Communication method and apparatus, and electronic device

Abstract

Provided in the embodiments of the present application are a communication method and apparatus, and an electronic device. The method is applied to a first terminal device, and the method comprises: receiving a first message sent by a first communication apparatus, wherein the first message is used for requesting location information of a second terminal device; sending a second message to the second terminal device, wherein the second message comprises configuration information of positioning resources; receiving a third message sent by the second terminal device over the positioning resources, wherein the third message carries a positioning signal; and sending a fourth message to the first communication apparatus, wherein the fourth message comprises second time information of a first terminal device, such that the first communication apparatus obtains the location information of the second terminal device on the basis of first time information and second time information of at least three first terminal devices. In this way, the amount of time drift between a first terminal device and a second terminal device is calibrated, and the error range of the location of the second terminal device is reduced, thereby improving the accuracy of a first communication apparatus positioning the second terminal device.

Description

Communication method, apparatus and electronic device

[0001] The present application claims priority from the Chinese patent application No. 202510214526.8 filed on February 24, 2025, and entitled "Communication method, apparatus and electronic device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of communication, in particular to a communication method, apparatus and electronic device. BACKGROUND

[0003] The core network system needs to obtain the location information of the target user equipment (UE) through the base station, and then determine the location of the target UE. However, as the wireless communication frequency band develops to a higher frequency band, the network coverage range of the base station decreases, and the base station cannot obtain the location information of the target UE outside the network coverage range.

[0004] At present, the sidelink (SL) positioning method is often used, and the base station can obtain the propagation delay of the auxiliary UE within the network coverage range of the base station, so as to enable the core network system to determine the location of the target UE.

[0005] However, the duration of the signal sent by the target UE to the auxiliary UE may have errors, and thus the location of the target UE determined by the core network system has errors. Therefore, how to accurately position the target UE outside the network coverage range of the base station has become a problem to be solved. SUMMARY

[0006] The present application provides a communication method, apparatus and electronic device, which can calibrate the time drift between the first terminal device and the second terminal device, solve the problem of errors in the time information of the signal transmission between the first terminal device and the second terminal device in the related art, and improve the accuracy of the first communication device in obtaining the location information of the second terminal device.

[0007] To achieve the above-mentioned purpose, embodiments of the present application adopt the following technical solutions:

[0008] In a first aspect, a communication method is provided, applied to a first terminal device, and the method comprises:

[0009] receiving a first message sent by a first communication device, the first message being used to request the location information of a second terminal device, the first message comprising location performance requirement information, the location performance requirement information at least comprising accuracy and time delay;

[0010] allocate the positioning resource and / or the sensing resource, and send a second message to the second terminal device, the second message comprising configuration information of the positioning resource, a difference between a time slot offset of the positioning resource and a time slot offset of the sensing resource being less than or equal to a time threshold in case of alignment of transmission frames, the positioning resource and the sensing resource both being associated with the position performance requirement information;

[0011] receive a third message sent by the second terminal device on the positioning resource, the third message carrying the positioning signal;

[0012] send a fourth message to the first communication device, the fourth message comprising second time information of the first terminal device, the second time information being used to indicate a propagation time delay of the positioning signal, so that the first communication device obtains position information of the second terminal device according to the first time information and the second time information of the at least three first terminal devices, the first time information being used to indicate an amount of time drift between the first terminal device and the second terminal device, the first time information being associated with the sensing resource.

[0013] In the method of the first aspect, the first terminal device allocates the positioning resource according to the position performance requirement information in the first message after receiving the first message. In case of alignment of transmission frames of the positioning resource and the sensing resource, a difference between a time slot offset of the positioning resource and a time slot offset of the sensing resource is less than or equal to a time threshold. The first terminal device sends a second message comprising configuration information of the positioning resource to the second terminal device on the positioning resource, so as to facilitate the second terminal device to send a third message carrying the positioning signal to the first terminal device, and further facilitate the first terminal device to determine the second time information. The first communication device can calibrate an actual propagation time delay of the positioning signal according to the second time information and the obtained first time information, avoid positioning error of the second terminal device caused by time synchronization error between the second terminal device and the first terminal device, and improve accuracy of the position information of the second terminal device.

[0014] In a possible implementation manner of the first aspect, the method further comprises:

[0015] send a sensing signal to the second terminal device on the sensing resource, and detect a sensing echo of the second terminal device;

[0016] send a fourth message to the first communication device, the fourth message comprising third time information of the first terminal device, the third time information being used to indicate a transmission and reception time length of the sensing signal, the third time information being determined by the first terminal device according to the sensing signal and the sensing echo, so that the first communication device determines the first time information of the first terminal device according to the second time information and the third time information of the first terminal device.

[0017] Therefore, the first terminal device sends a sensing signal to the second terminal device based on sensing resources and detects the sensing echo from the second terminal device, thereby determining the third time information of the first terminal device, namely the transmission and reception time information of the sensing signal. The first terminal device sends a fourth message containing the third time information to the first communication device, thereby facilitating the first communication device to determine the first time information based on the second and third time information of the first terminal device.

[0018] In one possible implementation of the first aspect, detecting the sensing echo of the second terminal device includes:

[0019] Multiple sensing echoes were detected on multiple beams;

[0020] If the first identifier in the third message is a predefined identifier, the sensing echo of the second terminal device is determined to be the sensing echo with the highest signal strength among the sensing echoes detected on the first beam. The predefined identifier is used to indicate that the sensing echo on the first beam is reflected by the second terminal device. The first beam is one of multiple beams.

[0021] Therefore, the first terminal device detects multiple sensing echoes on multiple beams. When the first identifier is a predefined identifier, the first terminal device can determine that the first beam is the beam from which it detects the sensing echoes. The first beam can detect multiple sensing echoes reflected by the second terminal device. The sensing echo with the strongest signal strength among the multiple sensing echoes is the sensing echo of the second terminal device, thus facilitating the first terminal device to determine its third time information based on the sensing echo of the second terminal device.

[0022] Secondly, a communication method is provided, applied to a first communication device, the method comprising:

[0023] Send a first message to at least three first terminal devices. The first message is used to request the location information of the second terminal devices. The first message includes location performance requirement information, which includes at least accuracy and latency.

[0024] The system receives a fourth message sent by each first terminal device. The fourth message includes second time information of the first terminal device. The second time information is used to indicate the propagation delay of the positioning signal. The positioning signal is carried on a third message sent by the second terminal device to the first terminal device on the positioning resources. Under the condition of transmission frame alignment, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with the location performance requirement information. The configuration information of the positioning resources is included in the second message, which is sent by the first terminal device to the second terminal device.

[0025] Obtain first-time information from each first-terminal device. The first-time information is used to indicate the amount of time drift between the first-terminal device and the second-terminal device. The first-time information is associated with sensing resources.

[0026] The location information of the second terminal device is obtained based on the first time information and the second time information of each first terminal device.

[0027] Based on the second aspect of the method, the first communication device sends a first message to at least three first terminal devices. Upon receiving the first message, any one of the first terminal devices allocates positioning resources according to the location performance requirements information in the first message. The difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. The first terminal device sends a second message containing configuration information of the positioning resources to the second terminal devices, facilitating the second terminal devices to send a third message carrying positioning signals to the first terminal devices, thereby facilitating the first terminal devices to determine the second time information. The first communication device can calibrate the actual propagation delay of the positioning signal based on the second time information and the obtained first time information, avoiding positioning errors in the second terminal devices caused by time synchronization errors between the second and first terminal devices, and improving the accuracy of the location information of the second terminal devices.

[0028] In one possible implementation of the second aspect, obtaining the first-time information of each first terminal device includes:

[0029] The system receives a fourth message sent by the first terminal device. The fourth message includes the third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo of the second terminal device. The sensing signal is sent by the first terminal device to the second terminal device on the sensing resource. The sensing echo is detected by the first terminal device.

[0030] The first time information of the first terminal device is determined based on the second time information and the third time information of the first terminal device.

[0031] Therefore, each first terminal device sends a sensing signal to the second terminal device based on its sensing resources and detects the sensing echo from the second terminal device, thereby determining the third time information of the first terminal device, namely the transmission and reception time information of the sensing signal. The first terminal device sends a fourth message containing the third time information to the first communication device, which then facilitates the first communication device in determining the first time information based on the second and third time information of the first terminal device.

[0032] In one possible implementation of the second aspect, obtaining the first-time information of each first terminal device includes:

[0033] The first-time information of each terminal device is stored historically.

[0034] Therefore, the first communication device can store the first time information of the first terminal device, which makes it easier for the first communication device to directly calibrate the propagation delay of the positioning signal sent by the second terminal device. There is no need for the first terminal device to send a sensing signal to the second terminal device to determine the third time information. This reduces the resource consumption of the first terminal device in allocating sensing resources, reduces the signaling overhead of the first terminal device in sending sensing signals, improves the speed of the first communication device in locating the second terminal device, and improves communication efficiency.

[0035] In one possible implementation of the second aspect, the location information of the second terminal device is obtained based on the first time information and the second time information of each first terminal device, including:

[0036] Based on the first time information and second time information of at least three first terminal devices, determine the fourth time information of each first terminal device;

[0037] Based on the fourth time information of each first terminal device, determine the transmission distance difference between at least two first terminal devices;

[0038] The location information of the second terminal device is determined based on the transmission distance difference between at least two first terminal devices.

