Method for positioning, and apparatus

Abstract

Provided in the present application are a method for positioning, and an apparatus. The method for positioning comprises: a first terminal device receives first indication information from a network device; and, when the first terminal device needs to report a first measurement quantity, according to the first indication information, the first terminal device can determine a positioning reference signal associated with the first measurement quantity, such that the first terminal device can measure the first measurement quantity on the basis of the determined positioning reference signal associated with the first measurement quantity and report same, the first measurement quantity being used for determining the distance between the first terminal device and a second terminal device so as to assist in positioning the terminal device. According to the first indication information, the terminal device can determine the positioning reference signal associated with the measurement quantity, so as to avoid redundancy in reporting the measurement quantity caused by the terminal device determining by itself the reporting of the measurement quantity.

Description

Method and device for positioning

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 19, 2023, with application number 202311214686.X and application name “Method and Device for Positioning”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of communications, and more specifically, to a method and apparatus for positioning. Background Art

[0003] The fifth generation (5G) of mobile communication technology is currently standardizing sidelink (SL) positioning. Currently, the standard has decided to introduce a round-trip time (RTT) solution for positioning in SL scenarios.

[0004] The measurement quantity used in RTT positioning in SL communication scenarios differs from the measurement quantity currently defined in the 3rd Generation Partnership Project (3GPP) air interface communication scenarios. Specifically, the measurement quantity used in the RTT positioning method defined in 3GPP air interface communication scenarios is the Rx-Tx time difference, for example, the receive time (TUE-RX) minus the transmit time (TUE-TX).

[0005] Specifically, to achieve bilateral RTT, network devices can request terminal devices to report multiple transmit / receive time differences through high-layer signaling. However, because the positioning reference signals (PRS) associated with different transmit / receive time differences are determined independently by the terminal devices, this can lead to redundant measurement reporting. Therefore, reducing the redundancy of measurement reporting has become an urgent issue.

[0006] Summary of the Invention

[0007] The present application provides a positioning method to reduce the redundancy of measurement quantity reporting.

[0008] In a first aspect, a method for positioning is provided. The method can be executed by a first terminal device or by a component (such as a chip or circuit) of the first terminal device. This application does not limit this.

[0009] The method for positioning includes: receiving first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; determining the positioning reference signal associated with the first measurement quantity based on the first indication information, and measuring the positioning reference signal associated with the measurement quantity to obtain the first measurement quantity, wherein the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0010] Based on the above technical solution, before measuring and reporting the first measurement quantity, the first terminal device receives first indication information, where the first indication information is used to determine the positioning reference signal associated with the first measurement quantity. Thus, the first terminal device can determine the positioning reference signal associated with the first measurement quantity based on the first indication information, and then measure the positioning reference signal associated with the first measurement quantity to obtain the first measurement quantity and report it, thereby avoiding the situation where the terminal device determines the positioning reference signal associated with the measurement quantity on its own when it is unable to know the positioning reference signal associated with the measurement quantity, resulting in redundant measurement quantity reporting.

[0011] For example, if the first terminal device does not receive the first indication information, the first terminal device may determine the measurement quantities corresponding to different received positioning reference signals and sent positioning reference signals based on the received positioning reference signal and the sent positioning reference signal in the process of obtaining the measurement quantity, and report them. In this technical solution, the first terminal device refers to the indication of the first indication information in the process of obtaining the measurement quantity. The positioning reference signal associated with the measurement quantity obtained by the first terminal device needs to meet the regulations indicated by the first indication information, thereby reducing the redundancy of the measurement quantity reporting to a certain extent.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is used to indicate the number N of transmitted positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the transmitted positioning reference signals associated with the first positioning reference signal; or, the first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal, wherein N is a positive integer.

[0013] Based on the above technical solution, the first indication information can be implemented by indicating the number N of sent positioning reference signals associated with the received positioning reference signal, or by indicating the number N of received positioning reference signals associated with the sent positioning reference signal, to stipulate that the received positioning reference signals and the sent positioning reference signals associated with different measurement quantities need to meet the requirements indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signals and the sent positioning reference signals associated with the measurement quantity in the process of obtaining the measurement quantity.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the sent positioning reference signal associated with the first positioning reference signal is the positioning reference signals most recently sent by the first terminal device to receive the first positioning reference signal; the received positioning reference signal associated with the second positioning reference signal is the positioning reference signals most recently received by the first terminal device to send the second positioning reference signal.

[0015] Based on the above technical solution, the sent positioning reference signal associated with the received positioning reference signal indicated by the first indication information can be the positioning reference signal most recently sent by the received positioning reference signal, that is, in addition to indicating the number of sent positioning reference signals associated with the received positioning reference signal, the first indication information can also specify the position of the sent positioning reference signal associated with the received positioning reference signal.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the N1 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N1 transmitted positioning reference signals before the first terminal device receives the first positioning reference signal, and the N2 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N2 transmitted positioning reference signals after the first terminal device receives the first positioning reference signal.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the N1 received positioning reference signals associated with the second positioning reference signal are the most recently N1 received positioning reference signals before the first terminal device sends the second positioning reference signal, and the N2 received positioning reference signals associated with the second positioning reference signal are the most recently N2 received positioning reference signals after the first terminal device sends the second positioning reference signal.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the first indication information includes a bit map, the bit map includes Q bits, the Q bits correspond to Q positioning reference signals, and the bit map is used to indicate the transmitted positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals; or, the bit map is used to indicate the received positioning reference signal associated with the second positioning reference signal, and the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

[0021] Based on the above technical solution, the first indication information can be a bit map, which indicates the association relationship between the positioning reference signals in the form of a bit map, indicating that the form of the first indication information can be indicated by multiple quantities not limited to the above (such as N, N1 and N2, etc.), and can also be in the form of a bit map, thereby improving the flexibility of the solution.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

[0023] Based on the above technical solution, the first indication information can satisfy the requirement that the number of positioning reference signals separated by the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity is less than or equal to the first threshold, thereby stipulating that the received positioning reference signal and the sent positioning reference signal associated with different measurement quantities need to meet the requirement indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0024] In combination with the first aspect, in some implementations of the first aspect, the first indication information is used to indicate that the time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

[0025] Based on the above technical solution, the first indication information can be implemented by indicating that the duration of the interval between the received positioning reference signal and the sent positioning reference information associated with the measurement quantity is less than or equal to the second threshold requirement, thereby stipulating that the received positioning reference signal and the sent positioning reference signal associated with different measurement quantities need to meet the requirements indicated by the first indication information, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device independently determining the received positioning reference signal and the sent positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is also used to determine a first time window, the positioning reference signal associated with the first measurement quantity belongs to the first time window, the first time window is one of M time windows, and M is a positive integer, wherein the first indication information is also used to indicate at least one of the following information: the window length of the first time window, the total number of time windows M, or the starting time of the first time window.

[0027] Based on the above technical solution, the first indication information can also indicate the interval of the first time window to stipulate that the positioning reference signal associated with the first measurement quantity belongs to the first time window, thereby avoiding the redundancy of measurement quantity reporting caused by the first terminal device associating positioning reference signals in different time windows to determine the received positioning reference signal and the transmitted positioning reference signal associated with the measurement quantity in the process of obtaining the measurement quantity.

[0028] In combination with the first aspect, in certain implementations of the first aspect, the starting moment of the M time windows is the moment when the first terminal device receives the first indication information; the ending moment of the M time windows is the moment when the first terminal device reports the first measurement quantity.

[0029] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: receiving a request message, the request message being used to request reporting of the first measurement quantity, the request message including response duration information, the response duration information indicating that the first measurement quantity should be reported within the response duration after receiving the request message. The starting time of the M time windows is the time when the request message is received; and the ending time of the M time windows is the time after the time when the request message is received that corresponds to the response duration.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message, or a sidelink positioning protocol SLPP message.

