncertainty of the angle measurement result according to the linear mapping rule to obtain a second mapping value of the uncertainty of the angle measurement result, so that the second mapping value can accurately reflect the size of the uncertainty.

[0232] In some embodiments, the third information may be carried in a public provision location information IE of the second SLPP message.

[0233] For example, the first terminal may send an SLPP providing location information message to the second terminal, and the SLPP providing location information message may include the third information; wherein the third information may be carried in the common providing location information IE of the SLPP providing location information message, as shown below:

[0234] That is, the range measurement results, azimuth measurement results and elevation measurement results, as well as their respective uncertainties and / or confidences, can be indicated respectively; wherein the Range, Azimuth and Elevation types all include the uncertainty sub-IE and the confidence sub-IE.

[0235] In a possible implementation, the third information may be carried in a location coordinate IE under the publicly provided location information IE.

[0236] For example, the first terminal may send an SLPP location information provision message to the second terminal, and the SLPP location information provision message may include third information; wherein the third information may be carried in the location coordinates (LocationCoordinates) IE under the public location information provision IE, as shown below:

[0237] That is, a new distance and angle (RangeAndDirection) IE can be added to the CHOICE of the position coordinate IE first, and then three OPTIONAL sub-IEs, namely range, azimuth, and elevation, can be provided under the distance and angle IE.

[0238] In one possible implementation, the third information can be used to jointly indicate at least one of the following: the azimuth measurement result; the uncertainty of the azimuth measurement result; the confidence of the azimuth measurement result; the pitch angle measurement result; the uncertainty of the pitch angle measurement result; the confidence of the pitch angle measurement result.

[0239] For example, when the first terminal reports the angle measurement result and the uncertainty of the angle measurement result to the second terminal, the third information may be as follows:

[0240] That is, any one of azimuth, azimuthWithelevatio, azimuthWithUncertainty, and azimuthAndElevationWithUncertainty can be selected. Among them, azimuthWithelevation also means jointly indicating the azimuth measurement result and the elevation measurement result, azimuthWithUncertainty also means jointly indicating the azimuth measurement result and the uncertainty of the azimuth measurement result, and azimuthAndElevationWithUncertainty also means jointly indicating the azimuth measurement result, the uncertainty of the azimuth measurement result, the elevation measurement result, and the uncertainty of the elevation measurement result. If the first terminal selects azimuthAndElevationWithUncertainty, the value of AzimuthAndElevationWithUncertainty can be {azimuth measurement result, uncertainty of the azimuth measurement result, elevation measurement result, uncertainty of the elevation measurement result}.

[0241] It should be noted that the above embodiments are merely exemplary descriptions. The angle measurement result and the confidence level of the angle measurement result may be jointly indicated, such as Elevation with uncertainty, or the angle measurement result, the uncertainty level of the angle measurement result and the confidence level of the angle measurement result may be jointly indicated, which will not be elaborated here.

[0242] In the above embodiment, compared with using different IEs to separately indicate the angle measurement result and the uncertainty and / or confidence of the angle measurement result, a joint indication method can be used with one IE, thereby saving the signaling overhead of reporting the measurement result.

[0243] It should be noted that, when implementing one or more of the above embodiments, the second device may indicate the location measurement service quality to the first device, so that the first device can know the location measurement service quality expected by the second device. For example, when the second device indicates to the first device a higher location measurement service quality, this is conducive to improving positioning accuracy.

[0244] In a second aspect, embodiments of the present disclosure provide a positioning method. Figure 5 is a schematic flow chart illustrating another positioning method according to an embodiment of the present disclosure. The positioning method illustrated in this embodiment can be executed by a second device.

[0245] As shown in FIG5 , the positioning method may include the following steps:

[0246] In step S501, a first SLPP message is sent to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service for location measurement.

[0247] In some embodiments, the first device may include a node that receives the first SLPP message, and the second device may include a node that sends the first SLPP message.

[0248] In some embodiments, the first device may include any of the following: a terminal; an RSU. The second device may include any of the following: a terminal; an RSU; or an LMF. In one possible implementation, the first device may be a terminal, and the second device may be another terminal. In another possible implementation, the first device may be a terminal, and the second device may be an LMF. The following description of the present disclosure uses the example of the first device being a first terminal and the second device being a second terminal as an example, which does not constitute a specific limitation on the present disclosure.

