Sidelink positioning method and communication device

Abstract

Provided are a sidelink positioning method and a communication device. The method comprises: a first device transmitting first information, the first information being used for determining a round trip time between a first terminal device and a second terminal device, the first information corresponding to a first time period, the first time period comprising a first time difference, and the first time difference being determined on the basis of one or more of the following: a subframe boundary of the first terminal device, a subframe boundary of the second terminal device, the reception time of a first signal, and the transmission time of a second signal, wherein the first signal is a reference signal used for sidelink positioning and transmitted by the first terminal device to the second terminal device, and the second signal is a reference signal used for sidelink positioning and transmitted by the second terminal device to the first terminal device.

Description

Sideways positioning method and communication device Technical Field

[0001] The present application relates to the field of communication technology, and more specifically, to a sideways positioning method and communication device. Background Art

[0002] The round trip time (RTT) positioning method is an effective positioning method. In sideways positioning, how to reduce the positioning error of the RTT positioning method is a problem that needs to be solved.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a sideways positioning method and a communication device. The following describes in detail various aspects of the embodiments of the present application.

[0005] In the first aspect, a side positioning method is provided, including: a first device sends first information, the first information is used to determine the round-trip time between a first terminal device and a second terminal device, the first information corresponds to a first time period, the first time period includes a first time difference, the first time difference is determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; a transmission time of the second signal; a synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0006] According to a second aspect, a side positioning method is provided, including: a second device receives first information, the first information is used to determine the round-trip time between a first terminal device and a second terminal device, the first information corresponds to a first time period, the first time period includes a first time difference, and the first time difference is determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; a transmission time of the second signal; a synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0007] According to a third aspect, a communication device is provided, which is a first device, and includes: a communication module for sending first information, the first information being used to determine the round-trip time between a first terminal device and a second terminal device, the first information corresponding to a first time period, the first time period including a first time difference, the first time difference being determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; a transmission time of the second signal; a synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0008] In a fourth aspect, a communication device is provided, which is a second device, and the communication device includes: a communication module for receiving first information, the first information is used to determine the round-trip time between the first terminal device and the second terminal device, the first information corresponds to a first time period, the first time period includes a first time difference, and the first time difference is determined based on one or more of the following: the subframe boundary of the first terminal device; the subframe boundary of the second terminal device; the reception time of the first signal; the transmission time of the second signal; the synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal sent by the first terminal device to the second terminal device for side positioning, and the second signal is a reference signal sent by the second terminal device to the first terminal device for side positioning.

[0009] In a fifth aspect, a communication device is provided, comprising a transceiver, a memory, and a processor, wherein the memory is used to store programs, and the processor is used to call the programs in the memory and control the transceiver to receive or send signals so that the communication device executes the method as described in any one of the first to second aspects.

[0010] In a sixth aspect, a device is provided, comprising a processor for calling a program from a memory so that the device executes the method as described in any one of the first to second aspects.

[0011] In a seventh aspect, a chip is provided, comprising a processor for calling a program from a memory so that a device equipped with the chip executes a method as described in any one of the first to second aspects.

[0012] In an eighth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method as described in any one of the first to second aspects.

[0013] In a ninth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method as described in any one of the first to second aspects.

[0014] In a tenth aspect, a computer program is provided, which enables a computer to execute the method as described in any one of the first to second aspects.

[0015] By considering the synchronization time difference between two terminal devices during RTT positioning, the RTT positioning error can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a diagram illustrating an example of a system architecture of a wireless communication system to which an embodiment of the present application may be applied.

[0017] FIG2 is a schematic diagram showing the timing relationship between two communicating parties in downlink communication.

[0018] FIG3 is a schematic diagram showing the timing relationship between the two communicating parties in side communication.

[0019] FIG4 is an example diagram of an RTT positioning method in an air interface.

[0020] FIG5A is a flow chart of a sideways positioning method provided in an embodiment of the present application.

[0021] FIG5B is an example diagram of a method for determining propagation delay provided in an embodiment of the present application.

[0022] FIG5C is an example diagram of a method for determining propagation delay provided in an embodiment of the present application.

[0023] FIG6 is an example diagram of a method for determining a synchronization time difference provided in an embodiment of the present application.

[0024] FIG7 is an example diagram of a method for determining a synchronization time difference provided in another embodiment of the present application.

[0025] FIG8 is a schematic diagram of the structure of a communication device provided in one embodiment of the present application.

[0026] FIG9 is a schematic structural diagram of a communication device provided in another embodiment of the present application.

[0027] FIG10 is a schematic structural diagram of a device that can be used in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solution in this application will be described below with reference to the accompanying drawings.

[0029] Communication system architecture

[0030] FIG1 is a diagram illustrating an exemplary system architecture of a wireless communication system 100 to which embodiments of the present application may be applied. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0031] FIG1 exemplarily shows a network device and a terminal device. Optionally, the wireless communication system 100 may include one or more network devices 110 and / or one or more terminal devices 120. For a network device 110, the one or more terminal devices 120 may all be located within the network coverage of the network device 110, or all be located outside the network coverage of the network device 110, or some may be located within the coverage of the network device 110 and others outside the network coverage of the network device 110. This is not limited in the embodiments of the present application.

[0032] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0033] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0034] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the UE can be used to act as a base station. For example, the UE can act as a scheduling entity that provides sidelink signals between UEs in V2X or D2D, etc. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate without relaying the communication signal through the base station.