[0031] In a second aspect, a method for positioning is provided. The method can be executed by a network device or by a component of the network device (such as a chip or circuit), and this application does not limit this.

[0032] The method for positioning includes: generating first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; and sending the first indication information, where the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0033] Specifically, the description related to the first indication information can refer to the description on the first indication information in the first aspect above, which will not be repeated here. In addition, the description related to the request information can also refer to the description on the indication information in the first aspect above, which will not be repeated here.

[0034] The technical effects of the method shown in the above second aspect and its possible design can refer to the technical effects in the first aspect and its possible design.

[0035] In a third aspect, a terminal device is provided. A first device is configured to execute the first aspect and any one of its embodiments. Specifically, the terminal device includes a processor and a memory, the memory being configured to store a computer program; the processor being configured to retrieve and execute the computer program from the memory, so that the terminal device executes the first aspect and any one of its embodiments.

[0036] In a fourth aspect, a network device is provided. The network device is configured to execute the second aspect and any one of its embodiments. Specifically, the network device includes a processor and a memory, the memory being configured to store a computer program; the processor being configured to retrieve and execute the computer program from the memory, so that the network device executes the second aspect and any one of its embodiments.

[0037] In a fifth aspect, a communication device is provided. The communication device is configured to perform the methods provided in the first and second aspects above, and any of their embodiments. Specifically, the communication device may include units and / or modules (e.g., processing units, transceiver units) configured to perform the methods provided in the first and second aspects above, and any of their embodiments.

[0038] In one implementation, the communication device is a terminal device. When the communication device is a terminal device, the transceiver unit may be a transceiver or an input / output interface. The processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0039] In another implementation, the communication device may be a chip, chip system, or circuit in a terminal device. In this case, the transceiver unit may be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; and the processing unit may be at least one processor, processing circuit, or logic circuit.

[0040] In a sixth aspect, the present application provides a processor for executing the methods provided in the first and second aspects above.

[0041] For the operations such as sending and acquiring / receiving involved in the processor, unless otherwise specified, or if they do not conflict with their actual functions or internal logic in the relevant descriptions, they can be understood as processor output, reception, input and other operations, and can also be understood as sending and receiving operations performed by the radio frequency circuit and antenna. This application does not limit this.

[0042] In a seventh aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which, when executed on a communication device, causes the communication device to execute the method of any one of the implementations of the first and second aspects.

[0043] In an eighth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, causes the computer to execute the method provided in any one of the implementations of the first and second aspects.

[0044] In a ninth aspect, a chip is provided, which includes a processor and a communication interface. The processor reads instructions through the communication interface and executes the method provided by any one of the implementations of the first and second aspects.

[0045] Optionally, as an implementation method, the chip also includes a memory, the memory stores a computer program or instructions, and the processor is used to execute the computer program or instructions stored in the memory. When the computer program or instructions are executed, the processor is used to execute the method provided by any one of the implementation methods of the first and second aspects above.

[0046] In the tenth aspect, a communication system is provided, comprising the terminal device of the third aspect and the network device of the fourth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] FIG1 is a schematic diagram of a scenario of an embodiment of the present application.

[0048] FIG2 is a schematic diagram of an RTT positioning method.

[0049] FIG3 is a schematic diagram of the DS-RTT positioning method.

[0050] FIG4 is a schematic diagram of PRS transmission in a general DS-RTT positioning method provided in an embodiment of the present application.

[0051] FIG5 is a schematic diagram of measurement quantities provided in an embodiment of the present application.

[0052] FIG6 is a schematic diagram of a terminal device reporting measurement quantities according to an embodiment of the present application.

[0053] FIG7 is a schematic flowchart of a positioning method provided in an embodiment of the present application.

[0054] FIG8 is a schematic diagram of a configuration provided in an embodiment of the present application.

[0055] FIG9 is a schematic diagram of another configuration provided in an embodiment of the present application.

[0056] FIG10 is another configuration diagram provided in an embodiment of the present application.

[0057] FIG11 is another configuration diagram provided in an embodiment of the present application.

[0058] FIG12 is another configuration diagram provided in an embodiment of the present application.

[0059] FIG13 is another configuration diagram provided in an embodiment of the present application.

[0060] FIG14 is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0061] FIG15 is a schematic diagram of another communication device provided in an embodiment of the present application.

[0062] FIG16 is a schematic diagram of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to facilitate understanding of the embodiments of the present application, the following points are first explained.

[0064] First, in this application, "used to indicate" can include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A.

[0065] The information indicated by the indication information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, it is also possible to use the arrangement order of each piece of information agreed in advance (such as specified in the protocol) to achieve the indication of specific information, thereby reducing the indication overhead to a certain extent. At the same time, it is also possible to identify the common parts of each piece of information and indicate them uniformly to reduce the indication overhead caused by indicating the same information separately.

[0066] Second, "at least one" shown in the present application refers to one or more, and "multiple" refers to two or more. In addition, in the embodiments of the present application, "first", "second" and various digital numbers (for example, "#1", "#2", etc.) are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of each process below 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. It should be understood that the objects described in this way can be interchangeable under appropriate circumstances so as to be able to describe solutions other than the embodiments of the present application. In addition, in the embodiments of the present application, words such as "S710" are only identifications made for the convenience of description and are not used to limit the order of execution of steps.

[0067] Third, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0068] Fourth, the term "storage" used in the embodiments of this application may refer to storage in one or more memories. The one or more memories may be provided separately or integrated into an encoder or decoder, a processor, or a communication device. The one or more memories may also be partially provided separately and partially integrated into a decoder, a processor, or a communication device. The type of memory may be any form of storage medium, and this application is not limited thereto.

[0069] Fifth, in the implementation of this application, "protocol" may refer to a standard protocol in the field of communications, for example, it may include the NR protocol and related protocols used in future communication systems, and this application does not limit this.

[0070] Sixth, in the embodiments of the present application, the terms “of”, “corresponding, relevant”, “corresponding” and “associate” can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0071] Seventh, in the embodiments of the present application, "under the circumstances", "when", and "if" can sometimes be used interchangeably. It should be pointed out that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0072] Eighth, the term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0073] The technical solution in this application will be described below with reference to the accompanying drawings.

[0074] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, 5G mobile communication system or new radio access technology (NR). The technical solutions provided in the present application can also be applied to future communication systems, such as the sixth generation mobile communication system.

[0075] The embodiments of the present application can be applied to terminal devices. A terminal device can be a device that provides voice / data connectivity to a user, such as a handheld device with wireless connection function, a vehicle-mounted device, etc.; it can be a device in vehicle network communication, such as a communication terminal loaded on a vehicle, a road side unit (RSU); it can be a communication terminal loaded on a drone; it can also be a terminal device in an Internet of Things (IoT) system. A terminal device can also be called user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0076] Exemplary terminal devices include, but are not limited to, mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (PLMNs). The embodiment of the present application does not limit the specific form of the terminal device.

[0077] The technical solutions in the embodiments of the present application can also be applied to access network devices. An access network device can be a device that can connect a terminal device to a wireless network. The access network device can also be referred to as a radio access network (RAN) node, a radio access network device, or a network device. For example, the access network device can be a base station.

[0078] The base station in the embodiments of the present application can broadly cover the following various names, or be replaced with the following names. For example, NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmitting point (TP), master eNodeB (MeNB), secondary eNodeB (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. The 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 installed in the aforementioned equipment or devices. A base station can also be a network-side device in a 6G network, a device that performs base station functions in future communication systems, etc. A base station can support networks with the same or different access technologies.

[0079] 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.

[0080] The embodiments of the present application do not limit the specific technology and specific device form adopted by the access network device.

[0081] To facilitate understanding of the embodiments of the present application, first, taking Figure 1 as an example, the application scenarios to which the embodiments of the present application are applicable are explained.