[0039] Therefore, the first communication device determines a fourth time information based on the first and second time information of the first terminal device, and calibrates the time information of the first terminal device receiving the positioning signal sent by the second terminal device. Based on at least three fourth time information sets, the first communication device determines the difference between any two sets of fourth time information, and then determines the distance differences between multiple second terminal devices and the first terminal device. The position information of the second terminal device lies on a hyperbola with any two first terminal devices as focal points and the transmission distance difference as the focal length. The intersection of at least two hyperbolas is the position information of the second terminal device, thereby reducing the error range of the position information of the second terminal device and improving the positioning accuracy of the first communication device.

[0040] In one possible implementation of the first or second aspect, the second message further includes beam information of the positioning signal and / or the identifier of the positioning signal.

[0041] Therefore, the second message also includes beam information of the positioning signal and / or the identifier of the positioning signal, so that the second terminal device can carry the beam information of the positioning signal and / or the identifier of the positioning signal in the positioning signal it sends, thereby making it easier for the first terminal device to determine which of the multiple sensing echoes detected is the sensing echo reflected by the second terminal device based on the information carried.

[0042] In one possible implementation of the first or second aspect, the first communication device includes a positioning management function network element in the core network system.

[0043] Thirdly, a communication device is provided for use in a first terminal device, the device comprising: a module for performing the method described in the first aspect and any possible implementation thereof.

[0044] Fourthly, a communication device is provided for use with a first communication device, the device comprising: a module for performing the method in the second aspect and any possible implementation thereof.

[0045] Fifthly, a communication system is provided, comprising: a first communication device, a second terminal device, and at least three first terminal devices, wherein the first communication device is configured to execute the method in the second aspect and any possible implementation thereof, and the first terminal devices are configured to execute the method in the first aspect and any possible implementation thereof.

[0046] A sixth aspect provides a communication device comprising: at least one processor and an interface circuit, the interface circuit being configured to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, the processor being configured to implement the methods of the first aspect and any possible implementation thereof through logic circuits or execution code instructions, and / or the processor being configured to implement the methods of the second aspect and any possible implementation thereof through logic circuits or execution code instructions.

[0047] Optionally, the communication device further includes a memory for storing program instructions. The processor is coupled to the memory via an interface.

[0048] In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program or instructions configured to perform a method of any of the foregoing aspects and any possible implementation thereof.

[0049] Eighthly, a chip is provided, comprising: an interface circuit and a logic circuit, wherein the interface circuit is used to receive signals from other chips outside the chip and transmit them to the logic circuit, or to send signals from the logic circuit to other chips outside the chip, and the logic circuit is used to implement any of the above aspects and any possible implementation of the above aspects.

[0050] Ninthly, a computer program product is provided, comprising: a computer program or instructions that, when executed on a computer, cause the computer to perform any of the above aspects and any possible implementation thereof. Attached Figure Description

[0051] Figure 1 is a schematic diagram of a communication method provided in an embodiment of this application;

[0052] Figure 2 is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0053] Figure 3 is a signaling interaction diagram of a communication method provided in an embodiment of this application;

[0054] Figure 4 is a signaling interaction diagram of a communication method provided in an embodiment of this application;

[0055] Figure 5 is a schematic diagram of a sensing echo provided in an embodiment of this application;

[0056] Figure 6 is a timing diagram of a communication method provided in an embodiment of this application;

[0057] Figure 7 is a signaling interaction diagram of a communication method provided in an embodiment of this application;

[0058] Figure 8 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0059] Figure 9 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0060] Figure 10 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0061] Figure 11 is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application;

[0062] Figure 12 is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. "Multiple" can be understood as "at least two"; "multiple items" can be understood as "at least two items."

[0064] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0065] In the embodiments of this application, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0066] In the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "connected", and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0067] As wireless communication frequency bands evolve towards higher frequencies such as millimeter waves and terahertz, the sub-carrier spacing (SCS) increases, the cyclic prefix (CP) decreases, and the symbol time shortens, resulting in shorter signal transmission distances and limiting the coverage area of ​​network-connected UEs. How the core network system can accurately and promptly locate target UEs outside the network coverage area of ​​base stations has become a pressing issue.

[0068] Release 18 (R18) of the 3rd Generation Partnership Project (3GPP) introduced the SL positioning method, which allows base stations to locate a target UE by using an auxiliary UE within the network coverage area, thereby obtaining the target UE's location information.

[0069] The SL positioning method may include any one or more combinations of the sidelink round-trip time (SL-RTT) positioning method, the sidelink angle of arrival (SL-AoA) positioning method, the sidelink time difference of arrival (SL-TDOA) positioning method, or the sidelink time of arrival (SL-TOA) positioning method. This application does not limit the method.

[0070] In the SL-RTT positioning method, the core network system can obtain the transmission and reception duration of the signal between the auxiliary UE and the target UE through the base station, thereby determining the location of the target UE.

[0071] In the SL-AoA positioning method, the core network system can obtain the angle information between the auxiliary UE and the target UE through the base station, and then determine the position of the target UE.

[0072] In the SL-TDOA positioning method, the core network system can obtain the propagation delay of the transmitted signal between the auxiliary UE and the target UE through the base station, determine the difference between multiple propagation delays, and calculate the difference between the distances between multiple auxiliary UEs and the target UE, thereby determining the location of the target UE.

[0073] In the SL-TOA positioning method, the core network system can obtain the propagation delay of the transmitted signal between the auxiliary UE and the target UE through the base station, and calculate the distance between the auxiliary UE and the target UE, thereby determining the location of the target UE.

[0074] The following section uses the SL-TDOA positioning method as an example to describe in detail how the core network system locates the target UE.

[0075] Please refer to Figure 1, which is a schematic diagram of a communication method provided in an embodiment of this application. As shown in Figure 1, the SL-TDOA positioning method includes at least three auxiliary UEs (e.g., UE1, UE2, and UE3) and one target UE (e.g., UE4).

[0076] The core network system can obtain the duration of signal reception by the auxiliary UE from the target UE through the base station. For example, the duration T1 for UE1 to receive the signal from UE4, the duration T2 for UE2 to receive the signal from UE4, and the duration T3 for UE3 to receive the signal from UE4. The core network system can determine the difference T4 between T1 and T2, and the difference T5 between T1 and T3, and thus determine the transmission distance differences D1 and D2. D1 is the product of T4 and the speed of light, and D2 is the product of T5 and the speed of light. Constructing a hyperbola S1 with UE1 and UE2 as foci and D1 as focal length, and a hyperbola S2 with UE1 and UE3 as foci and D2 as focal length, UE4 is located at the intersection of S1 and S2.

[0077] In order to obtain the specific location of the target UE, the base station needs to form two or more hyperbolas through at least three auxiliary UEs. The intersection of the multiple hyperbolas is the location of the target UE.

[0078] However, the timing systems of multiple auxiliary UEs may differ, leading to errors in the duration obtained by the core network system from the base station. Furthermore, the different environments in which the auxiliary UEs operate and / or their varying degrees of aging may cause different time drifts in the crystal oscillators of the auxiliary UEs, resulting in errors in the duration obtained by the core network system. All of these factors can cause range errors in the location of the target UE determined by the core network system. For example, a 1-nanosecond time synchronization error in the transmission time information obtained by the core network system will result in a 30-centimeter distance error in determining the target UE's location, thus introducing a certain range of positioning errors into the SL-TDOA positioning method, as shown in the black area of ​​Figure 1.

[0079] Based on the above description, embodiments of this application provide a communication method. This method can calibrate the duration error of multiple auxiliary UEs and reduce the location range error of the target UE. The communication method of this application embodiment can be applied to a communication system.

[0080] The communication system may include, but is not limited to, the following systems: Long Term Evolution (LTE) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5th Generation (5G) systems or New Radio (NR) systems, 5.5G systems or 6th Generation (6G) systems, and future mobile communication systems; Vehicle-to-X (V2X), where V2X can include Vehicle-to-Network (V2N), Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), Vehicle-to-Pedestrian (V2P), etc.; Long Term Evolution-Vehicle (LTE-V) technology for vehicle-to-everything (V2V) communication; Vehicle-to-Everything (V2X) communication; Machine-Type Communication (MTC); Internet of Things (IoT); and Long Term Evolution-Vehicle (LTE-V) technology for machine-to-machine communication. Evolution-machine (LTE-M), machine-to-machine (M2M), etc. The applicable scenarios for this communication system include, but are not limited to: terrestrial cellular communication, non-terrestrial network (NTN), satellite communication, high altitude platform station (HAPS) communication, vehicle-to-everything (V2X) communication, integrated access and backhaul (IAB) communication, and reconfigurable intelligent surface (RIS) communication.

[0081] Please refer to Figure 2, which is a schematic diagram of the architecture of a communication system provided in an embodiment of this application. As shown in Figure 2, the communication system provided in this embodiment may include: a first communication device 10, a second terminal device 30, and at least three first terminal devices 20. The first terminal device 20 is a terminal device that can directly interact with the first communication device 10. The first terminal device 20 may also be referred to as an auxiliary UE, such as UE1, UE2, or UE3 in Figure 2. The second terminal device 30 is a terminal device that cannot directly interact with the first communication device 10. The second terminal device 30 may also be referred to as a target UE, such as UE4 in Figure 2. The first communication device 10 can communicate with the first terminal device 20, and the first terminal device 20 can communicate with the second terminal device 30.

[0082] The first communication device 10 is used to request the location information of the second terminal device 30. The first communication device 10 may include a location management function (LMF) network element in the core network system.

[0083] The LMF network element is used to collect and calculate the location information of the second terminal device 30. For example, the LMF network element is used to collect the signal transmission duration of the second terminal device 30 and calculate the location information of the second terminal device 30.