[0249] In some embodiments, the first SLPP message may include a message using SLPP. The first SLPP message may be used to indicate relevant parameters of the position measurement. In a possible implementation, the first SLPP message may include an SLPP positioning request message.

[0250] In some embodiments, the first information may include Quality of Service (QoS) information, wherein the QoS information may be used to indicate the quality of service of the location measurement.

[0251] For example, the second terminal may send an SLPP positioning request message to the first terminal, where the SLPP positioning request message may include QoS information.

[0252] It should be noted that the embodiment shown in FIG. 5 can be implemented independently or in combination with at least one other embodiment in the present disclosure. The specific selection can be made as needed and the present disclosure does not limit it.

[0253] Optionally, the first device may receive a first SLPP message sent by the second device.

[0254] According to an embodiment of the present disclosure, a second device may send a first SLPP message to a first device. The first SLPP message may include first information indicating the quality of service of the location measurement. Accordingly, during sidelink positioning, the second device may indicate the quality of service of the location measurement to the first device, allowing the first device to obtain the quality of service of the location measurement. The first device can then perform location measurement based on the quality of service, thereby ensuring that the measurement result meets requirements.

[0255] In some embodiments, the quality of service may include at least one of the following: quality of service for range measurement; quality of service for angle measurement. In the embodiments of the present disclosure, the quality of service for range measurement may also be described as accuracy requirement information for range measurement; and the quality of service for angle measurement may also be described as accuracy requirement information for angle measurement.

[0256] In a possible implementation, the quality of service of the distance measurement may include at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement. The accuracy may represent the quality of service expected by the second device.

[0257] In a possible implementation, the service quality of the angle measurement may include at least one of the following: accuracy of the angle measurement; and confidence of the angle measurement.

[0258] In one possible implementation, the QoS of the angle measurement may be differentiated into QoS of azimuth measurement and QoS of elevation measurement. For example, the QoS of the angle measurement may include at least one of the following: accuracy of azimuth measurement; accuracy of elevation measurement; confidence of azimuth measurement; and confidence of elevation measurement.

[0259] In the above embodiment, through the first information included in the first SLPP message, the service quality of the location measurement indicated by the second device to the first device may specifically include one or more of the accuracy and / or confidence of distance measurement, the accuracy and / or confidence of azimuth measurement, and the accuracy and / or confidence of pitch angle measurement, thereby improving the accuracy of the service quality of the indicated location measurement.

[0260] In some embodiments, the first SLPP message may further include second information, where the second information may be used to indicate a type of sidelink positioning measurement.

[0261] In one possible implementation, the type may include at least one of the following: whether to perform distance measurement; whether to perform angle measurement. In a further embodiment, whether to perform angle measurement may include at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

[0262] In some embodiments, the second information may be carried in a public location information request information element (IE) of the first SLPP message, wherein the public location information request IE may be used to indicate the type of location information required.

[0263] In a possible implementation, the second information may be carried in a location coordinate type IE under the public location information request IE, wherein the location coordinate type IE may be used to indicate a representation method of the required location information.

[0264] For example, the second terminal may send an SLPP positioning request message to the first terminal, and the SLPP positioning request message may include second information; wherein the second information may be carried in the location coordinate type (LocationCoordinateType) IE under the public location information request IE, as shown below:

[0265] That is, three BOOLEAN (Boolean) type IEs may be used to respectively indicate: whether to perform distance measurement, whether to perform azimuth angle measurement, and whether to perform elevation angle measurement.

[0266] In the above embodiment, through the second information contained in the first SLPP message, the second device can instruct the first device which specific types of side link positioning measurements to perform, so that the first device can perform one or more of distance measurement, azimuth measurement, and pitch angle measurement as needed according to the second information, thereby helping to save terminal power consumption of the first device.

[0267] In some embodiments, after receiving the first SLPP message, the first device may perform location measurement according to the first information and / or second information included in the first SLPP message to obtain a location measurement result.

[0268] Optionally, the first device may send a second SLPP message to the second device, where the second SLPP message includes third information, and the third information is used to indicate the location measurement result.

[0269] In some embodiments, the positioning method may further include: receiving a second SLPP message sent by the first device, wherein the second SLPP message includes third information, and the third information is used to indicate a position measurement result.