[0035] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A base station can broadly cover various names as follows, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmission point (TP), master station MeNB, secondary station SeNB, multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. A base station can also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs base station functions in device-to-device D2D, vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. The base station can support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by the network equipment.

[0036] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0037] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0038] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0039] It should be understood that all or part of the functions of the communication device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform).

[0040] In sideline communications, synchronization mechanisms help devices maintain time consistency, enabling accurate communication and positioning. A commonly used synchronization method is timestamp-based. When a transmitting device sends a data packet, it includes a timestamp indicating the time the packet was sent. Upon receiving the packet, the receiving device reads the timestamp and records the time the packet was received. The signal propagation delay between the two devices can be calculated using the time the transmitting device sends the packet and the time the receiving device receives the packet.

[0041] In addition to timestamp-based synchronization, other synchronization methods can be used for sidetrack positioning. For example, two devices can synchronize using satellite signals. Each device receives time signals from the satellite and uses them to calibrate its own clock. This allows the two devices to maintain synchronization, enabling communication and positioning.

[0042] Sidelink communications typically support the following three potential synchronization sources: global navigation satellite systems (GNSS), base stations, and synchronization reference terminals. A synchronization reference terminal refers to a terminal that can synchronize directly to a GNSS or base station. Alternatively, a synchronization reference terminal can also refer to a terminal that can synchronize to other synchronization reference terminals. If no resources are configured for a terminal's sidelink carrier, the terminal can typically only use a GNSS or base station as a synchronization source.

[0043] In sidelink communications, the synchronization method differs from that used over the air interface (Uu interface). During air interface communications, the terminal device synchronizes with the base station for downlink. Therefore, the difference between the frame header (e.g., the subframe header) of the downlink signal received by the terminal device and the frame header of the downlink signal sent by the base station typically consists only of the signal transmission delay (as shown in Figure 2, where T represents this signal transmission delay).

[0044] In sideline communication, when the base station or GNSS is used as a synchronization source, the time difference of the frame header (such as the frame header of the subframe) between the terminal devices as the transmitting and receiving ends not only includes the transmission delay of the signal on the sideline link, but also includes the time difference caused by other factors. Figure 3 shows an example of the synchronization of the two communicating parties in sideline communication. In Figure 3, terminal device 1 is the transmitting device, terminal device 2 is the receiving device, and reference numeral 32 shows the timing of terminal device 2 receiving the signal from terminal device 1. Reference numeral 34 shows the timing of terminal device 1 itself. As can be seen from Figure 3, the frame headers of the subframes of terminal device 2 and terminal device 1 are not aligned, that is, there is a synchronization time difference between terminal device 2 and terminal device 1.

[0045] In sideline communications, the reason why there is a synchronization time difference between the sending and receiving ends is that the sending and receiving ends may be synchronized through a third party (such as a base station or GNSS), and the clocks between the sending and receiving ends are not kept consistent.

[0046] The difference in synchronization between the transmitter and receiver in sideline communication will not have much impact on the normal sideline communication process (such as the transmission process of sideline data). This is because as long as the symbol offset of the communicating parties does not exceed the cyclic prefix (CP) length, the two parties can communicate normally. However, for positioning, a synchronization error of 1 microsecond can cause a positioning error of about 300 meters. The distance corresponding to the transmission delay under the CP length is about 1500 meters. If the positioning error needs to be controlled within 10 meters, the allowable time estimation error is about 1 / 150 CP. It can be seen that compared with sideline communication, sideline positioning has higher requirements for the synchronization of the transmitter and receiver.

[0047] In side-by-side positioning, the RTT positioning method is an effective positioning method. RTT refers to the time from sending a data packet to receiving the corresponding confirmation data packet. In side-by-side positioning, a terminal device can calculate the distance between itself and other terminal devices by measuring RTT. For example, terminal device 1 can send a data packet to terminal device 2 on the opposite side. After receiving the data packet, terminal device 2 can immediately send a confirmation data packet to terminal device 1. Terminal device 1 calculates the RTT by measuring the time difference between the sending time of the data packet and the receiving time of the confirmation data packet. Through multiple RTT measurements, the terminal device can obtain a set of RTT values, and then the terminal device can use this set of RTT values ​​to estimate the distance between terminal devices or locate the terminal device.

[0048] For RTT positioning, terminal devices require more precise time synchronization to ensure accurate coordination and communication between them. In some protocols (such as TS 38.215R17), air-interface RTT positioning is implemented by calculating the time difference between the terminal device's transmit and receive times. This time difference refers to the time difference (or timing difference) between when the terminal device receives a downlink subframe and when it transmits an uplink subframe.

[0049] The calculation method of the time difference between the terminal device and the receiving device is as follows: The time difference between the terminal device and the receiving device = T UE-RX -T UE-TX . T UE-RX Refers to the time when the terminal device receives the downlink subframe #i from the base station (or transmission / receiption point (TP)). This time can be defined based on the time of the first transmission path detected by the terminal device. UE-TX Refers to the time when the terminal device sends the uplink subframe #j. The uplink subframe time #j is closest to the downlink subframe #i in time.

[0050] Simply put, the time difference between a terminal device's transmit and receive times is the interval between the time it receives a downlink subframe from the base station and the time it transmits an uplink subframe that's timed similarly to the received downlink subframe. This is possible because the downlink subframes sent by the base station are time-aligned with the subframes sent by the terminal device, and the time difference between the terminal device's transmit and receive times is an integer multiple of the number of subframes. Since the transmission delay of positioning signals generally cannot exceed one subframe, the time difference between the terminal device's transmit and receive times calculated using this method is consistent with actual conditions, as shown in Figure 4.

