Positioning method and apparatus, and communication device and storage medium

Abstract

The present disclosure relates to the technical field of communications, and in particular to a positioning method and apparatus, and a communication device and a storage medium. The positioning method comprises: a first device sending positioning assistance information to a second device, wherein the positioning assistance information indicates a movement speed of an anchor UE. In the present disclosure, in a scenario where the anchor UE possibly moves, the first device may indicate the movement speed of the anchor UE to the second device, such that the second device can learn of the movement speed of the anchor UE, and then the second device can perform positioning calculation in view of the movement speed of the anchor UE, thereby facilitating an enhancement in the performance of a positioning service and improving the accuracy of positioning calculation.

Description

Positioning method, device, communication equipment and storage medium Technical Field

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

[0002] Sidelink (SL) positioning refers to the ability to locate a terminal based on the sidelink between terminals. The terminal being located is called the target UE, and the other terminals participating in the positioning are called anchor UEs or positioning-assisting terminals.

[0003] The Sidelink Positioning Protocol (SLPP) is a protocol for exchanging positioning messages between two terminals. In addition, for SL positioning, the positioning messages exchanged between a terminal and a Location Management Function (LMF) can be referred to as SLPP messages.

[0004] Currently, there are still some technical problems with SL positioning in scenarios where the anchor terminal may move.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a positioning method, apparatus, communication device, and storage medium to solve technical problems in related technologies.

[0007] According to a first aspect of an embodiment of the present disclosure, a positioning method is provided, which is performed by a first device. The method includes:

[0008] Positioning assistance information is sent to the second device, where the positioning assistance information indicates a moving speed of the anchor terminal.

[0009] According to a second aspect of an embodiment of the present disclosure, a positioning method is provided, which is performed by a second device. The method includes:

[0010] Receive positioning assistance information sent by the first device, where the positioning assistance information indicates a moving speed of the anchor terminal.

[0011] According to a third aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising:

[0012] The transceiver module is configured to send positioning assistance information to the second device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0013] According to a fourth aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising:

[0014] The transceiver module is configured to receive positioning assistance information sent by the first device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0015] According to a fifth aspect of an embodiment of the present disclosure, a first device is proposed, comprising: one or more processors; wherein the first device is used to execute the positioning method of the first aspect above.

[0016] According to a sixth aspect of an embodiment of the present disclosure, a second device is proposed, comprising: one or more processors; wherein the second device is used to execute the positioning method of the second aspect above.

[0017] According to the seventh aspect of the embodiments of the present disclosure, a communication device is proposed, comprising: one or more processors; wherein the processor is used to call instructions to enable the communication device to execute the positioning method of the first aspect above and / or the positioning method of the second aspect above.

[0018] According to an eighth aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first device and a second device, wherein the first device is configured to implement the positioning method of the first aspect, and the second network device is configured to implement the positioning method of the second aspect.

[0019] According to a ninth aspect of an embodiment of the present disclosure, a storage medium is proposed, wherein the storage medium stores instructions. When the instructions are executed on a communication device, the communication device executes the positioning method of the first aspect and / or the positioning method of the second aspect.

[0020] According to an embodiment of the present disclosure, a first device can send positioning assistance information to a second device, and the positioning assistance information can indicate the movement speed of the anchor terminal. Accordingly, in a scenario where the anchor terminal may move, the first device can indicate the movement speed of the anchor terminal to the second device, so that the second device can know the movement speed of the anchor terminal. The second device can then perform positioning calculations based on the movement speed of the anchor terminal, which is conducive to enhancing the performance of positioning services and improving the accuracy of positioning calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a schematic diagram showing the architecture of a communication system according to an embodiment of the present disclosure.

[0023] FIG2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

[0024] FIG3 is a schematic diagram showing a positioning method based on DL TDOA according to an embodiment of the present disclosure.

[0025] FIG4 is a schematic flowchart showing a positioning method according to an embodiment of the present disclosure.

[0026] FIG5 is a schematic flowchart showing another positioning method according to an embodiment of the present disclosure.

[0027] FIG6 is a schematic block diagram of a positioning device according to an embodiment of the present disclosure.

[0028] FIG7 is a schematic block diagram of another positioning device according to an embodiment of the present disclosure.

[0029] FIG8 is a schematic structural diagram of a communication device proposed in an embodiment of the present disclosure.

[0030] FIG9 is a schematic diagram of the structure of a chip proposed in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Embodiments of the present disclosure provide a positioning method, an apparatus, a first device, a second device, a communication device, and a storage medium.

[0032] In a first aspect, an embodiment of the present disclosure proposes a positioning method, which is performed by a first device. The method includes: sending positioning assistance information to a second device, wherein the positioning assistance information indicates a moving speed of an anchor terminal.

[0033] In the above embodiment, the first device can send positioning assistance information to the second device, and the positioning assistance information can indicate the movement speed of the anchor terminal. Accordingly, in scenarios where the anchor terminal may be moving, the first device can indicate the movement speed of the anchor terminal to the second device, allowing the second device to obtain the movement speed of the anchor terminal. The second device can then perform positioning calculations based on the movement speed of the anchor terminal, which is conducive to enhancing the performance of positioning services and improving the accuracy of positioning calculations.

[0034] In combination with some embodiments of the first aspect, in some embodiments, the positioning assistance information includes first information, the first information indicating a moving speed of the anchor terminal, and wherein the first information includes at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0035] In combination with some embodiments of the first aspect, in some embodiments, the first information further includes at least one of the following: uncertainty of the horizontal moving speed; and uncertainty of the vertical moving speed.

[0036] In combination with some embodiments of the first aspect, in some embodiments, the positioning assistance information includes first information, and wherein the first information includes a moving speed level of the anchor terminal.

[0037] In combination with some embodiments of the first aspect, in some embodiments, the positioning assistance information does not include first information, or the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is stationary, wherein the first information indicates a moving speed of the anchor terminal.

[0038] In combination with some embodiments of the first aspect, in some embodiments, the positioning assistance information further indicates a time at which the location information of the anchor terminal is acquired.

[0039] In combination with some embodiments of the first aspect. In some embodiments, the positioning assistance information further includes second information, where the second information indicates the time when the location information of the anchor terminal is acquired, and the second information includes at least one of the following: the system frame number (SFN) when the first device acquires the location information of the anchor terminal; the direct frame number (DFN) when the first device acquires the location information of the anchor terminal; and the coordinated universal time (UTC) when the first device acquires the location information of the anchor terminal.

[0040] In combination with some embodiments of the first aspect. In some embodiments, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal, and the second information also includes at least one of the following: a physical cell identifier corresponding to the base station; an absolute radio frequency channel number corresponding to the base station; and a cell global identifier corresponding to the base station.

[0041] In combination with some embodiments of the first aspect. In some embodiments, when the anchor terminal is synchronized via a global navigation satellite system (GNSS), the second information includes a DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

[0042] In combination with some embodiments of the first aspect, in some embodiments, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is a user equipment (UE).

[0043] In combination with some embodiments of the first aspect. In some embodiments, the positioning assistance information does not include second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, wherein the second information indicates the acquisition time of the location information of the anchor terminal.

[0044] In combination with some embodiments of the first aspect, in some embodiments, the moving speed of the anchor terminal includes the moving speed of an antenna reference point ARP on the anchor terminal.

[0045] In combination with some embodiments of the first aspect, in some embodiments, the positioning assistance information is carried in a first direct link positioning protocol (SLPP) message.

[0046] In combination with some embodiments of the first aspect, in some embodiments, the method further includes: receiving a second SLPP message sent by the second device, where the second SLPP message is used to request the positioning assistance information.

[0047] In combination with some embodiments of the first aspect. In some embodiments, the first device and the second device include one of the following combinations: the first device is an anchor terminal, and the second device is a server terminal; the first device is an anchor terminal, and the second device is a location management function (LMF); the first device is an anchor terminal, and the second device is a target terminal; the first device is a first anchor terminal, and the second device is a second anchor terminal; the first device is a server terminal, and the second device is a target terminal; the first device is an LMF, and the second device is a target terminal.

[0048] In a second aspect, an embodiment of the present disclosure proposes a positioning method, which is performed by a second device. The method includes: receiving positioning assistance information sent by a first device, wherein the positioning assistance information indicates a moving speed of an anchor terminal.

[0049] In the above embodiment, the second device can receive positioning assistance information sent by the first device, and the positioning assistance information can indicate the movement speed of the anchor terminal. Accordingly, in a scenario where the anchor terminal may move, the first device can indicate the movement speed of the anchor terminal to the second device, so that the second device can know the movement speed of the anchor terminal. The second device can then perform positioning calculations based on the movement speed of the anchor terminal, which is conducive to enhancing the performance of positioning services and improving the accuracy of positioning calculations.

[0050] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining whether to select the anchor device for positioning according to a moving speed of the anchor terminal.

[0051] In combination with some embodiments of the second aspect, in some embodiments, the positioning assistance information includes first information, the first information indicating a moving speed of the anchor terminal, and wherein the first information includes at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0052] In combination with some embodiments of the second aspect, in some embodiments, the first information further includes at least one of the following: uncertainty of the horizontal moving speed; and uncertainty of the vertical moving speed.