[0082] Figure 1 is a schematic diagram of an application scenario 100 involved in the present application. As shown in Figure 1, the application scenario 100 mainly involves a sidelink positioning scenario, and the terminal device 110 and the terminal device 120 in Figure 1 are terminal devices participating in positioning. For example, one of the terminal devices 110 and the terminal device 120 is a terminal device to be positioned, and the other terminal device is an anchor terminal device. The terminal device 110 and the terminal device 120 can be ordinary mobile phones or other terminal devices, or they can be RSUs, etc. Signals can be sent and received between the terminal device to be positioned and the anchor terminal device, as well as between the anchor terminal devices. The positioning measurement information can be reported to the location management function (LMF) (if any), a base station, or other devices.

[0083] Specifically, the method for implementing positioning between the terminal device 110 and the terminal device 120 will be described below in conjunction with specific embodiments and will not be repeated here.

[0084] It should be understood that Figure 1 is only an illustrative example of a scenario in which the method for positioning provided by an embodiment of the present application can be applied, and does not constitute any limitation on the scope of protection of the present application. For example, the number of terminal devices included in the scenario shown in Figure 1 above may be more than two, and any at least two terminal devices may be terminal devices participating in positioning. For another example, the scenario shown in Figure 1 may also include a base station (such as a gNB). For another example, the scenario shown in Figure 1 may also include a positioning management device. Specifically, the positioning management device is a device on the network side for determining the positioning information of the terminal device. The positioning management device may be an LMF entity, an evolved serving mobile location center (E-SMLC) or other device that can be used to determine the positioning information of the terminal device.

[0085] Furthermore, to facilitate understanding of the embodiments of the present application, several basic concepts involved in the embodiments of the present application are briefly explained.

[0086] 1. Round-trip time (RTT) positioning.

[0087] The RTT positioning method uses a positioning reference signal (PRS) to obtain the round-trip transmission time to achieve positioning, without the need for clock synchronization. Specifically, by sending a reference signal back and forth between two devices, the time of flight (TOF) between the two devices can be obtained as:

[0088] Among them, t roundIndicates the duration between the time when a device involved in positioning sends a positioning reference signal and the time when it receives the positioning reference signal; t reply Indicates the interval between the time when another device participating in positioning sends a positioning reference signal and the time when it receives the positioning reference signal.

[0089] Furthermore, by multiplying TOF by the speed of light, the distance between the two devices can be obtained. As shown in Figure 2, Figure 2 is a schematic diagram of the RTT positioning method.

[0090] As can be seen from FIG. 2 , by sending PRS back and forth between devices participating in positioning (eg, device #A and device #B shown in FIG. 2 ), the distance between device #A and device #B can be obtained.

[0091] 2. Triangulation positioning.

[0092] It refers to a mathematical principle that uses two or more detectors to detect the target's direction at different locations, and then uses triangular geometry principles to determine the target's position and distance.

[0093] Using the RTT positioning principle described above, the device to be located performs an RTT process with each of the three base stations to determine the distances to the three base stations, after which triangulation positioning can be performed. For example, the mobile device to be located performs an RTT process with each of the three base stations: PRS#1 is sent back and forth between base station #1 and the mobile device to determine distance #1 between base station #1 and the mobile device; PRS#2 is sent back and forth between base station #2 and the mobile device to determine distance #2 between base station #2 and the mobile device; and PRS#3 is sent back and forth between base station #3 and the mobile device to determine distance #3 between base station #3 and the mobile device. Once the distances to the three base stations are determined, triangulation positioning can be performed.

[0094] 3. Clock drift phenomenon.

[0095] Clock drift occurs when the actual frequency of a clock crystal oscillator deviates from its nominal frequency. This deviation increases with time. If the clock crystal oscillator has an error of e1, then if time t has actually elapsed, the device will record time as t(1 + e1). This deviation increases with time t.

[0096] Although the RTT solution does not require strict synchronization between devices, different devices may have different clock drifts. Assume that device #A in Figure 2 has a clock crystal error e A , device #B has a clock crystal error e B . Then the actual estimated TOF is:

[0097] Among them, the upper horizontal line in formula (1-2) represents the true value.

[0098] Therefore, the estimated TOF is better than the actual There is an error Due to e A Usually 10 -6 Scale, and in SL scenario is also usually in the nanosecond range, so The error is very small and can be ignored. Typically in milliseconds, so Nanosecond-level errors can be introduced (a 1 nanosecond wireless signal can transmit 30 centimeters). Therefore, RTT positioning solutions generally require the shortest possible response time to minimize positioning errors. For example, to mitigate the impact of clock drift, the current standard uses the Double Sided RTT (DS-RTT) method for positioning. The following describes the Double Sided RTT positioning method.

[0099] 4. DS-RTT positioning method.

[0100] Double Sided RTT (DS-RTT) is an extension of the RTT positioning method. The DS-TWR positioning method uses two round-trip time measurements and combines the two round-trip times to obtain TOF (as shown in Figure 3). prop ), maintaining high positioning accuracy even with long response times.

[0101] For ease of understanding, the following details how the DS-TWR positioning method maintains high positioning accuracy:

[0102] As shown in Figure 3, the DS-TWR positioning method transmits a total of three messages between Device #A and Device #B (M#1, M#2, and M#3 in Figure 3). The first and second messages can be considered RTT positioning measurements initiated by Device #A, while the second and third messages can be considered RTT positioning measurements initiated by Device #B.

[0103] This results in two RTT equations:

[0104] Specifically, equation (1-3) is derived as follows to obtain the expression of TOF: round1 ×T round2 =(2TOF+T reply1 )(2TOF+T reply2 ) (1-4)

[0105] Therefore, combining equations (1-4) and (1-5), we can get TOF:

[0106] Consider that device #A and device #B have different clock crystal errors e A and e B , then the actual measured flight time is:

[0107] Due to T round1 +T reply2 =T round2 +T reply1 , so there is

[0108] Therefore, the final error introduced by clock drift is:

[0109] Because e A +e B Much smaller than 2,2e a e b Much smaller than e A +e B , so we can have this approximation. From formula (1-9), we can see that the error has nothing to do with the response time, but only with e A 、e B Related to TOF. A and e B Usually 10 -6 The time delay is in the order of seconds, while the time delay of TOF is in the order of nanoseconds, so the error is almost negligible. This shows that the DS-TWR positioning method can maintain high positioning accuracy.

[0110] 5. General form of DS-RTT.

[0111] Specifically, the above-mentioned DS-RTT positioning can be extended to a more general form, and the order of the three PRSs can be flexibly adjusted. For example, device #A sends two PRSs to device #B, and device #B sends one PRS to device #A, as shown in FIG4 .

[0112] first, should be equal to Therefore, there can be

[0113] The above equation expresses that the measured quantity t 14 and t 23 , the relationship between the two clock crystal oscillator errors can be obtained.

[0114] Next, using this relationship, we can calculate TOF in a new way:

[0115] or

[0116] It can be seen that the errors obtained by the two calculation formulas (such as formulas (1-12) and (1-13)) are also independent of the response time, and can effectively overcome the influence of clock drift.

[0117] 6. Measure quantity.

[0118] The measurement quantity of the RTT method defined in the current 3GPP air interface communication scenario is the terminal device receive-send time difference (UE Rx-Tx time difference), that is, the send-receive time difference is: T UE-RX –T UE-TX , where T UE-RX is obtained by measuring PRS, and T UE-TX The transmission subframe boundary closest to the measured PRS is used (that is, the terminal device can report the UE Rx-Tx time difference without actually sending the PRS).

[0119] However, since timing synchronization may be adjusted in SL communication scenarios, the use of subframe boundaries may introduce synchronization errors. Therefore, it is considered to modify the UE Rx-Tx time difference measurement quantity and change T UE-TX The time when the PRS is actually sent is adjusted, such as the time when device #B actually sends SL-PRS#1 or SL-PRS#3 as shown in FIG5 , or the time when device #A actually sends SL-PRS#2 as shown in FIG5 .