[0051] In order to be compatible with the RTT positioning method of the air interface, the definition of the transmit and receive time difference in the air interface can be referred to in sideline communications. For example, terminal device 1 sends a signal to terminal device 2. After terminal device 2 receives the signal, it sends a signal to terminal device 1. In the above process, the transmit time of terminal device 2 can be defined as the time corresponding to the transmit subframe #j of terminal device 2, which is closest to the time when the downlink subframe #i is received from the opposite terminal device 1. However, if this definition is adopted, positioning errors will be introduced. The reason for the positioning error is that the sender and receiver may be synchronized through a third party, and the transmit subframe of terminal device 1 is not aligned with the transmit subframe of terminal device 2. Therefore, the transmit and receive time difference of terminal device 2 may not be an integer multiple of the number of subframes. Therefore, if the RTT positioning method based on the air interface is directly applied to sideline positioning, the calculation of the transmit and receive time difference of the terminal device will introduce errors, which will lead to errors in the final positioning result.

[0052] To address the above issues, an embodiment of the present application provides a sideways positioning method to reduce positioning errors caused by synchronization errors. The embodiment of the present application is described in detail below.

[0053] Figure 5A is a flow chart of a sideways positioning method provided by an embodiment of the present application. The method of Figure 5A is described from the perspective of interaction between a first device and a second device. The first device and the second device can be any type of device that participates in sideways positioning.

[0054] In some implementations, the first device and the second device may be two terminal devices that perform RTT positioning (also known as loop time positioning). Hereinafter, the two terminal devices are referred to as the first terminal device and the second terminal device, respectively. The first terminal device and the second terminal device may be terminal devices synchronized with a third-party synchronization source (such as a base station or GNSS).

[0055] In some implementations, the first device may be a terminal device, and the second device may be a base station.

[0056] In some implementations, the first device may be a terminal device, and the second device may be a positioning server.

[0057] In some implementations, the first device may be a base station, and the second device may be a positioning server.

[0058] In some implementations, the first device may be a reference terminal device, such as a synchronization reference terminal device or a positioning reference terminal device. The second device may be a first terminal device, a second terminal device, a base station, or a positioning server.

[0059] 5A , in step S510 , a first device sends first information to a second device.

[0060] In some implementations, the first information is used to determine an RTT between the first terminal device and the second terminal device.

[0061] In some implementations, the first information corresponds to a first time period, the first time period includes a first time difference, and the first time difference is determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; a transmission time of the second signal; a synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0062] In some implementations, the first time difference is determined based on a subframe boundary of the first terminal device and a subframe boundary of the second terminal device.

[0063] In some implementations, the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

[0064] In some implementations, the first information may include the time difference between the subframe headers of the first terminal device and the second terminal device. Referring back to FIG. 3, the first terminal device is the terminal device 1 in FIG. 3, and the second terminal device is the terminal device 2 in FIG. 3. The timing 32 at which the terminal device 2 receives the signal from the terminal device 1 does not match the timing 34 of the terminal device 1 itself. At this time, the time difference T between the subframe headers of the first terminal device and the second terminal device can be reported for use by the positioning server (or positioning calculation unit) to determine the RTT between the terminal device 1 and the terminal device 2.

[0065] In some implementations, the first information may include the time difference between the transceiver subframe timings of the first terminal device or the second terminal device.

[0066] In some implementations, the first information may include the error (time difference) between the frame headers of the receiving subframe and the transmitting subframe of the first terminal device.

[0067] In some implementations, the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein, the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0068] In some implementations, let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4:

[0069] If t1 > t2, the propagation delay is as shown in FIG. 5B. According to plane geometry, T is t1 - t2. According to the reported content, T0 is t3 - t4. Then the propagation delay is [(t3 - t4) + (t1 - t2)] / 2;

[0070] If t1 < t2, the propagation delay is as shown in FIG. 5C. According to the reported content, T is t1 - t2, T0 is t3 - t4. According to, then the propagation delay is (t3 - t4) / 2 + [T_subframe - (t1 - t2)] / 2, where T_subframe is the length of one subframe. Considering that the propagation delay is less than the subframe length, the above formula can be mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; mod represents taking the remainder.

[0071] In some implementations, the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

[0072] In some implementations, the first time difference is a synchronization time difference between the first terminal device and the second terminal device.

[0073] During the RTT positioning process, the synchronization time difference between the first terminal device and the second terminal device is taken into consideration, which can not only be compatible with the RTT positioning technology of the air interface, but also achieve higher positioning accuracy in the side-travel scenario.

[0074] In some implementations, the receiving device of the first information may include one or more of the following: a first terminal device; a second terminal device; a positioning server; a reference terminal device (such as a positioning reference terminal device); a base station of a serving cell.

[0075] In some implementations, the base station of the above-mentioned service cell may include one or more of the following: the base station of the service cell of the first terminal device; the base station of the service cell of the second terminal device; the base station of the service cell of the first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal (PRS) among the first terminal device and the second terminal device when performing RTT positioning; the base station of the service cell of the second target terminal device, where the second target terminal device is the terminal device that returns the positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; the base station of the service cell of the third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; and the base station of the service cell of the reference terminal device.

[0076] In some implementations, the first information is reported by the first terminal device to the positioning server.

[0077] In some implementations, the first information is reported to the positioning server by the second terminal device.

