WO2023051426A1 - Positioning method and terminal - Google Patents

Positioning method and terminal Download PDF

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Publication number
WO2023051426A1
WO2023051426A1 PCT/CN2022/121183 CN2022121183W WO2023051426A1 WO 2023051426 A1 WO2023051426 A1 WO 2023051426A1 CN 2022121183 W CN2022121183 W CN 2022121183W WO 2023051426 A1 WO2023051426 A1 WO 2023051426A1
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WO
WIPO (PCT)
Prior art keywords
message
terminal
request
information
target terminal
Prior art date
Application number
PCT/CN2022/121183
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French (fr)
Chinese (zh)
Inventor
钟婷婷
潘翔
Original Assignee
维沃移动通信有限公司
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Publication date
Application filed by 维沃移动通信有限公司 filed Critical 维沃移动通信有限公司
Publication of WO2023051426A1 publication Critical patent/WO2023051426A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices

Definitions

  • the present application belongs to the technical field of terminal communication, and in particular relates to a positioning method and a terminal.
  • the RAT-dependent method can be used to locate the target terminal, that is, the positioning can be realized by sending and measuring positioning reference signals through the Uu interface between the target terminal and the base station, or Use the RAT-independent positioning method to locate the target terminal, such as using the Global Navigation Satellite System (GNSS) for positioning, or you can also use the sidelink (sidelink, between the terminal and other nodes (except the base station) The communication link between them, which may also be referred to as a secondary link, a direct link, a side link, a side link, etc.) to locate the target terminal.
  • GNSS Global Navigation Satellite System
  • Embodiments of the present application provide a positioning method and a terminal, which can solve the problem of how to use the sidelink positioning method of a single-anchor terminal to locate a target terminal.
  • a positioning method including:
  • the target terminal determines the location information of the target terminal according to the second information from the anchor terminal;
  • the second information is related to single-anchor terminal sidelink positioning.
  • a positioning device including:
  • a positioning module configured to determine the location information of the target terminal according to the second information from the anchor terminal
  • the second information is related to single-anchor terminal sidelink positioning.
  • a positioning method including:
  • the first terminal sends second information related to sidelink positioning of the single-anchor terminal to the target terminal;
  • the second information is used by the target terminal to determine the location information of the target terminal.
  • a positioning device including:
  • a sending module configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal
  • the second information is used by the target terminal to determine the location information of the target terminal.
  • a terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • the program or instruction is executed by the processor The steps of the method described in the first aspect are realized.
  • a target terminal including a processor and a communication interface, wherein the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein the second Information related to single-anchor terminal sidelink positioning.
  • a first terminal in a seventh aspect, includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • the program or instruction is executed by the The processor implements the steps of the method described in the third aspect when executing.
  • a first terminal including a processor and a communication interface, wherein the communication interface is used to send the second information related to the side link positioning of the single-anchor terminal to the target terminal; wherein, in the When the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
  • a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the third aspect.
  • a chip in a tenth aspect, includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect , or implement the method as described in the third page.
  • a computer program/program product is provided, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to implement The steps of the method described in the first aspect implement the steps of the method described in the third aspect.
  • the anchor terminal when the target terminal has a positioning requirement, can send the second information related to the side-link positioning of the single-anchor terminal to the target terminal, and the target terminal can send the second information from the anchor terminal to the target terminal.
  • the information determines the location information of the target terminal.
  • the embodiment of the present application provides a detailed positioning procedure for locating a target terminal based on a sidelink positioning method for a single-anchor terminal, and the location information of the target terminal can be obtained based on the positioning procedure.
  • FIG. 1 is a schematic diagram of a wireless communication system according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a communication device according to an embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • first, second and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and “second” distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects.
  • “and/or” in the description and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • system and “network” in the embodiments of the present application are often used interchangeably, and the described technologies can be used for the above-mentioned systems and radio technologies as well as other systems and radio technologies.
  • NR New Radio
  • the following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th generation (6 th Generation, 6G) communication system.
  • 6G 6th Generation
  • Fig. 1 shows a block diagram of a wireless communication system to which the embodiment of the present application is applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12 .
  • the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital Assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile Internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted device (VUE), Pedestrian Terminal (PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc.
  • the network side device 12 may be a base station or a core network, where a base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service Basic Service Set (BSS), Extended Service Set (ESS), Node B, Evolved Node B (eNB), Home Node B, Home Evolved Node B, WLAN access point, WiFi node, transmission Receiving point (Transmitting Receiving Point, TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only The base station in the NR system is taken as an example, but the specific type of the base station is not limited.
  • terminals 11 can communicate based on sidelink.
  • the terminal 11 when the terminal 11 has a positioning requirement, the terminal 11 can be positioned based on a sidelink positioning method.
  • the sidelink-based positioning method may be a DL-TDOA positioning method, or a sidelink positioning method of a single-anchor terminal.
  • the embodiment of the present application provides a detailed positioning process.
  • the position information of the target terminal can be obtained based on the positioning process.
  • FIG. 2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application.
  • the target terminal can be obtained based on the method shown in FIG. 2 location information.
  • the anchor terminal can periodically (assuming the period is T) send a sidelink positioning reference signal (sidelink Positioning Reference Signal, SL-PRS) to the target terminal
  • T0, T1 and T2 in Figure 2 are the anchor points
  • SL-PRS sidelink Positioning Reference Signal
  • T0, T1 and T2 in Figure 2 are the anchor points
  • the moment when the terminal sends SL-PRS three times continuously, the moment when the target terminal receives the three SL-PRS is T0+ ⁇ T0, T1+ ⁇ T1 and T2+ ⁇ T2, and the target terminal is traveling between T0+ ⁇ T0 and T1+ ⁇ T1
  • the distance is D1
  • the distance traveled between T1+ ⁇ T1 and T2+ ⁇ T2 is D2.
  • the time interval for the target terminal to receive the SL-PRS is:
  • the target terminal calculates D1 and D2 according to the time (such as through the gyroscope, etc.);
  • the location information of the target terminal can be determined and obtained.
  • the embodiment of the present application provides a positioning method 300, which can be performed by a target terminal (Target UE) that has a positioning requirement.
  • the method can be performed by software or hardware installed on the target terminal. The method includes the following steps.
  • the target terminal determines location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is related to single-anchor terminal sidelink positioning.
  • the target terminal determines to use sidelink (sidelink) positioning, and the specific method of the sidelink positioning used by the target terminal is the sidelink positioning method of a single anchor terminal (single Anchor UE's sidelink positioning method) sidelink positioning method), the target terminal may receive second information related to single anchor terminal sidelink positioning (single Anchor UE sidelink positioning) from the anchor terminal (Anchor UE).
  • the aforementioned target terminal having a positioning requirement may mean that the application layer of the target terminal has a positioning requirement.
  • Positioning methods include sidelink positioning, or RAT-dependent positioning, etc.
  • the above-mentioned target terminal determines to use sidelink positioning.
  • the target terminal may determine to use sidelink positioning according to the rules pre-configured on the network side device, or the target terminal may determine according to the rules stipulated in the protocol.
  • Use sidelink for positioning, or, the target terminal may decide to use sidelink for positioning.
  • the specific methods of Sidelink positioning include the sidelink positioning method of a single Anchor UE and the sidelink positioning method of multiple Anchor UEs.
  • the above-mentioned target terminal determines to use the sidelink positioning method of a single Anchor UE.
  • the sidelink positioning method of the Anchor UE, or, the target terminal may determine to use the sidelink positioning method of a single Anchor UE according to the rules stipulated in the protocol, or it may also be that the target terminal itself decides to use the sidelink positioning method of a single Anchor UE.
  • the above-mentioned second information may include at least one of the following:
  • the location information of the anchor terminal is the location information of the anchor terminal.
  • the above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.
  • An anchor terminal can be understood as a terminal that assists a target terminal in positioning.
  • the anchor terminal can be configured by a network-side device, or can be determined by the target terminal from other terminals.
  • the anchor terminal when the target terminal has positioning requirements and determines to use the sidelink positioning method of a single Anchor UE for positioning, the anchor terminal can send the first information related to single Anchor UE sidelink positioning to the target terminal Second information, when the target terminal receives the second information from the anchor terminal, it may determine the location information of the target terminal according to the second information.
  • the target terminal needs to determine the anchor terminal before determining the location information.
  • the specific implementation method is as follows:
  • the target terminal sends first information related to sidelink positioning to other terminals;
  • the target terminal receives feedback information from other terminals
  • the target terminal determines the anchor terminal from other terminals according to the feedback information.
  • the above-mentioned first information may be information about the target terminal, sidelink positioning information, requirements for other terminals, information requested for other terminals, and the like.
  • the information of the target terminal can be the sidelink positioning capability and mobile status of the target terminal, etc.
  • the sidelink positioning information can be the sidelink positioning method and positioning accuracy of a single Anchor UE, and the requirements for other terminals can be the single Anchor UE sidelink positioning capability requirements etc.
  • the information requested for other terminals can be single Anchor UE sidelink positioning capability, zone information, mobility status, etc.
  • the target terminal may send the first information related to sidelink positioning to other terminals in at least one of the following situations:
  • the first case when the target terminal has established a PC5 unicast link (PC5 unicast link) with other terminals, the target terminal sends the first information related to side link positioning to other terminals;
  • the second case when the target terminal has not established a PC5 unicast link with other terminals, the target terminal initiates the process of establishing a PC5 unicast link with other terminals to other terminals, and the process of establishing a PC5 unicast link During or after the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals. Wherein, the target terminal initiates the establishment process of the PC5 unicast link with other terminals, specifically, the upper layer (PC5-signaling, ie PC5-S) of the target terminal initiates the establishment process of the PC5 unicast link.
  • PC5-signaling ie PC5-S
  • the target terminal when the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:
  • RRC Radio Resource Control
  • other terminals may determine whether to send feedback information to the target terminal according to certain rules. If necessary, other terminals send feedback information to the target terminal. For example, if other terminals meet the "requirements for other terminals" in the received first information, the other terminals may send feedback information to the target terminal.