[0270] In some embodiments, the second SLPP message may include a message using SLPP. The second SLPP message may be used to report the location measurement result. In one possible implementation, the second SLPP message may include an SLPP providing location information message.

[0271] In some embodiments, the third information may include location information, wherein the location information may be used to indicate a location measurement result of the first device.

[0272] For example, the second terminal may receive an SLPP providing location information message sent by the first terminal, where the SLPP providing location information message may include a location measurement result.

[0273] In the above embodiment, the second device may receive a second SLPP message sent by the first device, and the second SLPP message may include third information indicating a location measurement result. Accordingly, in sidelink positioning, the first device may report the location measurement result to the second device, thereby enabling the second device to determine a positioning result based on the location measurement result reported by the first device.

[0274] In some embodiments, the position measurement result may include at least one of the following: a distance measurement result; an angle measurement result. In a possible implementation, the angle measurement result may include at least one of the following: an azimuth angle measurement result; and a pitch angle measurement result.

[0275] In some embodiments, the third information may further be used to indicate at least one of the following: uncertainty of the location measurement result; or confidence in the location measurement result. The uncertainty may be described as the accuracy of the location measurement result actually provided by the first device to the second device.

[0276] In one possible implementation, the uncertainty of the position measurement result may include at least one of the following: uncertainty of distance measurement; uncertainty of angle measurement. The uncertainty of angle measurement may include at least one of the following: uncertainty of azimuth angle measurement; and uncertainty of elevation angle measurement.

[0277] In one possible implementation, the confidence level of the position measurement result may include at least one of the following: the confidence level of distance measurement; the confidence level of angle measurement. The confidence level of angle measurement may include at least one of the following: the confidence level of azimuth measurement; the confidence level of elevation measurement.

[0278] In some embodiments, the third information is used to indicate the uncertainty of the position measurement result, and the third information may include a mapping value of the uncertainty of the position measurement result.

[0279] In one possible implementation, the mapped value may include at least one of the following: a first mapped value obtained by mapping the uncertainty of a distance measurement result; or a second mapped value obtained by mapping the uncertainty of an angle measurement result. The second mapped value may include at least one of the following: a second mapped value obtained by mapping the uncertainty of an azimuth angle measurement result; or a second mapped value obtained by mapping the uncertainty of an elevation angle measurement result.

[0280] In the above embodiment, since the uncertainty of the location measurement result is large, directly reporting the uncertainty of the location measurement result may require occupying more bits. Therefore, the first device can first map the location measurement result according to the mapping rule to obtain the mapping value of the uncertainty of the location measurement result, and then report the mapping value of the uncertainty of the location measurement result to the second device, thereby saving the signaling overhead of reporting the location measurement result.

[0281] In some embodiments, the first mapping value may be obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0282] For example, the first terminal may map the uncertainty of the distance measurement result according to the following formula to obtain a first mapping value: r = C ((1 + x) K -1),

[0283] Where r is the uncertainty of the distance measurement result, which can be expressed in meters; K is the first mapping value, whose value range is related to the number of bits in K; C is a constant, whose value range can be 0.1 to 10; and x is a constant, whose value range can be 0.1 to 0.01. In one possible implementation, if the number of bits in K is 7 or 8, the value range of K can be 0 to 127 or 0 to 255. In one possible implementation, the value of C can be 10 or 5. In one possible implementation, the value of x can be 0.02.

[0284] In the above embodiment, since the uncertainty of the distance measurement result may be relatively large, the uncertainty of the distance measurement result may be mapped according to a nonlinear mapping rule to obtain a first mapping value, thereby further saving signaling overhead.

[0285] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0286] For example, the first terminal may map the uncertainty of the angle measurement result according to the following formula to obtain a second mapping value: r = C ((1 + x) K -1),

[0287] Where r is the uncertainty of the angle measurement result, in degrees; K is the second mapping value, whose value range is related to the number of bits in K; C is a constant, whose value range is 0.1 to 10; and x is a constant, whose value range is 0.1 to 0.01. In one possible implementation, if the number of bits in K is 7 or 8, the value range of K can be 0 to 127 or 0 to 255. In one possible implementation, the value of C can be 10 or 5. In one possible implementation, the value of x can be 0.02.

[0288] In the above embodiments, since the first mapping rule used to map the uncertainty of the distance measurement result and the second mapping rule used to map the uncertainty of the angle measurement result are consistent, for example, the first mapping value and the second mapping value are obtained according to the same mapping rule (such as the same nonlinear mapping rule), the operational complexity of the first device reporting the position measurement result is reduced.

