Sidelink communication method and communication device

Abstract

Provided are a sidelink communication method and a communication device. The method comprises: a first device receives first information, the first information being used for indicating synchronization information of the first terminal device and / or synchronization information of a second terminal device; the first device locates a third terminal device on the basis of the first information.

Description

Method and communication device for sideline communication Technical Field

[0001] The present application relates to the field of communication technology, and more particularly, to a method and communication device for sideline communication. Background Art

[0002] In a sideline communication system, terminal devices can be synchronized based on different synchronization sources. If two terminal devices are not synchronized through each other, there may be a synchronization timing difference between the two terminal devices, which can cause many problems.

[0003] Summary of the Invention

[0004] The present application provides a method and a communication device for sideline communication. The following describes in detail various aspects of the embodiments of the present application.

[0005] In a first aspect, a method for sideline communication is provided, comprising: a first device receiving first information, wherein the first information is used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; and the first device positioning a third terminal device according to the first information.

[0006] In a second aspect, a method for sideline communication is provided, comprising: a first terminal device sends first information to a first device, wherein the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0007] In a third aspect, a method for sideline communication is provided, comprising: a second terminal device sends first information to a first device, wherein the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0008] In a fourth aspect, a communication device is provided, which is a first device, and the device includes: a receiving unit for receiving first information, wherein the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device; and a positioning unit for positioning a third terminal device based on the first information.

[0009] In the fifth aspect, a communication device is provided, which is a first terminal device, and the device includes: a first sending unit, used to send first information to the first device, the first information is used to indicate the synchronization information of the first terminal device, and / or the synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0010] In the sixth aspect, a communication device is provided, which is a second terminal device, and the device includes: a sending unit, used to send first information to a first device, the first information is used to indicate the synchronization information of the first terminal device, and / or the synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0011] In the seventh aspect, a communication device is provided, comprising a transceiver, a memory and a processor, wherein the memory is used to store programs, and the processor is used to call the programs in the memory and control the transceiver to receive or send signals so that the communication device executes the method as described in any one of the first to third aspects.

[0012] In an eighth aspect, a device is provided, comprising a processor for calling a program from a memory so that the device executes a method as described in any one of the first to third aspects.

[0013] In a ninth aspect, a chip is provided, comprising a processor for calling a program from a memory so that a device equipped with the chip executes a method as described in any one of the first to third aspects.

[0014] In a tenth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method as described in any one of the first to third aspects.

[0015] In an eleventh aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method according to any one of the first to third aspects.

[0016] In a twelfth aspect, a computer program is provided, which enables a computer to execute the method as described in any one of the first to third aspects.

[0017] The embodiments of the present application, by acquiring synchronization information of a first terminal device and / or synchronization information of a second terminal device (i.e., first information), facilitate determining synchronization timing differences between the first and second terminal devices, thereby providing a basis for addressing the impact of synchronization timing differences. For example, positioning errors of the terminal device can be processed based on the first information, thereby helping to improve the accuracy of the terminal device's positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a diagram illustrating an example of a system architecture of a wireless communication system to which an embodiment of the present application may be applied.

[0019] FIG2 is a diagram showing an example of a sideline communication scenario within network coverage.

[0020] FIG3 is an example diagram of a side communication scenario with partial network coverage.

[0021] FIG4 is a diagram showing an example of a side communication scenario outside network coverage.

[0022] FIG5 is a diagram showing an example of a side communication scenario based on a central control node.

[0023] FIG6 is a diagram illustrating an example of a broadcast-based sideline communication method.

[0024] FIG. 7 is an exemplary diagram of a sideline communication method based on unicast.

[0025] FIG8 is an example diagram of a sideline communication method based on multicast.

[0026] FIG9 is a schematic diagram of synchronization timing differences between terminal devices.

[0027] FIG10 is a schematic diagram showing another embodiment of synchronization timing differences between terminal devices.

[0028] FIG11 is a flow chart of a method for sideline communication provided in an embodiment of the present application.

[0029] FIG12 is a schematic structural diagram of a communication device provided in an embodiment of the present application.

[0030] FIG13 is a schematic structural diagram of a communication device provided in another embodiment of the present application.

[0031] FIG14 is a schematic structural diagram of a communication device provided in yet another embodiment of the present application.

[0032] FIG15 is a schematic structural diagram of a device that can be used in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solution in this application will be described below with reference to the accompanying drawings.

[0034] Communication system architecture

[0035] FIG1 is a diagram illustrating an exemplary system architecture of a wireless communication system 100 to which embodiments of the present application may be applied. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0036] FIG1 exemplarily shows a network device and a terminal device. Optionally, the wireless communication system 100 may include one or more network devices 110 and / or one or more terminal devices 120. For a network device 110, the one or more terminal devices 120 may all be located within the network coverage of the network device 110, or all be located outside the network coverage of the network device 110, or some may be located within the coverage of the network device 110 and others outside the network coverage of the network device 110. This is not limited in the embodiments of the present application.

[0037] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0038] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0039] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the UE can be used to act as a base station. For example, the UE can act as a scheduling entity that provides sidelink signals between UEs in V2X or D2D, etc. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate without relaying the communication signal through the base station.

[0040] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A base station can broadly cover various names as follows, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmission point (TP), master station MeNB, secondary station SeNB, multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. A base station can also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs base station functions in device-to-device D2D, vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. The base station can support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by the network equipment.

[0041] 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.

[0042] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0043] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0044] It should be understood that all or part of the functions of the communication device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform).

[0045] Sideline communication under different network coverage conditions

[0046] Sidelink communication refers to a communication technology based on a sidelink. Sidelink communication can be, for example, device-to-device (D2D) or vehicle-to-everything (V2X) communication. In traditional cellular systems, communication data is received or sent between terminal devices and network devices, while sidelink communication supports direct communication and data transmission between terminal devices. Compared with traditional cellular communication, direct communication data transmission between terminal devices can have higher spectrum efficiency and lower transmission latency. For example, the vehicle networking system adopts sidelink communication technology.

[0047] In side communication, according to the network coverage of the terminal device, the side communication can be divided into side communication within the network coverage, side communication with partial network coverage, and side communication outside the network coverage.

