Sidelink positioning measurement method, communication apparatus and storage medium

Abstract

A sidelink positioning measurement method, a communication apparatus and a storage medium. The method comprises: a server user equipment sending a positioning measurement request to a target user equipment, wherein the positioning measurement request comprises a positioning measurement requirement, and the positioning measurement requirement is used for instructing the target user equipment to complete one measurement on the basis of the positioning measurement requirement; and the target user equipment sending a positioning measurement report to the server user equipment on the basis of the positioning measurement request, wherein the positioning measurement report comprises a measurement result of said measurement, and the measurement result is obtained by the target user equipment on the basis of at least one sidelink-positioning reference signal received from at least one anchor user equipment. By using the solution, the server user equipment sends the positioning measurement requirement to the target user equipment, so as to instruct the target user equipment to complete one measurement on the basis of the positioning measurement requirement, so that the target user equipment can report a positioning measurement result in a timely manner, thereby improving the timeliness of completing a sidelink positioning measurement process.

Description

Sidelink positioning measurement method, communication device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 3, 2023, with application number 202311455859.7 and invention name “Sidelink Positioning Measurement Method, Communication Device and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a sidelink (SL) positioning measurement method, a communication device, and a storage medium. Background Art

[0003] Positioning can be achieved between terminal devices by sending sidelink-positioning reference signals (SL-PRS). However, when sending SL-PRS, the anchor terminal (anchor UE) first performs resource sensing and sends the SL-PRS when it senses that the current channel is available or idle. Therefore, the target terminal (target UE) is not sure when the anchor terminal will send the SL-PRS, and thus does not know in which time slot the SL-PRS will arrive. A situation may arise where the anchor UE cannot find a suitable opportunity to send the SL-PRS, resulting in the target UE not being able to detect the SL-PRS, and the server terminal (server UE) not receiving feedback on the measurement results. In this way, the entire positioning delay will be very large, and the entire positioning process may not even be completed.

[0004] In view of this, there is a need to improve the timeliness of completing the sidelink positioning measurement process.

[0005] Summary of the Invention

[0006] The present application provides a sidelink positioning measurement method, a communication device, and a storage medium to improve the timeliness of completing the sidelink positioning measurement process.

[0007] In a first aspect, a sidelink positioning measurement method is provided, which can be executed by a target terminal, or by a chip or circuit configured in the target terminal, or by a logic module or software that can implement all or part of the functions of the target terminal. This application is not limited to this. The method includes: receiving a positioning measurement request, the positioning measurement request including a positioning measurement requirement, the positioning measurement requirement being used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; and sending a positioning measurement report according to the positioning measurement request, the positioning measurement report including a measurement result of the measurement, the measurement result being obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0008] By adopting this method, the target terminal receives a positioning measurement request sent by the server terminal, which instructs the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0009] In a second aspect, a sidelink positioning measurement method is provided, which can be executed by a server terminal, or by a chip or circuit configured in the server terminal, or by a logic module or software that can implement all or part of the server terminal functions. This application is not limited to this. The method includes: sending a positioning measurement request, the positioning measurement request including a positioning measurement requirement, the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; and receiving a positioning measurement report according to the positioning measurement request, the positioning measurement report including a measurement result of the measurement, the measurement result being obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0010] By adopting this method, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0011] In combination with the second aspect, in a possible implementation, the method further includes: sending a positioning request to the at least one anchor terminal, the positioning request being used to request the at least one anchor terminal to send at least one SL-PRS; and in response to the positioning request, receiving configuration information from the at least one anchor terminal respectively, the configuration information including at least one of the following information of the SL-PRS: the number of symbols occupied by the SL-PRS, the bandwidth corresponding to the SL-PRS, the comb tooth size of the SL-PRS, the frequency domain starting position of the SL-PRS, the time domain starting position of the SL-PRS, the sequence initialization identifier of the SL-PRS, and the resource identifier corresponding to the SL-PRS.

[0012] In combination with the second aspect, in yet another possible implementation, the method further includes: sending auxiliary data to the target terminal, where the auxiliary data includes configuration information of the at least one anchor terminal.

[0013] With this implementation, after receiving the configuration information sent by the anchor terminal, the server terminal sends auxiliary data to the target terminal so that the target terminal can accurately receive the SL-PRS sent by the anchor terminal based on the time-frequency position information of the SL-PRS to be sent by the anchor terminal.

[0014] In combination with the second aspect, in another possible implementation, the method further includes: locating the target terminal according to the measurement result.

[0015] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of SL-PRSs of the first anchor terminal measured in the measurement, or the number of SL-PRSs of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal.

[0016] Further, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRSs for the first anchor terminal, or completing the measurement of the number of SL-PRSs for the first anchor terminal.

[0017] With this implementation, the server terminal can limit the measurement process and reporting time of the target UE by indicating the number of SL-PRSs of the first anchor terminal measured in a measurement, or including the number of SL-PRSs of the first anchor terminal measured in a measurement, so that the sidelink positioning measurement process can be completed in a timely manner.

[0018] In combination with the first aspect, the second aspect, or any possible implementation of the second aspect, in yet another possible implementation, the positioning measurement requirement includes measuring SL-PRSs of all anchor terminals in the one measurement.

[0019] In combination with the first aspect, the second aspect, or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of anchor terminals measured in the measurement, or the positioning measurement requirement includes the percentage of anchor terminals measured in the measurement to the total number of anchor terminals.

[0020] Further, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by the number of anchor terminals in the measurement, or completing the measurement of SL-PRS sent by the percentage of anchor terminals in the measurement.

[0021] With this implementation, by stipulating or configuring the number of anchor terminals measured in one measurement, or requiring the positioning measurement to include the percentage of anchor terminals measured in one measurement to the total number of anchor terminals, the target UE's measurement process and reporting time can be limited, thereby enabling the sidelink positioning measurement process to be completed in a timely manner. With this implementation, the target terminal may not measure the SL-PRS of all anchor terminals, because some anchor terminals may not be able to sense the available resources to send SL-PRS. In this case, the target terminal will not be able to detect the SL-PRS of these anchor terminals. This not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0022] In combination with the first aspect, the second aspect, or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes the number of anchor terminals measured at least in the one measurement process, or the positioning measurement requirement includes the percentage of anchor terminals measured at least in the one measurement process to the total number of anchor terminals; wherein, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by at least the measured number of anchor terminals in the one measurement, or completing the measurement of SL-PRS sent by at least the measured percentage of anchor terminals in the one measurement.

[0023] With this implementation, by stipulating or configuring the number of anchor terminals to be measured in one measurement, or requiring the positioning measurement to include the percentage of anchor terminals to be measured in one measurement to the total number of anchor terminals, the measurement process and reporting time of the target UE can be limited, thereby enabling the sidelink positioning measurement process to be completed in a timely manner.

[0024] Furthermore, the target terminal does not need to measure the SL-PRS of all anchor terminals, because some anchor terminals may not sense the available resources to send SL-PRS. In this case, the target terminal will not be able to detect the SL-PRS of these anchor terminals. This not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0025] In combination with the first aspect, the second aspect, or any possible implementation of the second aspect, in another possible implementation, the number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals corresponds to the measurement and positioning technology.

[0026] With this implementation, since different measurement and positioning technologies correspond to different measurement quantities, different measurement and positioning technologies may require different numbers of anchor terminals to be measured in one measurement, or the percentage of anchor terminals to be measured in one measurement to the total number of anchor terminals may be different.

[0027] In combination with the first aspect, the second aspect, or any possible implementation of the second aspect, in another possible implementation, the positioning measurement requirement includes time window information; wherein the time window information is used to indicate that the measurement is completed within the time window and the positioning measurement report is reported; or the time window information is used to indicate that the measurement is completed within the time window and the positioning measurement report is reported after the time window ends.

[0028] With this implementation, the server terminal can enable the target terminal to complete the measurement and / or reporting within the specified time by indicating the time for completing a measurement and reporting of the positioning measurement report, or the time for completing a measurement, thereby enabling the sidelink positioning measurement process to be completed in a timely manner; and further simplifying the measurement process of the target terminal, avoiding an increase in the delay of the entire positioning process.

[0029] In combination with the first aspect, the second aspect or any possible implementation of the second aspect, in another possible implementation, the information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

[0030] In a third aspect, a communication device is provided for implementing the sidelink positioning measurement method of the first aspect or any implementation of the first aspect. The device may be a target terminal, a module (e.g., a processor, chip, or chip system) applied to the target terminal, or a logical node, logic module, or software capable of implementing all or part of the functions of the target terminal.