[0289] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to a second mapping rule; wherein the second mapping rule includes a linear mapping rule.

[0290] For example, the first terminal may map the uncertainty of the angle measurement result according to the following formula to obtain a second mapping value: b*N≤X<b*(N+1),

[0291] Where X is the uncertainty of the angle measurement result, in degrees; N is the second mapping value, whose value range is related to the number of bits in N; and b is the step size of X, such as 1 degree, 2 degrees, 3 degrees, etc. The following uses b = 1 as an example to illustrate the value range of N.

[0292] For the azimuth measurement result, the number of bits of N can be 1 to 9. In one possible implementation, if N is 8 bits, the value range of N can be 0 to 255; in this case, the maximum value of N is 255, so when N = 255, it can indicate that the uncertainty of the azimuth measurement result is greater than or equal to the maximum value defined for N, or it can indicate that the uncertainty of the azimuth measurement result is undefined. In another possible implementation, if N is 9 bits, since the azimuth angle is 0° to 359°, the value range of N can be 0 to 359, that is, the value of N∈[360, 511) is not used.

[0293] For the pitch angle measurement result, N can have 1 to 8 bits. In one possible implementation, if N is 7 bits, then the value range of N can be 0 to 127. In this case, the maximum value of N is 127. Therefore, when N = 127, it can indicate that the uncertainty of the pitch angle measurement result is greater than or equal to the maximum value defined for N, or it can indicate that the uncertainty of the pitch angle measurement result is undefined. In another possible implementation, if N is 8 bits, since the azimuth angle is 0° to 179°, then the value range of N can be 0 to 179. That is, the value of N∈[180, 255) is not used.

[0294] It should be noted that compared with the linear mapping method, the nonlinear mapping method will compress the value range more when the uncertainty is large, which will make it difficult for the mapping value to fully reflect the size of the uncertainty.

[0295] In the above embodiment, since the uncertainty of the angle measurement result is small (will not exceed 360), the first device can map the uncertainty of the angle measurement result according to the linear mapping rule to obtain a second mapping value of the uncertainty of the angle measurement result, so that the second mapping value can accurately reflect the size of the uncertainty.

[0296] In some embodiments, the third information may be carried in a public provision location information IE of the second SLPP message.

[0297] For example, the second terminal may receive an SLPP providing location information message sent by the first terminal, and the SLPP providing location information message may include third information; wherein the third information may be carried in the common providing location information IE of the SLPP providing location information message, as shown below:

[0298] That is, the range measurement results, azimuth measurement results and elevation measurement results, as well as their respective uncertainties and / or confidences, can be indicated respectively; wherein the Range, Azimuth and Elevation types all include the uncertainty sub-IE and the confidence sub-IE.

[0299] In a possible implementation, the third information may be carried in a location coordinate IE under the publicly provided location information IE.

[0300] For example, the second terminal may receive an SLPP location information provision message sent by the first terminal, and the SLPP location information provision message may include third information; wherein the third information may be carried in the location coordinates (LocationCoordinates) IE under the public location information provision IE, as shown below:

[0301] That is, a new distance and angle (RangeAndDirection) IE can be added to the CHOICE of the position coordinate IE first, and then three OPTIONAL sub-IEs, namely range, azimuth, and elevation, can be provided under the distance and angle IE.

[0302] In one possible implementation, the third information can be used to jointly indicate at least one of the following: the azimuth measurement result; the uncertainty of the azimuth measurement result; the confidence of the azimuth measurement result; the pitch angle measurement result; the uncertainty of the pitch angle measurement result; the confidence of the pitch angle measurement result.

[0303] For example, when the first terminal reports the angle measurement result and the uncertainty of the angle measurement result to the second terminal, the third information may be as follows:

[0304] That is, any one of azimuth, azimuthWithelevatio, azimuthWithUncertainty, and azimuthAndElevationWithUncertainty can be selected. Among them, azimuthWithelevation also means jointly indicating the azimuth measurement result and the elevation measurement result, azimuthWithUncertainty also means jointly indicating the azimuth measurement result and the uncertainty of the azimuth measurement result, and azimuthAndElevationWithUncertainty also means jointly indicating the azimuth measurement result, the uncertainty of the azimuth measurement result, the elevation measurement result, and the uncertainty of the elevation measurement result. If the first terminal selects azimuthAndElevationWithUncertainty, the value of AzimuthAndElevationWithUncertainty can be {azimuth measurement result, uncertainty of the azimuth measurement result, elevation measurement result, uncertainty of the elevation measurement result}.