[0053] In combination with some embodiments of the second aspect, in some embodiments, the positioning assistance information includes first information, and wherein the first information includes a moving speed level of the anchor terminal.

[0054] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include first information, or based on the fact that the first information included in the positioning assistance information is empty, wherein the first information indicates a moving speed of the anchor terminal.

[0055] In conjunction with some embodiments of the second aspect, in some embodiments, the positioning assistance information further indicates a time at which the location information of the anchor terminal is acquired.

[0056] In combination with some embodiments of the second aspect. In some embodiments, the positioning assistance information further includes second information, the second information indicating the time when the location information of the anchor terminal is acquired, and wherein the second information includes at least one of the following: the SFN when the first device acquires the location information of the anchor terminal; the DFN when the first device acquires the location information of the anchor terminal; and the UTC when the first device acquires the location information of the anchor terminal.

[0057] In combination with some embodiments of the second aspect. In some embodiments, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal, and the second information also includes at least one of the following: a physical cell identifier corresponding to the base station; an absolute radio frequency channel number corresponding to the base station; and a cell global identifier corresponding to the base station.

[0058] In combination with some embodiments of the second aspect, in some embodiments, when the anchor terminal is synchronized via GNSS, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

[0059] In combination with some embodiments of the second aspect, in some embodiments, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is the UE.

[0060] In combination with some embodiments of the second aspect. In some embodiments, the positioning assistance information does not include second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, wherein the second information indicates the acquisition time of the location information of the anchor terminal.

[0061] In combination with some embodiments of the second aspect, in some embodiments, the moving speed of the anchor terminal includes the moving speed of the ARP on the anchor terminal.

[0062] In combination with some embodiments of the second aspect, in some embodiments, the positioning assistance information is carried in a first SLPP message.

[0063] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: sending a second SLPP message to the first device, where the second SLPP message is used to request the positioning assistance information.

[0064] In a third aspect, an embodiment of the present disclosure provides a positioning device, comprising:

[0065] The transceiver module is configured to send positioning assistance information to the second device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0066] In a fourth aspect, an embodiment of the present disclosure provides a positioning device, comprising:

[0067] The transceiver module is configured to receive positioning assistance information sent by the first device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0068] In a fifth aspect, an embodiment of the present disclosure proposes a first device, comprising: one or more processors; wherein the above-mentioned processor is used to call instructions to enable the first device to execute the positioning method described in the first aspect and the optional embodiment of the first aspect.

[0069] In a sixth aspect, an embodiment of the present disclosure proposes a second device, comprising: one or more processors; wherein the above-mentioned processor is used to call instructions to enable the second device to execute the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0070] In the seventh aspect, an embodiment of the present disclosure proposes a communication device, which includes: one or more processors; one or more memories for storing instructions; wherein the processor is used to call the instructions so that the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0071] In the eighth aspect, an embodiment of the present disclosure proposes a communication system, which includes: a first device and a second device; wherein the first device is configured to execute the method described in the first aspect and the optional embodiment of the first aspect, and the second device is configured to execute the method described in the second aspect and the optional embodiment of the second aspect.

[0072] In the ninth aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed on a communication device, the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0073] In a tenth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0074] In an eleventh aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute the methods described in the first and second aspects, and the optional embodiments of the first and second aspects.

[0075] It is understandable that the first device, the second device, the communication device, the communication system, the storage medium, the program product, and the computer program are all used to perform the method proposed in the embodiment of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method and will not be repeated here.

[0076] The present disclosure provides positioning methods, apparatuses, communication devices, and storage media. In some embodiments, the terms "positioning method," "information processing method," and "communication method" are interchangeable; the terms "positioning apparatus," "information processing apparatus," and "communication apparatus" are interchangeable; and the terms "positioning system," "information processing system," and "communication system" are interchangeable.

[0077] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional embodiments in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional embodiments of other embodiments.

[0078] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0079] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0080] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc.

[0081] For example, when using articles such as “a”, “an”, and “the” in English in translation, the noun following the article can be understood as a singular expression or a plural expression.

[0082] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0083] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0084] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0085] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0086] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restrictions on the position, order, priority, quantity or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes.

[0087] For example, if the description object is "field," the ordinal number preceding "field" in "first field" and "second field" does not restrict the position or order of the "fields." "First" and "second" do not restrict whether the modified "fields" are in the same message, nor do they restrict the order of the "first field" and "second field." For another example, if the description object is "level," the ordinal number preceding "level" in "first level" and "second level" does not restrict the priority of the "levels." For another example, the number of description objects is not restricted by the ordinal number and can be one or more. For example, in the case of "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the description object is "device," "first device" and "second device" can be the same or different devices, and their types can be the same or different. For another example, if the description object is "information," "first information" and "second information" can be the same or different information, and their content can be the same or different.

[0088] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0089] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0090] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0091] In some embodiments, devices and the like can be interpreted as physical or virtual, and their names are not limited to those in the embodiments.

[0092] The recorded names, "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject" and other terms can be used interchangeably.

[0093] In some embodiments, "network" can be interpreted as devices included in the network (eg, access network equipment, core network equipment, etc.).

[0094] In some embodiments, the terms "access network device (AN device)", "radio access network device (RAN device)", "base station (BS)", "radio base station" "fixed station", "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission / reception point (TRP)", "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)" and the like may be used interchangeably.

[0095] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc. can be used interchangeably.

[0096] In some embodiments, the access network device, the core network device, or the network device can be replaced by a terminal. For example, the various embodiments of the present disclosure can also be applied to a structure in which the communication between the access network device, the core network device, or the network device and the terminal is replaced by communication between multiple terminals (for example, device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it is also possible to set the structure in which the terminal has all or part of the functions of the access network device. In addition, terms such as "uplink" and "downlink" can also be replaced by terms corresponding to communication between terminals (for example, "side"). For example, uplink channels, downlink channels, etc. can be replaced by side channels, and uplinks, downlinks, etc. can be replaced by side links.

[0097] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, the core network device, or the network device may have a structure that has all or part of the functions of the terminal.

[0098] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0099] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0100] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0101] FIG1 is a schematic diagram showing the architecture of a communication system according to an embodiment of the present disclosure.

[0102] As shown in FIG. 1 , a communication system 100 includes a first device 101 and a second device 102 .

[0103] In some embodiments, the first device 101 may include any of the following: an anchor UE; a server UE; a location management function (LMF); or a target UE. The second device 102 may include any of the following: a target UE; a server UE; an LMF; or an anchor UE.

[0104] In one possible implementation, the first device may be an anchor terminal, and the second device may be a server terminal or LMF. For example, the LMF performs positioning calculations (such as position calculations and / or speed calculations), and the anchor terminal may indicate its own position information and its own moving speed to the LMF.

[0105] In another possible implementation, the first device may be a server terminal or an LMF, and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the LMF may provide the acquired position information and velocity information of the anchor terminal to the target terminal; the velocity information of the anchor terminal acquired by the LMF may be provided by the anchor terminal.

[0106] In another possible implementation, the first device may be an anchor terminal and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the anchor terminal may indicate its own location information and its own moving speed to the target terminal.

[0107] In another possible implementation, the first device may be a first anchor terminal, and the second device may be a second anchor terminal. For example, if a server terminal, LMF, or target terminal performs positioning calculations, and the first device cannot directly send its own location information and movement speed to the calculation party, the first device may first send the information to the second device, which then forwards the information to the calculation party.

[0108] In some embodiments, the terminal includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication capabilities, a smart car, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0109] In some embodiments, the network device includes at least one of the following: an access network device, a core network device.

[0110] In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network. The access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0111] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can be transformed into internal interfaces of Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0112] In some embodiments, the access network device can be composed of a centralized unit (CU) and a distributed unit (DU), where the CU can also be called a control unit. The CU-DU structure can be used to split the protocol layer of the access network device, with the functions of some protocol layers centrally controlled by the CU, and the functions of the remaining part or all of the protocol layers distributed in the DU, which is centrally controlled by the CU, but is not limited to this.

[0113] In some embodiments, a core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0114] In some embodiments, the core network device may include a location management function (LMF).

[0115] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0116] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or a portion thereof, but are not limited thereto. The entities shown in FIG1 are illustrative only. The communication system may include all or part of the entities shown in FIG1 , or may include other entities outside of FIG1 . The number and form of the entities are arbitrary, and the entities may be physical or virtual. The connection relationships between the entities are illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0117] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0118] FIG2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

[0119] As shown in Figure 2, the positioning method includes:

[0120] Step S201: The second device sends a second SLPP message to the first device.

[0121] In some embodiments, the second SLPP message is used to request positioning assistance information.

[0122] Optionally, the first device may receive a second SLPP message sent by the second device.

[0123] Step S202: The first device sends a first SLPP message to the second device.

[0124] In some embodiments, the first SLPP message carries positioning assistance information.

[0125] In some embodiments, the positioning assistance information includes first information, where the first information is used to indicate a moving speed of the anchor terminal.