[0031] In one possible implementation, the device includes: a transceiver unit and a processing unit; wherein the transceiver unit is used to receive a positioning measurement request, the positioning measurement request includes a positioning measurement requirement, and the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; the processing unit is used to generate a positioning measurement report according to the positioning measurement request; and the transceiver unit is further used to send a positioning measurement report according to the positioning measurement request, the positioning measurement report including a measurement result of the measurement, and the measurement result is obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0032] In a fourth aspect, a communication device is provided for implementing the sidelink positioning measurement method of the second aspect or any one of the implementations of the second aspect. The device may be a target terminal, a module (e.g., a processor, a chip, or a chip system) applied to the target terminal, or a logical node, a logical module, or software that can implement all or part of the functions of the target terminal.

[0033] In one possible implementation, the apparatus includes: a transceiver unit and a processing unit; wherein the processing unit is configured to generate a positioning measurement request, the positioning measurement request including a positioning measurement requirement, the positioning measurement requirement being used to instruct a target terminal to complete a measurement based on the positioning measurement requirement; the transceiver unit is configured to send the positioning measurement request; and the transceiver unit is further configured to receive a positioning measurement report according to the positioning measurement request, the positioning measurement report including a measurement result of the measurement, the measurement result being obtained by the target terminal based on at least one SL-PRS received from at least one anchor terminal.

[0034] In combination with the fourth aspect, optionally, the processing unit is further used to generate a positioning request, the positioning request is used to request the at least one anchor terminal to send at least one SL-PRS; the transceiver unit is further used to send the positioning request to the at least one anchor terminal; and the transceiver unit is further used to receive configuration information from the at least one anchor terminal in response to the positioning request, the configuration information including at least one of the following information of the SL-PRS: the number of symbols occupied by the SL-PRS, the bandwidth corresponding to the SL-PRS, the comb tooth size of the SL-PRS, the frequency domain starting position of the SL-PRS, the time domain starting position of the SL-PRS, the sequence initialization identifier of the SL-PRS, and the resource identifier corresponding to the SL-PRS.

[0035] In combination with the fourth aspect, optionally, the transceiver unit is further configured to send auxiliary data to the target terminal, where the auxiliary data includes configuration information of the at least one anchor terminal.

[0036] In combination with the fourth aspect, optionally, the processing unit is further used to locate the target terminal according to the measurement result.

[0037] In conjunction with the third aspect, the fourth aspect, or any possible implementation of the fourth aspect, the positioning measurement requirements and further details can refer to the description of the first aspect and the second aspect, and will not be repeated here. When the communication device described in the third aspect, the fourth aspect, or any implementation of the third aspect and the fourth aspect is a chip, the sending unit can be an output unit, such as an output circuit or a communication interface; the receiving unit can be an input unit, such as an input circuit or a communication interface. When the communication device is a terminal, the sending unit can be a transmitter or a transmitter; the receiving unit can be a receiver or a receiver.

[0038] In a fifth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned first aspect or any one of the implementations of the first aspect.

[0039] In a sixth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned second aspect or any one of the implementations of the second aspect.

[0040] Among them, the communication device in the fifth aspect and the sixth aspect includes a processor; the processor is configured to implement the corresponding functions in the above-mentioned sidelink positioning measurement method. Optionally, it also includes a memory, which is used to couple with the processor and store the necessary programs (instructions) and / or data of the device. Optionally, the communication device may also include a communication interface for realizing communication between the device and other network elements. Optionally, the memory can be located inside the communication device or outside the communication device.

[0041] In a seventh aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned first aspect or any one of the implementations of the first aspect.

[0042] In an eighth aspect, a communication device is provided for implementing the sidelink positioning measurement method in the above-mentioned second aspect or any one of the implementations of the second aspect.

[0043] Wherein, the communication device in the seventh aspect and the eighth aspect includes a processor and a transceiver device, the processor is coupled to the transceiver device, and the processor is used to execute a computer program or instruction to control the transceiver device to receive and send information; when the processor executes the computer program or instruction, the processor is also used to implement the above method through a logic circuit or execute code instructions. Wherein, the transceiver device can be a transceiver, a transceiver circuit or an input-output interface, which is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device. When the communication device is a chip, the transceiver device is a transceiver circuit or an input-output interface.

[0044] In a ninth aspect, a communication system is provided, comprising a communication device for implementing the first aspect or any one implementation of the first aspect, and a communication device for implementing the second aspect or any one implementation of the second aspect.

[0045] In the tenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the first aspect, the second aspect, or any one of the first and second aspects is implemented.

[0046] In the eleventh aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in the first aspect, the second aspect, or any one of the first and second aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] FIG1 is a simplified schematic diagram of a wireless communication system provided by an embodiment of the present application;

[0048] Figures 2a-2c are schematic diagrams of the network coverage of the terminal device;

[0049] FIG3 is a schematic diagram of trilateral positioning based on a sidelink according to an embodiment of the present application;

[0050] FIG4 is a schematic diagram of SL-PRS reception in an example;

[0051] FIG5 is a schematic diagram of a flow chart of a sidelink positioning measurement method provided in an embodiment of the present application;

[0052] FIG6 is a schematic flow chart of another sidelink positioning measurement method provided in an embodiment of the present application;

[0053] FIG7 is a schematic diagram of SL-PRS reception in an example provided by this application;

[0054] FIG8 is a schematic diagram of SL-PRS reception in yet another example provided by the present application;

[0055] FIG9 is a schematic diagram of SL-PRS reception in yet another example provided by the present application;

[0056] FIG10 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0057] FIG11 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0059] The following at least one (item) involved in this application indicates one (item) or more (items). More than one (item) refers to two (items) or more than two (items). "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be understood that although the terms first, second, etc. may be used to describe each object in this application, these objects should not be limited to these terms. These terms are only used to distinguish each object from each other.

[0060] The terms "including" and "having" and any variations thereof mentioned in the following description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any method or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other methods or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0061] It should be understood that, in this application, indication includes direct indication (also known as explicit indication) and implicit indication. Direct indication of information A refers to including information A; implicit indication of information A refers to indicating information A through the correspondence between information A and information B and the direct indication of information B. The correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured.

[0062] It should be understood that, in this application, information C is used to determine information D, which includes both information D being determined solely based on information C and information D being determined based on information C and other information. Furthermore, information C can also be used to determine information D indirectly, for example, where information D is determined based on information E, and information E is determined based on information C.

[0063] In addition, in each embodiment of the present application, "device A sends information A to device B" can be understood as the destination of the information A or the intermediate device in the transmission path between the destination and the device B, which may include directly or indirectly sending information to device B. "Device B receives information A from device A" can be understood as the source of the information A or the intermediate device in the transmission path between the source and the device A, which may include directly or indirectly receiving information from device A. The information may undergo necessary processing between the source and destination of the information, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood similarly and will not be elaborated here.

[0064] The technology provided by this application can be applied to various communication systems. For example, the communication system can be a fourth generation (4G) th generation, 4G) communication systems (such as long term evolution (LTE) systems), fifth generation (5 th generation (5G) communication systems, worldwide interoperability for microwave access (WiMAX) or wireless local area network (WLAN) systems, or integrated systems of multiple systems, or future communication systems such as the sixth generation (6 th generation, 6G) communication system, etc. Among them, the 5G communication system can also be called a new radio (NR) system.

[0065] A device in a communication system can send a signal to another device or receive a signal from another device. The signal may include information, signaling, or data, etc. The device can also be replaced by an entity, a network entity, a network element, a mobile node, a terminal device, a communication module, a node, a communication node, etc. The present application describes the device as an example. For example, the communication system may include at least one terminal device and at least one access network device. The access network device can send a downlink signal to the terminal device, and / or the terminal device can send an uplink signal to the access network device. In addition, it can be understood that if the communication system includes multiple terminal devices, the multiple terminal devices can also send signals to each other, that is, the signal sending device and the signal receiving device can both be terminal devices.

[0066] The sidelink positioning measurement method provided in the embodiment of the present application can be applied to wireless communication systems such as 5G, 6G, and satellite communications. Referring to Figure 1, Figure 1 is a simplified schematic diagram of the wireless communication system provided in the embodiment of the present application. As shown in Figure 1, the wireless communication system includes a wireless access network 100. The wireless access network 100 can be a next-generation (e.g., 6G or higher) wireless access network, or a traditional (e.g., 5G, 4G) wireless access network. One or more terminal devices (120a-120j, collectively referred to as 120) can be connected to each other, or connected to one or more network devices (110a, 110b, collectively referred to as 110) in the wireless access network 100. Optionally, Figure 1 is only a schematic diagram, and the wireless communication system may also include other devices, such as core network devices, wireless relay devices and / or wireless backhaul devices, etc., which are not drawn in Figure 1.