[0305] It should be noted that the above embodiments are merely exemplary descriptions. The angle measurement result and the confidence level of the angle measurement result may be jointly indicated, such as Elevation with uncertainty, or the angle measurement result, the uncertainty level of the angle measurement result and the confidence level of the angle measurement result may be jointly indicated, which will not be elaborated here.

[0306] In the above embodiment, compared with using different IEs to separately indicate the angle measurement result and the uncertainty and / or confidence of the angle measurement result, a joint indication method can be used with one IE, thereby saving the signaling overhead of reporting the measurement result.

[0307] It should be noted that, when implementing one or more of the above embodiments, the second device may indicate the location measurement service quality to the first device, so that the first device can know the location measurement service quality expected by the second device. For example, when the second device indicates to the first device a higher location measurement service quality, this is conducive to improving positioning accuracy.

[0308] 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.

[0309] In some embodiments, terms such as "moment", "time point", "time", and "time position" can be replaced with each other, and terms such as "duration", "period", "time window", "window", and "time" can be replaced with each other.

[0310] In some embodiments, the terms "component carrier (CC)", "cell", "frequency carrier", "carrier frequency" and the like can be used interchangeably.

[0311] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0312] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0313] Corresponding to the aforementioned embodiments of the positioning method, the present disclosure also provides embodiments of a positioning device.

[0314] FIG6 is a schematic block diagram of a positioning device according to an embodiment of the present disclosure. As shown in FIG6 , the positioning device 600 includes a transceiver module 601 .

[0315] In some embodiments, the transceiver module 601 is configured to receive a first SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service of location measurement.

[0316] In some embodiments, the quality of service includes at least one of the following: quality of service of distance measurement; quality of service of angle measurement.

[0317] In some embodiments, the quality of service of the distance measurement includes at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement.

[0318] In some embodiments, the quality of service of the angle measurement includes at least one of the following: accuracy of the angle measurement; confidence of the angle measurement.

[0319] In some embodiments, the accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; the confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

[0320] In some embodiments, the first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

[0321] In some embodiments, the type includes at least one of the following: whether to perform distance measurement; whether to perform angle measurement.

[0322] In some embodiments, whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

[0323] In some embodiments, the second information is carried in a public location information request information element IE of the first SLPP message.

[0324] In some embodiments, the second information is carried in a location coordinate type IE under the public location information request IE.

[0325] In some embodiments, the transceiver module 601 is further configured to send a second SLPP message to the second device, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

[0326] In some embodiments, the third information is further used to indicate at least one of the following: uncertainty of the position measurement result; and confidence of the position measurement result.

[0327] In some embodiments, the position measurement result includes at least one of the following: a distance measurement result; an angle measurement result.

[0328] In some embodiments, the angle measurement results include at least one of the following: azimuth angle measurement results; elevation angle measurement results.

[0329] In some embodiments, the third information includes a mapping value of the uncertainty of the position measurement result.

[0330] In some embodiments, the mapping value includes at least one of the following: a first mapping value obtained by mapping the uncertainty of the distance measurement result; and a second mapping value obtained by mapping the uncertainty of the angle measurement result.

[0331] In some embodiments, the second mapped value includes at least one of the following: a second mapped value obtained by mapping the uncertainty of the azimuth angle measurement result; a second mapped value obtained by mapping the uncertainty of the elevation angle measurement result.

[0332] In some embodiments, the first mapping value is obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0333] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; wherein the first mapping rule includes a nonlinear mapping rule; and the second mapping rule includes a linear mapping rule.

[0334] In some embodiments, the third information is carried in a public provision location information IE of the second SLPP message.

[0335] In some embodiments, the third information is carried in a location coordinate IE under the public provided location information IE.

[0336] It should be noted that the modules included in the positioning device 600 are not limited to the modules described in the above embodiment, and may also include other modules, such as a processing module, a storage module, a display module, etc. The processing module can be used to determine the service quality of the location measurement, perform location measurement, map the location measurement results, etc.