[0126] In one possible implementation, the moving speed of the anchor terminal may include the moving speed of the antenna reference point (ARP) on the anchor terminal. That is, because the moving speed of the ARP on the anchor terminal is the same as the moving speed of the anchor terminal, the first device may indicate the moving speed of the ARP on the anchor terminal to the second device when providing the reference point location information of the ARP of the anchor terminal to the second device, so that the second device can obtain the moving speed of the anchor terminal.

[0127] In one possible implementation, the first information may include at least one of the following: a horizontal moving speed of the anchor terminal; a vertical moving speed of the anchor terminal; and at least one of the following: an uncertainty of the horizontal moving speed; or an uncertainty of the vertical moving speed.

[0128] In another possible implementation manner, the first information includes a moving speed level of the anchor terminal.

[0129] In some embodiments, the positioning assistance information does not include the first information, indicating that the anchor terminal is in a stationary state. Alternatively, the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state.

[0130] In some embodiments, the positioning assistance information further indicates the time at which the location information of the anchor terminal is acquired.

[0131] In some embodiments, the positioning assistance information further includes second information, wherein the second information indicates the time at which the location information of the anchor terminal is acquired and / or the time at which the moving speed of the anchor terminal is acquired. It should be noted that since the time at which the moving speed of the anchor terminal is acquired and the time at which the location information of the anchor terminal is acquired are generally the same time, the second information may indicate at least one of the above two.

[0132] In some embodiments, the second information includes at least one of the following: the system frame number (SFN) when the first device obtains the location information of the anchor terminal; the direct frame number (DFN) when the first device obtains the location information of the anchor terminal; and the coordinated universal time (UTC) when the first device obtains the location information of the anchor terminal.

[0133] In one possible implementation, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal; in this case, the second information also includes at least one of the following: a physical cell identifier corresponding to the base station; an absolute radio frequency channel number (ARFCN) corresponding to the base station; and a cell global identifier corresponding to the base station.

[0134] In another possible implementation, when the anchor terminal is synchronized through the Global Navigation Satellite System (GNSS), the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is also used to indicate that the synchronization source of the anchor terminal is GNSS.

[0135] In another possible implementation, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is the UE.

[0136] In some embodiments, the positioning assistance information does not include second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, wherein the second information indicates the acquisition time of the location information of the anchor terminal.

[0137] Optionally, the second device may receive the positioning assistance information sent by the first device.

[0138] Step S203: The second device determines the moving speed of the anchor terminal.

[0139] In some embodiments, the second device may determine the moving speed of the anchor terminal according to the positioning assistance information carried in the first SLPP message.

[0140] In a possible implementation, the second device may determine, based on the first information included in the positioning assistance information, that the moving speed of the anchor terminal is the moving speed indicated by the first information.

[0141] In another possible implementation, the second terminal may determine that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include the first information, or based on the fact that the positioning assistance information includes the first information and the first information is empty.

[0142] In a further embodiment, the second device may determine whether to select the anchor device for positioning according to the moving speed of the anchor terminal.

[0143] The communication method involved in the embodiments of the present disclosure may include at least one of steps S201 to S203. For example, step S201 may be implemented as an independent embodiment, step S202 may be implemented as an independent embodiment, step S203 may be implemented as an independent embodiment, steps S201+S202 may be implemented as an independent embodiment, and steps S202+S203 may be implemented as an independent embodiment, but the present invention is not limited thereto.

[0144] In some embodiments, step S201 is optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0145] In some embodiments, step S202 is optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0146] In some embodiments, step S203 is optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0147] In some embodiments, reference may be made to other optional embodiments described before or after the description corresponding to FIG. 2 .

[0148] In some embodiments, sidelink (SL) positioning refers to the ability to locate a terminal based on a sidelink between terminals. SL positioning can include absolute positioning, relative positioning, and ranging. Absolute positioning is used to determine the absolute coordinates of a terminal, relative positioning is used to determine the coordinates of a terminal relative to a reference point, and ranging is used to determine the distance and / or angle of a terminal relative to a reference point.

[0149] The side link involved in the present disclosure can also be translated as a direct link, a side link, a side link, etc., and the present disclosure does not limit it.

[0150] In some embodiments, ranging may typically involve two terminals participating in ranging, and absolute positioning and relative positioning may typically involve two or more terminals participating in positioning. The terminal being positioned may be referred to as a target UE, and the other terminals participating in positioning may be referred to as anchor UEs or positioning assistance terminals. In one possible implementation, if positioning involves only two terminals, the two terminals serve as each other's anchor terminals.

[0151] In some embodiments, anchor terminals come in different types. For example, a roadside unit (RSU) type anchor terminal is a type of infrastructure that can provide positioning services by collaborating with other RSUs. For example, an ordinary terminal can also serve as an anchor terminal, but it may be difficult for it to collaborate with other terminals to provide positioning services. For example, some anchor terminals have location information such as the Global Positioning System (GPS) and can be used to assist other terminals in absolute positioning, while other anchor terminals may not have location information such as GPS.

[0152] For example, FIG3 is a schematic diagram of a positioning method based on downlink-time difference of arrival (DL-TDOA) according to an embodiment of the present disclosure. As shown in FIG3 , a terminal, such as a user equipment (UE), can determine the specific position of the UE relative to multiple RSUs by measuring the sidelink position reference signal (SL PRS) sent by multiple RSUs through the sidelink. In one possible implementation, if the positioning result is not converted into absolute position coordinates based on the absolute position information such as GPS of the RSU, then the positioning result is relative positioning; otherwise, it is absolute positioning.

[0153] In addition to DL-TDOA, there are also uplink-time difference of arrival (UL-TDOA), multiple round-trip time (multiple RTT), angle of arrival (AOA) / angle of departure (AOD), carrier phase positioning and other positioning solutions, which will not be listed here one by one.

[0154] In some embodiments, the Sidelink Positioning Protocol (SLPP) refers to a protocol for exchanging positioning messages between two terminals. In addition, for SL positioning, the positioning messages exchanged between a terminal and a Location Management Function (LMF) may be referred to as SLPP messages.

[0155] In one possible implementation, SLPP can support distance measurement (abbreviated as "distance measurement") and angle measurement (abbreviated as "angle measurement"). The distance and angle measurements required are new measurements in SL positioning and are not available in Uu port positioning. These new measurements can be used to determine the results of SL positioning.

[0156] It should be noted that the Uu interface involved in this disclosure refers to the interface between the terminal and the access network, which can also be called an air interface, a wireless interface, etc. For Uu interface positioning, the positioning message exchanged between the terminal and the LMF is called the Long Term Evolution Positioning Protocol (LTE Positioning Protocol, LPP) message.

[0157] Currently, only the location information of the anchor terminal is provided in the positioning assistance information. In scenarios where the anchor terminal may move, SL positioning still has some technical problems.

[0158] For example, when obtaining the target terminal's speed using methods such as SL-RTT and SL-AOA, if the anchor terminal is mobile, only the relative speed of the target terminal relative to the anchor terminal can be obtained based on the anchor terminal's location information included in the positioning assistance information. However, since the anchor terminal's speed information is not currently provided in the positioning assistance information, the absolute speed of the target terminal cannot be obtained.

[0159] For example, when calculating the position of the target terminal, if the anchor terminal is moving (especially at high altitude), compensation calculations must be performed to eliminate the position measurement error caused by the anchor terminal's movement. However, because the anchor terminal's speed information is currently not provided in the positioning assistance information, compensation calculations for the anchor terminal's movement cannot be performed, which may result in a large error in the final measured position.

[0160] In view of this, the present disclosure proposes an enhanced SL positioning solution for scenarios where the anchor terminal may move.

[0161] In a first aspect, embodiments of the present disclosure provide a positioning method. Figure 4 is a schematic flow chart illustrating a positioning method according to an embodiment of the present disclosure. The positioning method illustrated in this embodiment can be executed by a first device.

[0162] As shown in FIG4 , the positioning method may include the following steps:

[0163] In step S401, positioning assistance information is sent to a second device, wherein the positioning assistance information indicates a moving speed of an anchor terminal.

[0164] In some embodiments, the first device may include a node that sends positioning assistance information, and the second device may include a node that receives positioning assistance information.

[0165] In some embodiments, the first device may include any one of the following: an anchor UE; a server UE; a LMF; or a target UE. The second device may include any one of the following: a target UE; a server UE; a LMF; or an anchor UE.

[0166] In one possible implementation, the first device may be an anchor terminal, and the second device may be a server terminal or LMF. For example, the LMF performs positioning calculations (such as position calculations and / or speed calculations), and the anchor terminal may indicate its own position information and its own moving speed to the LMF.

[0167] In another possible implementation, the first device may be a server terminal or a LMF, and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the LMF may provide the acquired position information and velocity information of the anchor terminal to the target terminal. The velocity information of the anchor terminal acquired by the LMF may be provided by the anchor terminal. For example, the anchor terminal may first report its own position information and velocity information to the LMF, which then transmits the acquired position information and velocity information of the anchor terminal to the positioning calculation party.

[0168] In another possible implementation, the first device may be an anchor terminal and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the anchor terminal may indicate its own location information and its own moving speed to the target terminal.