[0048] Figure 2 illustrates an example scenario for sidelink communication within network coverage. In the scenario shown in Figure 2, both terminal devices 120a are within the coverage of network device 110. Therefore, both terminal devices 120a can receive configuration signaling from network device 110 (configuration signaling in this application can also be replaced by configuration information) and determine the sidelink configuration based on the configuration signaling from network device 110. After both terminal devices 120a have configured their sidelinks, sidelink communication can proceed on the sidelink.

[0049] Figure 3 is an example diagram of a sidelink communication scenario with partial network coverage. In the scenario shown in Figure 3, terminal device 120a performs sidelink communication with terminal device 120b. Terminal device 120a is located within the coverage range of network device 110, so terminal device 120a can receive the configuration signaling of network device 110 and determine the sidelink configuration based on the configuration signaling of network device 110. Terminal device 120b is located outside the network coverage and cannot receive the configuration signaling of network device 110. In this case, terminal device 120b can determine the sidelink configuration based on pre-configuration information and / or information carried in the physical sidelink broadcast channel (PSBCH) sent by terminal device 120a within the network coverage. After both terminal device 120a and terminal device 120b perform sidelink configuration, sidelink communication can be performed on the sidelink.

[0050] Figure 4 illustrates an example scenario for sidelink communication outside of network coverage. In the scenario shown in Figure 4, both terminal devices 120b are outside of network coverage. In this scenario, both terminal devices 120b can determine the sidelink configuration based on pre-configured information. After both terminal devices 120b have configured their sidelinks, sidelink communication can proceed over the sidelink.

[0051] Sideline communication based on central control node

[0052] Figure 5 is an example diagram of a sideline communication scenario based on a central control node. In this sideline communication scenario, multiple terminal devices can form a communication group, and the communication group has a central control node. The central control node can be a terminal device in the communication group (such as terminal device 1 in Figure 5), and the terminal device can also be called a cluster head (CH) terminal device. The central control node can be responsible for completing one or more of the following functions: establishing a communication group, joining and leaving group members of the communication group, coordinating resources within the communication group, allocating sideline transmission resources to other terminal devices, receiving sideline feedback information from other terminal devices, and coordinating resources with other communication groups.

[0053] Data transmission method of side communication

[0054] Some sidewalk communication systems (such as long-term evolution vehicle to everything (LTE-V2X)) support broadcast-based data transmission (hereinafter referred to as broadcast transmission). For broadcast transmission, the receiving terminal can be any terminal device around the transmitting terminal. Taking Figure 6 as an example, terminal device 1 is the transmitting terminal, and the receiving terminal corresponding to the transmitting terminal is any terminal device around terminal device 1, for example, terminal device 2 to terminal device 6 in Figure 6.

[0055] In addition to broadcast transmission, some communication systems also support unicast-based data transmission (hereinafter referred to as unicast transmission) and / or multicast-based data transmission (hereinafter referred to as multicast transmission). For example, the new radio vehicle to everything (NR-V2X) hopes to support autonomous driving. Autonomous driving places higher requirements on data interaction between vehicles. For example, data interaction between vehicles requires higher throughput, lower latency, higher reliability, larger coverage, more flexible resource allocation, etc. Therefore, in order to improve the performance of data interaction between vehicles, NR-V2X introduces unicast transmission and multicast transmission.

[0056] For unicast transmission, there is typically only one receiving terminal. For example, in Figure 7, unicast transmission occurs between terminal devices 1 and 2. Terminal device 1 can be the sending terminal, and terminal device 2 can be the receiving terminal, or vice versa.

[0057] For multicast transmission, the receiving terminal can be a terminal device within a communication group, or a terminal device within a certain transmission distance. For example, in Figure 8, terminal devices 1, 2, 3, and 4 form a communication group. If terminal device 1 sends data, all other terminal devices in the group (terminal devices 2 through 4) can be receiving terminals.

[0058] In a sidelink system (also known as a sidelink communication system), terminal devices can be synchronized using one or more of the following: GNSS, base stations, and synchronization reference terminals. In other words, the types of synchronization sources can include GNSS, base stations, synchronization reference terminals, etc.

[0059] Typically, a terminal device within the coverage area of ​​a base station will synchronize directly to the base station, or use the base station as the synchronization source. It should be noted that synchronization to the base station can also be understood as synchronization to the cell under the base station, synchronization to the cell, etc., where the cell is within the coverage area of ​​the base station.

[0060] In some embodiments, the terminal device may also be directly synchronized to a GNSS, such as a GNSS satellite or a ground station.

[0061] In some embodiments, the terminal device may also be synchronized to a synchronization reference terminal node, which may be synchronized directly to the terminal device of a base station or a GNSS, or indirectly to the terminal device of a base station or a GNSS.

[0062] When two terminal devices (taking a first terminal device and a second terminal device as an example) communicate based on a sidelink, if the first terminal device and the second terminal device are not synchronized through each other, there will be a difference in the transmission and reception timing of the first terminal device and the second terminal device, or in other words, there will be a difference in the synchronization timing between the first terminal device and the second terminal device. The above-mentioned situation where the first terminal device and the second terminal device are not synchronized through each other may refer to a situation where the first terminal device is not a synchronization source for the second terminal device, and the second terminal device is not a synchronization source for the first terminal device.

[0063] The following takes the synchronization source of the anchor terminal device and the target terminal device as the synchronization reference terminal as an example, and introduces the synchronization timing difference according to the synchronization source of the anchor terminal device and the target terminal device.

[0064] FIG9 is a schematic diagram showing the synchronization time difference between the anchor UE and the target UE when the UE and the target UE are synchronized to the same synchronization source.

[0065] For a small-scale sidewalk communication system within a region, most anchor and target terminal devices will synchronize to the same synchronization source. As shown in Figure 9, both the target UE and the anchor UE are synchronized to the same synchronization source (the synchronization source UE in Figure 9). However, due to the different distances between the target UE and the anchor UE relative to the synchronization source UE, the synchronization timing of the target UE and the anchor UE may differ.

[0066] FIG10 is a schematic diagram showing a synchronization time difference between an anchor UE and a target UE when the anchor UE and the target UE are synchronized to different synchronization sources.

[0067] 10 , the anchor UE is synchronized to the synchronization source UE1, and the target UE is synchronized to the synchronization source UE2. Since the target UE and the anchor UE are at different distances from their respective synchronization source UEs, their synchronization timings may differ.

[0068] The above problem may also occur when the synchronization sources of the anchor terminal device and the target terminal device are the same base station or different base stations, or GNSS.