[0084] The first terminal device 20 described above can assist the first communication device 10 in obtaining the location information of the second terminal device 30. In some embodiments, the number of first terminal devices 20 can be three. In other embodiments, the number of first terminal devices 20 can be more than three, and this application does not limit this.

[0085] The aforementioned second terminal device 30 is the terminal device for which the first communication device 10 needs to obtain location information. The number of second terminal devices 30 can be one or more, and this application embodiment does not limit this.

[0086] The terminal device in this application embodiment can also be referred to as: UE, station, mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user equipment, etc.

[0087] Terminal devices can be devices that provide voice / data connectivity to users, such as handheld devices with wireless connectivity, in-vehicle devices, etc. Currently, examples of terminals include: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals with cloud gaming capabilities, wireless terminals in self-driving vehicles, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in 5G networks, or future public land mobile communication networks. Terminal devices in a network (PLMN), etc., are not limited to this in the embodiments of this application.

[0088] As an example and not a limitation, in this embodiment, the terminal device can also be a wearable device. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not merely hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific type of application function and require the use of other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0089] Furthermore, in this embodiment, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of future information technology development, and its main technical feature is connecting objects to networks through communication technologies, thereby realizing an intelligent network of human-machine interconnection and machine-to-machine interconnection. The embodiments of this application do not limit the specific technologies or device forms used in the terminal device.

[0090] In this embodiment, the terminal device may include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. Furthermore, this embodiment does not specifically limit the structure of the execution entity of the method provided in this embodiment, as long as it can communicate according to the method provided in this embodiment by running a program that records the code of the method provided in this embodiment. For example, the execution entity of the method provided in this embodiment can be a terminal device, or a functional module in the terminal device that can call and execute a program.

[0091] It should be understood that Figure 2 is only an exemplary description. The first communication device 10 can also interact with the first terminal device through a network device to obtain the location information of the second terminal device 30. This application embodiment does not limit this.

[0092] The aforementioned network device may be a device that provides wireless interface transmission services to the first terminal device 20. This application embodiment does not specifically limit the form of the network device. For example, the network device may be a base station, which provides various services, such as data transmission services, to the first terminal device 20 through a wireless interface.

[0093] The base station can be an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a next-generation 6G communication system, a base station in a future mobile communication system, an access point (AP) in a WiFi system, a radio controller, relay station, access point, vehicle-mounted equipment, wearable devices, or network equipment in other future communication systems. Alternatively, the network equipment can be a module or unit that performs some of the functions of a base station; for example, it can be a central unit (CU) or a distributed unit (DU). This application does not limit the specific technology or equipment form used in the network equipment.

[0094] Below, this application embodiment will take the first communication device 10, the second terminal device 30, and at least three first terminal devices 20 having the structure shown in FIG2 as examples, and in conjunction with the accompanying drawings and application scenarios, to describe in detail the communication method provided by this application embodiment.

[0095] This method is executed by a first communication device, a second terminal device, and at least three first terminal devices. The first communication device can be the first communication device 10 in Figure 2. The first terminal device can be the first terminal device 20 in Figure 2 or a device within the first terminal device 20. The second terminal device can be the second terminal device 30 in Figure 2 or a device within the second terminal device 30. For simplicity, the method is explained using the example of it being executed by a first communication device, a second terminal device, and at least three first terminal devices.

[0096] Please refer to Figure 3, which is a signaling interaction diagram of a communication method provided in an embodiment of this application. As shown in Figure 3, the communication method provided in this embodiment may include:

[0097] S101, The first communication device sends a first message to at least three first terminal devices.

[0098] Correspondingly, at least three first terminal devices receive the first message sent by the first communication device.

[0099] The first message is used to request the location information of the second terminal device. The first message includes location performance requirements information, which includes at least accuracy and latency.

[0100] The first message can be sent via the link-state pass-through (LPT) protocol, or it can be sent via other protocols. This application does not limit the specific protocol used.

[0101] The at least three first terminal devices are at least three terminal devices from a set of terminal devices that directly interact with the first communication device. The number of first terminal devices can be three or more, and this application embodiment does not limit this.

[0102] For example, if UE1, UE2, UE3, UE5 and UE6 can directly interact with the first communication device, then at least three first terminal devices can be any three of UE1, UE2, UE3, UE5 and UE6, and at least three first terminal devices can be any four or five of UE1, UE2, UE3, UE5 and UE6.

[0103] Among them, the location performance requirement information refers to the required location error range of the second terminal device. The higher the location performance requirement, the smaller the location error range, and the more accurate the location of the second terminal device.

[0104] The location performance requirement information is used to ensure that the location error range of the second terminal device meets specific requirements or application needs. The location performance requirement information may include accuracy and latency, and may also include other information, which is not limited in this embodiment.

[0105] The accuracy can be defined as the position range error of the second terminal device. The higher the accuracy requirement, the more bandwidth resources are allocated to the first terminal device, and the more accurate the position information of the second terminal device.

[0106] In some embodiments, accuracy can be characterized by a specific numerical value, such as 1 meter. In other embodiments, accuracy can be characterized by a numerical range, such as 0 meters to 1 meter, representing that the position estimation range error of the second terminal device does not exceed 1 meter. In still other embodiments, accuracy can be characterized by bits, with a mapping relationship between bits and accuracy. For example, an accuracy of bit 0 represents a position estimation range error of 1 meter for the second terminal device. This application does not limit the specific accuracy in this regard.

[0107] The latency refers to the time it takes for the first terminal device to obtain the location information of the second terminal device. The lower the latency, the more accurate the location information of the second terminal device.

[0108] In some embodiments, latency can be characterized by a specific numerical value, such as 1 millisecond. In other embodiments, latency can be characterized by a numerical range, such as 0 milliseconds to 10 milliseconds, representing that the time it takes for the first terminal device to obtain location information is at most 10 milliseconds. This application does not limit this aspect.

[0109] In summary, the first communication device can send a first message, including location performance requirement information, to at least three first terminal devices to request the location information of the second terminal devices. This ensures that the location error range of the second terminal devices meets specific requirements or application needs, thereby improving the accuracy of the location information of the second terminal devices.

[0110] S102, at least three first terminal devices allocate positioning resources and / or sensing resources, and send a second message to the second terminal devices.

[0111] Correspondingly, the second terminal device receives at least three second messages sent by the first terminal devices.

[0112] The second message includes configuration information for positioning resources. When the transmission frames are aligned, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with location performance requirements information.

[0113] The second message can be sent through sidelink control information (SCI) in the physical sidelink control channel (PSCCH), or it can be sent through other communication interfaces. This application embodiment does not limit this.

[0114] In S102, at least three first terminal devices are a subset or the entire set of first terminal devices in S101. For example, if at least three first terminal devices in S101 are UE1, UE2, UE3, and UE5, then at least three first terminal devices in S102 can be any three of UE1, UE2, UE3, and UE5, or they can be UE1, UE2, UE3, and UE5. This embodiment of the application does not limit this.

[0115] The positioning resources are used by the first terminal device to determine the propagation delay of the second terminal device. The positioning resources may include frequency domain resources and / or time domain resources, which are resources allocated by the first terminal device based on location performance requirements.

[0116] The sensing resources are used to calibrate the time drift between the first terminal device and the second terminal device. These sensing resources may include frequency domain resources and time domain resources, with the frequency domain resources and / or time domain resources allocated by the first terminal device based on location performance requirements.

[0117] In some embodiments, the higher the precision, the more frequency domain resources are allocated to the first terminal device. The lower the latency, the more time domain resources are allocated to the first terminal device.

[0118] Location resources and sensing resources can share the same frequency domain resources and / or time domain resources. For example, location resources and sensing resources can share frequency domain resources ranging from 0 MHz to 100 MHz. Location resources and sensing resources can also not share the same frequency domain resources and / or time domain resources. For example, the frequency domain range of location resources is 0 MHz to 50 MHz, and the frequency domain range of sensing resources is 50 MHz to 100 MHz. This application does not limit this.

[0119] For any one of at least three first terminal devices, when the first communication device calibrates the time drift between the first terminal device and the second terminal device for the first time, the first terminal device may allocate sensing resources and positioning resources. When the first communication device does not calibrate the time drift between the first terminal device and the second terminal device for the first time, the first terminal device may allocate only positioning resources. This application embodiment does not limit this.

[0120] Among them, transmission frame alignment refers to the allocation of positioning resources and sensing resources by the first terminal device at the same reference time, such as time m.

[0121] Because the first terminal device cannot allocate positioning resources and sensing resources simultaneously, there is a time slot offset between the positioning resources and sensing resources allocated by the first terminal device.

[0122] The time slot offset for positioning resources is the offset between the actual time the first terminal device allocates positioning resources and the reference time, while the time slot offset for sensing resources is the offset between the actual time the first terminal device allocates sensing resources and the reference time. For example, if the actual time the first terminal device allocates positioning resources is time p, the time slot offset for positioning resources can be pm. If the actual time the first terminal device allocates sensing resources is time q, the time slot offset for sensing resources can be qm.

[0123] One of the time thresholds is a predefined value. A time threshold can be any one of a period of the positioning resource, half a period of the positioning resource, or 1 / 4 of a period of the positioning resource. A time threshold can also be one time slot length or half a time slot length, or multiple symbol lengths. This application embodiment does not limit this.

[0124] With frame alignment, the difference between the time slot offset of the positioning resource and the time slot offset of the sensing resource is less than or equal to a time threshold, for example, one period of the positioning resource, i.e., pq, must be less than or equal to one period of the positioning resource allocated to the first terminal device. (Positioning resource period) This can be expressed by the following formula:

[0125] Where μ is a reference value for the subcarrier spacing of the positioning resources, and slots is the period length.