[0169] In another possible implementation, the first device may be a first anchor terminal, and the second device may be a second anchor terminal. For example, if a server terminal, LMF, or target terminal performs positioning calculations, and the first device cannot directly send its own location information and movement speed to the calculation party, the first device may first send the information to the second device, which then forwards the information to the calculation party.

[0170] In some embodiments, the positioning assistance information may be carried in the first SLPP message. In a possible implementation, the first SLPP message may provide a location information message for SLPP.

[0171] In a possible implementation, the positioning assistance information may include first information, where the first information indicates a moving speed of the anchor terminal, and the first information includes at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0172] In another possible implementation manner, the positioning assistance information may include first information, wherein the first information includes a moving speed level of the anchor terminal.

[0173] In another possible implementation, the positioning assistance information does not include the first information, or the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state, wherein the first information indicates the moving speed of the anchor terminal.

[0174] In some embodiments, the first information may be carried in an SL-PRS common assistance information element (IE) of the first SLPP message.

[0175] For example, the first device may send a first SLPP message to the second device, where the first SLPP message may include positioning assistance information, and the positioning assistance information includes the first information; wherein the first information may be carried in the sidelink positioning calculation assistance (SL-PositionCalculationAssistance) IE under the SL-PRS common assistance information IE, as shown below:

[0176] That is, the location information of the anchor terminal can be indicated in "anchorUE-LocationInformation", and the moving speed of the anchor terminal can be indicated in "anchorUEVelocity". It should be noted that in related technologies, the SLPP message can only indicate the location information of the anchor terminal, but not the moving speed of the anchor terminal.

[0177] In one possible implementation, the moving speed of the anchor terminal may include the moving speed of the antenna reference point (ARP) on the anchor terminal. That is, because the moving speed of the ARP on the anchor terminal is the same as the moving speed of the anchor terminal, the first device may indicate the moving speed of the ARP on the anchor terminal to the second device when providing the reference point location information of the ARP of the anchor terminal to the second device, so that the second device can obtain the moving speed of the anchor terminal.

[0178] For example, the first information may be carried in the SL-PositionCalculationAssistance under the SL-PRS common assistance information IE as shown above, and may be specifically as follows:

[0179] That is, the location information and moving speed of the reference point can be indicated in the "ReferencePoint" under "SL-ARP-LocationInfoPerTxUE". It should be noted that in related technologies, the SLPP message can only indicate the location information of the ARP on the anchor terminal, but not the moving speed of the ARP on the anchor terminal.

[0180] It should be noted that the embodiment shown in FIG. 4 can be implemented independently or in combination with at least one other embodiment in the present disclosure. The specific selection can be made as needed and the present disclosure does not limit it.

[0181] Optionally, the second device may receive the positioning assistance information sent by the first device and determine the moving speed of the anchor terminal according to the positioning assistance information. The second device may also determine whether to select the anchor device for positioning according to the moving speed of the anchor terminal.

[0182] According to an embodiment of the present disclosure, a first device can send positioning assistance information to a second device, and the positioning assistance information can indicate the movement speed of the anchor terminal. Accordingly, in a scenario where the anchor terminal may move, the first device can indicate the movement speed of the anchor terminal to the second device, so that the second device can know the movement speed of the anchor terminal. The second device can then perform positioning calculations based on the movement speed of the anchor terminal, which is conducive to enhancing the performance of positioning services and improving the accuracy of positioning calculations.

[0183] For example, when obtaining the moving speed of the target terminal through SL-RTT, SL-AOA, etc., if the anchor terminal is moving, then the absolute speed of the target terminal can be obtained based on the moving speed of the anchor terminal added in the positioning assistance information, thereby enhancing the performance of the positioning service.

[0184] For example, when performing positioning calculation on the target terminal, if the anchor terminal is moving (especially highly mobile), then compensation calculation can be performed based on the moving speed of the anchor terminal added in the positioning auxiliary information to eliminate the position measurement error caused by the movement of the anchor terminal, thereby improving the accuracy of the positioning calculation.

[0185] In some embodiments, the positioning assistance information includes first information indicating a moving speed of the anchor terminal, and wherein the first information may include at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0186] In a further embodiment, the first information may further include at least one of the following: uncertainty of the horizontal moving speed; uncertainty of the vertical moving speed, wherein the uncertainty may describe the accuracy of the moving speed of the anchor terminal actually provided by the first device to the second device.

[0187] In a possible implementation, the first information may be used to jointly indicate at least one of the following: a horizontal moving speed of the anchor terminal; a vertical moving speed of the anchor terminal; an uncertainty of the horizontal moving speed; or an uncertainty of the vertical moving speed.

[0188] For example, when the first device indicates the moving speed of the anchor terminal to the second device, the first information may be as follows:

[0189] That is, any one of horizontalVelocity, horizontalWithVerticalVelocity, horizontalVelocityWithUncertainty, and horizontalWithVerticalVelocityAndUncertainty can be selected. Among them, horizontalWithVerticalVelocity jointly indicates the horizontal moving speed of the anchor terminal and the vertical moving speed of the anchor terminal, horizontalVelocityWithUncertainty jointly indicates the horizontal moving speed of the anchor terminal and the uncertainty of the horizontal moving speed, and horizontalWithVerticalVelocityAndUncertainty jointly indicates the horizontal moving speed of the anchor terminal, the uncertainty of the horizontal moving speed, the vertical moving speed of the anchor terminal, and the uncertainty of the vertical moving speed. For example, if the first device selects horizontalWithVerticalVelocityAndUncertainty, the value of HorizontalWithVerticalVelocityAndUncertainty can be {horizontal moving speed of the anchor terminal, uncertainty of the horizontal moving speed, vertical moving speed of the anchor terminal, uncertainty of the vertical moving speed}.

[0190] It should be noted that the above embodiments are merely exemplary descriptions. The vertical moving speed of the anchor terminal and the uncertainty of the vertical moving speed may also be jointly indicated, such as VerticalVelocityWithUncertainty, which will not be described in detail here.

[0191] In the above embodiment, compared with using different IEs to separately indicate the horizontal moving speed, vertical moving speed, and moving speed uncertainty of the anchor terminal, a joint indication method can be used with one IE, thereby saving the signaling overhead required to provide the speed information of the anchor terminal.

[0192] In addition, if the uncertainty of the mobile speed is large, directly providing the uncertainty of the mobile speed may require a large number of bits. Therefore, the first device can first map the uncertainty of the mobile speed according to the mapping rule to obtain a mapping value, and then provide the mapped value of the uncertainty of the mobile speed to the second device, thereby further reducing the signaling overhead required to provide the speed information of the anchor terminal. The mapping rule can be a linear mapping rule or a nonlinear mapping rule, which is not limited in this disclosure.

[0193] In some embodiments, the positioning assistance information includes first information, and wherein the first information includes the moving speed level of the anchor terminal. It should be noted that the "moving speed level" involved in this disclosure can also be described as "speed status information", which is not limited in this disclosure.

[0194] For example, if the anchor terminal is unsure of the specific value of its own moving speed, it may also provide its own moving speed level, wherein the moving speed level may specifically include but is not limited to: stationary, low speed, medium speed, high speed, etc.

[0195] In some embodiments, the positioning assistance information does not include the first information, indicating that the anchor terminal is in a stationary state. Alternatively, the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state.

[0196] Optionally, the second terminal determines that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include the first information, or based on the fact that the first information included in the positioning assistance information is empty.

[0197] For example, if the positioning assistance information sent by the first device to the second device does not include the first information, after receiving the positioning assistance information, the second device may determine by default that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include the first information.

[0198] In the above embodiments, by excluding the first information from the positioning assistance information or by leaving the first information empty, the first device can indicate to the second device by default that the anchor terminal is in a stationary state, thereby saving signaling overhead. It should be noted that, in related technologies, positioning assistance information is only used to indicate the location information of the anchor terminal and is not used to indicate the moving speed of the anchor terminal. Therefore, in related technologies, the fact that the first information is not included in the positioning assistance information does not indicate any meaning. However, in the embodiments of the present disclosure, since the first information for indicating the moving speed of the anchor terminal is added to the positioning assistance information, the fact that the anchor terminal is in a stationary state can only be indicated if the first information is not included in the positioning assistance information or if the first information is empty.

[0199] In some embodiments, the positioning assistance information further indicates the time at which the location information of the anchor terminal is acquired.

[0200] In a possible implementation, the positioning assistance information further includes second information, where the second information indicates a time at which the position information of the anchor terminal is acquired and / or a time at which the moving speed of the anchor terminal is acquired.

[0201] For example, the first device can send a first SLPP message to the second device, and the first SLPP message can include positioning assistance information. The positioning assistance information includes first information and second information, wherein the first information is used to indicate the moving speed of the anchor terminal, and the second information is used to indicate the time of obtaining the location information of the anchor terminal.

[0202] In the above embodiments, in scenarios where the anchor terminal may move, the first device may provide the second device with not only the location information of the anchor terminal but also the time at which the location information was acquired. This allows the second device to perform compensation calculations for the movement of the anchor terminal based on the time at which the location information of the anchor terminal was acquired, thereby further improving the accuracy of the positioning calculation. For example, the second device may calculate the displacement of the anchor terminal within a specified time period based on the location information of the anchor terminal at different acquisition times. For example, the second device may select whether to perform positioning calculations based on the anchor terminal based on the time at which the location information of the anchor terminal was acquired, allowing the second device to perform positioning calculations based on the location information and / or velocity information at the same time, thereby avoiding larger errors in the positioning results.