[0337] FIG7 is a schematic block diagram of another positioning device according to an embodiment of the present disclosure. As shown in FIG7 , the positioning device 700 includes a transceiver module 701 .

[0338] In some embodiments, the transceiver module 701 is configured to send a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service for location measurement.

[0339] In some embodiments, the quality of service includes at least one of the following: quality of service of distance measurement; in some embodiments, quality of service of angle measurement.

[0340] In some embodiments, the quality of service of the distance measurement includes at least one of the following: accuracy of the distance measurement; and confidence of the distance measurement.

[0341] In some embodiments, the quality of service of the angle measurement includes at least one of the following: accuracy of the angle measurement; confidence of the angle measurement.

[0342] In some embodiments, the accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; the confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

[0343] In some embodiments, the first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

[0344] In some embodiments, the type includes at least one of the following: whether to perform distance measurement; whether to perform angle measurement.

[0345] In some embodiments, whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

[0346] In some embodiments, the second information is carried in a public location information request IE of the first SLPP message.

[0347] In some embodiments, the second information is carried in a location coordinate type IE under the public location information request IE.

[0348] In some embodiments, the transceiver module 701 is further configured to receive a second SLPP message sent by the first device, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

[0349] In some embodiments, the third information is further used to indicate at least one of the following: uncertainty of the position measurement result; and confidence of the position measurement result.

[0350] In some embodiments, the position measurement result includes at least one of the following: a distance measurement result; an angle measurement result.

[0351] In some embodiments, the angle measurement results include at least one of the following: azimuth angle measurement results; elevation angle measurement results.

[0352] In some embodiments, the third information includes a mapping value of the uncertainty of the position measurement result.

[0353] In some embodiments, the mapping value includes at least one of the following: a first mapping value obtained by mapping the uncertainty of the distance measurement result; and a second mapping value obtained by mapping the uncertainty of the angle measurement result.

[0354] In some embodiments, the second mapped value includes at least one of the following: a second mapped value obtained by mapping the uncertainty of the azimuth angle measurement result; a second mapped value obtained by mapping the uncertainty of the elevation angle measurement result.

[0355] In some embodiments, the first mapping value is obtained by mapping the uncertainty of the distance measurement result according to a first mapping rule; wherein the first mapping rule includes a nonlinear mapping rule.

[0356] In some embodiments, the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; wherein the first mapping rule includes a nonlinear mapping rule; and the second mapping rule includes a linear mapping rule.

[0357] In some embodiments, the third information is carried in a public provision location information IE of the second SLPP message.

[0358] In some embodiments, the third information is carried in a location coordinate IE under the public provided location information IE.

[0359] It should be noted that the modules included in the positioning device 700 are not limited to the modules described in the above embodiment, and may also include other modules, such as a processing module, a storage module, a display module, etc. The processing module can be used to determine the service quality of the location measurement, perform location measurement, map the location measurement results, etc.

[0360] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art can understand and implement it without paying any creative work.

[0361] An embodiment of the present disclosure further proposes a first device, comprising: one or more processors; wherein the processor is used to call instructions to enable the first device to execute the positioning method described in the first aspect and the optional embodiments of the first aspect.

[0362] An embodiment of the present disclosure further proposes a second device, comprising: one or more processors; wherein the processor is used to call instructions to enable the second device to execute the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0363] An embodiment of the present disclosure also proposes a communication device, comprising: one or more processors; wherein the processor is used to call instructions to enable the communication device to execute the positioning method described in the first aspect, the optional embodiment of the first aspect, and / or the positioning method described in the second aspect, the optional embodiment of the second aspect.

[0364] An embodiment of the present disclosure also proposes a communication system, including a first device and a second device, wherein the first device is configured to implement the positioning method described in the first aspect and the optional embodiment of the first aspect, and the second device is configured to implement the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0365] An embodiment of the present disclosure further proposes a storage medium storing instructions. When the instructions are executed on a communication device, the communication device executes the positioning method described in the first aspect and the optional embodiment of the first aspect, and / or the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0366] The embodiments of the present disclosure further provide apparatuses 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 device 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 device in any of the above methods.

[0367] 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 rest by hardware circuits.

[0368] 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 the hardware circuit. The logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing 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 an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0369] Figure 8 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 user equipment, etc.), 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.

[0370] As shown in Figure 8, 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, a baseband chip, a terminal device, a terminal device chip, a DU or a 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.