[0067] Optionally, in actual applications, the wireless communication system may include multiple network devices (also called access network devices) and multiple terminal devices at the same time. A network device can serve one or more terminal devices at the same time. A terminal device can also access one or more network devices at the same time. The embodiments of the present application do not limit the number of terminal devices and network devices included in the wireless communication system.

[0068] The network device may be an entity on the network side for transmitting or receiving signals. The network device may be an access device for a terminal device to access the wireless communication system in a wireless manner, such as a base station. Base station can broadly cover various names as follows, or be replaced with the following names, such as: radio access network (RAN) node, NodeB, evolved NodeB (eNB), next generation NodeB (gNB), access network equipment in open radio access network (O-RAN), relay station, integrated access and backhaul (IAB) node (such as the base station (BS) functional part in the IAB node), access point, transmitting and receiving point (TRP), transmitting point (TP), master eNB (MeNB), secondary eNB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, building baseband unit (BBU), remote radio unit (RRU), etc. The term "network device" may also refer to a communication module, modem, or chip used in the aforementioned equipment or device.The network device may 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 network device may support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form adopted by the network device.

[0069] Network devices can be fixed or mobile. For example, base stations 110a and 110b are stationary and are responsible for wireless transmission and reception in one or more cells from terminal device 120. The helicopter or drone 120i shown in Figure 1 can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station 120i. In other examples, the helicopter or drone (120i) can be configured to act as a terminal device communicating with base station 110b.

[0070] In this application, the communication device used to implement the above-mentioned access network function can be an access network device, a network device having some of the access network functions, or a device capable of supporting the implementation of the access network function, such as a chip system, a hardware circuit, a software module, or a hardware circuit and a software module. The device can be installed in the access network device or used in combination with the access network device. In the method of this application, the communication device used to implement the access network device function is described as an access network device.

[0071] A terminal device may be an entity on the user side for receiving or transmitting signals, such as a mobile phone. The terminal device may be used to connect people, objects, and machines. The terminal device may communicate with one or more core networks through a network device. The terminal device includes a handheld device with wireless connection capabilities, other processing devices connected to a wireless modem, or a vehicle-mounted device. The terminal device may be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device. The terminal device 120 may be widely used in various scenarios, such as cellular communication, D2D, V2X, point-to-point (P2P), machine-to-machine (M2M), machine type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, drones, robots, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and mobility, etc.Some examples of terminal devices 120 include: user equipment (UE), fixed devices, mobile devices, handheld devices, wearable devices, cellular phones, smart phones, session initiated protocol (SIP) phones, laptops, personal computers, smart books, vehicles, satellites, global positioning system (GPS) devices, target tracking devices, drones, helicopters, aircraft, ships, remote control devices, smart home devices, industrial devices, personal communication service (PCS) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), wireless network cameras, tablet computers, handheld computers, mobile internet devices (MIDs), wearable devices such as smart watches, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, terminals in vehicle networking systems, wireless terminals in self-driving, wireless terminals in smart grids, transportation security systems, etc. Safety), wireless terminals in smart cities such as smart refueling pumps, terminal devices on high-speed railways, and wireless terminals in smart homes such as smart speakers, smart coffee machines, smart printers, etc. The terminal device 120 can be a wireless device in the above various scenarios or a device for being set up in a wireless device, for example, a communication module, modem or chip in the above device. The terminal device can also be called a terminal, terminal device, UE, mobile station (MS), mobile terminal (MT), etc. The terminal device can also be a terminal device in a future wireless communication system. The terminal device can be used in a dedicated network device or a general device. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0072] By way of example and not limitation, in an embodiment of the present application, the terminal device may also be a portion of a network device used to implement terminal device functions. For example, the network device may be an IAB node, which integrates a mobile terminal (MT) and a distributed unit (DU), or an MT and a base station (BS), where the BS includes a centralized unit (CU) and a DU. When the IAB node faces its parent node, it can be considered a terminal. In this case, the IAB node plays the role of the MT.

[0073] Alternatively, a terminal device can function as a base station. For example, a UE can act as a dispatching entity, providing sidelink signals between UEs in V2X, D2D, or P2P scenarios. As shown in Figure 1, a cell phone 120a and a car 120b communicate with each other using sidelink signals. Cell phone 120a and smart home device 120e communicate without relaying the communication signals through base station 110b.

[0074] In this application, the communication device used to implement the functions of the terminal device can be a terminal device, or a terminal device with some of the functions of the above terminal devices, or a device that can support the implementation of the functions of the above terminal devices, such as a chip system, which can be installed in the terminal device or used in combination with the terminal device. In this application, the chip system can be composed of chips, or it can include chips and other discrete devices. In the technical solution provided in this application, the communication device is described as a terminal device or UE as an example.

[0075] Optionally, a wireless communication system is typically composed of cells, with base stations providing cell management and communication services to multiple mobile stations (MS) in the cell. The base station includes a baseband unit (BBU) and a remote radio unit (RRU). The BBU and RRU can be placed in different locations, for example: the RRU is remote and placed in an area with high traffic volume, while the BBU is placed in a central computer room. The BBU and RRU can also be placed in the same computer room. The BBU and RRU can also be different components under the same rack. Optionally, a cell can correspond to a carrier or component carrier.

[0076] In some deployments, the network devices mentioned in the embodiments of the present application may include a CU, a DU, or both a CU and a DU, or a control plane CU node (central unit-control plane (CU-CP)), a user plane CU node (central unit-user plane (CU-UP)), and a DU node. For example, the network devices may include a gNB-CU-CP, a gNB-CU-UP, and a gNB-DU.

[0077] In some deployments, multiple RAN nodes collaborate to assist terminals in achieving wireless access, with different RAN nodes implementing parts of the base station's functionality. For example, a RAN node can be a CU, DU, CU-CP, CU-UP, or RU. The CU and DU can be separate or included in the same network element, such as a BBU. The RU can be included in a radio frequency device or radio frequency unit, such as an RRU, active antenna unit (AAU), or remote radio head (RRH).

[0078] A RAN node may support one or more types of fronthaul interfaces, with different fronthaul interfaces corresponding to DUs and remote units (RUs) with different functions. If the fronthaul interface between the DU and RU is a common public radio interface (CPRI), the DU is configured to implement one or more baseband functions, and the RU is configured to implement one or more radio frequency functions. If the fronthaul interface between the DU and RU is another type of interface, relative to CPRI, some downlink and / or uplink baseband functions, such as precoding, digital beamforming (BF), or one or more of inverse fast Fourier transform (IFFT) / cyclic prefix (CP) for downlink, are moved from the DU to the RU for implementation; and for uplink, digital beamforming (BF), or one or more of fast Fourier transform (FFT) / cyclic prefix (CP) removal, are moved from the DU to the RU for implementation. In one possible implementation, the interface may be an enhanced common public radio interface (eCPRI). In the eCPRI architecture, the division between the DU and RU is different, corresponding to different types (category, Cat) of eCPRI, such as eCPRI Cat A, B, C, D, E, and F.

[0079] Taking eCPRI Cat A as an example, for downlink transmission, based on layer mapping, the DU is configured to implement layer mapping and one or more functions preceding it (i.e., one or more of coding, rate matching, scrambling, modulation, and layer mapping). Other functions after layer mapping (e.g., resource element (RE) mapping, digital beamforming (BF), or one or more of inverse fast Fourier transform (IFFT) / CP addition) are moved to the RU for implementation. For uplink transmission, based on RE demapping, the DU is configured to implement demapping and one or more functions preceding it (i.e., one or more of decoding, rate matching, descrambling, demodulation, inverse discrete Fourier transform (IDFT), channel equalization, and RE demapping). Other functions after demapping (e.g., one or more of digital BF or FFT / CP removal) are moved to the RU for implementation. It is understandable that for the functional description of DU and RU corresponding to various types of eCPRI, reference can be made to the eCPRI protocol, which will not be described in detail here.

[0080] In one possible design, the processing unit for implementing baseband functions in the BBU is called a baseband high layer (BBH) unit, and the processing unit for implementing baseband functions in the RRU / AAU / RRH is called a baseband low layer (BBL) unit.