[0120] The above, in combination with Figure 1, briefly introduces the scenarios in which the positioning method provided in the embodiment of the present application can be applied, as well as the basic concepts that may be involved in the embodiment of the present application. The concepts of DS-RTT positioning method and measurement quantity are introduced in the basic concepts. In order to indicate the use of the DS-RTT method, one positioning method is: high-level signaling can be used to request the terminal device to report multiple receive-send time differences.

[0121] It should be understood that when a network device requests a terminal device to report multiple receive-transmit time differences through high-layer signaling, since the terminal device determines which PRSs are associated with the different receive-transmit time differences reported by the terminal device, the method of requesting the terminal device to report multiple receive-transmit time differences through high-layer signaling to implement positioning using the DS-RTT method may have the following problems:

[0122] 1) The PRS composition in DS-RTT is highly flexible, which may result in redundant measurement reporting. For example, as shown in Figure 6, a total of six SL-PRSs (SL-PRS#1, SL-PRS#2, SL-PRS#3, SL-PRS#4, SL-PRS#5, and SL-PRS#6) are transmitted between device #A and device #B. The two PRSs sent by device #A to device #B and the one PRS sent by device #B to device #A constitute one DS-RTT.

[0123] As shown in Figure 6, SL-PRS#1, SL-PRS#2, and SL-PRS#3 can form DS-RTT. Similarly, SL-PRS#1, SL-PRS#2, and SL-PRS#6 can also form DS-RTT. There are many similar combinations. Therefore, when terminal devices report measurement values, redundant reporting may occur.

[0124] 2) Because the terminal device autonomously selects the measurement quantity to report, the final measurement report may not match. For example, as shown in Figure 6, the measurement report of device #A in Figure 6 carries the measurement quantities of {SL-PRS#2, SL-PRS#3} and {SL-PRS#3, SL-PRS#4}, while the measurement report of device #B carries the measurement quantities of {SL-PRS#1, SL-PRS#2} and {SL-PRS#1, SL-PRS#4}, resulting in the inability to correctly implement DS-RTT.

[0125] In order to solve the problems existing in the above positioning methods, the present application provides a positioning method, so as to achieve positioning measurement while avoiding redundant measurement quantity reporting.

[0126] The technical solutions provided by this application are described in detail below with reference to the accompanying drawings. The embodiments of this application can be applied to a variety of different scenarios, including, but not limited to, the scenario shown in FIG1 . For example, they can also be applied to uplink or downlink positioning scenarios in cellular networks.

[0127] It should be understood that the embodiments shown below do not particularly limit the specific structure of the execution subject of the method provided in the embodiments of the present application. As long as it is possible to communicate according to the method provided in the embodiments of the present application by running a program that records the code of the method provided in the embodiments of the present application, for example, the execution subject of the method provided in the embodiments of the present application can be a network device and a terminal device, or a functional module, chip, etc. in the network device and the terminal device that can call and execute the program.

[0128] In the following, without loss of generality, the method for positioning provided by the embodiment of the present application is described in detail using the interaction between a network device and a terminal device as an example. In the following embodiments, the specific device types of the network device and the terminal device are not limited, and they only need to be able to perform the functions of the network device and the terminal device.

[0129] FIG7 is a schematic flowchart of a positioning method provided in an embodiment of the present application, which is applied to a scenario of positioning between a first terminal device and a second terminal device, and includes the following steps:

[0130] S710, the network device sends first indication information to the first terminal device, and correspondingly, the first terminal device receives the first indication information from the network device.

[0131] In this embodiment, the network device may be the LMF implementing the location management function as described above, or other network elements or devices capable of implementing the functions of the network device in this embodiment. Specific forms of the network device are not limited in this embodiment and will not be described in detail here.

[0132] In this embodiment, the terminal device (such as the first terminal device and the second terminal device mentioned above) can be any terminal device that has positioning requirements or participates in the positioning process. In this embodiment, there is no limitation on the specific form of the terminal device.

[0133] Specifically, the first indication information is used to determine a positioning reference signal associated with a first measurement quantity. The first measurement quantity is a parameter measured by the first terminal device and used to determine the distance between the first terminal device and the second terminal device.

[0134] Exemplarily, the positioning reference signal associated with the first measurement value includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device. The first terminal device can obtain the first measurement value by measuring the first positioning reference signal and the second positioning reference signal.

[0135] For example, the first measurement quantity is the UE Rx-Tx time difference measured by the first terminal device, such as the first measurement quantity is the difference between the moment when the first terminal device receives the first positioning reference signal and the moment when the first terminal device sends the second positioning reference signal.

[0136] For example, the first measurement quantity is the UE Rx-Tx phase difference measured by the first terminal device, such as the first measurement quantity is the difference between the phase of the first positioning reference signal received by the first terminal device and the phase of the second positioning reference signal sent by the first terminal device.

[0137] It should be noted that this embodiment does not impose any limitation on the specific form of the measurement quantity, and any information that can be used to determine the distance between the first terminal device and the second terminal device can be understood as the measurement quantity involved in this embodiment.

[0138] In this embodiment, the distance information between the first terminal device and the second terminal device can be used to implement positioning measurement. For example, if the first terminal device knows its own position, the position of the second terminal device can be obtained based on the distance between the first terminal device and the second terminal device. For example, LMF can obtain the position of the second terminal device based on the position of the first terminal device and the distance between the first terminal device and the second terminal device.

[0139] It should be understood that this embodiment does not limit the specific use of the measurement amount. You can refer to the description of the use of the measurement amount in the current related technology, which will not be repeated here. This embodiment mainly introduces how the terminal device determines the positioning reference signal associated with the measurement amount, and does not provide detailed description of the reporting and use of the measurement amount.

[0140] Exemplarily, the first indication information may be carried in a message such as a Radio Resource Control (RRC) message, an LTE Positioning Protocol (LPP) message, or a Sidelink Positioning Protocol (SLPP) message.

[0141] Furthermore, after receiving the first indication information, the first terminal device may determine the positioning reference signal associated with the first measurement quantity according to the first indication information. The method flow shown in FIG7 further includes:

[0142] S720: The first terminal device determines a positioning reference signal associated with the first measurement quantity.

[0143] Illustratively, in this embodiment, the first indication information may assist the first terminal device in determining the positioning reference signal associated with the measurement amount during the process of obtaining the measurement amount through the following indication methods:

[0144] Mode 1: The first indication information is used to indicate the number N of transmitted positioning reference signals associated with the first positioning reference signal, where N is a positive integer. The second positioning reference signal is one of the transmitted positioning reference signals associated with the first positioning reference signal.

[0145] or,

[0146] The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, where N is a positive integer. The first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0147] It should be noted that the first indication information is used to indicate the number N of positioning reference signals associated with a certain positioning reference signal (e.g., the number N of transmitted positioning reference signals associated with the first positioning reference signal or the number N of received positioning reference signals associated with the second positioning reference signal). The first indication information may indicate the number N, or the first indication information may indicate the maximum number N. That is, the number of associated positioning reference signals may be less than or equal to N. In other words, in this embodiment, the first indication information may indicate the number of positioning reference signals associated with a certain positioning reference signal by indicating the maximum number. For example, if the first indication information indicates the maximum number 3, the number of transmitted positioning reference signals associated with the first positioning reference signal may be less than or equal to 3.

[0148] In the case shown in the first embodiment, if the first indication information indicates the number N of sent positioning reference signals associated with the received positioning reference signal (e.g., the first positioning reference signal), the first terminal device determines the positioning reference signal associated with the first measurement amount, including:

[0149] The first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the received first positioning reference signal and the first indication information. One of the received first positioning reference signal and the sent positioning reference signal associated with the first positioning reference signal can be used as the positioning reference signal associated with the first measurement quantity.