[0078] In some implementations, the first information is one of target information used to determine the RTT. The target information further includes one or more of the following information: second information indicating a difference between a receiving time and a transmitting time of the first terminal device; third information indicating a difference between a receiving time and a transmitting time of the second terminal device; and fourth information indicating a signal propagation delay between the first terminal device and the second terminal device.

[0079] In some implementations, the fourth information may be equal to T1-T2, where T1 represents the time difference indicated by the second information, and T2 represents the time difference indicated by the third information.

[0080] In some implementations, the second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device. In other words, the first terminal device and the second terminal device report their respective information separately.

[0081] In some implementations, both the second information and the third information are reported to the positioning server by the first terminal device. That is, the first terminal device aggregates and reports information about the first and second terminal devices. The first terminal device may report the first and second terminal device information separately or simultaneously.

[0082] In some implementations, both the second information and the third information are reported to the positioning server by the second terminal device. That is, the second terminal device aggregates and reports the information of the first and second terminal devices. The second terminal device may report the information of the first and second terminal devices separately, or may report the information of the first and second terminal devices simultaneously.

[0083] In some implementations, the fourth information is determined by the first terminal device based on the second information and the third information, and reported by the first terminal device to the positioning server.

[0084] In some implementations, the fourth information is determined by the second terminal device based on the second information and the third information, and reported by the second terminal device to the positioning server.

[0085] In some implementations, the synchronization time difference is determined by a synchronization source. The synchronization source mentioned here can be, for example, a base station. That is, when the first terminal device and the second terminal device are located within the coverage area of ​​the same base station, the base station can determine the synchronization time difference between the first terminal device and the second terminal device and report the synchronization time difference to the positioning server. If the synchronization source is a base station, the uplink timing and sidelink timing of the first terminal device and the second terminal device can be the same.

[0086] In some implementations, the synchronization time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result. The first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device. For example, the synchronization time difference is determined based on the difference between the first synchronization result and the second synchronization result. Exemplarily, the synchronization time difference is equal to the difference between the first synchronization result and the second synchronization result.

[0087] Taking the synchronization source as a base station as an example, the first synchronization result and the second synchronization result may respectively refer to the uplink synchronization results between the base station and the first terminal device and the second terminal device.

[0088] A specific example is given below in conjunction with FIG6 .

[0089] 6 , in step S610 , the first terminal device and the second terminal device send an uplink signal or a sidelink signal respectively.

[0090] In step S620, the base station receives uplink signals or sidelink signals sent by the first terminal device and the second terminal device respectively.

[0091] In step S630, the base station performs uplink synchronization on the first terminal device.

[0092] In step S640, the base station performs uplink synchronization on the second terminal device.

[0093] In step S650, the base station determines a synchronization time difference between the first terminal device and the second terminal device according to the first uplink synchronization result and the second uplink synchronization result.

[0094] It should be noted that the uplink synchronization described in Figure 6 may be different from the uplink synchronization usually performed by the base station. This is because the usual uplink synchronization is to obtain accurate timing advance (TA) so that the uplink signals of different terminal devices are aligned to reduce interference between terminal devices. The purpose of uplink synchronization in Figure 6 is to perform positioning. As mentioned earlier, the accuracy requirements of positioning are much higher than the accuracy requirements of ordinary uplink synchronization. For example, when the subcarrier spacing of the terminal device is 15kHz, the transmission distance corresponding to the quantization interval of TA is about 80 meters, which cannot meet the positioning accuracy requirements. Of course, in scenarios where the positioning accuracy requirements are not high, the synchronization time difference between the two terminal devices can also be calculated based on TA.

[0095] In some implementations, the synchronization time difference may also be determined by the second terminal device. This approach is suitable for situations where the first terminal device sends a reference signal for positioning. For example, referring to Figure 7, in step S710, the first terminal device sends a reference signal for positioning. In step S720, the second terminal device receives the reference signal for positioning. In step S730, the second terminal device performs synchronization processing on the received reference signal to obtain a synchronization result. In step S740, the second terminal device determines the timing difference between the second terminal device's receiving and transmitting subframes based on the obtained synchronization result as the synchronization time difference.

[0096] In some implementations, the synchronization time difference is reported by one or more of the following devices: a first terminal device, a second terminal device, a positioning server, a positioning reference device (or reference node), and a base station.

[0097] In some implementations, the reporting frequency of the synchronization time difference is associated with the movement speed of the first terminal device. For example, when the first terminal device is moving slowly, is stationary, or maintains a constant relative position, the reporting frequency of the synchronization time difference can be lower than the reporting frequency of the terminal device's transmit and receive time difference. In other words, the synchronization time difference does not necessarily need to be reported every time a measurement result is reported. For example, the synchronization time difference can be reported upon request from a positioning server.

[0098] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 7 . The device embodiment of the present application is described in detail below in conjunction with Figures 8 to 10 . It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0099] Figure 8 is a structural diagram of a communication device provided by an embodiment of the present application. The communication device 800 in Figure 8 may be the first device mentioned above. The communication device 800 may include a communication module 810. The communication module 810 is used to send first information, and the first information is used to determine the propagation time between the first terminal device and the second terminal device. The first information corresponds to a first time period, and the first time period includes a first time difference, and the first time difference is determined based on one or more of the following: the subframe boundary of the first terminal device; the subframe boundary of the second terminal device; the reception time of the first signal; the transmission time of the second signal; the synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0100] In some implementations, the first time difference comprises a shortest absolute time difference between subframe boundaries of the first terminal device and the second terminal device.