[0081] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0082] In the embodiments of the present application, the device for implementing the functions of the network device can be a network device; it can also be a device that can support the network device to implement the functions, such as a chip system, a hardware circuit, a software module, or a hardware circuit and a software module. The device can be installed in the network device or used in conjunction with the network device. In the embodiments of the present application, only the device for implementing the functions of the network device is used as an example to illustrate, and does not constitute a limitation on the solutions of the embodiments of the present application.

[0083] It is understandable that the present application can be applied between network devices and terminal devices.

[0084] The communication between the network device and the terminal device follows a certain protocol layer structure. The protocol layer structure may include a control plane protocol layer structure and a user plane protocol layer structure. For example, the control plane protocol layer structure may include the functions of the radio resource control (RRC) layer, the packet data convergence protocol (PDCP) layer, the radio link control (RLC) layer, the medium access control (MAC) layer, and the physical layer. For example, the user plane protocol layer structure may include the functions of the PDCP layer, the RLC layer, the MAC layer, and the physical layer. In one possible implementation, a service data adaptation protocol (SDAP) layer may also be included above the PDCP layer.

[0085] Optionally, the protocol layer structure between the network device and the terminal device may further include an artificial intelligence (AI) layer for transmitting data related to AI functions.

[0086] Taking data transmission between a network device and a terminal device as an example, data transmission can pass through user plane protocol layers, such as the SDAP layer, PDCP layer, RLC layer, MAC layer, and physical layer. The SDAP layer, PDCP layer, RLC layer, MAC layer, and physical layer are collectively referred to as the access layer. Data transmission is divided into sending and receiving based on the direction of transmission, and each of these layers is further divided into a sending part and a receiving part. Taking downlink data transmission as an example, after the PDCP layer obtains data from the upper layer, it transmits the data to the RLC layer and MAC layer. The MAC layer then generates a transport block, which is then wirelessly transmitted through the physical layer. Data is encapsulated accordingly in each layer. For example, data received by a layer from the layer above it is considered a service data unit (SDU) of that layer. After encapsulation by that layer, it becomes a protocol data unit (PDU) and is then passed to the next layer.

[0087] For example, a terminal device may also include an application layer and a non-access layer. The application layer can be used to provide services to applications installed in the terminal device. For example, downlink data received by the terminal device can be sequentially transmitted from the physical layer to the application layer, which then provides it to the application. For another example, the application layer can obtain data generated by the application and sequentially transmit the data to the physical layer for transmission to other communication devices. The non-access layer can be used to forward user data, such as forwarding uplink data received from the application layer to the SDAP layer, or forwarding downlink data received from the SDAP layer to the application layer.

[0088] It should be understood that the number and type of each device in the communication system shown in Figure 1 are for illustration only, and the present application is not limited to this. In actual applications, the communication system may also include more terminal devices, more access network devices, and other network elements, such as core network devices, and / or network elements for implementing artificial intelligence functions.

[0089] It is understandable that all or part of the functions implemented by one or more of the terminal equipment, access network equipment, core network equipment, or network elements for implementing artificial intelligence functions can be virtualized, that is, implemented by one or more of the proprietary processors or general-purpose processors and the corresponding software modules. Among them, since the terminal equipment and the access network equipment involve interfaces for air interface transmission, the transceiver functions of the interfaces can be implemented by hardware. Core network equipment, such as operation administration and maintenance (OAM) network elements, can be virtualized. Optionally, one or more functions of the virtualized terminal equipment, access network equipment, core network equipment, or network elements for implementing artificial intelligence functions can be implemented by cloud devices, such as cloud devices in over the top (OTT) systems.

[0090] In addition, due to its mobility, the UE may sometimes be within the network coverage and sometimes outside the network coverage. At least two UEs performing sidelink communication may both be within the network coverage, partially within the network coverage, or completely outside the network coverage. Figures 2a-2c illustrate schematic diagrams of the network coverage of the UE. The following describes them in detail:

[0091] As shown in Figure 2a, each UE can be within the network coverage of a network device (e.g., the gNB in ​​the figure), that is, each UE can communicate with the network device using the Uu port. Sidelink communication between UEs can be performed using the PC5 port.

[0092] Among them, the Uu port, namely the cellular network communication interface, mainly refers to the communication interface between the UE and the network equipment, including uplink and downlink, and is characterized by achieving reliable communication over long distances and a larger range.

[0093] The PC5 port, also known as the direct communication interface, primarily refers to the terminal-to-terminal communication interface, specifically the short-distance direct communication interface between vehicles, people, and road infrastructure. Its characteristics include low-latency, high-capacity, and highly reliable communication through direct connection, broadcast, and network scheduling.

[0094] Figure 2b shows a diagram of a network device with partial coverage of some UEs. Partial coverage means that one UE can communicate with the gNB via the Uu port, while another UE can only communicate with UEs within the coverage of the network device via the PC5 port.

[0095] Figure 2c shows a scenario where all UEs are out of coverage. Out of coverage means that neither UE can communicate with the gNB and can only communicate with each other through the PC5 port.

[0096] The present application relates to sidelink positioning. Sidelink positioning can be a positioning technology under a newly defined sidelink condition, or it can be a positioning function added on the basis of existing sidelink communication. In the sidelink scenario, the specific positioning method is not essentially different from the Uu port positioning method. The only difference is that the reference signals used by the transmitter and receiver are different. In sidelink positioning, the positioning function is implemented through SL-PRS. A resource pool dedicated to positioning (resource pool for positioning) is also defined for sending and receiving SL-PRS. In addition, SL-PRS can also be sent together with data in a shared resource pool. The resource pool here can be understood as a set of (pre-) configured time-frequency resources, and it is a public configuration, that is, all UEs that use the resource pool for data transmission and reception use the same configuration information.

[0097] This application can support multiple positioning technologies such as downlink-time difference of arrival (DL-TDOA), downlink-angle of departure (DL-AOD), uplink-time difference of arrival (UL-TDOA), uplink-angle of arrival (UL-AOA), and multi-round trip time (multi-RTT). Among them, DL-TDOA, UL-TDOA, and multi-RTT algorithms are positioning technologies based on arrival time, that is, the receiving end is required to measure the arrival time of the signal sent by the sending end, and then convert it into the distance information between the two, and finally obtain the position of the target to be located. DL-AOD and UL-AOA are angle-based positioning technologies, that is, the receiving end measures the arrival angle of the reference signal sent by the sending end, and then infers the position of the receiving end based on the angle information between the receiving end and multiple senders with known positions.

[0098] As shown in Figure 3, a schematic diagram of a sidelink-based trilateral positioning provided by an embodiment of the present application can estimate the position of the target by calculating the intersection of the hyperbola. First, it is assumed that the position of the anchor UE (UE2, UE3, UE4) is known. Here, the coordinates of the i-th UE are defined as (x i ,y i ), the coordinates of the target to be located are (x UE ,y UE ), and take UE4 as the reference UE, assuming that the arrival time of SL-PRS of UE2 and UE3 measured by UE1 is t i , then the arrival time difference between any UE and the reference UE is Δt i1 According to the definition of a hyperbola (the distance from two fixed points is constant), the target is located on the hyperbola with two UEs as foci, and the following set of equations can be listed:

[0099] In the above two equations, c is the speed of light, because there are only two unknowns (x UE ,y UE ), combining equations (1) and (2) yields the location coordinates of the target UE (i.e., UE1). In practice, due to measurement errors, the above equations generally have no closed-form solution. In engineering, classical optimization algorithms such as the least squares algorithm or the particle swarm filter algorithm are often used to estimate the optimal solution to the above equations.

[0100] It can be seen that UE1 (target UE) can obtain time information or angle information by receiving and measuring the SL-PRS, and send the measurement result to the server UE, so that the server UE can locate the target UE according to the measurement result.

[0101] The reception measurement processing capability of the SL-PRS refers to how long the target UE needs to process the SL-PRS after receiving it on the SL-PRS resources for a period of time.

[0102] As shown in Figure 4, it is a schematic diagram of SL-PRS reception in an example. It is assumed that three anchor UEs send SL-PRS to the target UE and occupy different time slots (it is also possible that the SL-PRS sent by multiple anchor UEs are in the same time slot), and it is assumed that the processing capability reported by the target UE is to receive a maximum of 3 SL-PRS resources in 3 time slots, and the minimum number of slots required to process these SL-PRS is 7. Therefore, in the latter few time slots in Figure 4, even if other SL-PRS are sent, the target UE will not receive them.