[0126] In summary, for any one of the at least three first terminal devices in S102, after receiving the location performance requirement information, the first terminal device allocates positioning resources and / or sensing resources, and sends a second message including the configuration information of the positioning resources to the second terminal device, so that the second terminal device sends the location information of the second terminal device on the positioning resources, thereby facilitating the first terminal device to determine the propagation delay of the second terminal device.

[0127] With frame alignment, the difference between the time slot offset of the positioning resource and the time slot offset of the sensing resource is less than or equal to a time threshold, thereby avoiding the situation where the position of the second terminal device changes due to an excessively large difference, which would cause the position information of the second terminal device obtained by the first communication device to deviate.

[0128] S103, the second terminal device sends a third message to at least three first terminal devices regarding positioning resources.

[0129] Correspondingly, at least three first terminal devices receive a third message sent by the second terminal device on the location resources.

[0130] The third message carries a location signal.

[0131] In S103, at least three first terminal devices are a subset or the entire set of first terminal devices in S102. For example, if at least three first terminal devices in S102 are UE1, UE2, UE3, and UE5, then at least three first terminal devices in S103 can be any three of UE1, UE2, UE3, and UE5, or they can be UE1, UE2, UE3, and UE5. This embodiment of the application does not limit this.

[0132] The positioning signal is used to determine the location information of the second terminal device. The positioning signal can be represented by multiple bits, but this application embodiment does not limit this.

[0133] The positioning signal can also be called the positioning reference signal (PRS), but this application does not limit it to this.

[0134] The third message carries a location signal and may also carry other information, such as an indicator of the location signal and / or the identifier of the second terminal device. This application embodiment does not limit this.

[0135] The location signal indicator and / or the identifier of the second terminal device are used by the first terminal device to determine that the received location signal was sent by the second terminal device.

[0136] The location signal indicator can be represented by multiple bits. For example, bit 010111 indicates that the location signal received by the first terminal device was sent by the second terminal device. The location signal indicator can also be represented in other ways, which are not limited in this application embodiment.

[0137] The third message can be sent through a proximity communication interface, such as the PC5 interface. The third message can also be sent through other interfaces, but this application embodiment does not limit this.

[0138] In summary, the second terminal device sends positioning signals to at least three first terminal devices in terms of positioning resources, which facilitates the first terminal devices in determining the propagation delay of the positioning signals, and thus facilitates the first communication device in determining the location information of the second terminal devices.

[0139] S104, at least three first terminal devices send a fourth message to the first communication device.

[0140] Correspondingly, the first communication device receives a fourth message sent by at least three first terminal devices.

[0141] The fourth message includes the second time information of the first terminal device, which is used to indicate the propagation delay of the positioning signal.

[0142] In S104, at least three first terminal devices are a subset or the entire set of first terminal devices in S103. For example, if at least three first terminal devices in S104 are UE1, UE2, UE3, and UE5, then at least three first terminal devices in S103 can be any three of UE1, UE2, UE3, and UE5, or they can be UE1, UE2, UE3, and UE5. This embodiment of the application does not limit this.

[0143] The second time information is used to indicate the propagation delay of the positioning signal, which is the duration for the second terminal device to send the positioning signal to the first terminal device.

[0144] In summary, at least three first terminal devices send second time information of the first terminal devices to the first communication device so that the first communication device can determine the location information of the second terminal devices.

[0145] S105, The first communication device obtains the first real-time information of each first terminal device.

[0146] Each of the first terminal devices is at least three first terminal devices in S104.

[0147] The first time information is used to indicate the amount of time drift between the first terminal device and the second terminal device, and the first time information is associated with sensing resources.

[0148] Here, time drift refers to the clock difference between the first terminal device and the second terminal device. In some embodiments, time drift is related to the time systems of the first and second terminal devices. In other embodiments, time drift is related to the environment in which the first and second terminal devices are located; for example, differences in temperature or humidity in the environments of the first and second terminal devices lead to different time drifts. In still other embodiments, time drift is related to the aging degree of the first and second terminal devices; for example, differences in aging degree lead to different time drifts. This application does not limit the scope of this embodiment.

[0149] The first time information is used to indicate the amount of time drift between the first terminal device and the second terminal device.

[0150] When the first communication device acquires the first time information for the first time, the first time information is associated with sensing resources. The first terminal device then detects the second terminal device on the sensing resources to determine the first time information of each first terminal device. When the first communication device acquires the first time information for the first time before, the first terminal device can directly acquire the first time information of each first terminal device stored in its history. The specific implementation method can be referred to the exemplary descriptions of Method 1 and Method 2 below, and will not be repeated here.

[0151] When the first communication device acquires the first time information for the first time for the first time, S105 is executed after S104. When the first communication device acquires the first time information for the first time other than for the first time, S105 can be executed asynchronously with S102-S104, or it can be executed before S102-S104, or it can be executed after S104. This application embodiment does not limit this.

[0152] In summary, the first communication device can obtain the first time information of each first terminal device to calibrate the time drift of each first terminal device, thereby reducing the position range error of the second terminal device and accurately determining the position information of the second terminal device.

[0153] S106. The first communication device obtains the location information of the second terminal device based on the first time information and the second time information of each first terminal device.

[0154] Each of the first terminal devices is at least three first terminal devices in S104.

[0155] The first communication device can determine the propagation delay between the second terminal devices by using the first time information and the second time information of each first terminal device, and calculate the difference in distance between each first terminal device and the second terminal device, thereby determining the location of the second terminal devices.

[0156] In related technologies, the first communication device acquires the second time information of each first terminal device to determine the location of the second terminal device. However, this method does not consider the time drift between the first and second terminal devices, resulting in a range error in the location of the second terminal device, as shown in the black area in Figure 1.

[0157] Compared with related technologies, the first communication device acquires the first time information of each first terminal device, thereby calibrating the time drift between the first terminal device and the second terminal device, reducing the position range error of the second terminal device, narrowing the range of the black area in Figure 1, and improving the position accuracy of the second terminal device.

[0158] The communication method provided in this application embodiment involves at least three first terminal devices, after receiving a location information request for the same second terminal device, allocating positioning resources and / or sensing resources according to location performance requirements. The difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. For any one of the at least three first terminal devices, the first terminal device sends configuration information of the positioning resources to the second terminal device, facilitating the second terminal device to send positioning signals to the first terminal device, thereby facilitating the first terminal device to determine the second time information. The first communication device can calibrate the actual propagation delay of the positioning signal based on the second time information and the first time information, reducing the position error range of the second terminal device and improving the position accuracy of the second terminal device.

[0159] Based on the above embodiments, in addition to including the configuration information of the positioning resources, the second message may also include the beam information of the positioning signal and / or the identifier of the positioning signal.

[0160] Among them, the beam information of the positioning signal is used to indicate on which beam the first terminal device detects the positioning signal.

[0161] The location signal identifier is used by the second terminal device to carry the identifier in the third message it sends, thereby facilitating the first terminal device to determine which of the multiple detected sensing echoes is the sensing echo reflected by the second terminal device. The location signal identifier can be indicated by multiple bits, or it can be indicated by the identifier of the second terminal device; this application embodiment does not limit this.

[0162] In summary, the second message also includes beam information and / or the identifier of the positioning signal, which facilitates the second terminal device to carry the beam information and / or the identifier of the positioning signal in the positioning signal it transmits, thereby facilitating the first terminal device to determine which of the multiple detected sensing echoes is the sensing echo reflected by the second terminal device based on the information carried.

[0163] Based on the above description, the first communication device can calibrate the time drift of the first terminal device using the first time information, thereby calibrating the propagation delay of the positioning signal. The first time information of each first terminal device can be determined in various ways.

[0164] In Method 1, each first terminal device sends a sensing signal to the second terminal device and detects the sensing echo to determine the transmission and reception time information of the sensing signal. The first communication device determines the first time information of at least three first terminal devices based on the transmission and reception time information of the sensing signal and the propagation delay information of the positioning signal.

[0165] In Method 2, the first communication device will store the first time information of at least three first terminal devices.

[0166] The following section uses Method 1 and Method 2 as examples to detail the specific implementation process of the first communication device determining the first time information of the first terminal device.

[0167] Method 1

[0168] Please refer to Figure 4, which is a signaling interaction diagram of a communication method provided in an embodiment of this application. As shown in Figure 4, the communication method provided in this embodiment may include:

[0169] S201. At least three first terminal devices send sensing signals to the second terminal devices on sensing resources and detect the sensing echoes of the second terminal devices.

[0170] Among them, at least three first terminal devices are the first terminal devices in S102.

[0171] Among them, the sensing signal is used by the first terminal device to determine the transmission and reception duration of the second terminal device.

[0172] In some embodiments, the sensing signal may be an electromagnetic wave signal with a certain waveform, such as a pulse wave signal or a continuous wave signal. In other embodiments, the sensing signal may also be an acoustic wave signal, and this application does not limit this aspect.

[0173] The sensing signal can be transmitted on multiple beams or on a single beam; this application does not limit this.

[0174] The sensing echo is the echo reflected or scattered back to the first terminal device after the sensing signal touches the target device or medium. There can be one or more sensing echoes, and this application embodiment does not limit this.

[0175] S202, at least three first terminal devices send a fourth message to the first communication device.

[0176] Correspondingly, the first communication device receives a fourth message sent by at least three first terminal devices.

[0177] The fourth message includes the third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo.

[0178] Among them, at least three first terminal devices are the first terminal devices in S103.

[0179] The transmission and reception duration of the sensing signal refers to the time it takes for the first terminal device to send a sensing signal and detect the sensing echo from the second terminal device.