  • the feedback information sent by other terminals to the target terminal may be the sidelink positioning capability of other terminals, the zone information of other terminals, the moving status of other terminals, and the like.
  • the target terminal when other terminals send feedback information to the target terminal, they may send it in at least one of the following ways, that is, when the target terminal receives feedback information from other terminals, it may receive it in at least one of the following ways:
  • the target terminal sends the first message to other terminals through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message
  • the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message receives the feedback information
  • the target terminal may determine the anchor terminal according to the feedback information from other terminals. For example, the terminal with the best sidelink positioning capability among other terminals can be selected as the anchor terminal.
  • the anchor terminal can also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.
  • the target terminal when the above-mentioned target terminal sends the first information to other terminals, it may also send a first request to other terminals incidentally, and the first request is used to request information related to single-anchor terminal side link positioning the second information. That is to say, when the target terminal has established a PC5 unicast link with other terminals, the target terminal may send the first request incidentally when sending the first information to other terminals, or, when the target terminal has not established a link with other terminals, In the case of a PC5 unicast link, when the target terminal initiates a PC5 unicast link establishment process with other terminals, during or after the establishment process, when the target terminal sends the first information to other terminals, The first request can be sent incidentally. Wherein, when the target terminal sends the first request to other terminals, it may be implemented by at least one of the above nine implementation manners when the target terminal sends the first information to other terminals.
  • other terminals may send the second information to the target terminal.
  • the other terminal may send the second information to the target terminal at the same time when sending the above feedback information to the target terminal.
  • the target terminal may also receive second information from other terminals.
  • the other terminal sends the second information to the target terminal, that is, when the target terminal receives the second information from the other terminal, at least one of the nine implementation manners when the target terminal receives the feedback information from the other terminal item is realized.
  • the target terminal if the target terminal does not request the second information related to the single-anchor terminal sidelink positioning in the previous steps after determining the anchor terminal, for example, the target terminal sends other
  • the terminal sends the first information above, it does not request the second information incidentally (that is, it does not send the first request incidentally)
  • the target terminal determines the anchor terminal, it needs to send the first request to the anchor terminal to request the anchor terminal
  • the second information of the terminal related to sidelink positioning of the single-anchor terminal After the target terminal sends the first request to the anchor terminal, the anchor terminal can send the second information related to the single-anchor terminal sidelink positioning to the target terminal, and the target terminal can receive the second information from the anchor terminal, according to The second information can determine its own location information.
  • target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:
  • the anchor terminal After the anchor terminal receives the first request from the target terminal, when sending the second information related to the single-anchor terminal sidelink positioning to the target terminal, it can be realized in at least one of the following ways, that is, the target terminal receives
  • the second information related to sidelink positioning of a single-anchor terminal from the anchor terminal can be realized in at least one of the following ways:
  • the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message receives the second information
  • the target terminal when the target terminal receives the second information related to the single-anchor terminal sidelink positioning of the anchor terminal configured by the network side device, or, the target terminal passes the above-mentioned incidental request method (that is, in the When sending the first information, send a first request for requesting the second information along with it) when receiving the second information from the anchor terminal, or, after the target terminal determines the anchor terminal, send the first request to the anchor terminal
  • the location information of the target terminal may be determined based on the second information.
  • the location information may be calculated by the target terminal, or the location information may be obtained by the network side device.
  • the specific implementation manner is as follows.
  • the anchor terminal After the anchor terminal sends the second information related to the sidelink positioning of the single anchor terminal to the target terminal, it can send the sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information.
  • the target terminal receives the sidelink PRS sent by the anchor terminal, and measures the times when the sidelink PRS is received multiple times (such as 3 times) and the multiple first distances traveled by the target terminal in multiple first time periods (such as D1 and D2) shown in FIG. 2 ), the first time period is a time period between when the target terminal receives two adjacent sidelink PRSs.
  • the location information of the target terminal After measuring the times when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within the above multiple first time periods, combined with the location information of the anchor terminal included in the second information, the sidelink Based on the periodic information of the PRS, the location information of the target terminal can be calculated.
  • the target terminal can use the location information of the anchor terminal, the period information of the side link PRS, the times when the The multiple first distances traveled within a period of time are sent to the network-side device.
  • the network-side device can calculate the location information of the target terminal and send the location information of the target terminal to the target terminal. .
  • the embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal.
  • the target terminal can obtain the location information of the target terminal based on the positioning process.
  • the embodiment of the present application provides a positioning method 400, which can be executed by any first terminal among other terminals except the target terminal that needs positioning.
  • the method is executed by software or hardware of a terminal, and the method includes the following steps.
  • the first terminal sends to the target terminal second information related to the single-anchor terminal side link positioning; wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the position of the target terminal information.
  • the target terminal determines to use sidelink positioning, and the specific method of the sidelink positioning that the target terminal determines to use is the sidelink positioning method of a single anchor terminal (the sidelink positioning method of a single Anchor UE)
  • the first terminal other than the target terminal may send the second information related to sidelink positioning of the single-anchor terminal to the target terminal.
  • the first terminal may be an anchor terminal or a non-anchor terminal.
  • the first terminal is an anchor terminal (the network side device configures the first terminal as an anchor terminal, or the target terminal determines that the first terminal is an anchor terminal from other terminals based on the embodiment shown in FIG. 3 )
  • the second information is used by the target terminal to determine the location information of the target terminal, that is, after receiving the second information from the first terminal, the target terminal may determine the location information of the target terminal based on the second information.
  • the above-mentioned second information may include at least one of the following:
  • the location information of the anchor terminal is the location information of the anchor terminal.
  • the above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.
  • the first information related to sidelink positioning may be target terminal information (such as the target terminal's sidelink positioning capability, movement status, etc.), sidelink positioning information (such as a single-anchor terminal's sidelink positioning method, positioning accuracy, etc.), requirements for other terminals (such as Single-anchor terminal sidelink positioning capability requirements, etc.), request information of other terminals (such as single-anchor terminal sidelink positioning capability, zone information, mobile status, etc.).
  • target terminal information such as the target terminal's sidelink positioning capability, movement status, etc.
  • sidelink positioning information such as a single-anchor terminal's sidelink positioning method, positioning accuracy, etc.
  • requirements for other terminals such as Single-anchor terminal sidelink positioning capability requirements, etc.
  • request information of other terminals such as single-anchor terminal sidelink positioning capability, zone information, mobile status, etc.
  • the first terminal may determine whether to send feedback information to the target terminal according to a certain rule. If necessary, feedback information may be sent to the target terminal. For example, the first terminal may determine whether the "requirements for other terminals" in the received first information are satisfied, and if so, may send feedback information to the target terminal.
  • the feedback information may include the sidelink positioning capability of the first terminal, the zone information where the first terminal is located, the moving state of the first terminal, and the like.
  • the target terminal may determine the anchor terminal from the multiple first terminals according to the feedback information. For example, a terminal with the best sidelink positioning capability among multiple first terminals may be selected as the anchor terminal.
  • the anchor terminal may also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.
  • the first terminal When the above-mentioned first terminal receives the first information related to sidelink positioning from the target terminal, it may receive the first information in at least one of the following situations:
  • the first case when the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;
  • the second case when the first terminal and the target terminal have not established a PC5 unicast link, during or after the establishment of the PC5 unicast link, the first terminal receives the First information related to sidelink positioning of the target terminal.
  • the establishment process of the PC5 unicast link is initiated by the target terminal.
  • the target terminal When the target terminal initiates the establishment process of the PC5 unicast link with the first terminal, it may specifically be the upper layer of the target terminal (PC5-signaling, that is, PC5- S) Initiate the establishment process of the PC5 unicast link.
  • the first terminal receives first information related to sidelink positioning from the target terminal, including at least one of the following:
  • RRC Reconfiguration Sidelink RRC Reconfiguration Sidelink
  • RRC Reconfiguration Sidelink In the case of receiving the first message through the RRC Reconfiguration Sidelink message (RRC Reconfiguration Sidelink), send feedback information to the target terminal through the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message;
  • the above-mentioned first terminal when receiving the first information related to sidelink positioning from the target terminal, the above-mentioned first terminal also receives a first request from the target terminal incidentally, and the first request is used for requesting and The second information related to sidelink positioning of the single-anchor terminal.
  • the first terminal when the first terminal sends the feedback information to the target terminal, it can also send the second information related to the side link positioning of the single-anchor terminal. That is to say, in S402, the first terminal sending the second information related to the side link positioning of the single-anchor terminal to the target terminal may specifically be that, when sending the feedback information to the target terminal, the first terminal sends the target terminal the second information.
  • the first terminal may not receive the first request from the target terminal incidentally when receiving the first information related to sidelink positioning from the target terminal, the first terminal is In the case where the target terminal is determined to be the anchor terminal, after the first terminal sends feedback information to the target terminal, it may also receive a first request from the target terminal, and based on the first request, the first terminal may send the target terminal a corresponding The second information related to sidelink positioning of the single-anchor terminal. That is to say, the first terminal in S402 sends the second information related to the side link positioning of the single anchor terminal to the target terminal. When a terminal sends the first information without incidentally requesting the second information, the first terminal sends the second information to the target terminal based on the first request from the target terminal.
  • receiving the first request from the target terminal may include at least one of the following:
  • the first terminal After receiving the first request from the target terminal, the first terminal sends to the target terminal second information related to sidelink positioning of the single-anchor terminal, including at least one of the following:
  • the first terminal after the first terminal sends the second information related to the side link positioning of the single-anchor terminal to the target terminal, if the first terminal is an anchor terminal, it may also base on the second information included in the second information
  • the configuration information of the side link PRS is to send the side link PRS to the target terminal, and the target terminal determines the location information of the target terminal according to the side link PRS.
  • the target terminal determines the location information of the target terminal according to the side link PRS.
  • the embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal.
  • the target terminal can obtain the location information of the target terminal based on the positioning process.
  • the location information of the target terminal may be determined through the following steps.
  • Step 1 The application layer of the target terminal has positioning requirements.
  • Step 2 The target terminal determines a positioning method (such as sidelink positioning, or RAT-dependent positioning) and needs to use sidelink positioning.