[0101] In some implementations, the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0102] In some implementations, let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4. The propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2, where T_subframe is the subframe time length and mod represents taking the remainder; if t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

[0103] In some implementations, the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

[0104] In some implementations, the receiving device of the first information includes one or more of the following: the first terminal device; the second terminal device; the positioning server; the reference terminal device; the base station of the serving cell.

[0105] In some implementations, the base station of the serving cell includes one or more of the following: the base station of the serving cell of the first terminal device; the base station of the serving cell of the second terminal device; the base station of the serving cell of the first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; the base station of the serving cell of the second target terminal device, where the second target terminal device is the terminal device that sends back a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; the base station of the serving cell of the third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; the base station of the serving cell of the reference terminal device.

[0106] In some implementations, the first information is reported by the first terminal device to the positioning server; or the first information is reported by the second terminal device to the positioning server.

[0107] In some implementations, the first information belongs to one of the target information for determining the RTT, and the target information further includes one or more of the following information: the second information, which is used to indicate the reception and transmission time difference of the first terminal device; the third information, which is used to indicate the reception and transmission time difference of the second terminal device; the fourth information, which is used to indicate the signal propagation delay between the first terminal device and the second terminal device.

[0108] In some implementations, the second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device; or, both the second information and the third information are reported to the positioning server by the first terminal device; or, both the second information and the third information are reported to the positioning server by the second terminal device; or, the fourth information is determined by the first terminal device based on the second information and the third information, and reported to the positioning server by the first terminal device; or, the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

[0109] In some implementations, the first time difference is determined by a synchronization source.

[0110] In some implementations, the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, where the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

[0111] In some implementations, the first time difference is determined based on a difference between the first synchronization result and the second synchronization result.

[0112] In some implementations, the first time difference is reported by one or more of the following devices: the first terminal device; the second terminal device; a positioning server; a positioning reference device; or a base station.

[0113] In some implementations, the reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

[0114] Figure 9 is a structural diagram of a communication device provided in another embodiment of the present application. The communication device 900 in Figure 9 may be the second device mentioned above. The communication device 900 may include a communication module 910. The communication module 910 is used to receive first information, and the first information is used to determine the propagation time between the first terminal device and the second terminal device. The first information corresponds to a first time period, and the first time period includes a first time difference, and the first time difference is determined based on one or more of the following: the subframe boundary of the first terminal device; the subframe boundary of the second terminal device; the reception time of the first signal; the transmission time of the second signal; the synchronization time difference between the first terminal device and the second terminal device; wherein the first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

[0115] In some implementations, the first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

[0116] In some implementations, the first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein, the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

[0117] In some implementations, let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4. The propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; where T_subframe is the subframe time length and mod represents taking the remainder; if t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

[0118] In some implementations, the first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

[0119] In some implementations, the receiving device of the first information includes one or more of the following: the first terminal device; the second terminal device; a positioning server; a reference terminal device; the base station of the serving cell.

[0120] In some implementations, the base station of the serving cell includes one or more of the following: the base station of the serving cell of the first terminal device; the base station of the serving cell of the second terminal device; the base station of the serving cell of a first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; the base station of the serving cell of a second target terminal device, where the second target terminal device is the terminal device that sends back a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; the base station of the serving cell of a third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; the base station of the serving cell of a reference terminal device.

[0121] In some implementations, the first information is reported to the positioning server by the first terminal device; or, the first information is reported to the positioning server by the second terminal device.

[0122] In some implementations, the first information belongs to one of the target information used to determine the RTT, and the target information also includes one or more of the following information: second information, used to indicate the difference between the reception and transmission time of the first terminal device; third information, used to indicate the difference between the reception and transmission time of the second terminal device; fourth information, used to indicate the signal propagation delay between the first terminal device and the second terminal device.

[0123] In some implementations, the second information is reported to the positioning server by the first terminal device, and the third information is reported to the positioning server by the second terminal device; or, both the second information and the third information are reported to the positioning server by the first terminal device; or, both the second information and the third information are reported to the positioning server by the second terminal device; or, the fourth information is determined by the first terminal device based on the second information and the third information, and reported to the positioning server by the first terminal device; or, the fourth information is determined by the second terminal device based on the second information and the third information, and reported to the positioning server by the second terminal device.

[0124] In some implementations, the first time difference is determined by a synchronization source.

[0125] In some implementations, the first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, where the first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

[0126] In some implementations, the first time difference is determined based on a difference between the first synchronization result and the second synchronization result.

[0127] In some implementations, the first time difference is reported by one or more of the following devices: the first terminal device; the second terminal device; a positioning server; a positioning reference device; or a base station.

[0128] In some implementations, the reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

[0129] FIG10 is a schematic block diagram of an apparatus according to an embodiment of the present application. The dotted lines in FIG10 indicate that the unit or module is optional. Apparatus 1000 may be used to implement the method described in the above method embodiment. Apparatus 1000 may be a chip, a terminal device, or a network device.

[0130] The device 1000 may include one or more processors 1010. The processor 1010 may support the device 1000 to implement the method described in the method embodiment above. The processor 1010 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0131] The apparatus 1000 may further include one or more memories 1020. The memories 1020 store programs that can be executed by the processor 1010, causing the processor 1010 to perform the methods described in the above method embodiments. The memories 1020 may be independent of the processor 1010 or integrated into the processor 1010.