[0069] In the scenarios of FIG9 or FIG10, even if the positioning server knows the location of the synchronization source and the location of the anchor terminal user, since the location of the target terminal user is unknown, the positioning server cannot obtain the synchronization timing difference between the anchor terminal users, or between the anchor terminal user and the target terminal user.

[0070] The above-mentioned difference in synchronization timing (also called synchronization error or synchronization time difference) will cause many problems.

[0071] When performing positioning in a sidetracking system, for example, distance or angle measurements can be performed on the target terminal device and / or the anchor terminal device to obtain positioning-related information for the target terminal device. However, synchronization errors between the target terminal device and the anchor terminal device, or between the anchor terminal devices themselves, can cause errors in estimating information such as propagation delay or angle, thereby reducing the accuracy of the positioning results.

[0072] It should be noted that an anchor terminal device refers to a user terminal that serves as a reference point or benchmark in positioning, measurement, or other functions. An anchor terminal device is generally used to provide reference signals or perform measurements to support the positioning of other terminals.

[0073] The impact of synchronization errors on positioning depends on the specific implementation of the positioning system. Generally speaking, synchronization errors can increase the ranging error of the positioning system, thereby affecting the accuracy and precision of positioning. Synchronization errors can cause phase shifts in the received signal, resulting in errors in ranging results. These errors accumulate with increasing distance. Synchronization errors can also affect time slot allocation and clock synchronization, causing offsets in the timestamps of received signals. This offset accumulates over time.

[0074] For example, the propagation delay from terminal device A to terminal device B is 500ns. However, due to the time difference between the transmission time of terminal device A and the reception or transmission time of terminal device B, terminal device B will report the absolute time when reporting, or report based on its own frame format. When reporting based on its own frame format, the propagation delay calculated by the positioning server during position solution will include the time difference between the transmission time of terminal device A and the reception or transmission time of terminal device B. In other words, when the positioning server performs position solution, the calculated propagation delay may be greater than or even much greater than 500ns.

[0075] Related technologies have proposed some solutions to solve the above problems. For example, by using a high-precision clock source and synchronization mechanism to reduce the size of the synchronization error. Another example is to increase the number of anchor terminal devices to improve measurement accuracy and reduce the cumulative effect of errors. Another example is to combine other sensors or technologies, such as inertial measurement units (IMUs) or geomagnetic sensors, to improve the robustness and accuracy of the positioning system. However, the impact of synchronization errors still exists, and its impact on positioning cannot be ignored.

[0076] To address the above issues, an embodiment of the present application provides a method for sideline communication, in which a first device obtains synchronization information of a first terminal device and / or synchronization information of a second terminal device (i.e., first information), thereby helping to determine the synchronization error between the first terminal device and the second terminal device, providing a basis for addressing the impact of the synchronization error. For example, the positioning error of the terminal device can be processed based on the first information, thereby helping to improve the accuracy of the positioning result of the terminal device.

[0077] FIG11 is a flow chart of a sideways positioning method provided in an embodiment of the present application. The method of FIG11 can be applied to a sideways communication system. The following describes the method shown in FIG11 from the perspective of the interaction between the first device, the first terminal device, and the second terminal device.

[0078] In some embodiments, the first terminal device and the second terminal device may be terminal devices performing sideline communication. Acquiring synchronization information of the first terminal device and / or the second terminal device facilitates synchronization calibration between the first terminal device and the second terminal device.

[0079] For example, the first terminal device and / or the second terminal device may be terminal devices participating in side-by-side positioning. As an example, the first terminal device and the second terminal device may both be reference terminal devices participating in side-by-side positioning. Acquiring synchronization information from the first terminal device and / or the second terminal device facilitates synchronization between the reference terminal devices and helps resolve positioning errors caused by synchronization errors.

[0080] In some embodiments, the first device is a device capable of performing positioning management, or a terminal device having a positioning management function. For example, the first device may be a positioning server.

[0081] The method shown in FIG. 11 may include step S1110 and step S1120 .

[0082] In step S1110 , the first device receives first information.

[0083] The first information may be used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device. The synchronization information mentioned herein may, for example, be information associated with the synchronization status of the terminal devices. For example, the synchronization information may include information associated with the synchronization source, time difference information, and round-trip delay between terminal devices. The time difference information may include the synchronization error information mentioned above.

[0084] In step S1120, the first device locates the third terminal device according to the first information.

[0085] In some embodiments, the third terminal device may be the target terminal device mentioned above. The third terminal device may receive a pilot signal sent by the first terminal device and / or the second terminal device; the third terminal device may also send a pilot signal to the first terminal device and / or the second terminal device.

[0086] The pilot signal may be a signal used for sideways positioning, such as a positioning reference signal (PRS).

[0087] In related technologies, a first device may estimate the location information of a third terminal device based on the propagation delay and / or angle information of a pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device. In some embodiments, the first device may estimate the location information of the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device.

[0088] In the embodiment of the present application, by obtaining the synchronization information of the first terminal device and the second terminal device, it is helpful to perform synchronization calibration on the first terminal device or the second terminal device. In addition, positioning the third terminal device based on the synchronization information helps to improve the positioning accuracy of the third device.

[0089] In some embodiments, the first information may include one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and the round-trip delay between the first terminal device and the second terminal device.

[0090] In some embodiments, the information associated with the synchronization source may include one or more of the type of synchronization source; the coverage range of the synchronization source; the synchronization connection status of the synchronization source; the cell identification information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0091] The types of synchronization sources may include, for example, the base station, GNSS, and synchronization reference terminal node mentioned above.

[0092] In some embodiments, the coverage or coverage status of a synchronization source may indicate the terminal devices that may be synchronized with the synchronization source. In other words, based on the coverage of the synchronization source, it can be determined whether the target device is within the coverage of the synchronization source. For example, if a first terminal device is within the coverage of the synchronization source of a second terminal device, then the first terminal device may be synchronized to the same synchronization source as the second terminal device. Based on this, the synchronization information of the first terminal device and / or the second terminal device can be requested from the synchronization source, thereby reducing the delay in obtaining the synchronization information.