[0150] Alternatively, if the first indication information indicates the number N of received positioning reference signals associated with the sent positioning reference signal (e.g., the second positioning reference signal), the first terminal device determines the positioning reference signal associated with the first measurement quantity, including:

[0151] The first terminal device determines the received positioning reference signal associated with the second positioning reference signal based on the sent second positioning reference signal and the first indication information. One of the sent second positioning reference signal and the received positioning reference signal associated with the second positioning reference signal can be used as the positioning reference signal associated with the first measurement quantity.

[0152] In the case shown in method 1, the first indication information can be used to indicate the number N of sent positioning reference signals associated with the received positioning reference signal, or the first indication information can be used to indicate the number N of received positioning reference signals associated with the sent positioning reference signal, so as to implement the requirement that the received positioning reference signals and the sent positioning reference signals associated with different measurement quantities need to meet the number requirement indicated by the first indication information.

[0153] Optionally, the sent positioning reference signal associated with the first positioning reference signal is the most recently N sent positioning reference signals when the first terminal device receives the first positioning reference signal.

[0154] For example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, it can be that the N sent positioning reference signals before the first terminal device receives the first positioning reference signal are used as the sent positioning reference signals associated with the first positioning reference signal.

[0155] For example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, it can be that the N sent positioning reference signals after the first terminal device receives the first positioning reference signal are used as the sent positioning reference signals associated with the first positioning reference signal.

[0156] For another example, when the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, the N' sent positioning reference signals after the first terminal device receives the first positioning reference signal and the N" sent positioning reference signals before the first positioning reference signal may be used as the sent positioning reference signal associated with the first positioning reference signal, where the sum of N' and N" is N.

[0157] Optionally, the received positioning reference signal associated with the second positioning reference signal is the most recent N received positioning reference signals after the first terminal device sends the second positioning reference signal. The manner in which the first terminal device determines the received positioning reference signal associated with the second positioning reference signal based on the first indication information can refer to the manner in which the first terminal device determines the sent positioning reference signal associated with the first positioning reference signal based on the first indication information, and is not further described here.

[0158] For ease of understanding, the following describes, with reference to a specific example, how a network device configures the number of transmitted positioning reference signals associated with a received positioning reference signal through indication information (such as the first indication information described above) in the case shown in Method 1, or how the indication information is used to configure the number of received positioning reference signals associated with a transmitted positioning reference signal.

[0159] Example 1: As shown in Figure 8, LMF can configure UE#1 and UE#2 through a high-level message (such as the first indication information) that the sent SL-PRS associated with the received SL-PRS is the two sent SL-PRSs closest to the received SL-PRS. UE#1 and UE#2 can measure and report the measurement quantity according to the rules configured in the high-level message.

[0160] As shown in Figure 8, for UE#1, the received SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. According to the instruction of the high-level message, the sent SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the sent SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the sent SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0161] For UE#2, the received SL-PRS includes SL-PRS#1, SL-PRS#3 and SL-PRS#5. According to the instructions of the high-level message, the sent SL-PRS associated with SL-PRS#1 includes SL-PRS#2 and SL-PRS#4, the sent SL-PRS associated with SL-PRS#3 includes SL-PRS#2 and SL-PRS#4, and the sent SL-PRS associated with SL-PRS#5 includes SL-PRS#4 and SL-PRS#6.

[0162] In the scenario shown in Figure 8, for UE#1, the positioning reference signal group that can constitute DS-RTT includes {SL-PRS#1, SL-PRS#2, SL-PRS#3}, {SL-PRS#3, SL-PRS#4, SL-PRS#5}, and {SL-PRS#3, SL-PRS#5, SL-PRS#6}; for UE#2, the positioning reference signal group that can constitute DS-RTT includes {SL-PRS#1, SL-PRS#2, SL-PRS#4}, {SL-PRS#2, SL-PRS#3, SL-PRS#4}, and {SL-PRS#4, SL-PRS#5, SL-PRS#6}. Compared to the number of transmitted positioning reference signals associated with received positioning reference signals, this reduces the redundancy of measurement data reported by terminal devices. For example, if the number of transmitted positioning reference signals associated with the received positioning reference signal is not configured, the possible positioning reference signal groups include {SL-PRS#1, SL-PRS#2, SL-PRS#6}, {SL-PRS#1, SL-PRS#2, SL-PRS#4} and other combinations.

[0163] In addition, in the case shown in FIG8 , if UE#1 and UE#2 both report the measurement quantities corresponding to their respective DS-RTTs, for UE#1, the reported measurement quantities include:

[0164] T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 .

[0165] For UE#2, the reported measurement quantities include:

[0166] T UE-RX-PRS1 –T UE-TX-PRS2 、T UE-RX-PRS1 –T UE-TX-PRS4 、T UE-RX-PRS3 –T UE-TX-PRS2 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 .

[0167] Among them, T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS1 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX- PRS2 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS3 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS4 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS4 –T UE-TX-PRS5、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 It can be used to implement DS-RTT in network equipment. For UE#1 and UE#2, there is only one measurement quantity (e.g., T reported by UE#1). UE-RX-PRS5 –T UE-TX-PRS6 , and T reported by UE#1 UE-RX-PRS1 –T UE-TX-PRS2 ) is not applied to DS-RTT. This means that to a certain extent, it can reduce the redundancy of the measurement data reported by the terminal device while ensuring the DS-RTT function.

[0168] In addition, in the case shown in method 1, in order to better guarantee the DS-RTT function, different indication information can be used to configure the angles of the terminal device sending the positioning reference signal and the terminal device receiving the positioning reference signal respectively.

[0169] Exemplarily, the network device sends first indication information to the first terminal device, where the first indication information is used to indicate the sent positioning reference signal associated with the received positioning reference signal; the network device sends second indication information to the second terminal device, where the second indication information is used to indicate the received positioning reference signal associated with the sent positioning reference signal.

[0170] It should be understood that if there is no need to configure the terminal device sending the positioning reference signal and the terminal device receiving the positioning reference signal separately, the network device can send the first indication information to multiple terminal devices by broadcasting.

[0171] For ease of understanding, the following describes how to configure the positioning reference signal according to the perspectives of the terminal device that sends the positioning reference signal and the terminal device that receives the positioning reference signal, using specific examples.

[0172] Example 2: As shown in Figure 9, LMF can configure the received SL-PRS associated with the sent SL-PRS to UE#1 through a high-level message as the two sent SL-PRSs closest to the received SL-PRS. In addition, LMF can configure the received SL-PRS associated with the sent SL-PRS to UE#2 through a high-level message as the two received SL-PRSs closest to the sent SL-PRS. UE#1 and UE#2 can measure and report the measurement quantity according to the rules configured in the high-level message.

[0173] As shown in Figure 9, for UE#1, the received SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. According to the instructions of the high-level message, the transmitted SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the transmitted SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the transmitted SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0174] For UE#2, the sent SL-PRS includes SL-PRS#2, SL-PRS#4 and SL-PRS#6. According to the instructions of the high-level message, the received SL-PRS associated with SL-PRS#2 includes SL-PRS#1 and SL-PRS#3, the received SL-PRS associated with SL-PRS#4 includes SL-PRS#3 and SL-PRS#5, and the received SL-PRS associated with SL-PRS#6 includes SL-PRS#3 and SL-PRS#5.

[0175] In the scenario shown in Figure 9, for UE#1 and UE#2, the positioning reference signal groups that can constitute DS-RTT include {SL-PRS#1, SL-PRS#2, SL-PRS#3}, {SL-PRS#3, SL-PRS#4, SL-PRS#5}, and {SL-PRS#3, SL-PRS#5, SL-PRS#6}. Compared to the prior art where the number of transmitted positioning reference signals associated with received positioning reference signals is not configured, this reduces the redundancy of measurement data reported by terminal devices.