[0180] S203. The first communication device determines the first time information of the first terminal device based on the second time information and the third time information of the first terminal device.

[0181] In summary, for any one of at least three first terminal devices, the first terminal device sends a sensing signal to the second terminal device in terms of sensing resources and detects the sensing echo of the second terminal device, thereby determining the third time information of the first terminal device, i.e., the transmission and reception duration of the sensing signal. The first terminal device sends the third time information to the first communication device, thereby facilitating the first communication device to determine the first time information based on the second and third time information of the first terminal device.

[0182] Method 2

[0183] The first-time information of each first terminal device is stored historically by the first communication device.

[0184] Each of the first terminal devices is at least three first terminal devices in S104.

[0185] The first time information stored in history can be determined and stored by the first communication device through method one, and the first time information of the first terminal device stored in history can also be determined and stored by other methods. This application embodiment does not limit this.

[0186] In summary, the first communication device can store the first time information of each first terminal device, which facilitates the first communication device to directly calibrate the propagation delay of the positioning signal sent by the second terminal device. This eliminates the need for the first terminal device to allocate sensing resources to determine the third time information, reduces the resource consumption of the first terminal device in allocating sensing resources, reduces the signaling overhead of the first terminal device in sending sensing signals, improves the speed of the first communication device in locating the second terminal device, and improves communication efficiency.

[0187] Based on the above description, the first terminal device needs to detect the sensing echo of the second terminal device to determine the third time information. The specific implementation process of the first terminal device detecting the sensing echo of the second terminal device is described in detail below, with reference to Figure 5.

[0188] Please refer to Figure 5, which is a schematic diagram of a sensing echo provided in an embodiment of this application. As shown in Figure 5, the first terminal device can detect sensing echoes on multiple beams, and the first terminal device can also receive positioning signals sent by the second terminal device on these multiple beams.

[0189] The first terminal device detected multiple sensing echoes on multiple beams.

[0190] The beam is used by the first terminal device to detect and sense echoes and / or receive positioning signals sent by the second terminal device. The number of beams can be three, or more or less than three, and this application embodiment does not limit this.

[0191] The sensed echo can be an echo reflected by the second terminal device, or it can be an echo reflected by other terminal devices besides the second terminal device, as shown in Figure 5. This application embodiment does not limit this.

[0192] The first terminal device can detect multiple sensing echoes on multiple beams. These multiple sensing echoes may be echoes reflected by the second terminal device, or they may be sensing echoes from sources other than the second terminal device. Therefore, the first terminal device also needs to use a first identifier to determine which(s) of the multiple sensing echoes are echoes reflected by the second terminal device.

[0193] If the first identifier in the third message is a predefined identifier, the first terminal device determines that the sensing echo of the second terminal device is the sensing echo with the highest signal strength among the sensing echoes detected on the first beam. The predefined identifier is used to indicate that the sensing echo on the first beam is reflected by the second terminal device. The first beam is one of multiple beams.

[0194] The first identifier is located in the third message. The first identifier is used to indicate that one or more sensing echoes detected by the first terminal device are reflected by the second terminal device.

[0195] In some embodiments, the first identifier may be beam information of the positioning signal. In other embodiments, the first identifier may be an identifier of the positioning signal, which is not limited in this application.

[0196] The first beam is used to detect one or more sensing echoes reflected by the second terminal device. The first beam is one of multiple beams.

[0197] The predefined identifier is used to indicate that the sensing echo on the first beam is reflected by the second terminal device.

[0198] If the first identifier is a predefined identifier, and the first terminal device determines that one or more sensing echoes detected on the first beam are echoes reflected by the second terminal device, then the sensing echo of the second terminal device is the sensing echo with the highest signal strength among the one or more sensing echoes detected on the first beam.

[0199] In one specific embodiment, the first terminal device detects multiple sensing echoes on three beams, such as beam 1, beam 2, and beam 3, wherein one or more sensing echoes can be detected on each beam. For example, the signal strength of the sensing echo on beam 1 is higher than that of the sensing echo on beam 2.

[0200] The first terminal device needs to determine one sensing echo from the multiple sensing echoes. This sensing echo is the one with the highest signal strength or the signal strength that best meets the set threshold. This sensing echo is the sensing echo of the second terminal device.

[0201] The first terminal device can determine the signal strength of each sensing echo by measurement. In this case, the first terminal device cannot determine which beam's sensing echo is the echo reflected by the second terminal device. Therefore, the first terminal device will continue to detect positioning signals on beams 1, 2, and 3. If the first identifier in the positioning signal detected by the first terminal device on a certain beam, such as beams 1 and 2, is a predefined identifier, the first terminal device can determine that sensing echo 1 on beam 1 is the sensing echo reflected by the second terminal device.

[0202] It should be noted that the above measurement operations and the echo determination operations can be performed sequentially or simultaneously.

[0203] In summary, the first terminal device detects multiple sensing echoes on multiple beams. When the first identifier is a predefined identifier, the first terminal device can determine that the first beam is the beam from which it detects the sensing echoes. The first beam can detect multiple sensing echoes reflected by the second terminal device. The sensing echo with the strongest signal strength among these multiple sensing echoes is the sensing echo from the second terminal device, thus facilitating the first terminal device to determine its third time information based on the sensing echo from the second terminal device.

[0204] Based on the above description, the first communication device can determine the first time information of the first terminal device through the second time information and the third time information. Below, Formula 1 will be used to describe in detail how the first communication device determines the first time information of the first terminal device. 2(t+Δt)=t' Formula 1;

[0205] Where t is the propagation delay of the positioning signal transmitted by the second terminal device as determined by the second time information, t' is the transmission and reception duration of the sensing signal transmitted by the second terminal device and the sensing echo signal as determined by the third time information, Δt is the duration of the time drift between the first terminal device and the second terminal device as determined by the first time information, and t+Δt is the calibrated propagation delay.

[0206] Based on Formula 1, the first communication device can determine the duration Δt of the time drift between the first terminal device and the second terminal device as t' / 2-t.

[0207] In summary, the first communication device can determine the first time information of the first terminal device, i.e. the time drift between the first terminal device and the second terminal device, based on the second time information and the third time information using Formula 1. This facilitates the first communication device in calibrating the time information of the second terminal device sending the positioning signal to the first terminal device, thereby reducing the error range of the first communication device in locating the position information of the second terminal device.

[0208] In one specific embodiment, the first communication device requires at least three first terminal devices' first time information and second time information to determine the location information of the second terminal device. Below, using three first terminal devices as an example, the specific implementation method of the first communication device determining the first time information of the three first terminal devices is described in detail.

[0209] Please refer to Figure 6, which is a timing diagram of a communication method provided in an embodiment of this application. As shown in Figure 6, UE1, UE2, and UE3 are first terminal devices, and UE4 is a second terminal device.

[0210] Δt1 is the time drift between UE1 and UE4, t1 is the duration for UE1 to receive the positioning signal P1 sent by UE4, and t1' is the transmission and reception duration for UE4 to send the sensing signal S1 to UE1 and detect the sensing echo R1. Then, the first time information Δt1 of UE1 is t1' / 2-t1.

[0211] Δt2 is the time drift between UE2 and UE4, t2 is the duration for UE2 to receive the positioning signal P2 sent by UE4, and t2' is the transmission and reception duration for UE4 to send the sensing signal S2 to UE2 and detect the sensing echo R2. Then, the first time information Δt2 of UE2 is t2' / 2-t2.

[0212] Δt3 is the time drift between UE3 and UE4, t3 is the duration for UE3 to receive the positioning signal P3 sent by UE4, and t3' is the transmission and reception duration for UE4 to send the sensing signal S3 to UE3 and detect the sensing echo R3. Then, the first time information Δt3 of UE3 is t3' / 2-t3.

[0213] In summary, the first communication device can determine the first time information of at least three first terminal devices, thereby calibrating the propagation delay of each first terminal device receiving the positioning signal sent by the second terminal device, improving the accuracy of the first communication device in locating the second terminal device, and reducing the position range error of the second terminal device.

[0214] Based on the above description, the first communication device can obtain the location information of the second terminal device according to the first time information and the second time information of each first terminal device. The specific implementation method of the first communication device determining the location information of the second terminal device is described in detail below.

[0215] The first communication device determines the fourth time information of each first terminal device based on the first time information and the second time information of at least three first terminal devices.

[0216] Among them, at least three first terminal devices are at least three first terminal devices in S104.

[0217] The fourth time information is the propagation delay information of the positioning signal after calibration by the first communication device. If the time drift indicated by the first time information is 0, the fourth time information is the second time information. If the time drift indicated by the first time information is not 0, the fourth time information is determined by combining the first and second time information.

[0218] The first communication device determines the transmission distance difference between at least two first terminal devices based on the fourth time information of each first terminal device.

[0219] The transmission distance difference is the difference between the distances between the two first terminal devices and the second terminal device. The transmission distance difference can be characterized by multiplying the difference between the two fourth time information by the speed of light.

[0220] The first communication device determines the location information of the second terminal device based on the transmission distance difference between at least two first terminal devices.

[0221] The location information of the second terminal device can be represented by the intersection of at least two hyperbolas. The first communication device can draw a hyperbola with any two first terminal devices as focal points and the difference in transmission distance as the focal length, and the intersection of at least two hyperbolas is the location information of the second terminal device.