[0103] The target UE measures the SL-PRS and reports the measurement results. The system or server UE performs positioning solution based on the reported measurement results.

[0104] In fact, especially in out-of-coverage scenarios, each anchor UE needs to perform resource sensing before sending SL-PRS. It can only send SL-PRS when it senses that the current channel is available or idle. The target UE also does not know in which time slot the SL-PRS will arrive, so it will blindly detect the PSCCH. Only after detecting the PSCCH and the SL-PRS request information in the PSCCH will it know whether the SL-PRS is sent in the time slot, and then detect the SL-PRS. Therefore, a situation may arise where the anchor UE cannot find a suitable transmission opportunity to send SL-PRS, resulting in the target UE being unable to detect the SL-PRS and the server UE being unable to receive feedback on the measurement results. This will result in a long positioning delay.

[0105] During the downlink positioning process of the Uu port, the downlink positioning reference signal (DL-PRS) sent by the base station is sent periodically, and the configuration information, including the sending period, is told to the UE before sending the DL-PRS. In other words, the sending time domain position of the DL-PRS is fixed and known to both the sender and the receiver. Therefore, the receiving UE knows when the DL-PRS can be measured and the total time expected to be required to measure multiple DL-PRS. The measurement result reporting period can be defined to control the receiving UE to report the measurement results. However, in the SL positioning scenario, the anchor UE may not be able to find a suitable sending opportunity to send the SL-PRS, resulting in the target UE not being able to detect enough SL-PRS in the reporting period.

[0106] As mentioned above, for sidelink positioning, the timing of the anchor UE sending the SL-PRS is uncertain, the time when the target UE receives the SL-PRS is also uncertain, and when the target UE can report the measurement result after receiving the positioning measurement request is also uncertain. In addition, the target UE's ability to process SL-PRS is also limited. When processing a certain SL-PRS, the target UE may miss receiving the SL-PRS of other anchor UEs; in extreme cases, if the server UE cannot receive the measurement results, it will not only affect the positioning accuracy, but also affect the entire positioning process.

[0107] In view of this, the present application provides a sidelink positioning measurement solution, in which the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement results in a timely manner, thereby improving the timeliness of completing the sidelink positioning measurement process.

[0108] The following describes the sidelink positioning measurement method provided by the embodiment of the present application with reference to the accompanying drawings:

[0109] As shown in Figure 5, a flow chart of a sidelink positioning measurement method provided in an embodiment of the present application is provided. Exemplarily, the method may include the following steps:

[0110] S501. The server UE sends a positioning measurement request to the target UE. Correspondingly, the target UE receives the positioning measurement request.

[0111] When the server UE needs to locate the target UE, it can determine at least one anchor UE based on the ambiguous position of the target UE, request at least one anchor UE to send at least one SL-PRS to the target UE, and send a positioning measurement request to the target UE. The positioning measurement request is used to request the target UE to perform positioning measurement (i.e., measure at least one SL-PRS received from at least one anchor UE) and report the measurement results. The measurement results include measurement results of measurement quantities such as reference signal time difference (RSTD), angle of arrival (AOA), and receive-transmit time difference (Rx-Tx time difference). The measurement results of these measurement quantities are obtained by the target UE measuring the SL-PRS of different anchor UEs.

[0112] As described in the background technology, since the anchor UE may need to first sense whether resources are available before sending SL-PRS, and for some anchor UEs, it may not be possible to sense available resources for a long period of time, and if the target UE keeps waiting to receive the SL-PRS of all anchor UEs, the measurement process and upload time of a measurement will be uncontrollable. Alternatively, the target UE does not know how many SL-PRSs of each anchor UE to measure in a measurement, or how many times to measure the SL-PRS of each anchor UE in a measurement, or how many SL-PRSs of anchor UEs to measure in a measurement, or how much proportion of SL-PRSs of anchor UEs to measure in a measurement, which will cause the measurement process and upload time of a measurement to be uncontrollable. Alternatively, the target UE does not know how long it will take to complete the measurement and / or report. Therefore, in this embodiment, the positioning measurement request includes a positioning measurement requirement. The positioning measurement requirement is used to instruct the target UE to complete a measurement based on the positioning measurement requirement, so that the target UE can complete the positioning measurement. The positioning measurement requirement may be understood as a measurement requirement of the server UE for the target UE, or may be understood as the target UE being capable of measurement. The target UE may perform measurement according to the description in the embodiment during actual measurement.

[0113] For the server UE, clarifying the positioning measurement requirements for completing a measurement ensures that the target UE can report the measurement results in a timely manner, thereby completing the positioning settlement in a timely manner. For the target UE, clarifying the positioning measurement requirements for completing a measurement ensures that the measurement and / or reporting process can be completed, avoiding a long and meaningless wait for the next SL-PRS, and saving energy consumption for the target UE.

[0114] S502. The target UE reports a positioning measurement report to the server UE according to the positioning measurement request. Correspondingly, the server UE receives the positioning measurement report.

[0115] After receiving the SL-PRS sent by the anchor UE, the target UE measures the SL-PRS and obtains a measurement result. The measurement result is obtained by the target UE based on at least one SL-PRS received from the anchor UE. The measurement result includes the measurement result of at least one measurement quantity required by the server UE.

[0116] After completing the SL-PRS measurement according to the above positioning measurement requirements, the target UE may determine a reporting time and report a positioning measurement report to the server UE at the determined reporting time.

[0117] The positioning measurement report includes a measurement result of one measurement.

[0118] According to a sidelink positioning measurement method provided in an embodiment of the present application, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement result in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0119] The following is a further description of a relatively complete process of sidelink positioning measurement. The description of the positioning measurement request and positioning measurement requirement in FIG6 can also be applied to the method shown in FIG5:

[0120] As shown in Figure 6, a flow chart of another sidelink positioning measurement method provided in an embodiment of the present application is provided. Exemplarily, the method may include the following steps:

[0121] S600. The server UE sends a positioning request to the anchor UE. Correspondingly, the anchor UE receives the positioning request.

[0122] The method of this embodiment involves three types of UEs: server UE, anchor UE and target UE. Among them, the server UE is responsible for determining at least one anchor UE, and instructing at least one anchor UE to send at least one SL-PRS to the target UE, and receiving the measurement results reported by the target UE to locate the target UE. The anchor UE is generally a UE adjacent to the target UE, and is responsible for sending at least one SL-PRS to the target UE according to the instruction of the server UE. The target UE is responsible for receiving at least one SL-PRS from at least one anchor UE, and measuring at least one SL-PRS, obtaining the measurement results, and reporting them to the server UE. Figure 6 shows an anchor UE, and there can actually be more anchor UEs. The execution process of other anchor UEs can refer to the execution process of the anchor UE shown in Figure 6.

[0123] When the server UE needs to locate the target UE, it can determine the anchor UE based on the ambiguous position of the target UE and send a positioning request to the anchor UE. For any one of the at least one anchor UE, the positioning request is used to request the anchor UE to send an SL-PRS to the target UE.

[0124] S601. In response to the positioning request, the anchor UE sends configuration information of the anchor UE to the server UE. Correspondingly, the server UE receives the configuration information.

[0125] After receiving the positioning request, the anchor UE may send the configuration information of the anchor UE to the server UE. The configuration information is used to indicate the time-frequency position information of the SL-PRS to be sent by the anchor UE. The time-frequency position information may include multiple candidate positions of the SL-PRS.

[0126] Exemplarily, the configuration information includes at least one of the following information about the SL-PRS: the number of symbols occupied by the SL-PRS, the bandwidth corresponding to the SL-PRS, the comb tooth size of the SL-PRS, the frequency domain starting position of the SL-PRS, the time domain starting position of the SL-PRS, the sequence initialization identifier of the SL-PRS, and the resource identifier (resource ID) corresponding to the SL-PRS. Each resource identifier is used to uniquely identify each resource in the multiple SL-PRS resources configured in the resource pool. The resource pool can be a dedicated resource pool for SL-PRS or a resource pool shared with sidelink communication.

[0127] S602. The server UE sends assistance data to the target UE. Correspondingly, the target UE receives the assistance data.

[0128] After receiving the configuration information sent by the anchor UE, the server UE sends auxiliary data to the target UE so that the target UE can accurately receive the SL-PRS sent by the anchor UE based on the time-frequency position information of the SL-PRS to be sent by the anchor UE. The auxiliary data includes the configuration information of the anchor UE.