[0093] For the case where the synchronization source is a synchronization reference terminal device, the synchronization connection status of the synchronization source may include the synchronization source being directly connected to the base station or GNSS, or being indirectly connected to the base station or GNSS. The indirect connection mentioned here may refer to the synchronization source being connected to the base station or GNSS through other synchronization reference terminal devices. In some embodiments, the method of interacting with the synchronization source, the resources for interacting with the synchronization source, the source device of the synchronization information, etc. may be determined based on the synchronization connection status of the synchronization source. For example, if the synchronization source is a synchronization reference terminal device, and the synchronization source of the synchronization reference terminal device is a base station, then relevant information of the synchronization reference terminal device may be obtained from the base station, and relevant information of the terminal device synchronized with it, such as synchronization information, may be obtained from the synchronization reference terminal.

[0094] When the synchronization source is a base station, the synchronization source information may also include the identification information of the cell corresponding to the synchronization source. This cell identification information can be used to determine whether the device for which synchronization information is to be obtained is synchronized with the cell or within the coverage area of ​​the cell, thereby helping to reduce the latency in obtaining synchronization information. For example, when a first terminal device and a second terminal device are synchronized to the same cell, the synchronization information of the first and second terminal devices can be obtained through a single interaction, thereby improving efficiency and reducing processing latency.

[0095] As mentioned earlier, a synchronization source can obtain synchronization information from its synchronized devices through synchronization estimation. However, due to differences in hardware processing power and the complexity of the synchronization algorithm, the synchronization accuracy achieved by the synchronization source varies. For example, due to processor limitations, the estimated synchronization accuracy can be on the order of the timing advance (TA) sampling interval. When the subcarrier spacing is 15 kHz, the distance estimation error corresponding to the TA sampling interval is approximately 80 meters.

[0096] Therefore, information associated with the synchronization source can also include synchronization accuracy information, which helps determine the magnitude or range of synchronization errors. For example, in a positioning scenario, based on synchronization accuracy information, the magnitude or range of positioning errors can be determined, and whether the positioning errors meet the requirements.

[0097] In some embodiments, the synchronization accuracy information includes an accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: an integer multiple of a sampling interval; nanoseconds ns; microseconds us; and milliseconds ms.

[0098] However, in some scenarios, the synchronization source's accuracy may not meet the required or desired accuracy. For example, the 80-meter positioning error associated with a 15 kHz subcarrier spacing may not meet the required accuracy. In this case, further processing of the positioning results based on the synchronization accuracy information can be performed to achieve higher positioning accuracy.

[0099] In some embodiments, the first device may perform the following operations (including steps 1 to 5 below) to process the positioning results of the third terminal device to improve the accuracy of the positioning results, or to obtain higher positioning precision.

[0100] In step 1, the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, where the first synchronization quantization interval corresponds to the synchronization accuracy of the synchronization source. When the synchronization accuracy of the first terminal device is different from that of the second terminal device, the synchronization quantization interval corresponding to the synchronization accuracy of the first terminal device can be used as the first synchronization quantization interval, or the synchronization quantization interval corresponding to the synchronization accuracy of the second terminal device can be used as the first synchronization quantization interval. In some embodiments, the synchronization quantization interval corresponding to the larger value of the synchronization accuracy of the first terminal device and the synchronization accuracy of the second terminal device can be used as the first synchronization quantization interval, thereby helping to further improve the accuracy of positioning.

[0101] In step 2, a hypothetical synchronization value at each second synchronization quantization interval is determined.

[0102] In step 3, the positioning solution is performed based on the assumed synchronization value to obtain the estimated position coordinates

[0103] In step 4, the estimated error e is calculated according to the following formula j :

[0104] Wherein, N is the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, such as the number of anchor terminal devices that participate in side-by-side positioning of the third terminal device; Indicates the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, such as the position coordinates of the anchor terminal device that participates in the side positioning of the third terminal device; the pilot signal is a pilot signal used for positioning, d j,iis the measured distance between the target terminal device (such as the third terminal device) and the i-th anchor terminal device. j This value reflects the error between the measured and estimated distances. A large average deviation between the estimated and measured distances for each anchor terminal device indicates a large deviation in the estimated position. Conversely, a small average deviation between the estimated and measured distances for each anchor terminal device indicates a small error in the estimated position.

[0105] As mentioned above, the first terminal device and the second terminal device are terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, so the above N can be 2. It can be the location coordinates of the first terminal device, It can be the location coordinates of the second terminal device.

[0106] In step 5, the estimated error e j The position coordinate corresponding to the minimum value of is the positioning result. When the estimated error e j For example, when j is 2, the estimated error e2 is the smallest, so the estimated position coordinates are This is the location of the third terminal device, that is, the positioning result.

[0107] As mentioned above, the first information may also include time difference information. In some embodiments, the time difference information may include one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source. The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0108] The first synchronization source and the second synchronization source may be the same or different. In some embodiments, the content of the time difference information may be different depending on whether the synchronization sources are the same or not.

[0109] When the first synchronization source and the second synchronization source are the same, that is, when the first terminal device and the second terminal device are synchronized to the same synchronization source, the synchronization source can obtain the synchronization time difference between the first terminal device and the second terminal device. Therefore, in this case, the time difference information may include the synchronization time difference between the first terminal device and the second terminal device, thereby saving transmission resources and computing overhead.

[0110] When the first synchronization source and the second synchronization source are different, that is, when the first terminal device and the second terminal device are synchronized to different synchronization sources, the first synchronization source can obtain the synchronization information of the first terminal device, but cannot directly obtain the synchronization information of the second terminal device. Similarly, the second synchronization source can obtain the synchronization information of the second terminal device, but cannot directly obtain the synchronization information of the first terminal device.

[0111] However, the first synchronization source can obtain the time difference information (also called timing offset) between the timing of the first terminal device and the sending or receiving timing of the first synchronization source; the second synchronization source can obtain the time difference information between the timing of the second terminal device and the sending or receiving timing of the second synchronization source.

[0112] Based on this, the time difference information may include the time difference between the timing of the first terminal device and the timing of the first synchronization source; and / or the time difference between the timing of the second terminal device and the timing of the second synchronization source. The synchronization source timing mentioned here may be, for example, the sending timing of the synchronization source, or the receiving timing of the synchronization source. In some embodiments, the first device may determine the time difference information between the first terminal device and the timing of the first synchronization source, and the time difference between the timing of the second terminal device and the timing of the second synchronization source.