[0176] In addition, in the case shown in FIG9 , if UE#1 and UE#2 both report the measurement quantities corresponding to their respective DS-RTTs, for UE#1, the reported measurement quantities include:

[0177] T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 .

[0178] For UE#2, the reported measurement quantities include:

[0179] T UE-RX-PRS1 –T UE-TX-PRS2 、T UE-RX-PRS3 –TUE-TX-PRS2 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 、T UE-RX-PRS3 –T UE-TX-PRS6 .

[0180] Among them, T UE-RX-PRS2 –T UE-TX-PRS1 、T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS1 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX- PRS2 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS2 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS3 –T UE-TX-PRS2 and T UE-RX-PRS3 –T UE-TX-PRS4 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS4 –T UE-TX-PRS3 、T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS3 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS4 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS4 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS5 –T UE-TX-PRS4 、T UE-RX-PRS5 –T UE-TX-PRS6 Can be used to implement DS-RTT on network devices; similarly, T UE-RX-PRS6 –T UE-TX-PRS5 、T UE-RX-PRS6 –T UE-TX-PRS3 、T UE-RX-PRS5 –T UE-TX-PRS6 、T UE-RX-PRS3 –T UE-TX-PRS6 This can be used by network devices to implement DS-RTT. All measurements reported by both UE#1 and UE#2 can be applied to DS-RTT. This reduces the redundancy of measurements reported by terminal devices while ensuring DS-RTT functionality.

[0181] Method 2: The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, where N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

[0182] or,

[0183] The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, where N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

[0184] In the case shown in the second method, the sent positioning reference signal associated with the received positioning reference signal indicated by the first indication information may be a positioning reference signal sent before the received positioning reference signal, and a positioning reference signal sent after the received positioning reference signal, which is similar to the case shown in the first method above, except that in the case shown in the second method, the parameters carried in the first indication information include N1 and N2.

[0185] Optionally, the N1 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N1 transmitted positioning reference signals before the first terminal device receives the first positioning reference signal, and the N2 transmitted positioning reference signals associated with the first positioning reference signal are the most recently N2 transmitted positioning reference signals after the first terminal device receives the first positioning reference signal.

[0186] Optionally, the N1 received positioning reference signals associated with the second positioning reference signal are the most recently N1 received positioning reference signals before the first terminal device sends the second positioning reference signal, and the N2 received positioning reference signals associated with the second positioning reference signal are the most recently N2 received positioning reference signals after the first terminal device sends the second positioning reference signal.

[0187] Method three: The first indication information includes a bit map, the bit map includes Q bits, the Q bits correspond to Q positioning reference signals, the bit map is used to indicate the transmitted positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals with a corresponding bit value of the first value among the Q positioning reference signals; or, the bit map is used to indicate the received positioning reference signal associated with the second positioning reference signal, and the first positioning reference signal is one of the positioning reference signals with a corresponding bit value of the first value among the Q positioning reference signals.

[0188] The first value is 0 or 1.

[0189] For ease of understanding, the following describes, with reference to a specific example, how to configure the transmitted positioning reference signal associated with the received positioning reference signal through a bitmap in the case shown in Method 3, or how the indication information is used to configure the received positioning reference signal associated with the transmitted positioning reference signal.

[0190] Example 3: The bitmap is shown in Figure 10. The bitmap includes four bits. The first bit represents the second SL-PRS sent earlier than the received positioning reference signal, the second bit represents the first SL-PRS sent earlier than the received positioning reference signal, the third bit represents the first SL-PRS sent later than the received positioning reference signal, and the fourth bit represents the second SL-PRS sent later than the received positioning reference signal. Alternatively, the first to fourth bits represent four SL-PRSs sent earlier than the received positioning reference signal; alternatively, the first to fourth bits represent four SL-PRSs sent later than the received positioning reference signal, etc.

[0191] Optionally, a bit value of 1 indicates association (or binding), that is, it is necessary to obtain the measurement amount of the received positioning reference signal and the transmitted positioning reference signal corresponding to the bit; a bit value of 0 indicates no association, that is, it is not necessary to obtain the measurement amount of the received positioning reference signal and the transmitted positioning reference signal corresponding to the bit.

[0192] Mode 4: The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

[0193] For ease of understanding, the following describes, with reference to a specific example, how a network device configures, through indication information (such as the first indication information described above), the condition that the number of positioning reference signals between the transmitted positioning reference signals associated with the received positioning reference signal satisfies the condition shown in Method 4.

[0194] Example 4: As shown in Figure 11, LMF can configure the number of SL-PRSs between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity to be 1 to UE#1 through a high-level message (the count here does not include the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity). Then UE#1 will not report the measurement quantity of the associated positioning reference signal {SL-PRS#2, SL-PRS#5}, because the number of SL-PRSs between SL-PRS#2 and SL-PRS#5 is 2.

[0195] Mode five: the first indication information is used to indicate that the time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

[0196] For ease of understanding, the following describes, with reference to a specific example, how the network device configures the conditions for satisfying the time interval between sending positioning reference signals associated with receiving positioning reference signals through indication information (such as the first indication information mentioned above) in the case shown in method five.

[0197] Example 5: As shown in Figure 12, LMF can configure the time interval between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity to UE#1 through a high-level message (the interval can be converted according to the time slot where the two PRSs are located), for example, the maximum time T. If the maximum interval between the first positioning reference signal and the second positioning reference signal associated with the first measurement quantity of UE#1 is configured to be T = 10ms, then UE#1 will not report the measurement quantity of the associated positioning reference signal {SL-PRS#1, SL-PRS#4}, because the interval between SL-PRS#1 and SL-PRS#4 is 20ms.

[0198] Method 6: The first indication information can also be used to determine a first time window, the positioning reference signal associated with the first measurement quantity belongs to the first time window, the first time window is one of M time windows, M is a positive integer, wherein the first indication information is used to indicate at least one of the following information: the window length of the first time window, the total number of time windows M, or the starting time of the first time window.

[0199] In the case shown in the sixth manner, the first time window may be determined by the first indication information. On the premise of determining the first time window, a positioning reference signal associated with the first measurement quantity is selected in the first time window.

[0200] Exemplarily, the starting moment of the above-mentioned M time windows is the moment when the first terminal device receives the first indication information, and the ending moment of the M time windows is the moment when the first terminal device reports the first measurement value.

[0201] Exemplarily, the starting moment of the above-mentioned M time windows is the moment when the first terminal device receives the request message, and the ending moment of the M time windows is the moment after the first terminal device receives the request message after the response duration. The request message is used to request the first terminal device to report the first measurement quantity, and the request message includes response duration information, and the response duration information indicates that the first measurement quantity is reported within the response duration after receiving the request message. The request message can be sent by the network device and / or the second terminal device.

[0202] For example, the first indication information may configure the interval of the Mth time window to be [the time when the first indication information is received + (M-1)*window length, the time when the first indication information is received + M*window length].

[0203] For example, the first indication information can indicate the window length of the first time window by configuring the number of time windows. For example, the first indication information indicates that the number of time windows is N, and the total window length of M time windows is the response time (response time) (for example, the response time indicated by the response time information carried in the request message), and the window length of each time window is: response time / N.

[0204] For another example, the first indication information may configure specific times of the first time window. For example, the first indication information indicates the start and end times of the first time window as T1, and the end time is configured as T2.

[0205] As shown in Figure 13, two time windows are set to enable the association of transmitted and received SL-PRSs within the same time window. For example, SL-PRS#1 is associated with SL-PRS#2 and SL-PRS#3 in time window #1; and for another example, SL-PRS#4 is associated with SL-PRS#5 and SL-PRS#6 in time window #2.