[0371] 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.

[0372] 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.

[0373] 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.

[0374] 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.

[0375] 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 FIG8 . 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 and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, 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.

[0376] FIG9 is a schematic diagram of the structure of a chip 9200 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 9200 shown in FIG9 , but the present disclosure is not limited thereto.

[0377] The chip 9200 includes one or more processors 9201, and the processor 9201 is used to call instructions so that the chip 9200 executes any of the above methods.

[0378] In some embodiments, the chip 9200 further includes one or more interface circuits 9202, which are connected to the memory 9203. The interface circuit 9202 can be used to receive signals from the memory 9203 or other devices, and can be used to send signals to the memory.

[0379] The memory 9203 or other devices send signals. For example, the interface circuit 9202 can read instructions stored in the memory 9203 and send the instructions to the processor 9201. Optionally, the terms interface circuit, interface, transceiver pin, transceiver, etc. can be used interchangeably.

[0380] In some embodiments, the chip 9200 further includes one or more memories 9203 for storing instructions. Alternatively, all or part of the memories 9203 may be located outside the chip 9200.

[0381] 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.

[0382] 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.

[0383] 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: Executed by a first device, the method includes: A first sidelink positioning protocol (SLPP) message sent by a second device is received, wherein the first SLPP message includes first information, and the first information is used to indicate a service quality of location measurement.

2. The method according to claim 1, characterized in that The quality of service includes at least one of the following: Quality of service for distance measurement; Quality of service for angle measurement.

3. The method according to claim 2, characterized in that The quality of service of the distance measurement includes at least one of the following: The accuracy of distance measurement; Confidence of the distance measurement.

4. The method according to claim 2 or 3, characterized in that: The quality of service of the angle measurement includes at least one of the following: The accuracy of angle measurement; Confidence of the angle measurement.

5. The method according to claim 4, characterized in that The accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; The confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

6. The method according to any one of claims 1 to 5, characterized in that The first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

7. The method according to claim 6, characterized in that The types include at least one of the following: Whether to perform distance measurement; Whether to perform angle measurement.

8. The method according to claim 7, characterized in that Whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

9. The method according to any one of claims 6 to 8, characterized in that The second information is carried in a public location information request information element IE of the first SLPP message.

10. The method according to claim 9, characterized in that The second information is carried in a location coordinate type IE under the public location information request IE.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: A second SLPP message is sent to the second device, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

12. The method according to claim 11, characterized in that The third information is further used to indicate at least one of the following: the uncertainty of the position measurement result; The confidence level of the position measurement result.

13. The method according to claim 12, characterized in that The position measurement result includes at least one of the following: Distance measurement results; Angle measurement results.

14. The method according to claim 13, characterized in that The angle measurement result includes at least one of the following: an azimuth angle measurement result; a pitch angle measurement result.

15. The method according to any one of claims 12 to 14, characterized in that The third information includes a mapping value of the uncertainty of the position measurement result.

16. The method according to claim 15, characterized in that The mapping value includes at least one of the following: A first mapping value obtained by mapping the uncertainty of the distance measurement result; A second mapping value is obtained by mapping the uncertainty of the angle measurement result.

17. The method according to claim 16, characterized in that The second mapping value includes at least one of the following: A second mapping value obtained by mapping the uncertainty of the azimuth measurement result; A second mapping value is obtained by mapping the uncertainty of the pitch angle measurement result.

18. The method according to claim 16 or 17, characterized in that The first mapping value is obtained by mapping the uncertainty of the distance measurement result according to the first mapping rule; The first mapping rule includes a nonlinear mapping rule.

19. The method according to any one of claims 16 to 18, characterized in that The second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; The first mapping rule includes a non-linear mapping rule; and the second mapping rule includes a linear mapping rule.

20. The method according to any one of claims 11 to 19, characterized in that The third information is carried in the public provision location information IE of the second SLPP message.

21. The method according to claim 20, characterized in that The third information is carried in the location coordinate IE under the public provided location information IE.

22. A positioning method, characterized in that: Executed by a second device, the method includes: A first SLPP message is sent to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate a quality of service for location measurement.

23. The method according to claim 22, characterized in that The quality of service includes at least one of the following: Quality of service for distance measurement; Quality of service for angle measurement.