  • a positioning method such as sidelink positioning, or RAT-dependent positioning
  • the positioning method used by the target terminal may be determined according to a rule preconfigured by the network side device, or determined according to a rule stipulated in the protocol, or determined by the target terminal itself.
  • Step 3 The specific method for the target terminal to determine sidelink positioning (for example, a single Anchor UE or a multi-Anchor UE sidelink positioning method) is a single Anchor UE sidelink positioning method.
  • the specific method of sidelink positioning used by the target terminal may be determined according to the rules pre-configured or indicated by the network side device, or determined according to the rules stipulated in the protocol, or determined by the target terminal itself.
  • Step 4 The target terminal sends first information related to sidelink positioning to other terminals.
  • the target terminal sends the first information related to side link positioning to the other terminals.
  • the target terminal can first initiate the process of establishing a PC5 unicast link with other terminals to other terminals. After the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals.
  • the target terminal When the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:
  • the first information is sent through a newly defined PC5-S message.
  • the target terminal when it sends the first information related to sidelink positioning to other terminals, it may also send a first request incidentally, where the first request is used to request the first information related to sidelink positioning of a single-anchor terminal.
  • Two information The second information includes at least one item of location information of the anchor terminal and configuration information of the sidelink PRS, and the configuration information of the sidelink PRS includes at least one item of the sending cycle of the sidelink PRS and the first sending time of the sidelink PRS.
  • Step 5 Other terminals send feedback information to the target terminal.
  • other terminals can determine whether to send feedback information to the target terminal according to certain rules (for example, whether the "requirements for other terminals" in the received first information are met). terminal. If necessary, other terminals send feedback information to the target terminal, and if not necessary, do not send feedback information to the target terminal. In this embodiment, sending feedback information is taken as an example for description.
  • the feedback information is sent to the target terminal through the newly defined PC5-S message.
  • step 4 above when the target terminal sends the first information related to sidelink positioning to other terminals, it also sends the first request incidentally, then when other terminals send feedback information to the target terminal, Second information related to sidelink positioning of the single-anchor terminal may also be sent.
  • Step 6 The target terminal selects the anchor terminal from other terminals according to the received feedback information.
  • step 6 After performing step 6, if in the above step 4, the target terminal does not send the first request incidentally when sending the first information related to sidelink positioning to other terminals, it needs to perform steps 7 to 8, otherwise it can Skip steps 7 and 8 and go to step 9.
  • Step 7 The target terminal sends a first request to the anchor terminal, and the first request is used to request the second information related to the side link positioning of the single anchor terminal.
  • the target terminal When the target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:
  • the first request is sent through the newly defined PC5-S message.
  • Step 8 After receiving the first request, the anchor terminal determines second information related to sidelink positioning of the single anchor terminal, and sends the second information to the target terminal.
  • the anchor terminal When the anchor terminal sends the second information to the target terminal, it may be implemented in at least one of the following ways:
  • the second information is sent to the target terminal through the newly defined PC5-S message.
  • Step 9 After receiving the second information, the target terminal performs positioning measurement, including measuring the time when the sidelink PRS is received multiple times (for example, 3 times), and the distance traveled by the target terminal within the adjacent time period of receiving the sidelink PRS (such as D1 and D2 shown in Figure 2).
  • Step 10 The target terminal determines the location information.
  • the target terminal calculates the location information of the target terminal based on the location information of the anchor terminal, the time value of receiving sidelink PRS multiple times, and multiple driving distance values (for example, 2).
  • the target terminal sends information such as the location information of the anchor terminal, the time value at which sidelink PRS has been received multiple times, and multiple driving distance values (for example, 2) to the network side device, and the network side device receives After receiving the location information of the anchor terminal sent by the target terminal, the time value of the sidelink PRS multiple times, and multiple driving distance values (such as 2) and other information, calculate the positioning result of the target terminal and send the positioning result to the target terminal.
  • information such as the location information of the anchor terminal, the time value at which sidelink PRS has been received multiple times, and multiple driving distance values (for example, 2) to the network side device, and the network side device receives After receiving the location information of the anchor terminal sent by the target terminal, the time value of the sidelink PRS multiple times, and multiple driving distance values (such as 2) and other information, calculate the positioning result of the target terminal and send the positioning result to the target terminal.
  • the embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal.
  • the target terminal can obtain the location information of the target terminal based on the positioning process.
  • the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method.
  • the positioning device provided in the embodiment of the present application is described by taking the positioning device executing the positioning method as an example.
  • Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to a target terminal in other embodiments. As shown in FIG. 5 , the device 500 includes the following modules.
  • a positioning module 501 configured to determine the location information of the target terminal according to the second information from the anchor terminal;
  • the second information is related to single-anchor terminal sidelink positioning.
  • the apparatus 500 further includes a sending module 502, a receiving module 503, and a determining module 504:
  • the sending module 502 is configured to send first information related to sidelink positioning to other terminals;
  • the receiving module 503 is configured to receive feedback information from the other terminals;
  • the determining module 504 is configured to determine the anchor terminal from the other terminals according to the feedback information.
  • the sending module 502 is used for at least one of the following:
  • the target terminal When the target terminal has established a PC5 unicast link with the other terminal, the target terminal sends first information related to sidelink positioning to the other terminal;
  • the target terminal In the case that the target terminal has not established a PC5 unicast link with the other terminal, the target terminal initiates a process of establishing a PC5 unicast link with the other terminal to the other terminal; During the link establishment process or after the PC5 unicast link establishment process, the target terminal sends the first information related to sidelink positioning to the other terminals.
  • the sending module 502 is used for at least one of the following:
  • the first message is sent to the other terminal through a newly defined PC5-signaling message.
  • the receiving module 503 is used for at least one of the following:
  • the target terminal When the target terminal sends the first message to the other terminal through a terminal capability query sidelink message, receive the feedback information through a terminal capability information sidelink message;
  • the target terminal When the target terminal sends the first message to the other terminal through a keep-alive message, receive the feedback information through a keep-alive confirmation message;
  • the target terminal When the target terminal sends the first message to the other terminal through the newly defined PC5-signaling message, the feedback information is received through the newly defined PC5-signaling message.
  • the second information includes at least one of the following:
  • the location information of the anchor terminal is the location information of the anchor terminal.
  • the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
  • the sending module 502 is also configured to:
  • the receiving module is also used for:
  • the sending module 502 is further configured to send the first request to the anchor terminal;
  • the receiving module 503 is further configured to receive the second information from the anchor terminal.
  • the sending module 502 is also used for at least one of the following:
  • the first request is sent to the anchor terminal through a newly defined PC5-signaling message.
  • the receiving module 503 is also used for at least one of the following:
  • the first request is sent to the anchor terminal through a terminal capability query sidelink message
  • receiving the second information through a terminal capability information sidelink message
  • the second information is received through a newly defined PC5-signaling message.
  • the determining module 504 is also used for at least one of the following:
  • the first time period is when the target terminal receives two adjacent PRS the time period between the instants of the sidelink PRS;
  • the device 500 according to the embodiment of the present application can refer to the process of the method 300 corresponding to the embodiment of the present application, and each unit/module in the device 500 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 300, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.
  • Fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to the first terminal in other embodiments. As shown in FIG. 6 , the device 600 includes the following modules.
  • a sending module 601, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;
  • the second information is used by the target terminal to determine the location information of the target terminal.
  • the device 600 further includes a receiving module 602;
  • the receiving module 602 is configured to receive first information related to sidelink positioning from the target terminal;
  • the sending module 601 is further configured to send feedback information to the target terminal;
  • the target terminal is configured to determine the anchor terminal from the multiple first terminals according to the feedback information from the multiple first terminals.
  • the receiving module 602 is also used for at least one of the following:
  • the first terminal When the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;
  • the first terminal In the case that the first terminal has not established a PC5 unicast link with the target terminal, during or after the establishment of the PC5 unicast link, the first terminal receives First information related to sidelink positioning from the target terminal, and the establishment process of the PC5 unicast link is initiated by the target terminal.
  • the receiving module 602 is also used for at least one of the following:
  • the first message is received through a newly defined PC5-signaling message.
  • the sending module 601 is also used for at least one of the following:
  • the feedback information is sent to the target terminal through a newly defined PC5-signaling message.
  • the sending module 601 is configured to:
  • the first terminal When receiving the first information related to sidelink positioning from the target terminal, the first terminal receives a first request from the target terminal, where the first request is used to request information related to sidelink positioning of a single-anchor terminal the second information of
  • the second information includes at least one of the following:
  • the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
  • the receiving module 602 is further configured to, when the first terminal is an anchor terminal, after the sending module sends the feedback information to the target terminal, receive said first request from said target terminal;
  • the sending module 601 is further configured to send the second information to the target terminal.
  • the receiving module 602 is also used for at least one of the following:
  • the first request is received through a newly defined PC5-signalling message.
  • the sending module 601 is also used for at least one of the following:
  • the second information is sent to the target terminal through a newly defined PC5-signaling message.
  • the sending module 601 is also configured to:
  • the device 600 according to the embodiment of the present application can refer to the process of the method 400 corresponding to the embodiment of the present application, and each unit/module in the device 600 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 400, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.
  • the positioning device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or a component, an integrated circuit, or a chip in a terminal.
  • the apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal.
  • the mobile terminal may include but not limited to the types of terminals 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television ( television, TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.
  • the positioning device provided by the embodiment of the present application can realize various processes realized by the method embodiments in FIG. 3 to FIG. 4 and achieve the same technical effect. To avoid repetition, details are not repeated here.
  • the embodiment of the present application further provides a communication device 700, including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701,
  • a communication device 700 including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701
  • the communication device 700 is a target terminal
  • the program or instruction is executed by the processor 701
  • each process of the above positioning method embodiment can be realized, and the same technical effect can be achieved.
  • the communication device 700 is the first terminal, when the program or instruction is executed by the processor 701, each process of the positioning method embodiment described above can be achieved, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the embodiment of the present application also provides a terminal, including a processor and a communication interface.
  • the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, The second information is related to sidelink positioning of the single-anchor terminal.
  • the communication interface is used to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal, the The second information is used by the target terminal to determine the location information of the target terminal.
  • FIG. 8 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.
  • the terminal 800 includes but is not limited to: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810, etc. at least some of the components.