[0113] In some embodiments, the first information may also include the timing of the first synchronization source and / or the timing of the second synchronization source. For example, if the time difference information includes the time difference between the timing of the first terminal device and the timing of the first synchronization source; and / or the time difference between the timing of the second terminal device and the timing of the second synchronization source, then the first information may also include the timing of the first synchronization source and / or the timing of the second synchronization source. The timing of the synchronization source mentioned here may be the same as the timing type of the synchronization source in the time difference information. For example, when the corresponding synchronization source timing in the time difference information is the sending timing, then the timing of the corresponding synchronization source in the first information is also the sending timing. In this way, when the time difference information does not include the time difference between the first terminal device and the second terminal device, other devices, such as the first device, can determine the time difference between the first terminal device and the second terminal device based on the first information.

[0114] In some embodiments, the timing of the synchronization source, such as the transmission timing, can be reported relative to a reference time, which can be an absolute time, a time of a specific reference source, or a specified time. For example, the specified time can be specified by the first device.

[0115] In some embodiments, the first information can be reported to the first device by one or more of the following: a first terminal device; a second terminal device; a third terminal device; a first synchronization source; a second synchronization source; a network device corresponding to the first synchronization source; and a network device corresponding to the second synchronization source.

[0116] For example, when the first terminal device and the second terminal device are synchronized to the same synchronization source, the first information can be reported to the first device by the synchronization source.

[0117] For another example, when the first terminal device is synchronized to a first synchronization source and the second terminal device is synchronized to a second synchronization source, and the first synchronization source and the second synchronization source are different, part of the first information, such as information associated with the first terminal device, can be reported to the first device by the first synchronization source; part of the first information, such as information associated with the second terminal device, can be reported to the first device by the second synchronization source.

[0118] For example, when the first synchronization source is a synchronization reference terminal device synchronized to a network device, part of the first information can be reported to the first device by the network device corresponding to the first synchronization source; part of the first information can be reported to the first device by the network device corresponding to the second synchronization source.

[0119] In some embodiments, the first information may be reported directly to the first device by one or more of the above devices, or may be reported to the first device indirectly.

[0120] For example, the time difference information between the timing of the first terminal device and the timing of the first synchronization source can be reported directly to the first device by the first synchronization source, or can be first reported by the first synchronization source to the first terminal device, and then reported by the first terminal device to the first device. If the first synchronization source is a synchronization reference terminal device synchronized to a base station, the time difference information between the timing of the first terminal device and the timing of the first synchronization source can also be reported by the first synchronization source to its corresponding network device, and then reported by the network device to the first device.

[0121] For another example, the first synchronization source and the second synchronization source may report the synchronization information of the first terminal device and / or the synchronization information of the second terminal device to a specific device, such as a specific terminal device, and the specific terminal device then reports the first information to the first device. The specific terminal device may be, for example, the first terminal device or the second terminal device. In some cases, the specific terminal device may be, for example, a target terminal device in side-by-side positioning, such as the third terminal device described above.

[0122] The reporting method of the first information may include active reporting and request reporting. The active reporting mentioned here may refer to reporting the first information without receiving a request to report the first information.

[0123] In some embodiments, the first information may be reported in a request reporting manner. For example, before the first device receives the first information, the first device may send a second information requesting target synchronization information. For example, in a sidewalk positioning scenario, the target synchronization information may refer to one or more synchronization information associated with a terminal device participating in the sidewalk positioning.

[0124] In some embodiments, the second information may include one or more of the following: target synchronization information; a device identifier of a device associated with the target synchronization information; and expected synchronization accuracy information corresponding to the target synchronization information. For example, the target synchronization information may include the synchronization information of the first terminal device, and / or the synchronization information of the second terminal device. As another example, the second information may include the device identifier of the first terminal device and / or the second terminal device. The target synchronization information and device identifier mentioned here may serve as the basis for reporting the first information. As another example, the second information may include the expected synchronization accuracy information corresponding to the target synchronization information. If the target synchronization information includes the synchronization information of the first terminal device, and / or the synchronization information of the second terminal device, then the expected synchronization accuracy information may include the expected synchronization accuracy of the synchronization information of the first terminal device, and / or the expected synchronization accuracy of the synchronization information of the second terminal device. Reporting the first information based on the expected synchronization accuracy helps to improve the effectiveness of the positioning results.

[0125] The receiving device of the above-mentioned second information can be one or more of the multiple devices that report the first information mentioned above. If the first information is reported by the synchronization source of the first terminal device and / or the second terminal device, that is, the first synchronization source and / or the second synchronization source, then before the second information is sent, the first device needs to know the synchronization source of the first terminal device and / or the second terminal device and / or the information associated with the synchronization source. In some embodiments, the first terminal device and / or the second terminal device can report the information associated with the first synchronization source and / or the second synchronization source to the first device when interacting with the first device for positioning assistance information.

[0126] Then, the first device may send second information to the first synchronization source and / or the second synchronization source based on the information associated with the synchronization source to request the sending of the first information. The information associated with the synchronization source can be referred to in the above description and will not be repeated here for the sake of brevity.

[0127] In some embodiments, the first information may be reported proactively. For example, the first information may be proactively reported to the first device by the first synchronization source and / or the second synchronization source. In another example, the first information may be proactively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device. In other words, the first synchronization source and / or the second synchronization source may first report the first information to the first terminal device and / or the second terminal device, and then the first terminal device and / or the second terminal device may proactively report the first information to the first device.

[0128] In some embodiments, in response to the first synchronization source and / or the second synchronization source obtaining the synchronization information of the first terminal device and / or the second terminal device, the first synchronization source and / or the second synchronization source may report the first information. In order to save the overhead of transmission resources, the first synchronization source and / or the second synchronization source may periodically report the first information. The reporting period may be based on usage requirements, such as the positioning frequency, which is not limited in this application. In this way, the synchronization information of the first terminal device and / or the second terminal device can be obtained in a timely manner, thereby helping to reduce the delay of positioning.

[0129] In some embodiments, in response to receiving notification information that a third terminal device is about to perform positioning, or receiving notification information that the first terminal device and / or the second terminal device are about to participate in positioning, the first synchronization source and / or the second synchronization source may report the first information. To ensure the real-time and effectiveness of the synchronization information, in response to receiving the above notification, the first synchronization source and / or the second synchronization source may perform a synchronization estimation on the first terminal device and / or the second terminal device, and then report the first information based on the synchronization estimation result. This notification information may be sent, for example, by the third terminal device, or by the first terminal device and / or the second terminal device.