24. The method according to claim 23, characterized in that The quality of service of the distance measurement includes at least one of the following: The accuracy of distance measurement; Confidence of the distance measurement.

25. The method according to claim 23 or 24, characterized in that The quality of service of the angle measurement includes at least one of the following: The accuracy of angle measurement; Confidence of the angle measurement.

26. The method according to claim 25, characterized in that The accuracy of the angle measurement includes at least one of the following: the accuracy of the azimuth angle measurement; the accuracy of the elevation angle measurement; The confidence of the angle measurement includes at least one of the following: the confidence of the azimuth angle measurement; the confidence of the elevation angle measurement.

27. The method according to any one of claims 22 to 26, characterized in that The first SLPP message further includes second information, where the second information is used to indicate a type of sidelink positioning measurement.

28. The method according to claim 27, characterized in that The types include at least one of the following: Whether to perform distance measurement; Whether to perform angle measurement.

29. The method according to claim 28, characterized in that Whether to perform angle measurement includes at least one of the following: whether to perform azimuth angle measurement; whether to perform elevation angle measurement.

30. The method according to any one of claims 27 to 29, characterized in that The second information is carried in a public location information request IE of the first SLPP message.

31. The method according to claim 30, characterized in that The second information is carried in a location coordinate type IE under the public location information request IE.

32. The method according to any one of claims 22 to 31, characterized in that The method further comprises: A second SLPP message sent by the first device is received, wherein the second SLPP message includes third information, and the third information is used to indicate a location measurement result.

33. The method according to claim 32, characterized in that The third information is further used to indicate at least one of the following: the uncertainty of the position measurement result; The confidence level of the position measurement result.

34. The method according to claim 33, characterized in that The position measurement result includes at least one of the following: Distance measurement results; Angle measurement results.

35. The method according to claim 34, characterized in that The angle measurement result includes at least one of the following: an azimuth angle measurement result; a pitch angle measurement result.

36. The method according to any one of claims 33 to 35, characterized in that The third information includes a mapping value of the uncertainty of the position measurement result.

37. The method according to claim 36, characterized in that The mapping value includes at least one of the following: A first mapping value obtained by mapping the uncertainty of the distance measurement result; A second mapping value is obtained by mapping the uncertainty of the angle measurement result.

38. The method according to claim 37, characterized in that The second mapping value includes at least one of the following: A second mapping value obtained by mapping the uncertainty of the azimuth measurement result; A second mapping value is obtained by mapping the uncertainty of the pitch angle measurement result.

39. The method according to claim 37 or 38, characterized in that The first mapping value is obtained by mapping the uncertainty of the distance measurement result according to the first mapping rule; The first mapping rule includes a nonlinear mapping rule.

40. The method according to any one of claims 37 to 39, characterized in that The second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the first mapping rule, or the second mapping value is obtained by mapping the uncertainty of the angle measurement result according to the second mapping rule; The first mapping rule includes a non-linear mapping rule; and the second mapping rule includes a linear mapping rule.

41. The method according to any one of claims 33 to 40, characterized in that The third information is carried in the public provision location information IE of the second SLPP message.

42. The method according to claim 31, characterized in that The third information is carried in the location coordinate IE under the public provided location information IE.

43. A positioning device, characterized in that: The device comprises: The transceiver module is used to receive a first SLPP message sent by a second device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the location measurement.

44. A positioning device, characterized in that: The device comprises: The transceiver module is used to send a first SLPP message to a first device, wherein the first SLPP message includes first information, and the first information is used to indicate the service quality of the location measurement.

45. A first device, characterized in that: include: one or more processors; The processor is used to call instructions so that the first device executes the positioning method described in any one of claims 1-21.

46. ​​A second device, characterized in that: include: one or more processors; The processor is used to call instructions so that the second device executes the positioning method described in any one of claims 22-42.

47. A communication device, characterized in that: include: one or more processors; The processor is used to call instructions so that the communication device executes the positioning method described in any one of claims 1-21 or 22-42.

48. A communication system, characterized in that: The invention comprises a first device and a second device, wherein the first device is configured to implement the positioning method according to any one of claims 1 to 21, and the second device is configured to implement the positioning method according to any one of claims 22 to 42.

49. A storage medium storing instructions, characterized in that: When the instruction is executed on a communication device, the communication device is caused to execute the positioning method described in any one of claims 1-21 or 22-42.

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