  • the terminal 800 may also include a power supply (such as a battery) for supplying power to various components, and the power supply may be logically connected to the processor 810 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 8 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.
  • the input unit 804 may include a graphics processor (Graphics Processing Unit, GPU) 8041 and a microphone 8042, and the graphics processor 8041 is used for the image capture device (such as the image data of the still picture or video obtained by the camera) for processing.
  • the display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 807 includes a touch panel 8071 and other input devices 8072 .
  • the touch panel 8071 is also called a touch screen.
  • the touch panel 8071 may include two parts, a touch detection device and a touch controller.
  • Other input devices 8072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.
  • the radio frequency unit 801 receives the downlink data from the network side device, and processes it to the processor 810; in addition, sends the uplink data to the network side device.
  • the radio frequency unit 801 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the memory 809 can be used to store software programs or instructions as well as various data.
  • the memory 809 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playback function, an image playback function, etc.) and the like.
  • the memory 809 may include a high-speed random access memory, and may also include a nonvolatile memory, wherein the nonvolatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • PROM erasable programmable read-only memory
  • Erasable PROM Erasable PROM
  • EPROM electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory for example at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the processor 810 may include one or more processing units; optionally, the processor 810 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 810 .
  • the processor 810 is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is side-chained with a single anchor terminal related to road positioning.
  • the radio frequency unit 801 is configured to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal , the second information is used by the target terminal to determine location information of the target terminal.
  • the embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal.
  • the target terminal can obtain the location information of the target terminal based on the positioning process.
  • the terminal 800 provided in the embodiment of the present application can also implement various processes in the above embodiments of the positioning method, and can achieve the same technical effect. To avoid repetition, details are not repeated here.
  • the embodiment of the present application also provides a readable storage medium, the readable storage medium may be volatile or non-volatile, and a program or instruction is stored on the readable storage medium, the program or When the instructions are executed by the processor, each process of the positioning method embodiment described above can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the processor is the processor in the terminal described in the foregoing embodiments.
  • the readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement each of the above positioning method embodiments process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.
  • the embodiment of the present application further provides a computer program/program product, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to realize
  • the various processes of the above embodiments of the positioning method can achieve the same technical effect, and will not be repeated here to avoid repetition.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
  • the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.
  • the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.

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Abstract

The present application discloses a positioning method and a terminal, which belong to the technical field of terminal communications. The method of the embodiments of the present application comprises: a target terminal positions location information of the target terminal according to second information from an anchor point terminal, the second information being related to sidelink positioning of a single-anchor point terminal.

Description

定位方法及终端Positioning method and terminal
交叉引用cross reference
本发明要求在2021年09月29日提交中国专利局、申请号为202111154319.6、发明名称为“定位方法及终端”的中国专利申请的优先权，该申请的全部内容通过引用结合在本发明中。The present invention claims the priority of the Chinese patent application with the application number 202111154319.6 and the title of the invention "Positioning Method and Terminal" submitted to the China Patent Office on September 29, 2021. The entire content of this application is incorporated by reference in the present invention.
技术领域technical field
本申请属于终端通信技术领域，具体涉及一种定位方法及终端。The present application belongs to the technical field of terminal communication, and in particular relates to a positioning method and a terminal.
背景技术Background technique
目前，当目标终端有定位需求时，可以使用RAT-dependent的方法对目标终端进行定位，即通过目标终端与基站之间的Uu口进行定位参考信号的发送和测量来实现定位，或者，也可以使用RAT-independent的定位方法对目标终端进行定位，比如使用全球卫星导航***(Global Navigation Satellite System，GNSS)进行定位，或者，还可以使用旁链路(sidelink，终端与其他节点(除基站)之间的通信链路，也可以称为副链路，直连链路，侧链路，边链路等)对目标终端进行定位。At present, when the target terminal has positioning requirements, the RAT-dependent method can be used to locate the target terminal, that is, the positioning can be realized by sending and measuring positioning reference signals through the Uu interface between the target terminal and the base station, or Use the RAT-independent positioning method to locate the target terminal, such as using the Global Navigation Satellite System (GNSS) for positioning, or you can also use the sidelink (sidelink, between the terminal and other nodes (except the base station) The communication link between them, which may also be referred to as a secondary link, a direct link, a side link, a side link, etc.) to locate the target terminal.
在使用sidelink对目标终端进行定位时，可以使用下行链路达到时间差(Down Link Time Difference of Arrival，DL-TDOA)的定位方法进行定位，也可以使用锚点终端(Anchor User Equipment，Anchor UE)的sidelink定位方法进行定位。然而，针对单Anchor UE的sidelink定位方法，目前还缺少详细的定位流程以实现对目标终端的定位。When using sidelink to locate the target terminal, you can use the downlink time difference of arrival (Down Link Time Difference of Arrival, DL-TDOA) positioning method for positioning, or you can use the anchor terminal (Anchor User Equipment, Anchor UE) The sidelink positioning method is used for positioning. However, for the sidelink positioning method for a single Anchor UE, there is still a lack of detailed positioning process to realize the positioning of the target terminal.
发明内容Contents of the invention
本申请实施例提供一种定位方法及终端，能够解决如何使用单锚点终端的sidelink定位方法对目标终端进行定位的问题。Embodiments of the present application provide a positioning method and a terminal, which can solve the problem of how to use the sidelink positioning method of a single-anchor terminal to locate a target terminal.
第一方面，提供了一种定位方法，包括：In the first aspect, a positioning method is provided, including:
目标终端根据来自锚点终端的第二信息，确定所述目标终端的位置信息；The target terminal determines the location information of the target terminal according to the second information from the anchor terminal;
其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, the second information is related to single-anchor terminal sidelink positioning.
第二方面，提供了一种定位装置，包括：In a second aspect, a positioning device is provided, including:
定位模块，用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；a positioning module, configured to determine the location information of the target terminal according to the second information from the anchor terminal;
其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, the second information is related to single-anchor terminal sidelink positioning.
第三方面，提供了一种定位方法，包括：In the third aspect, a positioning method is provided, including:
第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息；The first terminal sends second information related to sidelink positioning of the single-anchor terminal to the target terminal;
其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
第四方面，提供了一种定位装置，包括：In a fourth aspect, a positioning device is provided, including:
发送模块，用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；A sending module, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;
其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
第五方面，提供了一种终端，该终端包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。According to a fifth aspect, a terminal is provided. The terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor. When the program or instruction is executed by the processor The steps of the method described in the first aspect are realized.
第六方面，提供了一种目标终端，包括处理器及通信接口，其中，所述处理器用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；其中，所述第二信息与单锚点终端旁链路定位相关。According to a sixth aspect, a target terminal is provided, including a processor and a communication interface, wherein the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein the second Information related to single-anchor terminal sidelink positioning.
第七方面，提供了一种第一终端，该网络侧设备包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指 令被所述处理器执行时实现如第三方面所述的方法的步骤。In a seventh aspect, a first terminal is provided. The network side device includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor. The program or instruction is executed by the The processor implements the steps of the method described in the third aspect when executing.
第八方面，提供了一种第一终端，包括处理器及通信接口，其中，所述通信接口用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。In an eighth aspect, a first terminal is provided, including a processor and a communication interface, wherein the communication interface is used to send the second information related to the side link positioning of the single-anchor terminal to the target terminal; wherein, in the When the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
第九方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第三方面所述的方法的步骤。In the ninth aspect, a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the third aspect.
第十方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第三面所述的方法。In a tenth aspect, a chip is provided, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect , or implement the method as described in the third page.
第十一方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在非瞬态的可读存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，实现如第三方面所述的方法的步骤。In an eleventh aspect, a computer program/program product is provided, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to implement The steps of the method described in the first aspect implement the steps of the method described in the third aspect.
在本申请实施例中，目标终端在有定位需求时，锚点终端可以将与单锚点终端旁链路定位相关的第二信息发送给目标终端，目标终端可以根据来自锚点终端的第二信息确定目标终端的位置信息。本申请实施例给出了基于单锚点终端的sidelink定位方法对目标终端进行定位时的详细的定位流程，基于该定位流程可以得到目标终端的位置信息。In this embodiment of the present application, when the target terminal has a positioning requirement, the anchor terminal can send the second information related to the side-link positioning of the single-anchor terminal to the target terminal, and the target terminal can send the second information from the anchor terminal to the target terminal. The information determines the location information of the target terminal. The embodiment of the present application provides a detailed positioning procedure for locating a target terminal based on a sidelink positioning method for a single-anchor terminal, and the location information of the target terminal can be obtained based on the positioning procedure.
附图说明Description of drawings
图1是根据本申请实施例的无线通信***的示意图；FIG. 1 is a schematic diagram of a wireless communication system according to an embodiment of the present application;
图2是根据本申请实施例的单锚点终端的sidelink定位方法的示意图；2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application;
图3是根据本申请实施例的定位方法的示意性流程图；FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application;
图4是根据本申请实施例的定位方法的示意性流程图；FIG. 4 is a schematic flowchart of a positioning method according to an embodiment of the present application;
图5是根据本申请实施例的定位装置的结构示意图；FIG. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application;
图6是根据本申请实施例的定位装置的结构示意图；FIG. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application;
图7是根据本申请实施例的通信设备的结构示意图；FIG. 7 is a schematic structural diagram of a communication device according to an embodiment of the present application;
图8是根据本申请实施例的终端的结构示意图。Fig. 8 is a schematic structural diagram of a terminal according to an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application belong to the protection scope of this application.
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and "second" distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects. In addition, "and/or" in the description and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)***，还可用于其他无线通信***，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)和其他***。本申请实施例中的术语“***”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的***和无线电技术，也可用于其他***和无线电技术。以下描述出 于示例目的描述了新空口(New Radio，NR)***，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR***应用以外的应用，如第6代(6 th Generation，6G)通信***。 It is worth pointing out that the technology described in the embodiment of this application is not limited to the Long Term Evolution (Long Term Evolution, LTE)/LTE-Advanced (LTE-Advanced, LTE-A) system, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access, OFDMA), Single-carrier Frequency-Division Multiple Access (Single-carrier Frequency-Division Multiple Access, SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technologies can be used for the above-mentioned systems and radio technologies as well as other systems and radio technologies. The following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th generation (6 th Generation, 6G) communication system.