[0132] The apparatus 1000 may further include a transceiver 1030. The processor 1010 may communicate with other devices or chips via the transceiver 1030. For example, the processor 1010 may transmit and receive data with other devices or chips via the transceiver 1030.

[0133] The present invention also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the communication device provided in the present invention, and the program enables a computer to execute the method performed by the communication device in each embodiment of the present invention.

[0134] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in the present application, and the program causes a computer to execute the method performed by the communication device in each embodiment of the present application.

[0135] The embodiments of the present application also provide a computer program. The computer program can be applied to the communication device provided in the embodiments of the present application, and the computer program enables a computer to execute the method executed by the communication device in each embodiment of the present application.

[0136] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0137] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0138] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0139] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0140] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0141] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0142] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0143] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0147] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0148] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A side-travel positioning method, characterized in that: Including: The first device sends first information, which is used to determine the propagation time between the first terminal device and the second terminal device. The first information corresponds to a first time period, and the first time period includes a first time difference. The first time difference is determined based on one or more of the following: The subframe boundary of the first terminal device; The subframe boundary of the second terminal device; The reception time of the first signal; The transmission time of the second signal; The synchronization time difference between the first terminal device and the second terminal device; Wherein, the first signal is a reference signal for sidelink positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning sent by the second terminal device to the first terminal device.

2. The method according to claim 1, characterized in that The first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

3. The method according to claim 1, characterized in that The first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein, the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

4. The method according to claim 3, characterized in that Let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4. The propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; where T_subframe is the subframe time length and mod represents taking the remainder; If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

5. The method according to claim 1, characterized in that The first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

6. The method according to any one of claims 1 to 5, characterized in that The receiving device of the first information includes one or more of the following: The first terminal device; The second terminal device; The positioning server; The reference terminal device; The base station of the serving cell.

7. The method according to claim 6, characterized in that The base station of the serving cell includes one or more of the following: The base station of the serving cell of the first terminal device; The base station of the serving cell of the second terminal device; The base station of the serving cell of the first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal among the first terminal device and the second terminal device when performing round-trip time (RTT) positioning; The base station of the serving cell of the second target terminal device, where the second target terminal device is the terminal device that returns a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; The base station of the serving cell of the third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; The base station of the serving cell of the reference terminal device.

8. The method according to any one of claims 1 to 7, characterized in that: The first information is reported by the first terminal device to the positioning server; or, The first information is reported to the positioning server by the second terminal device.

9. The method according to any one of claims 1 to 8, characterized in that The first information belongs to one of the target information used to determine the RTT, and the target information further includes one or more of the following information: The second information is used to indicate the time difference between receiving and sending of the first terminal device; The third information is used to indicate the time difference between receiving and sending of the second terminal device; The fourth information is used to indicate the signal propagation delay between the first terminal device and the second terminal device.

10. The method according to claim 9, characterized in that: The second information is reported by the first terminal device to the positioning server, and the third information is reported by the second terminal device to the positioning server; or, The second information and the third information are both reported by the first terminal device to the positioning server; or, The second information and the third information are both reported by the second terminal device to the positioning server; or, The fourth information is determined by the first terminal device based on the second information and the third information, and reported by the first terminal device to the positioning server; or, The fourth information is determined by the second terminal device based on the second information and the third information, and is reported to the positioning server by the second terminal device.

11. The method according to any one of claims 1 to 10, characterized in that The first time difference is determined by a synchronization source.

12. The method according to claim 11, characterized in that The first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, wherein the first synchronization result is a synchronization result between the synchronization source and the first terminal device, and the second synchronization result is a synchronization result between the synchronization source and the second terminal device.

13. The method according to claim 12, characterized in that The first time difference is determined based on a difference between the first synchronization result and the second synchronization result.

14. The method according to any one of claims 1 to 13, characterized in that The first time difference is reported by one or more of the following devices: the first terminal device; the second terminal device; Locate the server; Positioning reference equipment; Base station.

15. The method according to any one of claims 1 to 14, characterized in that The reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

16. A sideways positioning method, characterized in that: include: The second device receives first information, where the first information is used to determine a propagation time between the first terminal device and the second terminal device, where the first information corresponds to a first time period, where the first time period includes a first time difference, and where the first time difference is determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; The sending time of the second signal; A synchronization time difference between the first terminal device and the second terminal device; The first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

17. The method according to claim 16, characterized in that The first time difference comprises the shortest absolute time difference between subframe boundaries of the first terminal device and the second terminal device.

18. The method according to claim 16, characterized in that The first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein, the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

19. The method according to claim 18, characterized in that Let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4. The propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; where T_subframe is the subframe time length and mod represents taking the remainder; If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

20. The method according to claim 16, characterized in that The first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

21. The method according to any one of claims 16 to 20, characterized in that The receiving device of the first information includes one or more of the following: The first terminal device; The second terminal device; The positioning server; The reference terminal device; The base station of the serving cell.

22. The method according to claim 21, characterized in that The base station of the serving cell includes one or more of the following: The base station of the serving cell of the first terminal device; The base station of the serving cell of the second terminal device; The base station of the serving cell of the first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal among the first terminal device and the second terminal device when performing round-trip time (RTT) positioning; The base station of the serving cell of the second target terminal device, where the second target terminal device is the terminal device that returns a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; The base station of the serving cell of the third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; The base station of the serving cell of the reference terminal device.

23. According to the method according to any one of claims 16 to 22, wherein: The first information is reported by the first terminal device to the positioning server; or, The first information is reported by the second terminal device to the positioning server.