[0222] In summary, the first communication device determines the fourth time information of each first terminal device based on the first and second time information of at least three first terminal devices, and calibrates the time information of the first terminal device receiving the positioning signal sent by the second terminal device. Based on the fourth time information of each first terminal device, the first communication device determines the difference between at least two sets of fourth time information, and thus determines the transmission distance difference between at least two first terminal devices. The second terminal device is located on a hyperbola with any two first terminal devices as focal points and the transmission distance difference as the focal length. The intersection of at least two hyperbolas is the position of the second terminal device, reducing the error range of the second terminal device's position information and improving the positioning accuracy of the first communication device.

[0223] In one specific embodiment, taking the first communication device acquiring first-time information for the first time as an example, the first terminal device needs to allocate sensing resources and positioning resources. The first communication device can interact with the first terminal device through a base station. The first terminal device can be an auxiliary UE within the coverage area of ​​the base station, and the second terminal device can be a target UE outside the coverage area of ​​the base station.

[0224] The following, with reference to Figures 2-6, details the specific implementation process of the communication method in the embodiments of this application.

[0225] Please refer to Figure 7, which is a signaling interaction diagram of a communication method provided in an embodiment of this application. As shown in Figure 7, the communication method provided in this embodiment may include:

[0226] S301 and LMF send the first message to the base station.

[0227] Correspondingly, the base station receives the first message sent by the LMF.

[0228] S302, The base station sends a fifth message to at least three auxiliary UEs.

[0229] Correspondingly, at least three auxiliary UEs receive the fifth message sent by the base station.

[0230] The at least three auxiliary UEs refer to at least three auxiliary UEs within the coverage area of ​​the base station. The number of at least three auxiliary UEs can be equal to or greater than three, and this application embodiment does not limit this.

[0231] For example, if the auxiliary UEs within the base station's coverage area are UE1, UE2, UE3, UE5, and UE6, then at least three auxiliary UEs can be any three of UE1, UE2, UE3, UE5, and UE6, or any four of UE1, UE2, UE3, UE5, and UE6, or UE1, UE2, UE3, UE5, and UE6.

[0232] The fifth message is used to request the location information of the second terminal device. The fifth message includes location performance requirements, which include at least accuracy and latency.

[0233] Alternatively, the LMF can also directly send the first message to at least three auxiliary UEs. That is, S301 and S302 can be replaced by the LMF sending the first message to at least three auxiliary UEs. This application embodiment does not limit this.

[0234] S303. At least three auxiliary UEs are allocated sensing and positioning resources.

[0235] In S303, the at least three auxiliary UEs are a subset or the entire set of the at least three auxiliary UEs in S302. For example, if the at least three auxiliary UEs in S302 are UE1, UE2, UE3 and UE5, then the at least three auxiliary UEs in S303 can be any three of UE1, UE2, UE3 and UE5, or they can be UE1, UE2, UE3 and UE5. This application embodiment does not limit this.

[0236] S304. At least three auxiliary UEs send a second message to the target UE.

[0237] Correspondingly, the target UE receives a second message sent by at least three auxiliary UEs.

[0238] Among them, at least three auxiliary UEs in S304 are a subset or the entire set of at least three auxiliary UEs in S303.

[0239] S305. At least three auxiliary UEs send sensing signals to the target UE on sensing resources and detect the sensing echo of the target UE.

[0240] Among them, at least three auxiliary UEs in S305 are a subset or the entire set of at least three auxiliary UEs in S303.

[0241] S306. The target UE sends a third message to at least three auxiliary UEs.

[0242] Correspondingly, at least three auxiliary UEs receive the third message sent by the target UE.

[0243] Among them, at least three auxiliary UEs in S306 are a subset or the entire set of at least three auxiliary UEs in S303.

[0244] S307. If at least three auxiliary UEs have a predefined identifier in the first identifier of the third message, determine that the perceived echo of the target UE is the perceived echo with the highest signal strength among the perceived echoes detected on the first beam.

[0245] Among them, at least three auxiliary UEs in S307 are a subset or the entire set of at least three auxiliary UEs in S303.

[0246] S308, At least three auxiliary UEs send a sixth message to the base station.

[0247] Correspondingly, the base station receives a sixth message sent by at least three auxiliary UEs.

[0248] Among them, at least three auxiliary UEs in S308 are a subset or the entire set of at least three auxiliary UEs in S303.

[0249] The sixth message includes second and third time information for at least three auxiliary UEs.

[0250] S309, The base station sends the fourth message to the LMF.

[0251] Correspondingly, the LMF receives the fourth message sent by the base station.

[0252] In addition, at least three auxiliary UEs can also directly send a fourth message to the LMF. That is, S308 and S309 can be replaced by at least three auxiliary UEs sending a fourth message to the LMF. This application embodiment does not limit this.

[0253] S310 and LMF determine the first time information based on the second and third time information of each auxiliary UE, and then obtain the location information of the target UE.

[0254] In summary, after receiving the first message from the LMF, the base station sends a fifth message to the auxiliary UE, which contains location performance requirement information. The auxiliary UE allocates sensing and positioning resources based on the location performance requirement information, with the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources being less than or equal to a time threshold. The auxiliary UE sends a second message containing positioning resource configuration information to the target UE, facilitating the target UE to send a third message carrying the positioning signal to the auxiliary UE, thereby enabling the auxiliary UE to determine the second timing information.

[0255] In addition, the auxiliary UE can also send sensing signals on sensing resources and detect sensing echoes, which makes it easier for the auxiliary UE to determine third-time information.

[0256] After the assisted UE determines the second and third time information, it sends a sixth message to the base station. Upon receiving the sixth message, the base station sends a fourth message to the LMF (Local Time Filter). The LMF can then determine the first time information based on the second and third time information, thereby calibrating the time drift between the assisted UE and the target UE. The LMF calibrates the actual propagation delay of the positioning signal based on the second and obtained first time information, avoiding positioning errors caused by the time drift between the target UE and the assisted UE, and improving the accuracy of the target UE's location information.

[0257] By way of example, embodiments of this application also provide a communication device.

[0258] Please refer to Figure 8, which is a schematic diagram of the structure of a communication device provided in an embodiment of this application.

[0259] As shown in Figure 8, the communication device 800 can exist independently or be integrated into other devices. It can communicate with the first communication device mentioned above to implement the operation corresponding to the first terminal device in any of the above method embodiments.

[0260] The communication device 800 may include a transceiver unit 801. The communication device 800 may also include a processing unit. The transceiver unit 801 can implement corresponding communication functions, and the processing unit is used for data processing. The transceiver unit 801 may also be referred to as a communication interface or communication unit.

[0261] Optionally, the communication device 800 may further include a storage unit, which can be used to store instructions and / or data, and the processing unit can read the instructions and / or data in the storage unit so that the communication device 800 implements the aforementioned method embodiments.

[0262] The communication device 800 can be used to perform the actions performed by the first terminal device in the aforementioned method embodiments. The communication device 800 can be the first terminal device or a component configurable on the first terminal device. The transceiver unit 801 is used to perform reception-related operations of the first terminal device in the aforementioned method embodiments, and the processing unit is used to perform processing-related operations of the first terminal device in the aforementioned method embodiments.

[0263] Optionally, the transceiver unit 801 may include a sending unit and a receiving unit. The sending unit is used to perform the sending operation in the above method embodiments. The receiving unit is used to perform the receiving operation in the above method embodiments.

[0264] It should be noted that the communication device 800 may include a transmitting unit but not a receiving unit. Alternatively, the communication device 800 may include a receiving unit but not a transmitting unit. Specifically, it depends on whether the above-described scheme executed by the communication device 800 includes both transmitting and receiving actions.

[0265] As an example, the communication device 800 is used to perform the actions performed by the first terminal device in the embodiments shown in Figures 2-7 above.

[0266] The communication device 800 may include a transceiver unit 801.

[0267] The transceiver unit 801 is used to receive a first message sent by the first communication device. The first message is used to request the location information of the second terminal device. The first message includes location performance requirement information, which includes at least accuracy and latency.

[0268] The transceiver unit 801 allocates positioning resources and / or sensing resources, and sends a second message to the second terminal device. The second message includes configuration information of the positioning resources. Under the condition of transmission frame alignment, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with the location performance requirement information.

[0269] The transceiver unit 801 is used to receive a third message sent by the second terminal device on the positioning resources, the third message carrying a positioning signal;

[0270] The transceiver unit 801 is used to send a fourth message to the first communication device. The fourth message includes second time information of the first terminal device. The second time information is used to indicate the propagation delay of the positioning signal so that the first communication device can obtain the location information of the second terminal device based on the first time information and second time information of at least three first terminal devices. The first time information is used to indicate the amount of time drift between the first terminal device and the second terminal device. The first time information is associated with sensing resources.

[0271] In some embodiments, the transceiver unit 801 is further configured to send a sensing signal to the second terminal device on the sensing resources and detect the sensing echo of the second terminal device.

[0272] In some embodiments, the transceiver unit 801 is further configured to send a fourth message to the first communication device. The fourth message includes third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo, so that the first communication device can determine the first time information of the first terminal device based on the second time information and the third time information of the first terminal device.

[0273] In some embodiments, detecting the sensing echo of the second terminal device includes:

[0274] Multiple sensing echoes were detected on multiple beams;

[0275] If the first identifier in the third message is a predefined identifier, the sensing echo of the second terminal device is determined to be the sensing echo with the highest signal strength among the sensing echoes detected on the first beam. The predefined identifier is used to indicate that the sensing echo on the first beam is reflected by the second terminal device. The first beam is one of multiple beams.

[0276] By way of example, embodiments of this application also provide a communication device.

[0277] Please refer to Figure 9, which is a schematic diagram of the structure of a communication device provided in an embodiment of this application.