[0129] Exemplarily, the server UE sends a sequence initialization identifier of the SL-PRS to be sent by the anchor UE to the target UE. After the target UE locally generates the SL-PRS sequence, it detects whether it is the sequence that the target UE needs to receive based on the received SL-PRS sequence sent by the anchor UE to avoid interference from other signals.

[0130] S603. The server UE sends a positioning measurement request to the target UE. Correspondingly, the target UE receives the positioning measurement request.

[0131] The positioning measurement request is used to request the target UE to perform positioning measurements and report the measurement results, such as the reference signal arrival time difference, arrival angle, receive-transmit time difference and other measurement results. The measurement results of these measurement quantities are obtained by the target UE measuring the SL-PRS of different anchor UEs.

[0132] In this embodiment, the positioning measurement request includes a positioning measurement request, which is used to instruct the target UE to complete a measurement based on the positioning measurement request, so that the target UE can complete the positioning measurement.

[0133] Regarding this positioning measurement requirement, there are several implementation methods:

[0134] One implementation method is that the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in one measurement, or the number of SL-PRSs of the first anchor UE measured in one measurement, and the first anchor UE is any one of at least one anchor UE. Or it can be expressed as follows: the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE to be measured in one measurement, or the number of SL-PRSs of the first anchor UE to be measured in one measurement, and the first anchor UE is any one of at least one anchor UE. The "need to measure" mentioned in this application can be understood as the measurement requirement of the network side for the terminal, or as the terminal's ability to measure. The terminal may measure according to the description in the embodiment during actual measurement, or may not measure according to the above description. The following reference to "need to measure" can refer to this meaning.

[0135] As shown in Figure 4, an anchor UE can send SL-PRS at multiple candidate resource locations. For an anchor UE, one or more reference signal resources can be configured, and one reference signal resource can correspond to a set of configuration information, such as a resource identifier (ID) and / or information related to the reference signal time-frequency resource. The above-mentioned anchor UE can send SL-PRS on the time-frequency resources corresponding to one or more reference signal resources. Furthermore, the anchor UE can repeat the transmission multiple times according to a set of configuration information corresponding to a reference signal resource. In an embodiment of the present application, the reference signal corresponding to the same reference signal resource is referred to as an SL-PRS, the number of SL-PRSs of the anchor UE is the number of reference signals corresponding to different reference signal resources sent by the anchor UE, and the number of SL-PRSs of the anchor UE is the number of repetitions of the reference signal corresponding to the same reference signal resource sent by the anchor UE. In this implementation, the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in one measurement, that is, the number of SL-PRSs sent by the first anchor UE measured in one measurement is limited, and the several SL-PRSs can be sent at one or more candidate resource locations of the anchor UE; or, the positioning measurement requirement includes the number of SL-PRSs of the first anchor UE measured in one measurement, that is, the number of SL-PRSs sent by the first anchor UE measured in one measurement is limited, and the SL-PRS sent by the first anchor UE each time measured is sent at a candidate resource location.

[0136] The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRSs for the first anchor UE, or completing the measurement of the SL-PRS number of times for the first anchor UE. Alternatively, the target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of SL-PRSs included in the positioning measurement requirement for the first anchor UE, or completing the measurement of the SL-PRS included in the positioning measurement requirement for the first anchor UE.

[0137] In one example, as shown in FIG7 , which is a schematic diagram of SL-PRS reception in an example provided in the present application, it is assumed that the server UE configures 4 anchor UEs and the SL-PRS sent by them for the target UE. Each anchor UE is configured with an SL-PRS resource, and the SL-PRS of anchor UE1 to anchor UE3 are successfully sent in different time slots, and the SL-PRS of anchor UE4 and the SL-PRS of anchor UE3 are sent in the same time slot (time division multiplexing or comb multiplexing within the time slot). If the number of SL-PRSs of the first anchor UE to be measured in one measurement included in the positioning measurement requirement is 1, then the target UE can receive the SL-PRSs sent by the four anchor UEs in the first three time slots, and complete the measurement in the subsequent seven time slots, then the results can be reported at the arrow position. It should be noted that the target UE does not necessarily have to report at the arrow point. If the SL-PRS has been processed before (ie, the measurement of at least one SL-PRS of at least one anchor UE has been completed), the report can also be made before this.

[0138] In another example, as shown in FIG8 , which is a schematic diagram of SL-PRS reception in another example provided in the present application, it is assumed that the server UE configures 4 anchor UEs and the SL-PRSs sent by them for the target UE. Each anchor UE is configured with an SL-PRS resource, and the SL-PRSs of anchor UE1 to anchor UE3 are successfully sent in different time slots, while the SL-PRS of anchor UE4 is sent in the 4th time slot. At this time, since the target UE can only receive the SL-PRS in the first 3 time slots at most, the SL-PRS of anchor UE4 is not received by the target UE until it is received in the next receiving window of the target UE. At this time, the time when the target UE reports the measurement result is shown by the arrow in the figure.

[0139] According to the above two examples, it can be seen that the time when the target UE reports the measurement results is not only related to the configured number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of SL-PRSs of the first anchor UE to be measured in a measurement, but also related to the SL-PRS processing capability of the target UE; conversely, the target UE can only correctly determine the reporting time and ensure the completeness of the measurement results if it knows the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of SL-PRSs of the first anchor UE to be measured in a measurement.

[0140] In this implementation, the server UE can limit the measurement process and reporting time of the target UE by indicating the number of SL-PRSs of the first anchor UE measured in a measurement, or including the number of SL-PRSs of the first anchor UE measured in a measurement, so that the sidelink positioning measurement process can be completed in a timely manner.

[0141] Furthermore, the time at which the target UE reports the measurement results may also be related to the number of configured measurement sampling points. The above example is described using the number of measurement sampling points as 1. Assuming that the number of measurement sampling points is x, the number of SL-PRSs of the first anchor UE to be measured in a measurement is x, or the number of SL-PRSs of the first anchor UE to be measured in a measurement is x, and the total measurement time of a measurement may need to be increased by x times. Where x is a positive integer.

[0142] Another implementation manner is that the positioning measurement requirement includes the number of anchor UEs measured in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured in one measurement to the total number of anchor UEs, or includes the number of at least anchor UEs measured in one measurement, or the positioning measurement requirement includes the percentage of at least anchor UEs measured in one measurement to the total number of anchor UEs. Alternatively, it can be expressed as follows: the positioning measurement requirement includes the number of anchor UEs to be measured in one measurement, or the positioning measurement requirement includes the percentage of anchor UEs to be measured in one measurement to the total number of anchor UEs, or includes the number of at least anchor UEs to be measured in one measurement, or the positioning measurement requirement includes the percentage of at least anchor UEs to be measured in one measurement to the total number of anchor UEs.

[0143] As previously mentioned, the server UE can determine at least one anchor UE based on the ambiguous location of the target UE, etc. Since each anchor UE may need to first sense whether resources are available before sending SL-PRS, some anchor UEs may not sense available resources for a long period of time. If the target UE continues to wait to receive SL-PRS from all anchor UEs, the measurement process and upload time of a measurement will become uncontrollable. Therefore, in this implementation, the positioning measurement requirement includes the number of anchor UEs measured in a measurement, or the positioning measurement requirement includes the percentage of anchor UEs measured in a measurement to the total number of anchor UEs. That is, the server UE instructs the target UE to measure and report the SL-PRS of several anchor UEs in a measurement; or, the server UE instructs the target UE to measure and report the SL-PRS of y% of the total number of anchor UEs in a measurement. Where y is a positive number.

[0144] The term "measuring an anchor UE" refers to measuring the SL-PRS sent by the anchor UE, and the number of anchor UEs measured refers to the number of anchor UEs measuring the SL-PRS sent by different anchor UEs.

[0145] The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of SL-PRS sent by a number of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by a percentage of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by at least a measured number of anchor UEs in one measurement, or completing the measurement of SL-PRS sent by at least a measured percentage of anchor UEs in one measurement.

[0146] For example, the number of anchor UEs measured (or at least measured) in a measurement, or the percentage of anchor UEs measured (or at least measured) in a measurement to the total number of anchor UEs, corresponds to the measurement and positioning technology. Because different measurement and positioning technologies correspond to different measurement quantities, etc., different measurement and positioning technologies may require different numbers of anchor UEs to be measured (or at least measured) in a measurement, or the percentage of anchor UEs to be measured (or at least measured) in a measurement to the total number of anchor UEs.