[0130] The above notification information may, for example, include the identification of the terminal devices involved in the positioning. As an example, the notification information may include the identification of the anchor terminal device and / or the identification of the target terminal device. For another example, the above notification message may include the time when the target terminal device is positioned, so that the first synchronization source and / or the second synchronization source can determine the reporting time of the first information. For another example, the above notification message may include the accuracy requirement information of the target terminal device, such as the synchronization accuracy requirement and / or the accuracy requirement of the positioning result. Among them, the synchronization accuracy requirement can be calculated based on the accuracy requirement of the positioning result. In this way, when the synchronization source can achieve multiple synchronization accuracies, the synchronization accuracy adopted by the synchronization source can be determined based on the accuracy requirement information of the target terminal device.

[0131] If the method of actively reporting the first information is adopted, the target terminal device, such as the third terminal device, can report the first information to the first device during the positioning configuration process, such as reporting the first information to the first device in the auxiliary data information, thereby further reducing the positioning delay.

[0132] It should be noted that the method provided in the embodiments of the present application can be applied to obtaining synchronization information between anchor terminal devices participating in side-by-side positioning, and can also be applied to obtaining synchronization information between an anchor terminal device participating in side-by-side positioning and a target terminal device. In other words, the first terminal device and the second terminal device can also be the anchor terminal device and the target terminal device, respectively, participating in side-by-side positioning.

[0133] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 11. The device embodiment of the present application is described in detail below in conjunction with Figures 12 to 15. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0134] FIG12 is a schematic diagram of the structure of a communication device provided by an embodiment of the present application. The communication device 1200 in FIG12 may be the first device mentioned above. The communication device 1200 may include a receiving unit 1210 and a positioning unit 1220.

[0135] The receiving unit 1210 is used to receive first information, where the first information is used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device.

[0136] The positioning unit 1220 is configured to locate the third terminal device according to the first information.

[0137] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and the round-trip delay between the first terminal device and the second terminal device.

[0138] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of synchronization source; the coverage of the synchronization source; the synchronization connection status of the synchronization source; the cell identification information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0139] In some embodiments, the synchronization accuracy information includes an accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: an integer multiple of a sampling interval; nanoseconds ns; microseconds us; and milliseconds ms.

[0140] In some embodiments, the first device locates the third terminal device according to the first information, including: if the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines an assumed synchronization value on each second synchronization quantization interval; performs positioning solution according to the assumed synchronization value to obtain an estimated position coordinate The estimated error e is calculated as follows: j :

[0141] Estimation error e j The position coordinate corresponding to the minimum value of is the positioning result, where when the value of j is When the estimated error e j The value of is the smallest; wherein N is the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, represents the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, d j,i It is a measurement result of the distance between the position of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, and the pilot signal is a pilot signal used for positioning.

[0142] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0143] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0144] In some embodiments, the first information further includes the timing of the first synchronization source and / or the timing of the second synchronization source.

[0145] In some embodiments, the first information is reported to the first device by one or more of the following: the first terminal device; the second terminal device; the first synchronization source; the second synchronization source; the network device corresponding to the first synchronization source; and the network device corresponding to the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0146] In some embodiments, the first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or the first information is actively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device.

[0147] In some embodiments, before the first device receives the first information, the device also includes: a sending unit for sending second information, the second information is used to request target synchronization information, and the target synchronization information includes the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

[0148] In some embodiments, the second information includes one or more of the following: the target synchronization information; a device identifier of a device associated with the target synchronization information; and expected synchronization accuracy information corresponding to the target synchronization information.

[0149] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in sideways positioning; and the third terminal device is a target terminal device participating in sideways positioning.

[0150] In some embodiments, the first device is a positioning server.

[0151] Figure 13 is a schematic diagram of the structure of a communication device provided in another embodiment of the present application. The communication device 1300 in Figure 13 may be the first terminal device mentioned above.

[0152] The communication device 1300 may include a first sending unit 1310, used to send first information to a first device, wherein the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0153] In some embodiments, the device further includes: a communication unit configured to send a pilot signal to a third terminal device, and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

[0154] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and the round-trip delay between the first terminal device and the second terminal device.

[0155] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of synchronization source; the coverage of the synchronization source; the synchronization connection status of the synchronization source; the cell identification information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0156] In some embodiments, the synchronization accuracy information includes an accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: an integer multiple of a sampling interval; nanoseconds ns; microseconds us; and milliseconds ms.

[0157] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0158] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0159] In some embodiments, the first information further includes the timing of the first synchronization source and / or the timing of the second synchronization source.

[0160] In some embodiments, the first terminal device sends the first information to the first device, including: the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; the first terminal device sends the first information to the first device; wherein, the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0161] In some embodiments, before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the device also includes: a second sending unit for sending third information, and the third information is used to notify the first synchronization source and / or the second synchronization source to report the first information.

[0162] In some embodiments, before the first terminal device sends the first information to the first device, the device also includes: a receiving unit for receiving second information sent by the first device, the second information is used to request target synchronization information, and the target synchronization information includes the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

[0163] In some embodiments, the second information includes one or more of the following: the target synchronization information; a device identifier of a device associated with the target synchronization information; and expected synchronization accuracy information corresponding to the target synchronization information.

[0164] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

[0165] In some embodiments, the first device is a positioning server.

[0166] Figure 14 is a schematic diagram of the structure of a communication device provided in yet another embodiment of the present application. The communication device 1400 in Figure 14 may be the second terminal device mentioned above.

[0167] The communication device 1400 may include a sending unit 1410 for sending first information to a first device, wherein the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

[0168] In some embodiments, the device further includes: a communication unit configured to send a pilot signal to a third terminal device, and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

[0169] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and the round-trip delay between the first terminal device and the second terminal device.

[0170] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of synchronization source; the coverage of the synchronization source; the synchronization connection status of the synchronization source; the cell identification information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0171] In some embodiments, the synchronization accuracy information includes an accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: an integer multiple of a sampling interval; nanoseconds ns; microseconds us; and milliseconds ms.

[0172] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0173] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0174] In some embodiments, the first information further includes the timing of the first synchronization source and / or the timing of the second synchronization source.