[0278] As shown in Figure 9, the communication device 900 can exist independently or be integrated into other devices. It can communicate with the first terminal device or the second terminal device mentioned above to implement the operation corresponding to the first communication device in any of the above method embodiments.

[0279] The communication device 900 may include a transceiver unit 901. The communication device 900 may also include a processing unit. The transceiver unit 901 can implement corresponding communication functions, and the processing unit is used for data processing. The transceiver unit 901 may also be referred to as a communication interface or a communication unit.

[0280] Optionally, the communication device 900 may further include a storage unit, which can be used to store instructions and / or data. The processing unit can read the instructions and / or data in the storage unit so that the communication device 900 can implement the aforementioned method embodiments.

[0281] The communication device 900 can be used to perform the actions performed by the first communication device in the aforementioned method embodiments. The communication device 900 can be the first communication device or a component configurable on the first communication device. The transceiver unit 901 is used to perform reception-related operations of the first communication device in the aforementioned method embodiments, and the processing unit is used to perform processing-related operations of the first communication device in the aforementioned method embodiments.

[0282] Optionally, the transceiver unit 901 may include a sending unit and a receiving unit. The sending unit is used to perform the sending operation in the foregoing method embodiments. The receiving unit is used to perform the receiving operation in the foregoing method embodiments.

[0283] It should be noted that the communication device 900 may include a transmitting unit but not a receiving unit. Alternatively, the communication device 900 may include a receiving unit but not a transmitting unit. Specifically, it depends on whether the above-described scheme executed by the communication device 900 includes both transmitting and receiving actions.

[0284] As an example, the communication device 900 is used to perform the actions performed by the first communication device in the embodiments shown in Figures 2-7 above.

[0285] The communication device 900 may include a transceiver unit 901.

[0286] The transceiver unit 901 is used to send a first message to at least three first terminal devices. The first message is used to request the location information of the second terminal devices. The first message includes location performance requirement information, which includes at least accuracy and latency.

[0287] The transceiver unit 901 is used to receive a fourth message sent by each first terminal device. The fourth message includes second time information of the first terminal device. The second time information is used to indicate the propagation delay of the positioning signal. The positioning signal is carried on a third message sent by the second terminal device to the first terminal device on the positioning resources. Under the condition of transmission frame alignment, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with the location performance requirement information. The configuration information of the positioning resources is included in the second message. The second message is sent by the first terminal device to the second terminal device.

[0288] Obtain first-time information from each first-terminal device. The first-time information is used to indicate the amount of time drift between the first-terminal device and the second-terminal device. The first-time information is associated with sensing resources.

[0289] The location information of the second terminal device is obtained based on the first time information and the second time information of each first terminal device.

[0290] In some embodiments, the transceiver unit 901 is specifically used to receive a fourth message sent by the first terminal device. The fourth message includes third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo of the second terminal device. The sensing signal is sent by the first terminal device to the second terminal device on the sensing resource. The sensing echo is detected by the first terminal device.

[0291] The first time information of the first terminal device is determined based on the second time information and the third time information of the first terminal device.

[0292] In some embodiments, obtaining first-time information of each first terminal device includes:

[0293] The first-time information of each terminal device is stored historically.

[0294] In some embodiments, the location information of the second terminal device is obtained based on the first time information and the second time information of each first terminal device, including:

[0295] Based on the first time information and second time information of at least three first terminal devices, determine the fourth time information of each first terminal device;

[0296] Based on the fourth time information of each first terminal device, determine the transmission distance difference between at least two first terminal devices;

[0297] The location information of the second terminal device is determined based on the transmission distance difference between at least two first terminal devices.

[0298] In some embodiments, the second message may further include beam information of the positioning signal and / or the identifier of the positioning signal.

[0299] In some embodiments, the first communication device includes a positioning management function network element in the core network system.

[0300] By way of example, embodiments of this application also provide a communication device.

[0301] Please refer to Figure 10, which is a schematic diagram of the structure of a communication device provided in an embodiment of this application.

[0302] As shown in Figure 10, the communication device 1000 can exist independently or be integrated into other devices. It can communicate with the first communication device or the first terminal device mentioned above to implement the operation corresponding to the second terminal device in any of the above method embodiments.

[0303] The communication device 1000 may include a transceiver unit 1001. The communication device 1000 may also include a processing unit. The transceiver unit 1001 can implement corresponding communication functions, and the processing unit is used for data processing. The transceiver unit 1001 may also be referred to as a communication interface or a communication unit.

[0304] Optionally, the communication device 1000 may further include a storage unit, which can be used to store instructions and / or data. The processing unit can read the instructions and / or data in the storage unit so that the communication device 1000 can implement the aforementioned method embodiments.

[0305] The communication device 1000 can be used to perform the actions performed by the second terminal device in the preceding method embodiments. The communication device 1000 can be the second terminal device or a component configurable on the second terminal device. The transceiver unit 1001 is used to perform reception-related operations of the second terminal device in the preceding method embodiments, and the processing unit is used to perform processing-related operations of the second terminal device in the preceding method embodiments.

[0306] Optionally, the transceiver unit 1001 may include a sending unit and a receiving unit. The sending unit is used to perform the sending operation in the foregoing method embodiments. The receiving unit is used to perform the receiving operation in the foregoing method embodiments.

[0307] It should be noted that the communication device 1000 may include a transmitting unit but not a receiving unit. Alternatively, the communication device 1000 may include a receiving unit but not a transmitting unit. Specifically, it depends on whether the above-described scheme executed by the communication device 1000 includes both transmitting and receiving actions.

[0308] As an example, the communication device 1000 is used to perform the actions performed by the second terminal device in the embodiments shown in Figures 2-7 above.

[0309] The communication device 1000 may include a transceiver unit 1001.

[0310] The transceiver unit 1001 is used to receive a second message sent by the first terminal device. The second message includes configuration information of positioning resources, and the positioning resources are associated with location performance requirement information in both the time domain and the frequency domain.

[0311] The transceiver unit 1001 is used to send a positioning signal to the first terminal device.

[0312] By way of example, embodiments of this application also provide a communication device.

[0313] Please refer to Figure 11, which is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application.

[0314] Communication device 1100 includes processor 1101, which is coupled to memory 1102. Memory 1102 is used to store computer programs or instructions and / or data. Processor 1101 is used to execute the computer programs or instructions and / or data stored in memory 1102, so that the methods in the above method embodiments are executed.

[0315] Optionally, the communication device 1100 may include one or more processors 1101.

[0316] Optionally, as shown in FIG11, the communication device 1100 may further include a memory 1102.

[0317] Optionally, the communication device 1100 may include one or more memory 1102.

[0318] Alternatively, the memory 1102 may be integrated with the processor 1101 or set separately.

[0319] As shown in Figure 11, the communication device 1100 may further include a transceiver 1103, which is used for receiving and / or transmitting signals. For example, the processor 1101 is used to control the transceiver 1103 to receive and / or transmit signals.

[0320] As one option, the communication device 1100 is used to implement the operations performed by the first communication device, the first terminal device, or the second terminal device in the method embodiments described above.

[0321] For example, processor 1101 is used to implement processing-related operations performed by the first communication device, the first terminal device, or the second terminal device in the aforementioned method embodiments, and transceiver 1103 is used to implement transmission-reception-related operations performed by the first communication device, the first terminal device, or the second terminal device in the aforementioned method embodiments.

[0322] As an alternative, the communication device 1100 is used to implement the operations performed by the first communication device, the first terminal device, or the second terminal device in the method embodiments described above.

[0323] For example, processor 1101 is used to implement processing-related operations performed by the first communication device, the first terminal device, or the second terminal device in the aforementioned method embodiments, and transceiver 1103 is used to implement transmission-reception-related operations performed by the first communication device, the first terminal device, or the second terminal device in the aforementioned method embodiments.

[0324] In the communication device shown in Figure 11 above, the device in transceiver 1103 used for receiving power can be regarded as a receiving unit, and the device in transceiver 1103 used for transmitting functions can be regarded as a transmitting unit. That is, transceiver 1103 can include a receiver and a transmitter. Transceiver 1103 can also be called a transceiver, transceiver unit, or transceiver circuit, etc. Receiver can also be called a receiver, receiving unit, receiver, or receiving circuit, etc. Transmitter can also be called a transmitter, transmitter, transmitting unit, or transmitting circuit, etc. Processor 1101 has processing functions and can be called a processing unit. Memory 1102 is used to store computer program code and data and can also be called a storage unit.

[0325] By way of example, embodiments of this application also provide a communication device.

[0326] The communication device 1200 may be a first communication device, a first terminal device, or a second terminal device, or it may be a chip of the first communication device, the first terminal device, or the second terminal device. The communication device 1200 may be used to perform the operations performed by the first communication device, the first terminal device, or the second terminal device in the above method embodiments.

[0327] Please refer to Figure 12, which is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application.

[0328] The communication device 1200 includes sections 1210, 1220, and 1230. Section 1210 is mainly used for baseband processing and controlling the base station; section 1210 is typically the control center of the base station, often referred to as a processor or processing unit, used to control the first communication device, first terminal device, or second terminal device to perform the processing operations of the first communication device, first terminal device, or second terminal device in the above method embodiments. Section 1220 is mainly used for storing computer program code and data, and can typically be called a memory or storage unit. Section 1230 is mainly used for transmitting and receiving radio frequency signals and converting radio frequency signals to baseband signals; section 1230 can typically be called a transceiver unit, transceiver, transceiver circuit, or transceiver. The transceiver unit of section 1230, also called a transceiver or transceiver, includes an antenna 1233 and a radio frequency circuit (not shown in the figure), wherein the radio frequency circuit is mainly used for radio frequency processing. Optionally, the device used to implement the receiving function in part 1230 can be regarded as a receiver, and the device used to implement the transmitting function can be regarded as a transmitter. That is, part 1230 includes receiver 1232 and transmitter 1231. The receiver can also be called a receiving unit, receiver, or receiving circuit, etc., and the transmitter can be called a transmitting unit, transmitting unit, transmitter, or transmitting circuit, etc.