24. The method according to any one of claims 16 to 23, characterized in that The first information belongs to one of the target information for determining the RTT, and the target information further includes one or more of the following information: The second information, which is used to indicate the reception and transmission time difference of the first terminal device; The third information, which is used to indicate the reception and transmission time difference of the second terminal device; The fourth information, which is used to indicate the signal propagation delay between the first terminal device and the second terminal device.

25. According to the method according to claim 24, wherein: The second information is reported by the first terminal device to the positioning server, and the third information is reported by the second terminal device to the positioning server; or, The second information and the third information are both reported by the first terminal device to the positioning server; or, The second information and the third information are both reported by the second terminal device to the positioning server; or, The fourth information is determined by the first terminal device based on the second information and the third information, and reported by the first terminal device to the positioning server; or, The fourth information is determined by the second terminal device based on the second information and the third information, and is reported to the positioning server by the second terminal device.

26. The method according to any one of claims 16 to 25, characterized in that The first time difference is determined by a synchronization source.

27. The method according to claim 26, characterized in that The first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, wherein the first synchronization result is a synchronization result between the synchronization source and the first terminal device, and the second synchronization result is a synchronization result between the synchronization source and the second terminal device.

28. The method according to claim 27, characterized in that The first time difference is determined based on a difference between the first synchronization result and the second synchronization result.

29. The method according to any one of claims 16 to 28, characterized in that The first time difference is reported by one or more of the following devices: the first terminal device; the second terminal device; Locate the server; Positioning reference equipment; Base station.

30. The method according to any one of claims 16 to 29, characterized in that The reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

31. A communication device, characterized in that: The communication device is a first device, and the communication device includes: A communication module is configured to send first information, wherein the first information is used to determine a propagation time between a first terminal device and a second terminal device, wherein the first information corresponds to a first time period, wherein the first time period includes a first time difference, and wherein the first time difference is determined based on one or more of the following: a subframe boundary of the first terminal device; a subframe boundary of the second terminal device; a reception time of the first signal; The sending time of the second signal; A synchronization time difference between the first terminal device and the second terminal device; The first signal is a reference signal for side positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for side positioning sent by the second terminal device to the first terminal device.

32. The communication device according to claim 31, characterized in that The first time difference comprises the shortest absolute time difference between subframe boundaries of the first terminal device and the second terminal device.

33. The communication device according to claim 31, characterized in that The first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

34. The communication device according to claim 33, characterized in that Assuming that the reception time of the first signal is t1, the subframe boundary of the first subframe closest to the reception time of the first signal is t2, the reception time of the second signal is t3, the subframe boundary of the second subframe closest to the reception time of the second signal is t4, the propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; where T_subframe is the subframe time length and mod represents taking the remainder; If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

35. The communication device according to claim 31, characterized in that The first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

36. The communication device according to any one of claims 31 to 35, characterized in that: The receiving device of the first information includes one or more of the following: The first terminal device; The second terminal device; The positioning server; The reference terminal device; The base station of the serving cell.

37. The communication device according to claim 36, characterized in that The base station of the serving cell includes one or more of the following: The base station of the serving cell of the first terminal device; The base station of the serving cell of the second terminal device; The base station of the serving cell of the first target terminal device, where the first target terminal device is the terminal device that first sends a positioning reference signal among the first terminal device and the second terminal device when performing round-trip time (RTT) positioning; The base station of the serving cell of the second target terminal device, where the second target terminal device is the terminal device that transmits back a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; The base station of the serving cell of the third target terminal device, where the third target terminal device is the terminal device that sends a positioning request among the first terminal device and the second terminal device; The base station of the serving cell of the reference terminal device.

38. The communication device according to any one of claims 31 to 37, characterized in that: The first information is reported by the first terminal device to the positioning server; or, The first information is reported by the second terminal device to the positioning server.

39. The communication device according to any one of claims 31 to 38, characterized in that: The first information belongs to one of the target information for determining the RTT, and the target information further includes one or more of the following information: The second information, which is used to indicate the reception and transmission time difference of the first terminal device; The third information, which is used to indicate the reception and transmission time difference of the second terminal device; The fourth information, which is used to indicate the signal propagation delay between the first terminal device and the second terminal device.

40. The communication device according to claim 39, characterized in that: The second information is reported by the first terminal device to the positioning server, and the third information is reported by the second terminal device to the positioning server; or, Both the second information and the third information are reported by the first terminal device to the positioning server; or, Both the second information and the third information are reported by the second terminal device to the positioning server; or, The fourth information is determined by the first terminal device based on the second information and the third information and reported by the first terminal device to the positioning server; or, The fourth information is determined by the second terminal device based on the second information and the third information and reported by the second terminal device to the positioning server.

41. The communication device according to any one of claims 31 to 40, characterized in that: The first time difference is determined by a synchronization source.

42. The communication device according to claim 41, characterized in that The first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result. The first synchronization result is the synchronization result between the synchronization source and the first terminal device, and the second synchronization result is the synchronization result between the synchronization source and the second terminal device.

43. The communication device according to claim 42, characterized in that The first time difference is determined based on the difference between the first synchronization result and the second synchronization result.

44. The communication device according to any one of claims 31 to 43, characterized in that: The first time difference is reported by one or more of the following devices: The first terminal device; The second terminal device; A positioning server; A positioning reference device; A base station.