[0175] In some embodiments, the second terminal device sends the first information to the first device, including: the second terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; the second terminal device sends the first information to the first device; wherein, the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0176] In some embodiments, before the second terminal device sends the first information to the first device, the device also includes: a receiving unit for receiving second information sent by the first device, the second information is used to request target synchronization information, and the target synchronization information includes the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

[0177] In some embodiments, the second information includes one or more of the following: the target synchronization information; a device identifier of a device associated with the target synchronization information; and expected synchronization accuracy information corresponding to the target synchronization information.

[0178] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

[0179] In some embodiments, the first device is a positioning server.

[0180] FIG15 is a schematic diagram of the structure of an apparatus according to an embodiment of the present application. The dashed lines in FIG15 indicate that the unit or module is optional. Apparatus 1500 may be used to implement the method described in the above method embodiment. Apparatus 1500 may be a chip or a terminal device.

[0181] The device 1500 may include one or more processors 1510. The processor 1510 may support the device 1500 to implement the method described in the method embodiment above. The processor 1510 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0182] The apparatus 1500 may further include one or more memories 1520. The memories 1520 store programs that can be executed by the processor 1510, causing the processor 1510 to perform the methods described in the above method embodiments. The memories 1520 may be independent of the processor 1510 or integrated into the processor 1510.

[0183] The apparatus 1500 may further include a transceiver 1530. The processor 1510 may communicate with other devices or chips via the transceiver 1530. For example, the processor 1510 may transmit and receive data with other devices or chips via the transceiver 1530.

[0184] The present invention also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the communication device provided in the present invention, and the program enables a computer to execute the method performed by the communication device in each embodiment of the present invention.

[0185] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in the present application, and the program causes a computer to execute the method performed by the communication device in each embodiment of the present application.

[0186] The embodiments of the present application also provide a computer program. The computer program can be applied to the communication device provided in the embodiments of the present application, and the computer program enables a computer to execute the method executed by the communication device in each embodiment of the present application.

[0187] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0188] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0189] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0190] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0191] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0192] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0193] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0194] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0195] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0197] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0198] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0199] 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 sideline communication, characterized in that: include: The first device receives first information, where the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device; The first device locates the third terminal device according to the first information.

2. The method according to claim 1, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

3. The method according to claim 2, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

4. The method according to claim 3, characterized in that The synchronization accuracy information includes an accuracy unit of the synchronization estimation, and the accuracy unit of the synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

5. The method according to claim 3 or 4, characterized in that: The first device locates the third terminal device according to the first information, including: If the synchronization accuracy does not meet the preset requirement, the first device performs the following operations to locate the third terminal device: The first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determining a hypothetical synchronization value at each second synchronization quantization interval; Perform positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates The estimated error e is calculated according to the following formula j : Estimation error e j The position coordinate corresponding to the minimum value of is the positioning result, where j is When the estimated error e j The value of is the smallest; Wherein, N is the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, represents the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, d j,i It is a measurement result of the distance between the position of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, and the pilot signal is a pilot signal used for positioning.

6. The method according to any one of claims 2 to 5, characterized in that: The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

7. The method according to claim 6, characterized in that The first synchronization source is the same as the second synchronization source.

8. The method according to claim 6 or 7, characterized in that: The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

9. The method according to any one of claims 1 to 8, characterized in that The first information is reported to the first device by one or more of the following: the first terminal device; the second terminal device; The first synchronization source; Second synchronization source; The network device corresponding to the first synchronization source; and A network device corresponding to the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

10. The method according to claim 9, characterized in that The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device.

11. The method according to claim 9, characterized in that Before the first device receives the first information, the method further includes: The first device sends second information, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

12. The method according to claim 11, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

13. The method according to any one of claims 1 to 12, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in side-by-side positioning; The third terminal device is a target terminal device participating in the side-by-side positioning.

14. The method according to any one of claims 1 to 13, characterized in that The first device is a positioning server.

15. A method for sideline communication, characterized in that: include: The first terminal device sends first information to the first device, where the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate a third terminal device.

16. The method according to claim 15, characterized in that The method further comprises: The first terminal device sends a pilot signal to the third terminal device, and / or the first terminal device receives a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

17. The method according to claim 15 or 16, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

18. The method according to claim 17, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

19. The method according to claim 18, characterized in that The synchronization accuracy information includes an accuracy unit of the synchronization estimation, and the accuracy unit of the synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

20. The method according to any one of claims 17 to 19, characterized in that The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

21. The method according to claim 20, characterized in that The first synchronization source is the same as the second synchronization source.

22. The method according to claim 20 or 21, characterized in that The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

23. The method according to any one of claims 15 to 22, characterized in that The first terminal device sends first information to the first device, including: The first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The first terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

24. The method according to claim 23, characterized in that Before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the method further includes: The first terminal device sends third information, where the third information is used to notify the first synchronization source and / or the second synchronization source to report the first information.

25. The method according to claim 23, characterized in that Before the first terminal device sends the first information to the first device, the method further includes: The first terminal device receives second information sent by the first device, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

26. The method according to claim 25, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

27. The method according to any one of claims 15 to 26, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

28. The method according to any one of claims 15 to 27, characterized in that The first device is a positioning server.

29. A method for sideline communication, characterized in that: include: The second terminal device sends first information to the first device, where the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate the third terminal device.

30. The method according to claim 29, characterized in that The method further comprises: The second terminal device sends a pilot signal to the third terminal device, and / or the second terminal device receives a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

31. The method according to claim 29 or 30, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

32. The method according to claim 31, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

33. The method according to claim 32, characterized in that The synchronization accuracy information includes an accuracy unit of the synchronization estimation, and the accuracy unit of the synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

34. The method according to any one of claims 31 to 33, characterized in that The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

35. The method according to claim 34, characterized in that The first synchronization source is the same as the second synchronization source.

36. The method according to claim 34 or 35, characterized in that The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

37. The method according to any one of claims 29 to 36, characterized in that The second terminal device sends first information to the first device, including: The second terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The second terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

38. The method according to any one of claims 29 to 37, characterized in that Before the second terminal device sends the first information to the first device, the method further includes: The second terminal device receives second information sent by the first device, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

39. The method according to claim 38, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

40. The method according to any one of claims 29 to 39, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

41. The method according to any one of claims 29 to 40, characterized in that The first device is a positioning server.

42. A communication device, characterized in that: The communication device is a first device, and the device includes: A receiving unit, configured to receive first information, wherein the first information is used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; A positioning unit is used to locate the third terminal device according to the first information.