[0147] The measurement positioning technology includes sidelink-time difference of arrival (SL-TDOA), sidelink-angle of departure (SL-AOD), sidelink-angle of arrival (SL-AOA), sidelink-round trip time (SL-RTT), etc. Among them, the SL-TDOA and SL-RTT algorithms are positioning technologies based on arrival time, that is, the target UE needs to measure the arrival time of the SL-PRS sent by the anchor UE, and then convert it into the distance information between the two, and finally obtain the position of the target UE. SL-AOD and SL-AOA are angle-based positioning technologies, that is, the target UE measures the arrival angle of the SL-PRS sent by the anchor UE, and then the server UE infers the position of the target UE based on the angle information between the target UE and multiple anchor UEs with known positions.

[0148] For example, for SL-TDOA positioning technology, the number of anchor UEs measured can be configured to be 4; for SL-AOA positioning technology, the number of anchor UEs measured can be configured to be 3. As shown in Figure 9, a schematic diagram of SL-PRS reception in another example provided by the present application, assuming that the server UE configures 4 anchor UEs for the target UE, then for SL-AOA positioning technology, the target UE can prepare for measurement reporting after the 3rd time slot because the SL-PRS of the 3 anchor UEs has been measured; however, for SL-TDOA positioning technology, the target UE needs to wait until the next processing cycle and complete the measurement of all 4 anchor UEs before it can perform measurement reporting.

[0149] In this implementation, by stipulating or configuring the number of anchor UEs measured (or at least measured) in one measurement, or requiring the positioning measurement to include the percentage of anchor UEs measured (or at least measured) in one measurement to the total number of anchor UEs, the measurement process and reporting time of the target UE can be limited, so that the sidelink positioning measurement process can be completed in time;

[0150] The target UE does not need to measure the SL-PRS of all anchor UEs, because some anchor UEs may not be able to sense the available resources to send SL-PRS. In this case, the target UE will not be able to detect the SL-PRS of these anchor UEs. This not only ensures the feasibility of the entire positioning process, but also further avoids resource waste.

[0151] In another implementation, the positioning measurement request includes time window information. The time window information includes at least one of the following: a start time of the time window and a length of the time window. The start time of the time window may be, for example, the time when the target UE receives the positioning measurement request. The length of the time window may be, for example, 10 milliseconds, 100 milliseconds, or 1 second.

[0152] The time window information can have the following two meanings:

[0153] One meaning is that the information of the time window is used to indicate the completion of a measurement and the reporting of the positioning measurement report within the time window. That is, the server UE indicates to the target UE the time to complete the reporting of a measurement and the positioning measurement report. The server UE may not indicate the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of SL-PRSs of the first anchor UE to be measured in a measurement, or the number of anchor UEs to be measured in a measurement, or the percentage of anchor UEs to be measured in a measurement to the total number of anchor UEs. The target UE may decide how many SL-PRSs of the first anchor UE to measure in a measurement, or how many times the SL-PRS of the first anchor UE to measure in a measurement, or how many anchor UEs to measure in a measurement, or what proportion of anchor UEs to measure in a measurement based on its own capabilities.

[0154] Another meaning is that the time window information is used to indicate that a measurement should be completed within the time window and a positioning measurement report should be reported after the time window ends. That is, the server UE indicates the time to complete a measurement to the target UE.

[0155] Exemplarily, the information of the time window is used to indicate that a measurement is completed within the time window, and a positioning measurement report is reported after the end of the time window. The positioning measurement report may be reported at the symbol, time slot, etc. where the time window ends; or the positioning measurement report may be reported after a certain period of time after the end of the time window; or the positioning measurement report may be reported after the end of the time window and when there is an idle channel.

[0156] In this implementation, the server UE can enable the target UE to complete the measurement and / or reporting within the specified time by indicating the time for completing a measurement and reporting of the positioning measurement report, or the time for completing a measurement, so that the sidelink positioning measurement process can be completed in time; and the measurement process of the target UE is further simplified, avoiding an increase in the delay of the entire positioning process.

[0157] It is understandable that each of the above-mentioned implementation methods for positioning measurement requirements can be implemented independently or in combination with one or more of the implementation methods. For example, the target UE can indicate the number of anchor UEs to be measured in a measurement, or the percentage of anchor UEs to be measured in a measurement to the total number of anchor UEs, and can also indicate the above-mentioned time window information. It is understandable that the server UE can estimate that the target UE can complete the measurement of the number of anchor UEs or the measurement of the proportion of anchor UEs within the time window based on the capabilities reported by the target UE. The target UE completes the measurement of the number of anchor UEs or the measurement of the proportion of anchor UEs within the time window based on the above-mentioned indication.

[0158] S604. The anchor UE sends the SL-PRS to the target UE. Correspondingly, the target UE receives the SL-PRS.

[0159] The anchor UE sends the SL-PRS to the target UE according to the positioning request of the server UE in step S601.

[0160] Exemplarily, the anchor UE may send an SL-PRS at one or more candidate resource locations, and the SL-PRS sent at each candidate resource location may have the same configuration information or different configuration information.

[0161] It is understandable that the anchor UE may need to first sense whether resources are available before sending the SL-PRS, so the SL-PRS sent by the anchor UE may be in any candidate resource position.

[0162] S605. The target UE measures the SL-PRS.

[0163] The target UE receives the SL-PRS sent by the anchor UE based on the SL-PRS configuration information provided by the server UE. In fact, the target UE needs to first blindly detect the PSCCH, detect the SL-PRS indication information in the PSCCH, and then receive the SL-PRS corresponding to the PSCCH.

[0164] After receiving the SL-PRS sent by the anchor UE, the target UE measures the SL-PRS and obtains a measurement result. The measurement result is obtained by the target UE based on at least one SL-PRS received from the anchor UE. The measurement result includes the measurement result of at least one measurement quantity required by the server UE.

[0165] S606. The target UE reports a positioning measurement report to the server UE. Correspondingly, the server UE receives the positioning measurement report.

[0166] After completing the SL-PRS measurement, the target UE determines the reporting time according to the above positioning measurement requirements, and reports the positioning measurement report to the server UE at the reporting time.

[0167] The positioning measurement report includes a measurement result of one measurement.

[0168] S607. The server UE locates the target UE according to the measurement result.

[0169] After receiving the positioning measurement report reported by the target UE, the server UE parses the measurement result in the positioning measurement report and locates the target UE based on the measurement result and the position of the anchor UE. For example, referring to the positioning method shown in FIG3 , the target UE is located.

[0170] It can be understood that the flowchart shown in Figure 6 is a possible positioning process diagram, which may include more steps in practice. This diagram includes steps related to the present application scheme, and the order of each step in the actual process is not necessarily the same as the order in this diagram.

[0171] According to a sidelink positioning measurement method provided in an embodiment of the present application, the server terminal sends a positioning measurement request to the target terminal, instructing the target terminal to complete a measurement based on the positioning measurement request, so that the target terminal can report the positioning measurement results in a timely manner, thereby improving the timeliness of the sidelink positioning measurement process.

[0172] It is understandable that in order to implement the functions in the above embodiments, each of the above terminals includes hardware structures and / or software modules corresponding to the execution of each function. It should be readily apparent to those skilled in the art that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in hardware or in a manner driven by computer software depends on the specific application scenario and design constraints of the technical solution.

[0173] Figures 10 and 11 are schematic diagrams of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the various terminals in the above-described method embodiments, thereby also achieving the beneficial effects of the above-described method embodiments. In the embodiments of the present application, the communication device can be one of the terminals 120a-120j shown in Figure 1, or a module (e.g., a chip) applied to a terminal.

[0174] As shown in Figure 10, the communication device 1000 includes a processing unit 1010 and a transceiver unit 1020. The communication device 1000 is used to implement the functions of the target UE or server UE in the method embodiments shown in Figures 5 and 6 above.

[0175] When the communication device 1000 is used to implement the functions of the target UE in the method embodiment shown in FIG5 : the transceiver unit 1020 is used to perform the operations performed by the target UE in steps S501 and S502 in the embodiment shown in FIG5 . Alternatively, when the communication device 1000 is used to implement the functions of the target UE in the method embodiment shown in FIG6 : the processing unit 1010 is used to perform step S605 in the embodiment shown in FIG6 ; and the transceiver unit 1020 is used to perform the operations performed by the target UE in steps S602 to S604 and S606 in the embodiment shown in FIG6 .