[0206] In the positioning method shown in Figure 7, the first indication information is used to determine the positioning reference signal associated with the first measurement quantity, so that the first terminal device can determine the positioning reference signal associated with the first measurement quantity based on the first indication information, and then measure the positioning reference signal associated with the first measurement quantity to obtain the first measurement quantity and report it, thereby avoiding the terminal device determining the positioning reference signal associated with the measurement quantity on its own when it is unable to know the positioning reference signal associated with the measurement quantity, resulting in redundancy in measurement quantity reporting.

[0207] It should be noted that the above-mentioned methods 1 to 6 are only examples and do not constitute any limitation on the scope of protection of this application. The first indication information can also specify the requirements to be met by the positioning reference signal associated with the measurement quantity in other ways, and no examples will be given here one by one.

[0208] In addition, the above-mentioned methods 1 to 6 can be used in combination. For example, the network device can indicate both the above-mentioned time window and the time interval between the received positioning reference signal and the transmitted positioning reference signal associated with the above-mentioned measurement quantity through the first indication information. For another example, the network device can indicate both the number of positioning reference signals between the above-mentioned positioning reference signal and the transmitted positioning reference signal and the time interval between the received positioning reference signal and the transmitted positioning reference signal associated with the above-mentioned measurement quantity through the first indication information, and so on. The regular combinations that can be indicated by the indication information are not further described here. Alternatively, the network device can indicate the above-mentioned methods 1 to 6 separately through different indication information, which are not further described here.

[0209] It should be understood that the size of the serial numbers of the above 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.

[0210] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0211] It should also be understood that in some of the above embodiments, devices in existing network architectures are mainly used as examples for illustrative purposes, and it should be understood that the embodiments of the present application do not limit the specific form of the devices. For example, devices that can achieve the same functions in the future are applicable to the embodiments of the present application.

[0212] It can be understood that in the above-mentioned various method embodiments, the methods and operations implemented by devices (such as the first device and the second device) can also be implemented by components that can be used in the devices (such as chips or circuits).

[0213] It can also be understood that in each embodiment of the present application, the interaction between a network device and a terminal device is mainly used as an example for illustrative explanation, and the present application is not limited to this. The terminal device can be replaced by a receiving device, and the network device can be replaced by a sending device; for example, "first terminal device" can be replaced by "first device" and "second terminal device" can be replaced by "second device".

[0214] It can also be understood that some optional features in the various embodiments of the present application may not depend on other features in certain scenarios, and may also be combined with other features in certain scenarios, without limitation.

[0215] The positioning method provided in the embodiments of the present application is described in detail above in conjunction with FIG7 . The positioning method described above is primarily described from the perspective of the interaction between a network device and a terminal device. It is understood that, in order to implement the above functions, the network device and the terminal device include hardware structures and / or software modules corresponding to the respective functions.

[0216] Those skilled in the art should be aware that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0217] The following describes in detail the positioning apparatus provided in the embodiments of the present application in conjunction with Figures 14 to 16. It should be understood that the description of the apparatus embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above. For the sake of brevity, some contents are not repeated here.

[0218] In the embodiment of the present application, the functional modules of the transmitting device or the receiving device can be divided according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module according to each function.

[0219] Figure 14 is a schematic block diagram of a communication device 10 provided in an embodiment of the present application. The device 10 includes a transceiver module 11 and a processing module 12. The transceiver module 11 can implement corresponding communication functions, and the processing module 12 is used to process data. In other words, the transceiver module 11 is used to perform operations related to receiving and sending, and the processing module 12 is used to perform other operations besides receiving and sending. The transceiver module 11 can also be referred to as a communication interface or a communication unit.

[0220] Optionally, the device 10 may further include a storage module 13, which may be used to store instructions and / or data. The processing module 12 may read the instructions and / or data in the storage module so that the device implements the actions of the devices in the aforementioned method embodiments.

[0221] In one design, the apparatus 10 may correspond to the first terminal device in the above method embodiment, or a component (such as a chip) of the first terminal device.

[0222] The device 10 can implement the steps or processes corresponding to those executed by the first terminal device in the above method embodiment, wherein the transceiver module 11 can be used to execute the transceiver-related operations of the first terminal device in the above method embodiment, and the processing module 12 can be used to execute the processing-related operations of the first terminal device in the above method embodiment.

[0223] In one possible implementation, the transceiver module 11 is configured to receive first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; and the processing module 12 is configured to determine the positioning reference signal associated with the first measurement quantity based on the first indication information, and measure the positioning reference signal associated with the measurement quantity to obtain the first measurement quantity, where the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0224] When the device 10 is used to execute the method in FIG. 7 , the transceiver module 11 may be used to execute the steps of sending and receiving information in the method, such as step S710 ; the processing module 12 may be used to execute the processing steps in the method, such as step S720 .

[0225] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0226] In another design, the apparatus 10 may correspond to the network device in the above method embodiment, or a component (such as a chip) of the network device.

[0227] The device 10 can implement the steps or processes executed by the network device in the above method embodiment, wherein the transceiver module 11 can be used to perform the transceiver-related operations of the network device in the above method embodiment, and the processing module 12 can be used to perform the processing-related operations of the second device in the above method embodiment.

[0228] In one possible implementation, the processing module 12 is used to generate first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine the distance between the first terminal device and the second terminal device; the transceiver module 11 is used to send the first indication information, where the positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

[0229] When the device 10 is used to execute the method in FIG. 7 , the transceiver module 11 may be used to execute the steps of sending and receiving information in the method, such as step S710 ; and the processing module 12 may be used to execute the processing steps in the method.

[0230] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0231] It should also be understood that the device 10 here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and memory for executing one or more software or firmware programs, a combined logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art will understand that the device 10 may be specifically the mobile management network element in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the mobile management network element in the above-mentioned method embodiments; or, the device 10 may be specifically the terminal device in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the terminal device in the above-mentioned method embodiments. To avoid repetition, it will not be described here.

[0232] The apparatus 10 of each of the above-described solutions has the function of implementing the corresponding steps performed by the devices (such as terminal devices and network devices) in the above-described methods. This function can be implemented by hardware, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules corresponding to the above-described functions; for example, the transceiver module can be replaced by a transceiver (for example, the transmitting unit in the transceiver module can be replaced by a transmitter, and the receiving unit in the transceiver module can be replaced by a receiver), and other units, such as the processing module, can be replaced by a processor to respectively perform the transceiver operations and related processing operations in each method embodiment.

[0233] In addition, the transceiver module 11 may also be a transceiver circuit (for example, may include a receiving circuit and a sending circuit), and the processing module may be a processing circuit.

[0234] Figure 15 is a schematic diagram of another communication device 20 provided in an embodiment of the present application. Device 20 includes a processor 21, which is configured to execute computer programs or instructions stored in memory 22, or read data / signaling stored in memory 22, to perform the methods described in the above method embodiments. Optionally, there may be one or more processors 21.

[0235] Optionally, as shown in FIG15 , the device 20 further includes a memory 22 for storing computer programs or instructions and / or data. The memory 22 may be integrated with the processor 21 or may be separately provided. Optionally, there may be one or more memories 22.

[0236] Optionally, as shown in Figure 15, the device 20 further includes a transceiver 23, which is used to receive and / or send signals. For example, the processor 21 is used to control the transceiver 23 to receive and / or send signals.

[0237] As a solution, the device 20 is used to implement the operations performed by the terminal device or the network device in the above various method embodiments.

[0238] It should be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0239] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0240] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0241] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0242] 16 is a schematic diagram of a chip system 30 according to an embodiment of the present application. The chip system 30 (or also referred to as a processing system) includes a logic circuit 31 and an input / output interface 32.

[0243] The logic circuit 31 may be a processing circuit in the chip system 30. The logic circuit 31 may be coupled to a storage unit and call instructions in the storage unit so that the chip system 30 can implement the methods and functions of the various embodiments of the present application. The input / output interface 32 may be an input / output circuit in the chip system 30, outputting information processed by the chip system 30 or inputting data or signaling information to be processed into the chip system 30 for processing.