图1示出本申请实施例可应用的一种无线通信***的框图。无线通信***包括终端11和网络侧设备12。其中，终端11也可以称作终端设备或者用户终端(User Equipment，UE)，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、可穿戴式设备(Wearable Device)或车载设备(VUE)、行人终端(PUE)等终端侧设备，可穿戴式设备包括：智能手表、手环、耳机、眼镜等。需要说明的是，在本申请实施例并不限定终端11的具体类型。网络侧设备12可以是基站或核心网，其中，基站可被称为节点B、演进节点B、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、B节点、演进型B节点(eNB)、家用B节点、家用演进型B节点、WLAN接入点、WiFi节点、发送接收点(Transmitting Receiving Point，TRP)或所述领域中其他某个合适的术语，只要达到相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR***中的基站为例，但是并不限定基站的具体类型。Fig. 1 shows a block diagram of a wireless communication system to which the embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network side device 12 . Wherein, the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital Assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile Internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted device (VUE), Pedestrian Terminal (PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc. It should be noted that, the embodiment of the present application does not limit the specific type of the terminal 11 . The network side device 12 may be a base station or a core network, where a base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service Basic Service Set (BSS), Extended Service Set (ESS), Node B, Evolved Node B (eNB), Home Node B, Home Evolved Node B, WLAN access point, WiFi node, transmission Receiving point (Transmitting Receiving Point, TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only The base station in the NR system is taken as an example, but the specific type of the base station is not limited.
在图1中，终端11之间可以基于sidelink进行通信，针对任一终端11而言，当终端11有定位需求时，可以基于sidelink的定位方法对终端11进行定位。其中，基于sidelink的定位方法可以是DL-TDOA的定位方法，也可以是单锚点终端的sidelink定位方法。针对单锚点终端的sidelink定位方法，本申请实施例给出了详细的定位流程，当目标终端有定位需求时，可以基于该定位流程得到目标终端的位置信息。In FIG. 1 , terminals 11 can communicate based on sidelink. For any terminal 11, when the terminal 11 has a positioning requirement, the terminal 11 can be positioned based on a sidelink positioning method. Wherein, the sidelink-based positioning method may be a DL-TDOA positioning method, or a sidelink positioning method of a single-anchor terminal. For the sidelink positioning method of a single-anchor terminal, the embodiment of the present application provides a detailed positioning process. When the target terminal has a positioning requirement, the position information of the target terminal can be obtained based on the positioning process.
图2是根据本申请实施例的单锚点终端的sidelink定位方法的示意图，在使用单锚点终端的sidelink定位方法计算目标终端的位置信息时，可以基于图2所示的方法得到目标终端的位置信息。FIG. 2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application. When using the sidelink positioning method for a single-anchor terminal to calculate the location information of the target terminal, the target terminal can be obtained based on the method shown in FIG. 2 location information.
图2中，锚点终端可以周期性(假设周期为T)的向目标终端发送旁链路定位参考信号(sidelink Positioning Reference Signal，SL-PRS)，图2中的T0、T1和T2为锚点终端连续发送三次SL-PRS的时刻，目标终端接收到该三次SL-PRS的时刻为T0+△T0、T1+△T1和T2+△T2，且，目标终端在T0+△T0和T1+△T1之间行驶的距离为D1，在T1+△T1和T2+△T2之间行驶的距离为D2。对于单锚点终端的sidelink定位方法，已知以下信息：In Figure 2, the anchor terminal can periodically (assuming the period is T) send a sidelink positioning reference signal (sidelink Positioning Reference Signal, SL-PRS) to the target terminal, T0, T1 and T2 in Figure 2 are the anchor points The moment when the terminal sends SL-PRS three times continuously, the moment when the target terminal receives the three SL-PRS is T0+△T0, T1+△T1 and T2+△T2, and the target terminal is traveling between T0+△T0 and T1+△T1 The distance is D1, and the distance traveled between T1+ΔT1 and T2+ΔT2 is D2. For the sidelink positioning method of a single-anchor terminal, the following information is known:
(1)锚点终端的位置信息；(1) Location information of the anchor terminal;
(2)锚点终端发送SL-PRS的周期T，T＝T2-T1＝T；(2) The cycle T for the anchor terminal to send the SL-PRS, T=T2-T1=T;
(3)目标终端接收到3个SL-PRS的时刻；(3) The moment when the target terminal receives 3 SL-PRS;
目标终端接收到SL-PRS的时间间隔为：The time interval for the target terminal to receive the SL-PRS is:
(T1+△T1)-(T0+△T0)＝T+(△T1-△T0)，即TDoA1＝(△T1-△T0)＝(T1+△T1)-(T0+△T0)–T；(T1+△T1)-(T0+△T0)=T+(△T1-△T0), that is, TDoA1=(△T1-△T0)=(T1+△T1)-(T0+△T0)–T;
(T2+△T2)-(T1+△T1)＝T+(△T2-△T1)，即TDoA2＝(△T2-△T1)＝(T2+△T2)-(T1+△T1)–T；(T2+△T2)-(T1+△T1)=T+(△T2-△T1), that is, TDoA2=(△T2-△T1)=(T2+△T2)-(T1+△T1)-T;
(4)目标终端根据时间计算出D1和D2(如通过陀螺仪等)；(4) The target terminal calculates D1 and D2 according to the time (such as through the gyroscope, etc.);
通过上述4个已知信息，可以确定得到目标终端的位置信息。Through the above four known information, the location information of the target terminal can be determined and obtained.
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的定位方法及终端进行详细地说明。The positioning method and terminal provided by the embodiments of the present application will be described in detail below through some embodiments and application scenarios with reference to the accompanying drawings.
如图3所示，本申请实施例提供一种定位方法300，该方法可以由有定位需求的目标终端(Target UE)执行，换言之，该方法可以由安装在目标终端的软件或硬件来执行，该方法包括如下步骤。As shown in FIG. 3, the embodiment of the present application provides a positioning method 300, which can be performed by a target terminal (Target UE) that has a positioning requirement. In other words, the method can be performed by software or hardware installed on the target terminal. The method includes the following steps.
S302：目标终端根据来自锚点终端的第二信息，确定目标终端的位置信息；其中，第二信息与单锚点终端旁链路定位相关。S302: The target terminal determines location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is related to single-anchor terminal sidelink positioning.
在S302中，当目标终端有定位需求，目标终端确定使用旁链路(sidelink)定位，且目标终端确定使用的sidelink定位的具体方法为单锚点终端的旁链路定位方法(单Anchor UE的sidelink定位方法)时，目标终端可以接收来自锚点终端(Anchor UE)的与单锚点终端旁链路定位(单Anchor UE sidelink定位)相关的第二信息。In S302, when the target terminal has a positioning requirement, the target terminal determines to use sidelink (sidelink) positioning, and the specific method of the sidelink positioning used by the target terminal is the sidelink positioning method of a single anchor terminal (single Anchor UE's sidelink positioning method) sidelink positioning method), the target terminal may receive second information related to single anchor terminal sidelink positioning (single Anchor UE sidelink positioning) from the anchor terminal (Anchor UE).
上述目标终端有定位需求可以是目标终端的应用层有定位需求。定位方法包括sidelink定位，或者RAT-dependent定位等，上述目标终端确定使用sidelink定位可以是目标终端根据网络侧设备预配置的规则确定使用sidelink定位，或者，也可以是目标终端根据协议约定的规则确定使用sidelink定位，或者，还可以是目标终端自己决定使用sidelink定位。The aforementioned target terminal having a positioning requirement may mean that the application layer of the target terminal has a positioning requirement. Positioning methods include sidelink positioning, or RAT-dependent positioning, etc. The above-mentioned target terminal determines to use sidelink positioning. The target terminal may determine to use sidelink positioning according to the rules pre-configured on the network side device, or the target terminal may determine according to the rules stipulated in the protocol. Use sidelink for positioning, or, the target terminal may decide to use sidelink for positioning.
Sidelink定位的具体方法包括单Anchor UE的sidelink定位方法以及多Anchor UE的sidelink定位方法，上述目标终端确定使用单Anchor UE的sidelink定位方法，可以是目标终端根据网络侧设备预配置的规则确定使用单Anchor UE的sidelink定位方法，或者，也可以是目标终端根据协议约定的规则确定使用单Anchor UE的sidelink定位方法，或者，还可以是目标终端自己决定使用单Anchor UE的sidelink定位方法。The specific methods of Sidelink positioning include the sidelink positioning method of a single Anchor UE and the sidelink positioning method of multiple Anchor UEs. The above-mentioned target terminal determines to use the sidelink positioning method of a single Anchor UE. The sidelink positioning method of the Anchor UE, or, the target terminal may determine to use the sidelink positioning method of a single Anchor UE according to the rules stipulated in the protocol, or it may also be that the target terminal itself decides to use the sidelink positioning method of a single Anchor UE.
上述第二信息可以包括以下至少一项：The above-mentioned second information may include at least one of the following:
锚点终端的位置信息；The location information of the anchor terminal;
旁链路定位参考信号(Positioning Reference Signal，PRS)的配置信息。Configuration information of the sidelink positioning reference signal (Positioning Reference Signal, PRS).
上述旁链路PRS的配置信息可以包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。The above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.
锚点终端(Anchor UE)可以理解为辅助目标终端进行定位的终端，本实施例中，锚点终端可以由网络侧设备进行配置，也可以由目标终端从其他终端中确定。在锚点终端由网络侧设备配置的情况下，当目标终端有定位需求且确定使用单Anchor UE的sidelink定位方法进行定位时，锚点终端可以向目标终端发送与单Anchor UE sidelink定位相关的第二信息，目标终端接收到 来自锚点终端的该第二信息时，可以根据该第二信息确定目标终端的位置信息。在锚点终端由目标终端从其他终端中确定的情况下，目标终端在确定位置信息之前，还需要确定锚点终端。An anchor terminal (Anchor UE) can be understood as a terminal that assists a target terminal in positioning. In this embodiment, the anchor terminal can be configured by a network-side device, or can be determined by the target terminal from other terminals. In the case where the anchor terminal is configured by the network side device, when the target terminal has positioning requirements and determines to use the sidelink positioning method of a single Anchor UE for positioning, the anchor terminal can send the first information related to single Anchor UE sidelink positioning to the target terminal Second information, when the target terminal receives the second information from the anchor terminal, it may determine the location information of the target terminal according to the second information. In the case that the anchor terminal is determined by the target terminal from other terminals, the target terminal needs to determine the anchor terminal before determining the location information.