45. The communication device according to any one of claims 31 to 44, characterized in that: The reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

46. ​​A communication device, characterized in that: The communication device is a second device, and the communication device includes: A communication module, configured to receive first information for determining a propagation time between a first terminal device and a second terminal device. The first information corresponds to a first time period, and the first time period includes a first time difference determined based on one or more of the following: A subframe boundary of the first terminal device; A subframe boundary of the second terminal device; A reception time of a first signal; A transmission time of a second signal; A synchronization time difference between the first terminal device and the second terminal device; Wherein, the first signal is a reference signal for sidelink positioning sent by the first terminal device to the second terminal device, and the second signal is a reference signal for sidelink positioning sent by the second terminal device to the first terminal device.

47. The communication device according to claim 46, characterized in that The first time difference includes the shortest absolute time difference between the subframe boundaries of the first terminal device and the second terminal device.

48. The communication device according to claim 46, characterized in that The first time difference is determined based on the reception time of the first signal and the subframe boundary of the first subframe of the second terminal device; wherein, the subframe boundary of the first subframe is the subframe boundary closest to the reception time of the first signal.

49. The communication device according to claim 48, characterized in that Let the reception time of the first signal be t1, the subframe boundary of the first subframe closest to the reception time of the first signal be t2, the reception time of the second signal be t3, and the subframe boundary of the second subframe closest to the reception time of the second signal be t4. The propagation delay satisfies one or more of the following: If t1 < t2, the propagation delay is [(t3 - t4) + T_subframe - (t1 - t2)] / 2; or mod{[(t3 - t4) - (t1 - t2)], T_subframe} / 2; where T_subframe is the subframe time length and mod represents taking the remainder; If t1 > t2, the propagation delay is [(t3 - t4) + (t1 - t2)] / 2.

50. The communication device according to claim 46, characterized in that The first time difference is the time difference between the reception time of the first signal and the transmission time of the second signal.

51. The communication device according to any one of claims 46 to 50, characterized in that: The receiving devices of the first information include one or more of the following: The first terminal device; The second terminal device; A positioning server; A reference terminal device; The base station of the serving cell.

52. The communication device according to claim 51, characterized in that The base station of the serving cell includes one or more of the following: The base station of the serving cell of the first terminal device; A base station of a serving cell of the second terminal device; A base station of a serving cell of a first target terminal device, wherein the first target terminal device is a terminal device that first sends a positioning reference signal between the first terminal device and the second terminal device when performing round-trip time (RTT) positioning; a base station of a serving cell of a second target terminal device, wherein the second target terminal device is a terminal device that transmits back a positioning reference signal among the first terminal device and the second terminal device when performing RTT positioning; A base station of a service cell of a third target terminal device, wherein the third target terminal device is a terminal device that sends a positioning request among the first terminal device and the second terminal device; Refer to the base station of the service cell of the terminal device.

53. The communication device according to any one of claims 46 to 52, characterized in that: The first information is reported by the first terminal device to the positioning server; or, The first information is reported to the positioning server by the second terminal device.

54. The communication device according to any one of claims 46 to 53, characterized in that: The first information belongs to one of the target information used to determine the RTT, and the target information further includes one or more of the following information: The second information is used to indicate the time difference between receiving and sending of the first terminal device; The third information is used to indicate the time difference between receiving and sending of the second terminal device; The fourth information is used to indicate the signal propagation delay between the first terminal device and the second terminal device.

55. The communication device according to claim 54, characterized in that: The second information is reported by the first terminal device to the positioning server, and the third information is reported by the second terminal device to the positioning server; or, The second information and the third information are both reported by the first terminal device to the positioning server; or, The second information and the third information are both reported by the second terminal device to the positioning server; or, The fourth information is determined by the first terminal device based on the second information and the third information, and reported by the first terminal device to the positioning server; or, The fourth information is determined by the second terminal device based on the second information and the third information, and is reported to the positioning server by the second terminal device.

56. The communication device according to any one of claims 46 to 55, characterized in that: The first time difference is determined by a synchronization source.

57. The communication device according to claim 56, characterized in that The first time difference is determined by the synchronization source based on a first synchronization result and a second synchronization result, wherein the first synchronization result is a synchronization result between the synchronization source and the first terminal device, and the second synchronization result is a synchronization result between the synchronization source and the second terminal device.

58. The communication device according to claim 57, characterized in that The first time difference is determined based on a difference between the first synchronization result and the second synchronization result.

59. The communication device according to any one of claims 46 to 58, characterized in that: The first time difference is reported by one or more of the following devices: the first terminal device; the second terminal device; Locate the server; Positioning reference equipment; Base station.

60. The communication device according to any one of claims 46 to 59, characterized in that: The reporting frequency of the first time difference is associated with the moving speed of the first terminal device.

61. A communication device, characterized in that: It comprises a transceiver, a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory and control the transceiver to receive or send a signal so that the communication device executes the method as claimed in any one of claims 1 to 15, or any one of claims 16 to 30.

62. A device, characterized in that The device comprises a processor, configured to call a program from a memory so as to cause the device to execute the method according to any one of claims 1 to 13 or any one of claims 14 to 26.

63. A chip, characterized in that: It comprises a processor, which is used to call a program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 15, or any one of claims 16 to 30.

64. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute the method according to any one of claims 1 to 15 or any one of claims 16 to 30.

65. A computer program product, characterized in that The method comprises a program which causes a computer to execute the method according to any one of claims 1 to 15 or any one of claims 16 to 30.

66. A computer program, characterized in that The computer program enables a computer to execute the method according to any one of claims 1 to 15 or any one of claims 16 to 30.

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