[0244] As a solution, the chip system 30 is used to implement the operations performed by the terminal device or network device in the above various method embodiments.

[0245] For example, the logic circuit 31 is used to implement the processing-related operations performed by the terminal device in the above method embodiment; the input / output interface 32 is used to implement the sending and / or receiving-related operations performed by the terminal device in the above method embodiment.

[0246] An embodiment of the present application further provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the device in the above-mentioned method embodiments are stored.

[0247] For example, when the computer program is executed by a computer, the computer can implement the methods executed by the terminal device or the network device in each embodiment of the above method.

[0248] An embodiment of the present application also provides a computer program product, comprising instructions, which, when executed by a computer, implement the methods performed by a terminal device or a network device in the above-mentioned method embodiments.

[0249] An embodiment of the present application also provides a communication system, including the aforementioned terminal device or network device.

[0250] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0251] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only 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. In addition, 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.

[0252] 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. For example, the computer can be a personal computer, a server, or a network device, etc. 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 by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)). For example, the available medium includes, but is not limited to, various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0253] 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 method for positioning, characterized in that: include: receiving first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement quantity, where the first measurement quantity is used to determine a distance between a first terminal device and a second terminal device; determining a positioning reference signal associated with the first measurement amount according to the first indication information, and measuring the positioning reference signal associated with the measurement amount to obtain the first measurement amount, The positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

2. The method according to claim 1, characterized in that The first indication information is used to indicate the number N of sent positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal; or, The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, the first positioning reference signal being one of the received positioning reference signals associated with the second positioning reference signal, Wherein, N is a positive integer.

3. The method according to claim 2, characterized in that The sent positioning reference signal associated with the first positioning reference signal is the positioning reference signal that is sent most recently by the first terminal device when receiving the first positioning reference signal; The received positioning reference signal associated with the second positioning reference signal is the most recently received N positioning reference signals after the first terminal device sends the second positioning reference signal.

4. The method according to any one of claims 1 to 3, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal. The N1 and N2 are integers, the sum of the N1 and N2 is a positive integer, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal.

5. The method according to any one of claims 1 to 3, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

6. The method according to any one of claims 1 to 5, characterized in that The first indication information includes a bit map, the bit map includes Q bits, and the Q bits correspond to Q positioning reference signals. The bit map is used to indicate a sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is the first value among the Q positioning reference signals; or The bit map is used to indicate a received positioning reference signal associated with the second positioning reference signal, where the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

7. The method according to any one of claims 1 to 6, characterized in that The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

8. The method according to any one of claims 1 to 7, characterized in that The first indication information is used to indicate that a time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

9. The method according to any one of claims 1 to 8, characterized in that The first indication information is further used to determine a first time window, the positioning reference signal associated with the first measurement value belongs to the first time window, the first time window is one of M time windows, and M is a positive integer. The first indication information is also used to indicate at least one of the following information: The window length of the first time window, the total number of time windows M, or the starting time of the first time window.

10. The method according to claim 9, characterized in that The starting time of the M time windows is the time when the first indication information is received; and the ending time of the M time windows is the time when the first measurement value is reported.

11. The method according to any one of claims 1 to 10, characterized in that The first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message or a side link positioning protocol SLPP message.

12. A method for positioning, characterized in that: include: Generate first indication information, where the first indication information is used to determine a positioning reference signal associated with a first measurement amount, where the first measurement amount is used to determine a distance between the first terminal device and the second terminal device; sending the first indication information, The positioning reference signal associated with the first measurement quantity includes a first positioning reference signal received by the first terminal device and a second positioning reference signal sent by the first terminal device.

13. The method according to claim 12, characterized in that The first indication information indicates the number N of sent positioning reference signals associated with the first positioning reference signal, and the second positioning reference signal is one of the sent positioning reference signals associated with the first positioning reference signal; or, The first indication information is used to indicate the number N of received positioning reference signals associated with the second positioning reference signal, the first positioning reference signal being one of the received positioning reference signals associated with the second positioning reference signal, Wherein, N is a positive integer.

14. The method according to claim 13, characterized in that The sent positioning reference signal associated with the first positioning reference signal is the positioning reference signal that is sent most recently by the first terminal device when receiving the first positioning reference signal; The received positioning reference signal associated with the second positioning reference signal is the most recently received N positioning reference signals after the first terminal device sends the second positioning reference signal.

15. The method according to any one of claims 12 to 14, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the first positioning reference signal and sent before the first positioning reference signal, and indicates the number N2 of positioning reference signals associated with the first positioning reference signal and sent after the first positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the second positioning reference signal is one of the positioning reference signals sent and associated with the first positioning reference signal.

16. The method according to any one of claims 12 to 14, characterized in that The first indication information indicates the number N1 of positioning reference signals associated with the second positioning reference signal and received before the second positioning reference signal, and indicates the number N2 of positioning reference signals associated with the second positioning reference signal and received after the second positioning reference signal, wherein N1 and N2 are integers, the sum of N1 and N2 is a positive integer, and the first positioning reference signal is one of the received positioning reference signals associated with the second positioning reference signal.

17. The method according to any one of claims 12 to 16, characterized in that The first indication information includes a bit map, the bit map includes Q bits, and the Q bits correspond to Q positioning reference signals. The bit map is used to indicate a sent positioning reference signal associated with the first positioning reference signal, and the second positioning reference signal is one of the positioning reference signals whose corresponding bit value is the first value among the Q positioning reference signals; or The bit map is used to indicate a received positioning reference signal associated with the second positioning reference signal, where the first positioning reference signal is one of the positioning reference signals whose corresponding bit value is a first value among the Q positioning reference signals.

18. The method according to any one of claims 12 to 17, characterized in that The first indication information is used to indicate that the number of positioning reference signals received or sent by the first terminal device between the first positioning reference signal and the second positioning reference signal is less than or equal to a first threshold.

19. The method according to any one of claims 12 to 18, characterized in that The first indication information is used to indicate that a time interval between the first positioning reference signal and the second positioning reference signal is less than or equal to a second threshold.

20. The method according to any one of claims 12 to 19, characterized in that The first indication information is further used to determine a first time window, the positioning reference signal associated with the first measurement value belongs to the first time window, the first time window is one of M time windows, and M is a positive integer. The first indication information is also used to indicate at least one of the following information: The window length of the first time window, the total number of time windows M, or the starting time of the first time window.

21. The method according to claim 20, characterized in that The starting time of the M time windows is the time when the first terminal device receives the first indication information; The end time of the M time windows is the time when the first terminal device reports the first measurement value.

22. The method according to any one of claims 12 to 21, characterized in that The first indication information is carried in a radio resource control RRC message, a positioning protocol LPP message or a side link positioning protocol SLPP message.

23. A communication device, characterized in that: The terminal device includes a processor and a memory, the processor and the memory are coupled, and the memory is used to store a computer program. When the processor runs the computer program, the communication device executes the method described in any one of claims 1 to 11; or, the communication device executes the method described in any one of claims 12 to 22.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a communication device, the communication device executes the method according to any one of claims 1 to 11; or the communication device executes the method according to any one of claims 12 to 22.

25. A computer program product, characterized in that Contains instructions, when the computer instructions are executed on a communication device, the communication device is caused to execute the method according to any one of claims 1 to 11; or the communication device is caused to execute the method according to any one of claims 12 to 22.

26. A chip, characterized in that: The chip includes a processor and a communication interface, and the processor reads and runs instructions through the communication interface. When the chip is installed in a communication device, the communication device executes the method as described in any one of claims 1-11; or, the communication device executes the method as described in any one of claims 12-22.

27. A communication system, characterized in that: The communication system comprises a terminal device and a network device, wherein the terminal device is used to execute the method according to any one of claims 1 to 11, and the network device is used to execute the method according to any one of claims 12 to 22.

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