目标终端在确定锚点终端时，具体实现方式如下：When the target terminal determines the anchor terminal, the specific implementation method is as follows:
首先，目标终端向其他终端发送与旁链路定位相关的第一信息；First, the target terminal sends first information related to sidelink positioning to other terminals;
其次，目标终端接收来自其他终端的反馈信息；Secondly, the target terminal receives feedback information from other terminals;
最后，目标终端根据反馈信息从其他终端中确定锚点终端。Finally, the target terminal determines the anchor terminal from other terminals according to the feedback information.
上述第一信息可以是目标终端的信息、sidelink定位信息、对其他终端的要求、请求其他终端的信息等。其中，目标终端的信息可以是目标终端的sidelink定位能力、移动状态等，sidelink定位信息可以是单Anchor UE的sidelink定位方法、定位精度等，对其他终端的要求可以是单Anchor UE sidelink定位能力要求等，请求其他终端的信息可以是单Anchor UE sidelink定位能力、所处的zone信息、移动状态等。The above-mentioned first information may be information about the target terminal, sidelink positioning information, requirements for other terminals, information requested for other terminals, and the like. Among them, the information of the target terminal can be the sidelink positioning capability and mobile status of the target terminal, etc. The sidelink positioning information can be the sidelink positioning method and positioning accuracy of a single Anchor UE, and the requirements for other terminals can be the single Anchor UE sidelink positioning capability requirements etc., the information requested for other terminals can be single Anchor UE sidelink positioning capability, zone information, mobility status, etc.
本实施例中，目标终端可以在以下至少一种情况下向其他终端发送与旁链路定位相关的第一信息：In this embodiment, the target terminal may send the first information related to sidelink positioning to other terminals in at least one of the following situations:
第一种情况：在目标终端与其他终端已建立PC5单播链路(PC5 unicast link)的情况下，目标终端向其他终端发送与旁链路定位相关的第一信息；The first case: when the target terminal has established a PC5 unicast link (PC5 unicast link) with other terminals, the target terminal sends the first information related to side link positioning to other terminals;
第二种情况：在目标终端与其他终端未建立PC5单播链路的情况下，目标终端向其他终端发起与其他终端的PC5单播链路的建立过程，在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，目标终端向其他终端发送与旁链路定位相关的第一信息。其中，目标终端发起与其他终端的PC5单播链路的建立过程，具体可以是目标终端的上层(PC5-信令，即PC5-S)发起PC5单播链路的建立过程。The second case: when the target terminal has not established a PC5 unicast link with other terminals, the target terminal initiates the process of establishing a PC5 unicast link with other terminals to other terminals, and the process of establishing a PC5 unicast link During or after the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals. Wherein, the target terminal initiates the establishment process of the PC5 unicast link with other terminals, specifically, the upper layer (PC5-signaling, ie PC5-S) of the target terminal initiates the establishment process of the PC5 unicast link.
针对上述任一种情况，目标终端在向其他终端发送与旁链路定位相关的第一信息时，可以通过以下至少一种方式实现：For any of the above situations, when the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:
(1)通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息向 其他终端发送第一消息；(1) sending the first message to other terminals through the UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;
(2)通过无线资源控制(Radio Resource Control，RRC)重配置旁链路(RRC Reconfiguration Sidelink)消息向其他终端发送第一消息；(2) sending a first message to other terminals through a Radio Resource Control (RRC) reconfiguration sidelink (RRC Reconfiguration Sidelink) message;
(3)通过链路标识符更新请求(Link Identifier Update Request)消息向其他终端发送第一消息；(3) send the first message to other terminals through a link identifier update request (Link Identifier Update Request) message;
(4)通过链路标识符更新确认(Link Identifier Update Ack)消息向其他终端发送第一消息；(4) send the first message to other terminals through the Link Identifier Update Ack (Link Identifier Update Ack) message;
(5)通过断开连接请求(Disconnect Request)消息向其他终端发送第一消息；(5) send the first message to other terminals by disconnecting the request (Disconnect Request) message;
(6)通过链路修改请求(Link Modification Request)消息向其他终端发送第一消息；(6) send the first message to other terminals through a link modification request (Link Modification Request) message;
(7)通过保持连接(Keep-alive)消息向其他终端发送第一消息；(7) Sending the first message to other terminals through a Keep-alive message;
(8)通过新定义的PC5-RRC消息向其他终端发送第一消息；(8) sending the first message to other terminals through the newly defined PC5-RRC message;
(9)通过新定义的PC5-信令(PC5-S)消息向其他终端发送第一消息。(9) Sending the first message to other terminals through a newly defined PC5-signaling (PC5-S) message.
其他终端在接收到目标终端发送的第一信息后，可以根据一定的规则确定是否需要向目标终端发送反馈信息。若需要，则其他终端向目标终端发送反馈信息。比如，若其他终端满足接收到的第一信息中的“对其他终端的要求”，则其他终端可以向目标终端发送反馈信息。其中，其他终端发送目标终端的反馈信息可以是其他终端的sidelink定位能力、其他终端所处的zone信息、其他终端的移动状态等。After receiving the first information sent by the target terminal, other terminals may determine whether to send feedback information to the target terminal according to certain rules. If necessary, other terminals send feedback information to the target terminal. For example, if other terminals meet the "requirements for other terminals" in the received first information, the other terminals may send feedback information to the target terminal. Wherein, the feedback information sent by other terminals to the target terminal may be the sidelink positioning capability of other terminals, the zone information of other terminals, the moving status of other terminals, and the like.
本实施例中，其他终端在向目标终端发送反馈信息时，可以通过以下至少一种方式发送，即目标终端在接收来自其他终端的反馈信息时，可以通过以下至少一种方式接收：In this embodiment, when other terminals send feedback information to the target terminal, they may send it in at least one of the following ways, that is, when the target terminal receives feedback information from other terminals, it may receive it in at least one of the following ways:
(1)在目标终端通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息向其他终端发送第一消息的情况下，通过终端能力信息旁链路(UE Capability Information Sidelink)消息接收反馈信息；(1) When the target terminal sends the first message to other terminals through the terminal capability inquiry sidelink (UE Capability Enquiry Sidelink) message, receive the feedback information through the terminal capability information sidelink (UE Capability Information Sidelink) message;
(2)在目标终端通过RRC重配置旁链路(RRC Reconfiguration Sidelink)消息向其他终端发送第一消息的情况下，通过RRC重配置完成旁链路(RRC Reconfiguration Complete Sidelink)消息接收反馈信息；(2) In the case that the target terminal sends the first message to other terminals through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message receives the feedback information;
(3)在目标终端通过链路标识符更新请求(Link Identifier Update Request)消息向其他终端发送第一消息的情况下，通过链路标识符更新响应(Link Identifier Update Response)消息接收反馈信息；(3) When the target terminal sends the first message to other terminals through a link identifier update request (Link Identifier Update Request) message, receive feedback information through a link identifier update response (Link Identifier Update Response) message;
(4)在目标终端通过链路标识符更新确认(Link Identifier Update Ack)消息向其他终端发送第一消息的情况下，通过新定义的PC5-信令(PC5-S)消息接收反馈信息；(4) When the target terminal sends the first message to other terminals through the link identifier update confirmation (Link Identifier Update Ack) message, receive the feedback information through the newly defined PC5-signaling (PC5-S) message;
(5)在目标终端通过断开连接请求(Disconnect Request)消息向其他终端发送第一消息的情况下，通过断开连接响应(Disconnect Response)消息接收反馈信息；(5) In the case that the target terminal sends the first message to other terminals through a disconnection request (Disconnect Request) message, the feedback information is received through a disconnection response (Disconnect Response) message;
(6)在目标终端通过链路修改请求(Link Modification Request)消息向其他终端发送第一消息的情况下，通过链路修改接受(Link Modification Accept)消息接收反馈信息；(6) Under the situation that the target terminal sends the first message to other terminals through the link modification request (Link Modification Request) message, receive the feedback information through the link modification accept (Link Modification Accept) message;
(7)在目标终端通过保持连接(Keep-alive)消息向其他终端发送第一消息的情况下，通过保持连接确认(Keep-alive Ack)消息接收反馈信息；(7) Under the situation that the target terminal sends the first message to other terminals by keeping the connection (Keep-alive) message, receive the feedback information by keeping the connection confirmation (Keep-alive Ack) message;
(8)在目标终端通过新定义的PC5-RRC消息向其他终端发送第一消息的情况下，通过新定义的PC5-RRC消息接收反馈信息；(8) When the target terminal sends the first message to other terminals through the newly defined PC5-RRC message, receive the feedback information through the newly defined PC5-RRC message;
(9)在目标终端通过新定义的PC5-信令(PC5-S)消息向其他终端发送第一消息的情况下，通过新定义的PC5-信令(PC5-S)消息接收反馈信息。(9) When the target terminal sends the first message to other terminals through the newly defined PC5-signaling (PC5-S) message, receive the feedback information through the newly defined PC5-signaling (PC5-S) message.
目标终端在接收到来自其他终端的反馈信息后，可以根据其他终端的反馈信息确定锚点终端。比如可以选择其他终端中sidelink定位能力最好的一个终端作为锚点终端，当然，也可以通过其他方式确定锚点终端，这里不对如何确定锚点终端做具体限定。After receiving the feedback information from other terminals, the target terminal may determine the anchor terminal according to the feedback information from other terminals. For example, the terminal with the best sidelink positioning capability among other terminals can be selected as the anchor terminal. Of course, the anchor terminal can also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.