[0176] When the communication device 1000 is used to implement the functions of the server UE in the method embodiment shown in FIG5 , the transceiver unit 1020 is used to perform the operations performed by the server UE in steps S501 and S502 in the embodiment shown in FIG5 . Alternatively, when the communication device 1000 is used to implement the functions of the server UE in the method embodiment shown in FIG6 , the processing unit 1010 is used to perform step S607 in the embodiment shown in FIG6 ; and the transceiver unit 1020 is used to perform the operations performed by the server UE in steps S600 to S603 and S606 in the embodiment shown in FIG6 .

[0177] For a more detailed description of the processing unit 1010 and the transceiver unit 1020 , reference may be made to the relevant descriptions in the method embodiments shown in FIG. 5 and FIG. 6 , and no further details are given here.

[0178] When the aforementioned communication device is a chip implemented in a target UE, the chip in the target UE implements the functions of the target UE in the aforementioned method embodiments. The chip in the target UE receives information from other modules in the target UE (e.g., a radio frequency module or antenna), where the information is sent from a server UE or anchor UE to the target UE; or the chip in the target UE sends information to other modules in the target UE (e.g., a radio frequency module or antenna), where the information is sent from the target UE to a server UE or anchor UE.

[0179] When the aforementioned communication device is a chip implemented in a server UE, the chip in the server UE implements the server UE functionality described in the aforementioned method embodiments. The chip in the server UE receives information from other modules in the server UE (e.g., a radio frequency module or antenna), where the target UE is sending information to the server UE; or the chip in the server UE sends information to other modules in the server UE (e.g., a radio frequency module or antenna), where the server UE is sending information to the target UE.

[0180] As shown in Figure 11, communication device 1100 includes a processor 1110 and, optionally, an interface circuit 1120. Processor 1110 and interface circuit 1120 are coupled to each other. It will be appreciated that interface circuit 1120 may be a transceiver or an input / output interface. Optionally, communication device 1100 may also include a memory 1130 for storing instructions executed by processor 1110, input data required by processor 1110 to execute instructions, or data generated by processor 1110 after executing instructions.

[0181] When the communication device 1100 is used to implement the function of the target UE in the method embodiment shown in FIG5 : the processor 1110 is used to execute the operations performed by the target UE in steps S501 and S502 in the embodiment shown in FIG5 . Alternatively, when the communication device 1000 is used to implement the function of the target UE in the method embodiment shown in FIG6 : the processor 1110 is used to execute the operations performed by the target UE in steps S605, S602 to S604, and S606 in the embodiment shown in FIG6 .

[0182] When the communication device 1100 is used to implement the server UE functionality in the method embodiment shown in FIG5 , the processor 1110 is used to execute the operations performed by the server UE in steps S501 and S502 in the embodiment shown in FIG5 . Alternatively, when the communication device 1000 is used to implement the server UE functionality in the method embodiment shown in FIG6 , the processor 1110 is used to execute the operations performed by the server UE in steps S607, S600 to S603, and S606 in the embodiment shown in FIG6 .

[0183] For a more detailed description of the processor 1110 , reference may be made to the relevant descriptions in the method embodiments shown in FIG. 5 and FIG. 6 , and no further details are given here.

[0184] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0185] An embodiment of the present application further provides a communication system, which includes the above-mentioned target UE and server UE.

[0186] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the above method embodiment is implemented.

[0187] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed on the above-mentioned communication device, enables the communication device to execute the method in the above-mentioned method embodiment.

[0188] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a compact disc read-only memory (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. Of course, the processor and the storage medium can also be present in a network device or a terminal as discrete components.

[0189] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive.

[0190] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0191] In the present application, "at least one" means one or more, and "more" means two or more. "At least one of the following: ..." or similar expressions means any one of the listed items or any combination of these items. For example, "at least one of the following: A, B and C", or "at least one of the following: A, B or C", can all mean: A exists alone, B exists alone, C exists alone, A and B exist at the same time, B and C exist at the same time, A and C exist at the same time, and A, B and C exist at the same time, where A, B, and C can be singular or plural. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship.

[0192] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A sidelink positioning measurement method, characterized in that: The method comprises: receiving a positioning measurement request, where the positioning measurement request includes a positioning measurement requirement, where the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; According to the positioning measurement request, a positioning measurement report is reported, where the positioning measurement report includes a measurement result of the single measurement, where the measurement result is obtained by the target terminal based on at least one sidelink-positioning reference signal received from at least one anchor terminal.

2. The method according to claim 1, characterized in that The positioning measurement requirement includes the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, or the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal, or completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal.

3. The method according to claim 1 or 2, characterized in that The positioning measurement requirement includes the number of anchor terminals measured in the one measurement, or the positioning measurement requirement includes the percentage of the anchor terminals measured in the one measurement to the total number of anchor terminals; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of sidelink-positioning reference signals sent by the number of anchor terminals in the one measurement, or completing the measurement of sidelink-positioning reference signals sent by the percentage of anchor terminals in the one measurement.

4. The method according to claim 3, characterized in that The number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals, corresponds to a measurement and positioning technology.

5. The method according to any one of claims 1 to 4, characterized in that The positioning measurement requirement includes information of a time window; The information of the time window is used to indicate that the one measurement and the reporting of the positioning measurement report are completed within the time window; or The information of the time window is used to indicate that the measurement is completed within the time window, and the positioning measurement report is reported after the time window ends.

6. The method according to claim 5, characterized in that The information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

7. A sidelink positioning measurement method, characterized in that: The method comprises: Sending a positioning measurement request, where the positioning measurement request includes a positioning measurement requirement, where the positioning measurement requirement is used to instruct the target terminal to complete a measurement based on the positioning measurement requirement; A positioning measurement report is received according to the positioning measurement request, wherein the positioning measurement report includes a measurement result of the single measurement, wherein the measurement result is obtained by the target terminal based on at least one sidelink-positioning reference signal received from at least one anchor terminal.

8. The method according to claim 1, characterized in that The positioning measurement requirement includes the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, or the number of sidelink-positioning reference signals of the first anchor terminal measured in the measurement, and the first anchor terminal is any one of the at least one anchor terminal; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal, or completing the measurement of the number of sidelink-positioning reference signals for the first anchor terminal.

9. The method according to claim 7 or 8, characterized in that The positioning measurement requirement includes the number of anchor terminals measured in the one measurement, or the positioning measurement requirement includes the percentage of the anchor terminals measured in the one measurement to the total number of anchor terminals; The target terminal completes a measurement based on the positioning measurement requirement, including: completing the measurement of sidelink-positioning reference signals sent by the number of anchor terminals in the one measurement, or completing the measurement of sidelink-positioning reference signals sent by the percentage of anchor terminals in the one measurement.

10. The method according to claim 9, characterized in that The number of anchor terminals to be measured in the measurement, or the percentage of the anchor terminals to be measured in the measurement to the total number of anchor terminals, corresponds to a measurement and positioning technology.

11. The method according to any one of claims 7 to 10, characterized in that: The positioning measurement requirement includes information of a time window; The information of the time window is used to indicate that the one measurement and the reporting of the positioning measurement report are completed within the time window; or The information of the time window is used to indicate that the measurement is completed within the time window, and the positioning measurement report is reported after the time window ends.

12. The method according to claim 11, characterized in that The information of the time window includes at least one of the following: the start time of the time window, the length of the time window, and the start time of the time window is the time when the positioning measurement request is received.

13. The method according to any one of claims 7 to 12, characterized in that The method further comprises: Sending a positioning request to the at least one anchor terminal, wherein the positioning request is used to request the at least one anchor terminal to send at least one sidelink-positioning reference signal; In response to the positioning request, configuration information is received from the at least one anchor terminal respectively, the configuration information including at least one of the following information of the sidelink-positioning reference signal: the number of symbols occupied by the sidelink-positioning reference signal, the bandwidth corresponding to the sidelink-positioning reference signal, the comb tooth size of the sidelink-positioning reference signal, the frequency domain starting position of the sidelink-positioning reference signal, the time domain starting position of the sidelink-positioning reference signal, the sequence initialization identifier of the sidelink-positioning reference signal, and the resource identifier corresponding to the sidelink-positioning reference signal.

14. The method according to claim 13, characterized in that The method further comprises: Sending auxiliary data to the target terminal, the auxiliary data including configuration information of the at least one anchor terminal.

15. The method according to any one of claims 7 to 14, characterized in that The method further comprises: The target terminal is positioned according to the measurement result.

16. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 15.

17. A communication device, characterized in that: The device comprises a processor, and when the program or instruction is executed by the processor, the device executes the method according to any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 15 is implemented.

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