[0203] In some embodiments, the second information includes at least one of the following: a system frame number (SFN) when the first device obtains the location information of the anchor terminal; a direct frame number (DFN) when the first device obtains the location information of the anchor terminal; and a coordinated universal time (UTC) when the first device obtains the location information of the anchor terminal. SFN is a number used to identify a fixed-length time period in a wireless communication system, and DFN is a number used to identify a specific subframe in a wireless frame in a wireless communication system. Both SFN and DFN can be used to synchronize frame structures between different devices and provide a time reference.

[0204] In one possible implementation, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal; in this case, the second information also includes at least one of the following: a physical cell identifier corresponding to the base station; an absolute radio frequency channel number (ARFCN) corresponding to the base station; and a cell global identifier corresponding to the base station.

[0205] For example, if the anchor terminal is synchronized through a base station, the acquisition time may be indicated by using SFN and / or slot number. At the same time, the second information may also carry at least one of the following information of the synchronized base station: nr-PhysCellID, nr-ARFCN, and nr-CellGlobalID. In one possible implementation, the second information may be as follows:

[0206] In another possible implementation, when the anchor terminal is synchronized through the Global Navigation Satellite System (GNSS), the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is also used to indicate that the synchronization source of the anchor terminal is GNSS.

[0207] In another possible implementation, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is the UE.

[0208] For example, if the anchor terminal is synchronized via GNSS or other terminals, the acquisition time may be indicated by using DFN and / or slot number, and the second information may also indicate whether the synchronization source is GNSS or UE. In one possible implementation, the second information may be as follows:

[0209] In some embodiments, different indication modes of the acquisition time can be converted to each other.

[0210] For example, when the anchor terminal provides the LMF with the time of acquiring its own location information, it uses SFN and / or time slot number to indicate; LMF can first convert the acquisition time from "SFN and / or time slot number" to "DFN and / or time slot number" or "GNSS / UTC time", and then indicate the acquisition time of the anchor terminal's location information to the target terminal according to the converted method.

[0211] In some embodiments, the positioning assistance information further includes the location information of the anchor terminal. The positioning assistance information does not include the second information and may indicate that the acquisition time of the location information of the anchor terminal is the time when the second terminal receives the positioning assistance information.

[0212] For example, if the positioning assistance information sent by the first device to the second device includes the location information of the anchor terminal but does not include the second information, after receiving the positioning assistance information, the second device can default to determining the time when the location information of the anchor terminal is acquired as the time when the second device receives the positioning assistance information based on the fact that the positioning assistance information does not include the second information. That is, the time when the positioning assistance information is acquired can be defaulted to being the latest time.

[0213] In some embodiments, before step S401, the method may further include: receiving a second SLPP message sent by the second device, where the second SLPP message is used to request the positioning assistance information. In some possible implementations, the second SLPP message may be an SLPP positioning request message.

[0214] Optionally, the second device may send a second SLPP message to the first device.

[0215] For example, the first device may receive a second SLPP message sent by the second device; in response to an indication in the second SLPP message that positioning assistance information is requested, the first device may send a first SLPP message carrying positioning assistance information to the second device.

[0216] In the above embodiment, the first device can send positioning assistance information containing the first information to the second device only when the second device requests the anchor terminal's moving speed. Accordingly, in scenarios where the anchor terminal may be moving, the anchor terminal's speed information can be obtained based on the positioning calculation requirements, thereby saving signaling overhead.

[0217] In some embodiments, if the first device needs to periodically provide the second device with the location information of the anchor terminal, the first device can also provide the second device with the moving speed of the anchor terminal. This helps the second device obtain the moving speed of the anchor terminal in a timely manner, and when the acquisition period is short, it helps improve the efficiency of positioning calculation.

[0218] In a second aspect, embodiments of the present disclosure provide a positioning method. Figure 5 is a schematic flow chart illustrating another positioning method according to an embodiment of the present disclosure. The positioning method illustrated in this embodiment can be executed by a second device.

[0219] As shown in FIG5 , the positioning method may include the following steps:

[0220] In step S501, positioning assistance information sent by a first device is received, wherein the positioning assistance information indicates a moving speed of an anchor terminal.

[0221] In some embodiments, the first device may include a node that sends positioning assistance information, and the second device may include a node that receives positioning assistance information.

[0222] In some embodiments, the first device may include any one of the following: an anchor UE; a server UE; a LMF; or a target UE. The second device may include any one of the following: a target UE; a server UE; a LMF; or an anchor UE.

[0223] In one possible implementation, the first device may be an anchor terminal, and the second device may be a server terminal or LMF. For example, the LMF performs positioning calculations (such as position calculations and / or speed calculations), and the anchor terminal may indicate its own position information and its own moving speed to the LMF.

[0224] In another possible implementation, the first device may be a server terminal or a LMF, and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the LMF may provide the acquired position information and velocity information of the anchor terminal to the target terminal. The velocity information of the anchor terminal acquired by the LMF may be provided by the anchor terminal. For example, the anchor terminal may first report its own position information and velocity information to the LMF, which then transmits the acquired position information and velocity information of the anchor terminal to the positioning calculation party.

[0225] In another possible implementation, the first device may be an anchor terminal and the second device may be a target terminal. For example, the target terminal performs positioning calculations, and the anchor terminal may indicate its own location information and its own moving speed to the target terminal.

[0226] In another possible implementation, the first device may be a first anchor terminal, and the second device may be a second anchor terminal. For example, if a server terminal, LMF, or target terminal performs positioning calculations, and the first device cannot directly send its own location information and movement speed to the calculation party, the first device may first send the information to the second device, which then forwards the information to the calculation party.

[0227] In some embodiments, the positioning assistance information may be carried in the first SLPP message. In a possible implementation, the first SLPP message may provide a location information message for SLPP.

[0228] In a possible implementation, the positioning assistance information may include first information, where the first information indicates a moving speed of the anchor terminal, and the first information includes at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0229] In another possible implementation manner, the positioning assistance information may include first information, wherein the first information includes a moving speed level of the anchor terminal.

[0230] It should be understood that the positioning assistance information may indicate both the moving speed level and the moving speed of the anchor terminal.

[0231] In another possible implementation, the positioning assistance information does not include the first information, or the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state, wherein the first information indicates the moving speed of the anchor terminal.

[0232] In some embodiments, the first information may be carried in an SL-PRS common assistance information element (IE) of the first SLPP message.

[0233] For example, the second device receives a first SLPP message sent by the first device, and the first SLPP message may include positioning assistance information, and the positioning assistance information includes the first information; wherein the first information can be carried in the side link positioning calculation assistance (SL-PositionCalculationAssistance) IE under the SL-PRS common assistance information IE, as shown below:

[0234] That is, the location information of the anchor terminal can be indicated in "anchorUE-LocationInformation", and the moving speed of the anchor terminal can be indicated in "anchorUEVelocity". It should be noted that in related technologies, the SLPP message can only indicate the location information of the anchor terminal, but not the moving speed of the anchor terminal.

[0235] In one possible implementation, the moving speed of the anchor terminal may include the moving speed of the antenna reference point (ARP) on the anchor terminal. That is, because the moving speed of the ARP on the anchor terminal is the same as the moving speed of the anchor terminal, the first device may indicate the moving speed of the ARP on the anchor terminal to the second device when providing the reference point location information of the ARP of the anchor terminal to the second device, so that the second device can obtain the moving speed of the anchor terminal.

[0236] For example, the first information may be carried in the SL-PositionCalculationAssistance under the SL-PRS common assistance information IE as shown above, and may be specifically as follows:

[0237] That is, the location information and moving speed of the reference point can be indicated in the "ReferencePoint" under "SL-ARP-LocationInfoPerTxUE". It should be noted that in related technologies, the SLPP message can only indicate the location information of the ARP on the anchor terminal, but not the moving speed of the ARP on the anchor terminal.

[0238] It should be noted that the embodiment shown in FIG. 5 can be implemented independently or in combination with at least one other embodiment in the present disclosure. The specific selection can be made as needed and the present disclosure does not limit it.

[0239] Optionally, the first device may send positioning assistance information to the second device.

[0240] According to an embodiment of the present disclosure, a first device can send positioning assistance information to a second device, and the positioning assistance information can indicate the movement speed of the anchor terminal. Accordingly, in a scenario where the anchor terminal may move, the first device can indicate the movement speed of the anchor terminal to the second device, so that the second device can know the movement speed of the anchor terminal. The second device can then perform positioning calculations based on the movement speed of the anchor terminal, which is conducive to enhancing the performance of positioning services and improving the accuracy of positioning calculations.

[0241] For example, when obtaining the moving speed of the target terminal through SL-RTT, SL-AOA, etc., if the anchor terminal is moving, then the absolute speed of the target terminal can be obtained based on the moving speed of the anchor terminal added in the positioning assistance information, thereby enhancing the performance of the positioning service.