43. The device according to claim 42, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

44. The device according to claim 43, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

45. The device according to claim 44, characterized in that The synchronization accuracy information includes an accuracy unit of the synchronization estimation, and the accuracy unit of the synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

46. ​​Apparatus according to claim 44 or 45, characterised in that The first device locates the third terminal device according to the first information, including: If the synchronization accuracy does not meet the preset requirement, the first device performs the following operations to locate the third terminal device: The first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determining a hypothetical synchronization value at each second synchronization quantization interval; Perform positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates The estimated error e is calculated according to the following formula j : Estimation error e j The position coordinate corresponding to the minimum value of is the positioning result, where j is When the estimated error e j The value of is the smallest; Wherein, N is the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, represents the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, d j,i is a measurement result of the distance between the position of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device, wherein the pilot signal is a pilot signal used for positioning. Signal.

47. The apparatus according to any one of claims 43 to 46, characterized in that The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

48. The device according to claim 47, characterized in that The first synchronization source is the same as the second synchronization source.

49. Apparatus according to claim 47 or 48, characterised in that The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

50. The apparatus according to any one of claims 42 to 49, characterized in that The first information is reported to the first device by one or more of the following: the first terminal device; the second terminal device; The first synchronization source; Second synchronization source; The network device corresponding to the first synchronization source; and A network device corresponding to the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

51. The device according to claim 50, characterized in that The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device.

52. The apparatus according to claim 50, characterized in that Before the first device receives the first information, the device further includes: A sending unit is used to send second information, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

53. The device according to claim 52, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

54. The apparatus according to any one of claims 42 to 53, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in side-by-side positioning; The third terminal device is a target terminal device participating in the side-by-side positioning.

55. The apparatus according to any one of claims 42 to 54, characterized in that The first device is a positioning server.

56. A communication device, characterized in that: The communication device is a first terminal device, and the device includes: The first sending unit is used to send first information to the first device, where the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate a third terminal device.

57. The device according to claim 56, characterized in that The device also includes: A communication unit is used to send a pilot signal to a third terminal device and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

58. The apparatus according to claim 56 or 57, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

59. The device according to claim 58, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

60. The device according to claim 59, characterized in that The synchronization accuracy information includes an accuracy unit of synchronization estimation, and the accuracy unit of synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

61. The apparatus according to any one of claims 58 to 60, characterized in that The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

62. The device according to claim 61, characterized in that The first synchronization source is the same as the second synchronization source.

63. The device according to claim 61 or 62, characterized in that The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

64. The apparatus according to any one of claims 56 to 63, characterized in that The first terminal device sends first information to the first device, including: The first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The first terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

65. The device according to claim 64, characterized in that Before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the device further includes: The second sending unit is used to send third information, where the third information is used to notify the first synchronization source and / or the second synchronization source to report the first information.

66. The device according to claim 64, characterized in that Before the first terminal device sends the first information to the first device, the device further includes: A receiving unit is used to receive second information sent by the first device, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

67. The device according to claim 66, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

68. The apparatus according to any one of claims 56 to 67, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

69. The apparatus according to any one of claims 56 to 68, characterized in that The first device is a positioning server.

70. A communication device, characterized in that: The communication device is a second terminal device, and the device includes: A sending unit is used to send first information to a first device, where the first information is used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, and the first information is used by the first device to locate a third terminal device.

71. The device according to claim 70, characterized in that The device also includes: A communication unit is used to send a pilot signal to a third terminal device and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for side positioning.

72. The device according to claim 70 or 71, characterized in that The first information includes one or more of the following: Information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; as well as The round-trip delay between the first terminal device and the second terminal device.

73. The device according to claim 72, characterized in that The information associated with the synchronization source includes one or more of the following: The type of synchronization source; The coverage of synchronization sources; The synchronization connection status of the synchronization source; The cell identification information corresponding to the synchronization source; and Synchronization accuracy information of the synchronization source.

74. The device according to claim 73, characterized in that The synchronization accuracy information includes an accuracy unit of the synchronization estimation, and the accuracy unit of the synchronization estimation includes one or more of the following: Integer multiples of the sampling interval; Nanoseconds ns; microseconds us; and Milliseconds.

75. The apparatus according to any one of claims 72 to 74, characterized in that The time difference information includes one or more of the following: A synchronization time difference between the first terminal device and the second terminal device; a time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as a time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

76. The device according to claim 75, characterized in that The first synchronization source is the same as the second synchronization source.

77. Apparatus according to claim 75 or 76, characterised in that The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

78. The apparatus according to any one of claims 70 to 77, characterized in that The second terminal device sends first information to the first device, including: The second terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The second terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

79. The apparatus according to any one of claims 70 to 78, characterized in that Before the second terminal device sends the first information to the first device, the device further includes: A receiving unit is used to receive second information sent by the first device, where the second information is used to request target synchronization information, and the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device.

80. The apparatus according to claim 79, characterized in that The second information includes one or more of the following: The target synchronization information; a device identifier of a device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

81. The apparatus according to any one of claims 70 to 80, characterized in that The first terminal device and the second terminal device are both reference terminal devices participating in sidewalk positioning; and the third terminal device is a target terminal device participating in sidewalk positioning.

82. The apparatus according to any one of claims 70 to 81, characterized in that The first device is a positioning server.

83. A communication device, characterized in that: The communication device comprises a transceiver, a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory and control the transceiver to receive or send a signal so that the communication device executes the method as described in any one of claims 1 to 14, any one of claims 15 to 28, or any one of claims 29 to 41.

84. A device, characterized in that The device comprises a processor, configured to call a program from a memory so as to cause the device to execute a method according to any one of claims 1 to 14, any one of claims 15 to 28, or any one of claims 29 to 41.

85. A chip, characterized in that: It comprises a processor, which is used to call a program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 14, any one of claims 15 to 28, or any one of claims 29 to 41.

86. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute a method according to any one of claims 1 to 14, any one of claims 15 to 28, or any one of claims 29 to 41.

87. A computer program product, characterized in that The method comprises a program which causes a computer to execute the method according to any one of claims 1 to 14, any one of claims 15 to 28, or any one of claims 29 to 41.

88. A computer program, characterized in that The computer program enables a computer to execute the method according to any one of claims 1 to 14, or any one of claims 15 to 28, or any one of claims 29 to 41.

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