[0329] Sections 1210 and 1220 may include one or more circuit boards, each of which may include one or more processors and one or more memories. The processors are used to read and execute programs from the memories to implement baseband processing functions and control the base station. If multiple circuit boards exist, they can be interconnected to enhance processing capabilities. As an optional implementation, multiple circuit boards may share one or more processors, multiple circuit boards may share one or more memories, or multiple circuit boards may simultaneously share one or more processors.

[0330] In one implementation, the transceiver unit of section 1230 is used to execute the transceiver-related processes performed by the first communication device, the first terminal device, or the second terminal device in the embodiments shown in Figures 2-7. The processor of section 1210 is used to execute the processing-related processes performed by the first communication device, the first terminal device, or the second terminal device in the embodiments shown in Figures 2-7.

[0331] It should be understood that Figure 12 is merely an example and not a limitation, and the first communication device, first terminal device or second terminal device described above, including a processor, memory and transceiver, may not depend on the structure shown in Figure 12.

[0332] When the communication device 1200 is a chip, the chip includes a transceiver, a memory, and a processor. The transceiver can be an input / output circuit or a communication interface; the processor is a processor, microprocessor, or integrated circuit integrated on the chip. In the above method embodiments, the transmitting operation of the first communication device, the first terminal device, or the second terminal device can be understood as the chip's output, and the receiving operation of the first communication device, the first terminal device, or the second terminal device in the above method embodiments can be understood as the chip's input.

[0333] For example, embodiments of this application also provide a computer-readable storage medium having computer instructions stored thereon for implementing the methods executed by the first communication device, the first terminal device, or the second terminal device in the above-described method embodiments, or the methods executed by the first communication device, the first terminal device, or the second terminal device.

[0334] For example, when the computer program is executed by a computer, it enables the computer to implement the method executed by the first communication device, the method executed by the first terminal device, or the method executed by the second terminal device in the above method embodiments.

[0335] For example, embodiments of this application also provide a computer program product containing instructions that, when executed by a computer, cause the computer to implement the method executed by the first communication device, the method executed by the first terminal device, or the method executed by the second terminal device in the above method embodiments.

[0336] By way of example, this application also provides a communication system, which includes a first communication device, a first terminal device, and a second terminal device. The first communication device is used to execute the process executed by the first communication device in the preceding embodiments. The first terminal device is used to execute the process executed by the first terminal device in the preceding embodiments. The second terminal device is used to execute the process executed by the second terminal device in the preceding embodiments.

[0337] For example, embodiments of this application also provide a chip device, including a processor, for calling computer programs or computer instructions stored in the memory to cause the processor to execute the methods of the above embodiments.

[0338] In one possible implementation, the input of the chip device corresponds to the receiving operation in the embodiments shown in Figures 2-7, and the output of the chip device corresponds to the sending operation in the embodiments shown in Figures 2-7.

[0339] Optionally, the processor is coupled to the memory via an interface.

[0340] Optionally, the chip device further includes a memory storing computer programs or computer instructions.

[0341] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of a program that controls the methods described in the preceding embodiments. The memory mentioned above can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0342] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the explanations and beneficial effects of the relevant content in any of the communication devices provided above can be referred to the corresponding method embodiments provided above, and will not be repeated here.

[0343] In this embodiment, the first communication device, the first terminal device, or the second terminal device may include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system layer. The hardware layer may include hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system layer may be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows. The application layer may include applications such as browsers, address books, word processing software, and instant messaging software.

[0344] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0345] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0346] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0347] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0348] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the part of the technical solution that essentially contributes to the present application's embodiments, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the processes of the methods in the various embodiments of the present application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0349] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A communication method, characterized in that, Applied to a first terminal device, the method includes: The device receives a first message sent by a first communication device. The first message is used to request the location information of a second terminal device. The first message includes location performance requirement information, which includes at least accuracy and latency. Allocate positioning resources and / or sensing resources, and send a second message to the second terminal device. The second message includes configuration information of the positioning resources. Under the condition of transmission frame alignment, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with the location performance requirement information. Receive a third message sent by the second terminal device on the location resource, the third message carrying a location signal; A fourth message is sent to the first communication device. The fourth message includes second time information of the first terminal device. The second time information is used to indicate the propagation delay of the positioning signal, so that the first communication device can obtain the location information of the second terminal device based on the first time information and second time information of at least three first terminal devices. The first time information is used to indicate the amount of time drift between the first terminal device and the second terminal device. The first time information is associated with the sensing resource.

2. The method according to claim 1, characterized in that, The method further includes: The sensing signal is sent to the second terminal device on the sensing resource, and the sensing echo of the second terminal device is detected; A fourth message is sent to the first communication device. The fourth message includes third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo, so that the first communication device can determine the first time information of the first terminal device based on the second time information and the third time information of the first terminal device.

3. The method according to claim 2, characterized in that, Detecting the sensing echo of the second terminal device includes: Multiple sensing echoes were detected on multiple beams; If the first identifier in the third message is a predefined identifier, the sensing echo of the second terminal device is determined to be the sensing echo with the highest signal strength among the sensing echoes detected on the first beam. The predefined identifier is used to indicate that the sensing echo on the first beam is reflected by the second terminal device, and the first beam is one of the plurality of beams.

4. A communication method, characterized in that, Applied to a first communication device, the method includes: Send a first message to at least three first terminal devices. The first message is used to request the location information of the second terminal devices. The first message includes location performance requirement information, which includes at least accuracy and latency. The system receives a fourth message sent by each of the first terminal devices. The fourth message includes second time information of the first terminal device, which is used to indicate the propagation delay of the positioning signal. The positioning signal is carried on a third message sent by the second terminal device to the first terminal device on the positioning resources. Under the condition of transmission frame alignment, the difference between the time slot offset of the positioning resources and the time slot offset of the sensing resources is less than or equal to a time threshold. Both the positioning resources and the sensing resources are associated with the location performance requirement information. The configuration information of the positioning resources is included in the second message, which is sent by the first terminal device to the second terminal device. Obtain first time information for each of the first terminal devices, the first time information being used to indicate the amount of time drift between the first terminal device and the second terminal device, and the first time information being associated with the sensing resource; The location information of the second terminal device is obtained based on the first time information and the second time information of each of the first terminal devices.

5. The method according to claim 4, characterized in that, The step of obtaining the first-time information of each of the first terminal devices includes: The system receives a fourth message sent by the first terminal device. The fourth message includes third time information of the first terminal device. The third time information is used to indicate the transmission and reception duration of the sensing signal. The third time information is determined by the first terminal device based on the sensing signal and the sensing echo of the second terminal device. The sensing signal is sent by the first terminal device to the second terminal device on the sensing resource. The sensing echo is detected by the first terminal device. The first time information of the first terminal device is determined based on the second time information and the third time information of the first terminal device.

6. The method according to any one of claims 4-5, characterized in that, The step of obtaining the first-time information of each of the first terminal devices includes: The first-time information of each of the first terminal devices is stored historically.

7. The method according to any one of claims 4-6, characterized in that, The step of obtaining the location information of the second terminal device based on the first time information and the second time information of each of the first terminal devices includes: Based on the first time information and second time information of at least three first terminal devices, determine the fourth time information of each of the first terminal devices; Based on the fourth time information of each of the first terminal devices, determine the transmission distance difference between at least two of the first terminal devices; The location information of the second terminal device is determined based on the transmission distance difference between at least two of the first terminal devices.

8. The method according to any one of claims 1-7, characterized in that, The second message also includes beam information of the positioning signal and / or the identifier of the positioning signal.

9. The method according to any one of claims 1-8, characterized in that, The first communication device includes a positioning management function network element in the core network system.

10. A communication device, characterized in that, include: A module for performing the method as described in any one of claims 1-9.

11. A communication system, characterized in that, include: The system comprises a first communication device, a second terminal device, and at least three first terminal devices, wherein the first terminal devices are configured to perform the method as described in any one of claims 1-3 and 8-9, and the first communication device is configured to perform the method as described in any one of claims 4-9.

12. A communication device, characterized in that, include: At least one processor and an interface circuit, the interface circuit being configured to receive signals from other communication devices besides the communication device and transmit them to the processor or to send signals from the processor to other communication devices besides the communication device, the processor being configured to implement the method as described in any one of claims 1-3, 8-9 via logic circuits or executable code instructions, and / or, the processor being configured to implement the method as described in any one of claims 4-9 via logic circuits or executable code instructions.

13. A computer-readable storage medium, characterized in that, This includes a computer program or instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-3, 8-9, and / or cause the computer to perform the method as described in any one of claims 4-9.

14. A chip, characterized in that, include: An interface circuit and a logic circuit, wherein the interface circuit is used to receive signals from other chips besides the chip and transmit them to the logic circuit, or to send signals from the logic circuit to other chips besides the chip, and the logic circuit is used to implement the method as described in any one of claims 1-3, 8-9, and / or, the logic circuit is used to implement the method as described in any one of claims 4-9.

15. A computer program product, characterized in that, The computer program product includes: a computer program or instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-3, 8-9, and / or cause the computer to perform the method as described in any one of claims 4-9.

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