[0242] For example, when performing positioning calculation on the target terminal, if the anchor terminal is moving (especially highly mobile), then compensation calculation can be performed based on the moving speed of the anchor terminal added in the positioning auxiliary information to eliminate the position measurement error caused by the movement of the anchor terminal, thereby improving the accuracy of the positioning calculation.

[0243] In some embodiments, the second device may determine the moving speed of the anchor terminal based on the received positioning assistance information. In a further embodiment, the second device may also determine whether to select the anchor device for positioning based on the moving speed of the anchor terminal.

[0244] In some embodiments, the positioning assistance information includes first information indicating a moving speed of the anchor terminal, and wherein the first information may include at least one of the following: a horizontal moving speed of the anchor terminal; or a vertical moving speed of the anchor terminal.

[0245] In a further embodiment, the first information may further include at least one of the following: uncertainty of the horizontal moving speed; uncertainty of the vertical moving speed, wherein the uncertainty may describe the accuracy of the moving speed of the anchor terminal actually provided by the first device to the second device.

[0246] In a possible implementation, the first information may be used to jointly indicate at least one of the following: a horizontal moving speed of the anchor terminal; a vertical moving speed of the anchor terminal; an uncertainty of the horizontal moving speed; or an uncertainty of the vertical moving speed.

[0247] For example, when the first device indicates the moving speed of the anchor terminal to the second device, the first information may be as follows:

[0248] That is, any one of horizontalVelocity, horizontalWithVerticalVelocity, horizontalVelocityWithUncertainty, and horizontalWithVerticalVelocityAndUncertainty can be selected. Among them, horizontalWithVerticalVelocity jointly indicates the horizontal moving speed of the anchor terminal and the vertical moving speed of the anchor terminal, horizontalVelocityWithUncertainty jointly indicates the horizontal moving speed of the anchor terminal and the uncertainty of the horizontal moving speed, and horizontalWithVerticalVelocityAndUncertainty jointly indicates the horizontal moving speed of the anchor terminal, the uncertainty of the horizontal moving speed, the vertical moving speed of the anchor terminal, and the uncertainty of the vertical moving speed. For example, if the first device selects horizontalWithVerticalVelocityAndUncertainty, the value of HorizontalWithVerticalVelocityAndUncertainty can be {horizontal moving speed of the anchor terminal, uncertainty of the horizontal moving speed, vertical moving speed of the anchor terminal, uncertainty of the vertical moving speed}.

[0249] It should be noted that the above embodiments are merely exemplary descriptions. The vertical moving speed of the anchor terminal and the uncertainty of the vertical moving speed may also be jointly indicated, such as VerticalVelocityWithUncertainty, which will not be described in detail here.

[0250] In the above embodiment, compared with using different IEs to separately indicate the horizontal moving speed, vertical moving speed, and moving speed uncertainty of the anchor terminal, a joint indication method can be used with one IE, thereby saving the signaling overhead required to provide the speed information of the anchor terminal.

[0251] In some embodiments, the positioning assistance information includes first information, and wherein the first information includes the moving speed level of the anchor terminal. It should be noted that the "moving speed level" involved in this disclosure can also be described as "speed status information", which is not limited in this disclosure.

[0252] For example, if the anchor terminal is unsure of the specific value of its own moving speed, it may also provide its own moving speed level, wherein the moving speed level may specifically include but is not limited to: stationary, low speed, medium speed, high speed, etc.

[0253] In some embodiments, the second terminal determines that the anchor terminal is stationary based on the fact that the positioning assistance information does not include the first information. Alternatively, the second terminal determines that the anchor terminal is stationary based on the fact that the positioning assistance information includes the first information and the first information is empty.

[0254] For example, if the positioning assistance information sent by the first device to the second device does not include the first information, after receiving the positioning assistance information, the second device may determine by default that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include the first information.

[0255] In the above embodiments, by excluding the first information from the positioning assistance information or by leaving the first information empty, the first device can indicate to the second device by default that the anchor terminal is in a stationary state, thereby saving signaling overhead. It should be noted that, in related technologies, positioning assistance information is only used to indicate the location information of the anchor terminal and is not used to indicate the moving speed of the anchor terminal. Therefore, in related technologies, the fact that the first information is not included in the positioning assistance information does not indicate any meaning. However, in the embodiments of the present disclosure, since the first information for indicating the moving speed of the anchor terminal is added to the positioning assistance information, the fact that the anchor terminal is in a stationary state can only be indicated if the first information is not included in the positioning assistance information or if the first information is empty.

[0256] In some embodiments, the positioning assistance information further indicates the time at which the location information of the anchor terminal is acquired.

[0257] In a possible implementation, the positioning assistance information further includes second information, where the second information indicates a time at which the position information of the anchor terminal is acquired and / or a time at which the moving speed of the anchor terminal is acquired.

[0258] For example, the second device can receive the first SLPP message sent by the first device, and the first SLPP message can include positioning assistance information. The positioning assistance information includes first information and second information, wherein the first information is used to indicate the moving speed of the anchor terminal, and the second information is used to indicate the time when the location information of the anchor terminal is obtained.

[0259] In the above embodiments, in scenarios where the anchor terminal may move, the first device may provide the second device with, in addition to the location information of the anchor terminal, the time at which the location information was acquired. This allows the second device to perform compensation calculations for the movement of the anchor terminal based on the time at which the location information of the anchor terminal was acquired, thereby further improving the accuracy of the positioning calculation. For example, the second device may calculate the displacement of the anchor terminal within a specified time period based on the location information of the anchor terminal at different acquisition times. For example, the second device may select whether to perform positioning calculations based on the anchor terminal based on the time at which the location information of the anchor terminal was acquired, allowing the second device to perform positioning calculations based on the location information and / or velocity information at the same time, thereby avoiding larger errors in the positioning results.

[0260] In some embodiments, the second information includes at least one of the following: a system frame number (SFN) when the first device obtains the location information of the anchor terminal; a direct frame number (DFN) when the first device obtains the location information of the anchor terminal; and a coordinated universal time (UTC) when the first device obtains the location information of the anchor terminal. SFN is a number used to identify a fixed-length time period in a wireless communication system, and DFN is a number used to identify a specific subframe in a wireless frame in a wireless communication system. Both SFN and DFN can be used to synchronize frame structures between different devices and provide a time reference.

[0261] In one possible implementation, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal; in this case, the second information also includes at least one of the following: a physical cell identifier corresponding to the base station; an absolute radio frequency channel number (ARFCN) corresponding to the base station; and a cell global identifier corresponding to the base station.

[0262] For example, if the anchor terminal is synchronized through a base station, the acquisition time may be indicated by using SFN and / or slot number. At the same time, the second information may also carry at least one of the following information of the synchronized base station: nr-PhysCellID, nr-ARFCN, and nr-CellGlobalID. In one possible implementation, the second information may be as follows:

[0263] In another possible implementation, when the anchor terminal is synchronized through the Global Navigation Satellite System (GNSS), the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is also used to indicate that the synchronization source of the anchor terminal is GNSS.

[0264] In another possible implementation, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is the UE.

[0265] For example, if the anchor terminal is synchronized via GNSS or other terminals, the acquisition time may be indicated by using DFN and / or slot number, and the second information may also indicate whether the synchronization source is GNSS or UE. In one possible implementation, the second information may be as follows:

[0266] In some embodiments, different indication modes of the acquisition time can be converted to each other.

[0267] For example, when the anchor terminal provides the LMF with the time of acquiring its own location information, it uses SFN and / or time slot number to indicate; LMF can first convert the acquisition time from "SFN and / or time slot number" to "DFN and / or time slot number" or "GNSS / UTC time", and then indicate the acquisition time of the anchor terminal's location information to the target terminal according to the converted method.

[0268] In some embodiments, the positioning assistance information further includes the location information of the anchor terminal. The positioning assistance information does not include the second information and may indicate that the acquisition time of the location information of the anchor terminal is the time when the second terminal receives the positioning assistance information.

[0269] For example, if the positioning assistance information sent by the first device to the second device includes the location information of the anchor terminal but does not include the second information, after receiving the positioning assistance information, the second device can default to determining the time when the location information of the anchor terminal is acquired as the time when the second device receives the positioning assistance information based on the fact that the positioning assistance information does not include the second information. That is, the time when the positioning assistance information is acquired can be defaulted to being the latest time.

[0270] In some embodiments, before step S501, the method may further include: sending a second SLPP message to the first device, where the second SLPP message is used to request the positioning assistance information. In some possible implementations, the second SLPP message may be an SLPP positioning request message.

[0271] Optionally, the first device may receive a second SLPP message sent by the second device.

[0272] For example, the second device can send a second SLPP message to the first device; the first device can receive the second SLPP message sent by the second device; in response to the indication in the second SLPP message requesting positioning assistance information, the first device can send a first SLPP message carrying positioning assistance information to the second device; the second device can receive the first SLPP message sent by the first device.

[0273] In the above embodiment, the first device can send positioning assistance information containing the first information to the second device only when the second device requests the anchor terminal's moving speed. Accordingly, in scenarios where the anchor terminal may be moving, the anchor terminal's speed information can be obtained based on the positioning calculation requirements, thereby saving signaling overhead.