在一种可能的实现方式中，上述目标终端在向其他终端发送第一信息时， 还可以顺带向其他终端发送第一请求，该第一请求用于请求与单锚点终端旁链路定位相关的第二信息。也就是说，在目标终端与其他终端已建立PC5单播链路的情况下，目标终端在向其他终端发送第一信息时，可以顺带发送第一请求，或者，在目标终端与其他终端未建立PC5单播链路的情况下，在目标终端发起与其他终端的PC5单播链路的建立过程，在该建立过程中或在该建立过程之后，目标终端在向其他终端发送第一信息时，可以顺带发送第一请求。其中，目标终端在向其他终端发送第一请求时，可以通过上述目标终端向其他终端发送第一信息时的九种实现方式中的至少一项实现。In a possible implementation manner, when the above-mentioned target terminal sends the first information to other terminals, it may also send a first request to other terminals incidentally, and the first request is used to request information related to single-anchor terminal side link positioning the second information. That is to say, when the target terminal has established a PC5 unicast link with other terminals, the target terminal may send the first request incidentally when sending the first information to other terminals, or, when the target terminal has not established a link with other terminals, In the case of a PC5 unicast link, when the target terminal initiates a PC5 unicast link establishment process with other terminals, during or after the establishment process, when the target terminal sends the first information to other terminals, The first request can be sent incidentally. Wherein, when the target terminal sends the first request to other terminals, it may be implemented by at least one of the above nine implementation manners when the target terminal sends the first information to other terminals.
其他终端在接收到第一请求后，可以向目标终端发送第二信息。可选地，其他终端可以在向目标终端发送上述反馈信息时，同时向目标终端发送第二信息。这样，目标终端在接收到来自其他终端的反馈信息时，还可以接收到来自其他终端的第二信息。其中，其他终端在向目标终端发送第二信息时，即目标终端在接收来自其他终端的第二信息时，可以通过上述目标终端接收来自其他终端的反馈信息时的九种实现方式中的至少一项实现。After receiving the first request, other terminals may send the second information to the target terminal. Optionally, the other terminal may send the second information to the target terminal at the same time when sending the above feedback information to the target terminal. In this way, when receiving feedback information from other terminals, the target terminal may also receive second information from other terminals. Wherein, when the other terminal sends the second information to the target terminal, that is, when the target terminal receives the second information from the other terminal, at least one of the nine implementation manners when the target terminal receives the feedback information from the other terminal item is realized.
在另一种可能的实现方式中，若目标终端在确定锚点终端后，在之前的步骤中没有顺带请求与单锚点终端旁链路定位相关的第二信息，比如，目标终端在向其他终端发送上述第一信息时，没有顺带请求第二信息(即没有顺带发送上述第一请求)，则在目标终端确定锚点终端后，还需要向锚点终端发送第一请求，以请求锚点终端的与单锚点终端旁链路定位相关的第二信息。目标终端在向锚点终端发送第一请求后，锚点终端可以向目标终端发送与单锚点终端旁链路定位相关的第二信息，目标终端可以接收来自锚点终端的第二信息，根据该第二信息可以确定自身的位置信息。In another possible implementation, if the target terminal does not request the second information related to the single-anchor terminal sidelink positioning in the previous steps after determining the anchor terminal, for example, the target terminal sends other When the terminal sends the first information above, it does not request the second information incidentally (that is, it does not send the first request incidentally), then after the target terminal determines the anchor terminal, it needs to send the first request to the anchor terminal to request the anchor terminal The second information of the terminal related to sidelink positioning of the single-anchor terminal. After the target terminal sends the first request to the anchor terminal, the anchor terminal can send the second information related to the single-anchor terminal sidelink positioning to the target terminal, and the target terminal can receive the second information from the anchor terminal, according to The second information can determine its own location information.
上述目标终端在向锚点终端发送第一请求时，可以通过以下至少一种方式实现：When the above-mentioned target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:
(1)通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息向锚点终端发送第一请求；(1) Send a first request to the anchor terminal through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;
(2)通过RRC重配置旁链路(RRC Reconfiguration Sidelink)消息向锚点终端发送第一请求；(2) send the first request to the anchor terminal through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message;
(3)通过链路标识符更新请求(Link Identifier Update Request)消息向锚点终端发送第一请求；(3) Send the first request to the anchor terminal through a link identifier update request (Link Identifier Update Request) message;
(4)通过链路标识符更新确认(Link Identifier Update Ack)消息向锚点终端发送第一请求；(4) Send a first request to the anchor terminal through a Link Identifier Update Ack (Link Identifier Update Ack) message;
(5)通过断开连接请求(Disconnect Request)消息向锚点终端发送第一请求；(5) send the first request to the anchor terminal by disconnecting the request (Disconnect Request) message;
(6)通过链路修改请求(Link Modification Request)消息向锚点终端发送第一请求；(6) Send the first request to the anchor terminal through a link modification request (Link Modification Request) message;
(7)通过保持连接(Keep-alive)消息向锚点终端发送第一请求；(7) Sending a first request to the anchor terminal through a Keep-alive message;
(8)通过新定义的PC5-RRC消息向锚点终端发送第一请求；(8) sending a first request to the anchor terminal through a newly defined PC5-RRC message;
(9)通过新定义的PC5-信令(PC5-S)消息向锚点终端发送第一请求。(9) Send the first request to the anchor terminal through a newly defined PC5-signaling (PC5-S) message.
锚点终端在接收到来自目标终端的第一请求后，在向目标终端发送与单锚点终端旁链路定位相关的第二信息时，可以通过以下至少一种方式实现，即目标终端在接收来自锚点终端的与单锚点终端旁链路定位相关的第二信息时，可以通过以下至少一种方式实现：After the anchor terminal receives the first request from the target terminal, when sending the second information related to the single-anchor terminal sidelink positioning to the target terminal, it can be realized in at least one of the following ways, that is, the target terminal receives The second information related to sidelink positioning of a single-anchor terminal from the anchor terminal can be realized in at least one of the following ways:
(1)在通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息向锚点终端发送第一请求的情况下，通过终端能力信息旁链路(UE Capability Information Sidelink)消息接收第二信息；(1) In the case of sending the first request to the anchor terminal through the terminal capability inquiry sidelink (UE Capability Enquiry Sidelink) message, receive the second information through the terminal capability information sidelink (UE Capability Information Sidelink) message;
(2)在通过RRC重配置旁链路(RRC Reconfiguration Sidelink)消息向锚点终端发送第一请求的情况下，通过RRC重配置完成旁链路(RRC Reconfiguration Complete Sidelink)消息接收第二信息；(2) In the case of sending the first request to the anchor terminal through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message receives the second information;
(3)在通过链路标识符更新请求(Link Identifier Update Request)消息向锚点终端发送第一请求的情况下，通过链路标识符更新响应(Link Identifier Update Response)消息接收第二信息；(3) In the case of sending the first request to the anchor terminal through a link identifier update request (Link Identifier Update Request) message, receive the second information through a link identifier update response (Link Identifier Update Response) message;
(4)在通过链路标识符更新确认(Link Identifier Update Ack)消息向锚点终端发送第一请求的情况下，通过新定义的PC5-信令(PC5-S)消息接收第二信息；(4) In the case of sending the first request to the anchor terminal through the Link Identifier Update Ack (Link Identifier Update Ack) message, receive the second information through the newly defined PC5-signaling (PC5-S) message;
(5)在通过断开连接请求(Disconnect Request)消息向锚点终端发送第一请求的情况下，通过断开连接响应(Disconnect Response)消息接收第二信息；(5) in the case of sending the first request to the anchor terminal by disconnecting the connection request (Disconnect Request) message, receiving the second information by disconnecting the connection response (Disconnect Response) message;
(6)在通过链路修改请求(Link Modification Request)消息向锚点终端发送第一请求的情况下，通过链路修改接受(Link Modification Accept)消息接收第二信息；(6) in the case of sending the first request to the anchor terminal through the link modification request (Link Modification Request) message, receive the second information through the link modification accept (Link Modification Accept) message;
(7)在通过保持连接(Keep-alive)消息向锚点终端发送第一请求的情况下，通过保持连接确认(Keep-alive Ack)消息接收第二信息；(7) in the case of sending the first request to the anchor terminal by keeping the connection (Keep-alive) message, receiving the second information by keeping the connection confirmation (Keep-alive Ack) message;
(8)在通过新定义的PC5-RRC消息向锚点终端发送第一请求的情况下，通过新定义的PC5-RRC消息接收第二信息；(8) In the case of sending the first request to the anchor terminal through the newly defined PC5-RRC message, receiving the second information through the newly defined PC5-RRC message;
(9)在通过新定义的PC5-信令(PC5-S)消息向锚点终端发送第一请求的情况下，通过新定义的PC5-信令(PC5-S)消息接收第二信息。(9) When the first request is sent to the anchor terminal through the newly defined PC5-signaling (PC5-S) message, the second information is received through the newly defined PC5-signaling (PC5-S) message.
本实施例中，目标终端在接收到由网络侧设备配置的锚点终端的与单锚点终端旁链路定位相关的第二信息时，或，目标终端在通过上述顺带请求的方式(即在发送第一信息时顺带发送用于请求第二信息的第一请求)接收到来自锚点终端的第二信息时，或，目标终端在确定锚点终端后通过向锚点终端发送第一请求的方式接收到来自锚点终端的第二信息时，可以基于该第二信息确定目标终端的位置信息。In this embodiment, when the target terminal receives the second information related to the single-anchor terminal sidelink positioning of the anchor terminal configured by the network side device, or, the target terminal passes the above-mentioned incidental request method (that is, in the When sending the first information, send a first request for requesting the second information along with it) when receiving the second information from the anchor terminal, or, after the target terminal determines the anchor terminal, send the first request to the anchor terminal When receiving the second information from the anchor terminal, the location information of the target terminal may be determined based on the second information.
目标终端在确定目标终端的位置信息时，可以由目标终端计算得到位置信息，也可以由网络侧设备计算得到位置信息。其中，在由目标终端计算位置信息时，具体实现方式如下。When the target terminal determines the location information of the target terminal, the location information may be calculated by the target terminal, or the location information may be obtained by the network side device. Wherein, when the location information is calculated by the target terminal, the specific implementation manner is as follows.