[0274] In some embodiments, if the first device needs to periodically provide the second device with the location information of the anchor terminal, the first device may simultaneously provide the second device with the moving speed of the anchor terminal. Accordingly, the second device may periodically obtain the moving speed of the anchor terminal.

[0275] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codeword", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0276] In some embodiments, terms such as "moment", "time point", "time", and "time position" can be replaced with each other, and terms such as "duration", "period", "time window", "window", and "time" can be replaced with each other.

[0277] In some embodiments, the terms "component carrier (CC)", "cell", "frequency carrier", "carrier frequency" and the like can be used interchangeably.

[0278] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0279] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0280] Corresponding to the aforementioned embodiments of the positioning method, the present disclosure also provides embodiments of a positioning device.

[0281] FIG6 is a schematic block diagram of a positioning device according to an embodiment of the present disclosure. As shown in FIG6 , the positioning device 600 includes a transceiver module 601 .

[0282] In some embodiments, the transceiver module 601 is configured to send positioning assistance information to the second device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0283] In some embodiments, the positioning assistance information includes first information, the first information indicating a moving speed of the anchor terminal, and wherein the first information includes at least one of the following:

[0284] Horizontal movement speed of the anchor terminal;

[0285] The vertical movement speed of the anchor terminal.

[0286] In some embodiments, the first information further includes at least one of the following:

[0287] The uncertainty of the horizontal movement speed;

[0288] The uncertainty of the vertical movement speed.

[0289] In some embodiments, the positioning assistance information includes first information, and wherein the first information includes a moving speed level of the anchor terminal.

[0290] In some embodiments, the positioning assistance information does not include first information, or the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state, wherein the first information indicates a moving speed of the anchor terminal.

[0291] In some embodiments, the positioning assistance information further indicates the time at which the location information of the anchor terminal is acquired.

[0292] In some embodiments, the positioning assistance information further includes second information, where the second information indicates a time at which the location information of the anchor terminal is acquired, and the second information includes at least one of the following:

[0293] The SFN when the first device obtains the location information of the anchor terminal;

[0294] The DFN when the first device obtains the location information of the anchor terminal;

[0295] The UTC when the first device obtains the location information of the anchor terminal.

[0296] In some embodiments, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal, and the second information further includes at least one of the following:

[0297] a physical cell identifier corresponding to the base station;

[0298] an absolute radio frequency channel number corresponding to the base station;

[0299] The cell global identifier corresponding to the base station.

[0300] In some embodiments, when the anchor terminal is synchronized via GNSS, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

[0301] In some embodiments, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is also used to indicate that the synchronization source of the anchor terminal is the UE.

[0302] In some embodiments, the positioning assistance information does not include second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, wherein the second information indicates the acquisition time of the location information of the anchor terminal.

[0303] In some embodiments, the moving speed of the anchor terminal includes a moving speed of an ARP on the anchor terminal.

[0304] In some embodiments, the positioning assistance information is carried in a first SLPP message.

[0305] In some embodiments, the transceiver module 601 is further configured to receive a second SLPP message sent by the second device, where the second SLPP message is used to request the positioning assistance information.

[0306] In some embodiments, the first device and the second device include one of the following combinations: the first device is an anchor terminal, and the second device is a server terminal; the first device is an anchor terminal, and the second device is a location management function LMF; the first device is an anchor terminal, and the second device is a target terminal; the first device is a first anchor terminal, and the second device is a second anchor terminal; the first device is a server terminal, and the second device is a target terminal; the first device is LMF, and the second device is a target terminal.

[0307] It should be noted that the modules included in the positioning device 600 are not limited to the modules described in the above embodiment, and may also include other modules, such as a processing module, a storage module, a display module, etc. Among them, the processing module can be used to obtain the moving speed of the anchor terminal, obtain the location information of the anchor terminal, etc.

[0308] FIG7 is a schematic block diagram of another positioning device according to an embodiment of the present disclosure. As shown in FIG7 , the positioning device 700 includes a transceiver module 701 .

[0309] In some embodiments, the transceiver module 701 is configured to receive positioning assistance information sent by the first device, wherein the positioning assistance information indicates a moving speed of the anchor terminal.

[0310] In some embodiments, the apparatus 700 further includes:

[0311] The processing module is configured to determine whether to select the anchor device for positioning according to the moving speed of the anchor terminal.

[0312] In some embodiments, the positioning assistance information includes first information, the first information indicating a moving speed of the anchor terminal, and wherein the first information includes at least one of the following:

[0313] Horizontal movement speed of the anchor terminal;

[0314] The vertical movement speed of the anchor terminal.

[0315] In some embodiments, the first information further includes at least one of the following:

[0316] The uncertainty of the horizontal movement speed;

[0317] The uncertainty of the vertical movement speed.

[0318] In some embodiments, the positioning assistance information includes first information, and wherein the first information includes a moving speed level of the anchor terminal.

[0319] In some embodiments, the processing module is further used to determine that the anchor terminal is in a stationary state based on the fact that the positioning assistance information does not include first information, or based on the fact that the first information included in the positioning assistance information is empty, wherein the first information indicates the moving speed of the anchor terminal.

[0320] In some embodiments, the positioning assistance information further indicates the time at which the location information of the anchor terminal is acquired.

[0321] In some embodiments, the positioning assistance information further includes second information, where the second information indicates a time at which the location information of the anchor terminal is acquired, and the second information includes at least one of the following:

[0322] The SFN when the first device obtains the location information of the anchor terminal;

[0323] The DFN when the first device obtains the location information of the anchor terminal;

[0324] The UTC when the first device obtains the location information of the anchor terminal.

[0325] In some embodiments, when the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device obtains the location information of the anchor terminal, and the second information further includes at least one of the following:

[0326] a physical cell identifier corresponding to the base station;

[0327] an absolute radio frequency channel number corresponding to the base station;

[0328] The cell global identifier corresponding to the base station.

[0329] In some embodiments, when the anchor terminal is synchronized via GNSS, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

[0330] In some embodiments, when the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device obtains the location information of the anchor terminal, and the second information is also used to indicate that the synchronization source of the anchor terminal is the UE.

[0331] In some embodiments, the positioning assistance information does not include second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, wherein the second information indicates the acquisition time of the location information of the anchor terminal.

[0332] In some embodiments, the moving speed of the anchor terminal includes a moving speed of an ARP on the anchor terminal.

[0333] In some embodiments, the positioning assistance information is carried in a first SLPP message.

[0334] In some embodiments, the transceiver module 701 is further configured to send a second SLPP message to the first device, where the second SLPP message is used to request the positioning assistance information.

[0335] In some embodiments, the first device and the second device include one of the following combinations: the first device is an anchor terminal, and the second device is a server terminal; the first device is an anchor terminal, and the second device is a location management function LMF; the first device is an anchor terminal, and the second device is a target terminal; the first device is a first anchor terminal, and the second device is a second anchor terminal; the first device is a server terminal, and the second device is a target terminal; the first device is LMF, and the second device is a target terminal.

[0336] It should be noted that the modules included in the positioning device 700 are not limited to the modules described in the above embodiment, and may also include other modules, such as a processing module, a storage module, a display module, etc. The processing module may be used for positioning calculation, etc.

[0337] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art can understand and implement it without paying any creative work.

[0338] An embodiment of the present disclosure further proposes a first device, comprising: one or more processors; wherein the processor is used to call instructions to enable the first device to execute the positioning method described in the first aspect and the optional embodiments of the first aspect.

[0339] An embodiment of the present disclosure further proposes a second device, comprising: one or more processors; wherein the processor is used to call instructions to enable the second device to execute the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0340] An embodiment of the present disclosure also proposes a communication device, comprising: one or more processors; wherein the processor is used to call instructions to enable the communication device to execute the positioning method described in the first aspect, the optional embodiment of the first aspect, and / or the positioning method described in the second aspect, the optional embodiment of the second aspect.

[0341] An embodiment of the present disclosure also proposes a communication system, including a first device and a second device, wherein the first device is configured to implement the positioning method described in the first aspect and the optional embodiment of the first aspect, and the second device is configured to implement the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0342] An embodiment of the present disclosure further proposes a storage medium storing instructions. When the instructions are executed on a communication device, the communication device executes the positioning method described in the first aspect and the optional embodiment of the first aspect, and / or the positioning method described in the second aspect and the optional embodiment of the second aspect.

[0343] The embodiments of the present disclosure further provide apparatuses for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing each step performed by the first device in any of the above methods. For another example, another apparatus is provided that includes units or modules for implementing each step performed by the second device in any of the above methods.

[0344] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units or modules by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0345] In the embodiments of the present disclosure, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit. The logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0346] Figure 8 is a schematic diagram of the structure of a communication device 8100 proposed in an embodiment of the present disclosure. Communication device 8100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a user equipment, etc.), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 8100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0347] As shown in Figure 8, the communication device 8100 includes one or more processors 8101. The processor 8101 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process program data. The processor 8101 is used to call instructions to enable the communication device 8100 to perform any of the above methods.

[0348] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 may be located outside the communication device 8100.

[0349] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the communication steps such as sending and receiving in the above method are performed by the transceiver 8103, and the other steps are performed by the processor 8101.

[0350] In some embodiments, a transceiver may include a receiver and a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0351] Optionally, the communication device 8100 further includes one or more interface circuits 8104, which are connected to the memory 8102. The interface circuits 8104 can be used to receive signals from the memory 8102 or other devices, and can be used to send signals to the memory 8102 or other devices. For example, the interface circuits 8104 can read instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0352] The communication device 8100 described in the above embodiment may be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 may not be limited by FIG8 . The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0353] FIG9 is a schematic diagram of the structure of a chip 9200 according to an embodiment of the present disclosure. If the communication device 8100 can be a chip or a chip system, reference can be made to the schematic diagram of the structure of the chip 9200 shown in FIG9 , but the present disclosure is not limited thereto.

[0354] The chip 9200 includes one or more processors 9201, and the processor 9201 is used to call instructions so that the chip 9200 executes any of the above methods.

[0355] In some embodiments, the chip 9200 further includes one or more interface circuits 9202, which are connected to the memory 9203. The interface circuit 9202 can be used to receive signals from the memory 9203 or other devices, and can be used to send signals to the memory.

[0356] The memory 9203 or other devices send signals. For example, the interface circuit 9202 can read instructions stored in the memory 9203 and send the instructions to the processor 9201. Optionally, the terms interface circuit, interface, transceiver pin, transceiver, etc. can be used interchangeably.

[0357] In some embodiments, the chip 9200 further includes one or more memories 9203 for storing instructions. Alternatively, all or part of the memories 9203 may be located outside the chip 9200.

[0358] The present disclosure also proposes a storage medium having instructions stored thereon, which, when executed on the communication device 8100, causes the communication device 8100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto, and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto, and may also be a temporary storage medium.

[0359] The present disclosure also provides a program product, which, when executed by the communication device 8100, enables the communication device 8100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0360] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A positioning method, characterized in that, Performed by a first device, the method includes: Sending positioning assistance information to a second device, where the positioning assistance information indicates the moving speed of an anchor terminal.

2. The method according to claim 1, wherein The positioning assistance information includes first information that indicates the moving speed of the anchor terminal, and where the first information includes at least one of the following: The horizontal moving speed of the anchor terminal; The vertical moving speed of the anchor terminal.

3. The method according to claim 2, wherein The first information further includes at least one of the following: The uncertainty of the horizontal moving speed; The uncertainty of the vertical moving speed.

4. The method according to claim 1, characterized in that, The positioning assistance information includes first information, and where the first information includes the moving speed level of the anchor terminal.

5. The method according to claim 1, characterized in that, The positioning assistance information does not include the first information, or the positioning assistance information includes the first information and the first information is empty, indicating that the anchor terminal is in a stationary state; where the first information indicates the moving speed of the anchor terminal.

6. The method according to any one of claims 1 to 5, characterized in that, The positioning assistance information further indicates the acquisition time of the location information of the anchor terminal.

7. The method according to claim 6, characterized in that The positioning assistance information further includes second information that indicates the acquisition time of the location information of the anchor terminal, and where the second information includes at least one of the following: The system frame number SFN when the first device acquires the location information of the anchor terminal; The direct frame number DFN when the first device acquires the location information of the anchor terminal; The coordinated universal time UTC when the first device acquires the location information of the anchor terminal.

8. The method according to claim 7, wherein When the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device acquires the location information of the anchor terminal, and the second information further includes at least one of the following: The physical cell identifier corresponding to the base station; The absolute radio frequency channel number corresponding to the base station; The cell global identifier corresponding to the base station.

9. The method according to claim 7, wherein When the anchor terminal is synchronized through a global navigation satellite system GNSS, the second information includes the DFN when the first device acquires the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

10. The method according to claim 7, wherein When the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device acquires the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is a user equipment UE.

11. The method according to claim 6, wherein The positioning assistance information does not include the second information, indicating that the acquisition time of the location information of the anchor terminal is the time when the second device receives the positioning assistance information, where the second information indicates the acquisition time of the location information of the anchor terminal.

12. The method according to any one of claims 1 to 11, characterized in that, The moving speed of the anchor terminal includes the moving speed of the antenna reference point ARP on the anchor terminal.

13. The method according to any one of claims 1 to 12, characterized in that, The positioning assistance information is carried in a first direct link positioning protocol SLPP message.

14. The method according to claim 13, wherein The method further includes: Receiving a second SLPP message sent by the second device, where the second SLPP message is used to request the positioning assistance information.

15. The method according to any one of claims 1 to 14, characterized in that, The first device and the second device include one of the following combinations: The first device is an anchor terminal, and the second device is a server terminal; The first device is an anchor terminal, and the second device is a Location Management Function (LMF); The first device is an anchor terminal, and the second device is a target terminal; The first device is a first anchor terminal, and the second device is a second anchor terminal; The first device is a server terminal, and the second device is a target terminal; The first device is an LMF, and the second device is a target terminal.

16. A positioning method, characterized in that, Executed by the second device, the method includes: Receiving positioning assistance information sent by the first device, where the positioning assistance information indicates the moving speed of the anchor terminal.

17. The method according to claim 16, wherein The method further includes: Determining whether to select the anchor device for positioning according to the moving speed of the anchor terminal.

18. The method according to claim 16, characterized in that, The positioning assistance information includes first information, the first information indicates the moving speed of the anchor terminal, and wherein the first information includes at least one of the following: The horizontal moving speed of the anchor terminal; The vertical moving speed of the anchor terminal.

19. The method according to claim 18, characterized in that, The first information further includes at least one of the following: The uncertainty of the horizontal moving speed; The uncertainty of the vertical moving speed.

20. The method according to claim 16, wherein The positioning assistance information includes first information, and wherein the first information includes the moving speed level of the anchor terminal.

21. The method according to claim 16, wherein The method further includes: Determining that the anchor terminal is in a stationary state according to that the positioning assistance information does not include the first information, or according to that the first information included in the positioning assistance information is empty, where the first information indicates the moving speed of the anchor terminal.

22. The method according to any one of claims 16 to 21, characterized in that, The positioning assistance information further indicates the acquisition time of the location information of the anchor terminal.

23. The method according to claim 22, wherein The positioning assistance information further includes second information, the second information indicates the acquisition time of the location information of the anchor terminal, and wherein the second information includes at least one of the following: The System Frame Number (SFN) when the first device acquires the location information of the anchor terminal; The Delivery Frame Number (DFN) when the first device acquires the location information of the anchor terminal; The Coordinated Universal Time (UTC) when the first device acquires the location information of the anchor terminal.

24. The method according to claim 23, wherein When the anchor terminal is synchronized through a base station, the second information includes the SFN when the first device acquires the location information of the anchor terminal, and the second information further includes at least one of the following: The physical cell identifier corresponding to the base station; The absolute radio frequency channel number corresponding to the base station; The cell global identifier corresponding to the base station.

25. The method according to claim 23, wherein When the anchor terminal is synchronized through the Global Navigation Satellite System (GNSS), the second information includes the DFN when the first device acquires the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is GNSS.

26. The method according to claim 23, wherein When the anchor terminal is synchronized through another terminal, the second information includes the DFN when the first device acquires the location information of the anchor terminal, and the second information is further used to indicate that the synchronization source of the anchor terminal is a User Equipment (UE).

27. The method according to claim 22, wherein The positioning assistance information does not include the second information, and the acquisition time of the position information indicating the anchor terminal is the time when the second device receives the positioning assistance information, where the second information indicates the acquisition time of the position information of the anchor terminal.

28. The method according to any one of claims 16 to 27, characterized in that, The moving speed of the anchor terminal includes the moving speed of the ARP on the anchor terminal.

29. The method according to any one of claims 16 to 28, characterized in that, The positioning assistance information is carried in the first SLPP message.

30. The method according to claim 29, wherein The method further includes: Sending a second SLPP message to the first device, where the second SLPP message is used to request the positioning assistance information.

31. The method according to any one of claims 16 to 30, characterized in that, The first device and the second device include one of the following combinations: The first device is an anchor terminal and the second device is a server terminal; The first device is an anchor terminal and the second device is an LMF; The first device is an anchor terminal and the second device is a target terminal; The first device is a first anchor terminal and the second device is a second anchor terminal; The first device is a server terminal and the second device is a target terminal; The first device is an LMF and the second device is a target terminal.

32. A positioning device, characterized in that, The device includes: A transceiver module, configured to send positioning assistance information to a second device, where the positioning assistance information indicates the moving speed of an anchor terminal.

33. A positioning device, characterized in that, The device includes: A transceiver module, configured to receive positioning assistance information sent by a first device, where the positioning assistance information indicates the moving speed of an anchor terminal.

34. A communication device, characterized in that, Includes: One or more processors; Wherein, the processor is configured to call instructions to cause the communication device to execute the positioning method according to any one of claims 1-31.

35. A communication system, characterized in that, Includes a first device and a second device, where the first device is configured to implement the positioning method according to any one of claims 1-15, and the second device is configured to implement the positioning method according to any one of claims 16-31.

36. A storage medium storing instructions, characterized in that, When the instructions run on the communication device, the communication device is caused to execute the positioning method according to any one of claims 1-31.

Images