锚点终端在向目标终端发送与单锚点终端旁链路定位相关的第二信息后，可以根据第二信息中包括的旁链路PRS的配置信息，向目标终端发送旁链路 PRS。目标终端接收锚点终端发送的旁链路PRS，并测量多次收到旁链路PRS的时刻(比如3次)以及目标终端在多个第一时间段内行驶的多个第一距离(比如图2所示的D1和D2)，该第一时间段为目标终端收到相邻的两次旁链路PRS的时刻之间的时间段。在测量得到多次收到旁链路PRS的时刻以及目标终端在上述多个第一时间段内行驶的多个第一距离后，结合第二信息中包括的锚点终端的位置信息，旁链路PRS的周期信息，就可以计算得到目标终端的位置信息。After the anchor terminal sends the second information related to the sidelink positioning of the single anchor terminal to the target terminal, it can send the sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information. The target terminal receives the sidelink PRS sent by the anchor terminal, and measures the times when the sidelink PRS is received multiple times (such as 3 times) and the multiple first distances traveled by the target terminal in multiple first time periods (such as D1 and D2) shown in FIG. 2 ), the first time period is a time period between when the target terminal receives two adjacent sidelink PRSs. After measuring the times when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within the above multiple first time periods, combined with the location information of the anchor terminal included in the second information, the sidelink Based on the periodic information of the PRS, the location information of the target terminal can be calculated.
若由网络侧设备计算目标终端的位置信息，则目标终端可以将锚点终端的位置信息、旁链路PRS的周期信息、多次收到旁链路PRS的时刻以及目标终端在上述多个第一时间段内行驶的多个第一距离发送给网络侧设备，网络侧设备接收到目标终端发送的这些信息后，可以计算得到目标终端的位置信息，并将目标终端的位置信息发送给目标终端。If the network side equipment calculates the location information of the target terminal, the target terminal can use the location information of the anchor terminal, the period information of the side link PRS, the times when the The multiple first distances traveled within a period of time are sent to the network-side device. After receiving the information sent by the target terminal, the network-side device can calculate the location information of the target terminal and send the location information of the target terminal to the target terminal. .
本申请实施例给出了基于单锚点终端的sidelink定位方法对目标终端进行定位时的详细的定位流程，当目标终端有定位需求时，目标终端基于该定位流程可以得到目标终端的位置信息。The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.
如图4所示，本申请实施例提供一种定位方法400，该方法可以由除有定位需求的目标终端以外的其他终端中的任一第一终端执行，换言之，该方法可以由安装在第一终端的软件或硬件来执行，该方法包括如下步骤。As shown in Figure 4, the embodiment of the present application provides a positioning method 400, which can be executed by any first terminal among other terminals except the target terminal that needs positioning. The method is executed by software or hardware of a terminal, and the method includes the following steps.
S402：第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息；其中，在第一终端为锚点终端的情况下，第二信息用于目标终端确定目标终端的位置信息。S402: The first terminal sends to the target terminal second information related to the single-anchor terminal side link positioning; wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the position of the target terminal information.
在S402中，当目标终端有定位需求，目标终端确定使用sidelink定位，且目标终端确定使用的sidelink定位的具体方法为单锚点终端的旁链路定位方法(单Anchor UE的sidelink定位方法)时，目标终端以外的第一终端可以向目标终端发送与单锚点终端旁链路定位相关的第二信息。其中，该第一终端可以是锚点终端，也可以是非锚点终端。在第一终端为锚点终端的情况 下(网络侧设备配置第一终端为锚点终端，或由目标终端基于图3所示的实施例从其他终端中确定第一终端为锚点终端)，该第二信息用于目标终端确定目标终端的位置信息，即目标终端在接收到来自第一终端的该第二信息后，可以基于第二信息确定目标终端的位置信息。In S402, when the target terminal has a positioning requirement, the target terminal determines to use sidelink positioning, and the specific method of the sidelink positioning that the target terminal determines to use is the sidelink positioning method of a single anchor terminal (the sidelink positioning method of a single Anchor UE) , the first terminal other than the target terminal may send the second information related to sidelink positioning of the single-anchor terminal to the target terminal. Wherein, the first terminal may be an anchor terminal or a non-anchor terminal. In the case where the first terminal is an anchor terminal (the network side device configures the first terminal as an anchor terminal, or the target terminal determines that the first terminal is an anchor terminal from other terminals based on the embodiment shown in FIG. 3 ), The second information is used by the target terminal to determine the location information of the target terminal, that is, after receiving the second information from the first terminal, the target terminal may determine the location information of the target terminal based on the second information.
上述第二信息可以包括以下至少一项：The above-mentioned second information may include at least one of the following:
锚点终端的位置信息；The location information of the anchor terminal;
旁链路定位参考信号(Positioning Reference Signal，PRS)的配置信息。Configuration information of the sidelink positioning reference signal (Positioning Reference Signal, PRS).
上述旁链路PRS的配置信息可以包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。The above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.
在本实施例中，在由目标终端从其他终端确定锚点终端的情况下，第一终端在向目标终端发送与单锚点终端旁链路定位相关的第二信息之前，可以接收来自目标终端的与旁链路定位相关的第一信息。该第一信息可以是目标终端的信息(比如目标终端的sidelink定位能力、移动状态等)、sidelink定位信息(比如单锚点终端的sidelink定位方法、定位精度等)、对其他终端的要求(比如单锚点终端sidelink定位能力要求等)、请求其他终端的信息(比如单锚点终端sidelink定位能力、所处的zone信息、移动状态等)。In this embodiment, when the target terminal determines the anchor terminal from other terminals, before the first terminal sends the second information related to the single-anchor terminal side-link positioning to the target terminal, The first information related to sidelink positioning. The first information may be target terminal information (such as the target terminal's sidelink positioning capability, movement status, etc.), sidelink positioning information (such as a single-anchor terminal's sidelink positioning method, positioning accuracy, etc.), requirements for other terminals (such as Single-anchor terminal sidelink positioning capability requirements, etc.), request information of other terminals (such as single-anchor terminal sidelink positioning capability, zone information, mobile status, etc.).
第一终端在接收到第一信息后，可以根据一定规则判断是否需要向目标终端发送反馈信息。若需要，则可以向目标终端发送反馈信息。比如，第一终端可以判断是否满足接收到的第一信息中的“对其他终端的要求”，若满足则可以向目标终端发送反馈信息。其中，反馈信息可以包括第一终端的sidelink定位能力、第一终端所处的zone信息、第一终端的移动状态等。目标终端在接收到多个第一终端的反馈信息后，可以根据反馈信息从多个第一终端中确定锚点终端。比如，可以选择多个第一终端中sidelink定位能力最好的一个终端作为锚点终端，当然，也可以通过其他方式确定锚点终端，这里不对如何确定锚点终端做具体限定。After receiving the first information, the first terminal may determine whether to send feedback information to the target terminal according to a certain rule. If necessary, feedback information may be sent to the target terminal. For example, the first terminal may determine whether the "requirements for other terminals" in the received first information are satisfied, and if so, may send feedback information to the target terminal. Wherein, the feedback information may include the sidelink positioning capability of the first terminal, the zone information where the first terminal is located, the moving state of the first terminal, and the like. After receiving the feedback information from the multiple first terminals, the target terminal may determine the anchor terminal from the multiple first terminals according to the feedback information. For example, a terminal with the best sidelink positioning capability among multiple first terminals may be selected as the anchor terminal. Of course, the anchor terminal may also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.
上述第一终端在接收来自目标终端的与旁链路定位相关的第一信息时， 可以在以下至少一种情况下接收第一信息：When the above-mentioned first terminal receives the first information related to sidelink positioning from the target terminal, it may receive the first information in at least one of the following situations:
第一种情况：在第一终端与目标终端已建立PC5单播链路的情况下，第一终端接收来自目标终端的与旁链路定位相关的第一信息；The first case: when the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;
第二种情况：在第一终端与目标终端未建立PC5单播链路的情况下，在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，第一终端接收来自目标终端的与旁链路定位相关的第一信息。其中，PC5单播链路的建立过程由目标终端发起，目标终端在发起与第一终端的PC5单播链路的建立过程时，具体可以是目标终端的上层(PC5-信令，即PC5-S)发起PC5单播链路的建立过程。The second case: when the first terminal and the target terminal have not established a PC5 unicast link, during or after the establishment of the PC5 unicast link, the first terminal receives the First information related to sidelink positioning of the target terminal. Wherein, the establishment process of the PC5 unicast link is initiated by the target terminal. When the target terminal initiates the establishment process of the PC5 unicast link with the first terminal, it may specifically be the upper layer of the target terminal (PC5-signaling, that is, PC5- S) Initiate the establishment process of the PC5 unicast link.
针对上述任一种情况，第一终端接收来自目标终端的与旁链路定位相关的第一信息，包括以下至少一项：For any of the above situations, the first terminal receives first information related to sidelink positioning from the target terminal, including at least one of the following:
(1)通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息接收第一消息；(1) Receive the first message through the UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;
(2)通过RRC重配置旁链路(RRC Reconfiguration Sidelink)消息接收第一消息；(2) receiving the first message by an RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message;
(3)通过链路标识符更新请求(Link Identifier Update Request)消息接收第一消息；(3) receiving the first message by a link identifier update request (Link Identifier Update Request) message;
(4)通过链路标识符更新确认(Link Identifier Update Ack)消息接收第一消息；(4) receiving the first message through a Link Identifier Update Ack (Link Identifier Update Ack) message;
(5)通过断开连接请求(Disconnect Request)消息接收第一消息；(5) receiving the first message by disconnecting the request (Disconnect Request) message;
(6)通过链路修改请求(Link Modification Request)消息接收第一消息；(6) receiving the first message by a link modification request (Link Modification Request) message;
(7)通过保持连接(Keep-alive)消息接收第一消息；(7) receiving the first message by keeping a connection (Keep-alive) message;
(8)通过新定义的PC5-RRC消息接收第一消息；(8) receiving the first message through a newly defined PC5-RRC message;
(9)通过新定义的PC5-信令(PC5-S)消息接收第一消息。(9) Receive the first message through a newly defined PC5-Signaling (PC5-S) message.
上述第一终端在向目标终端发送反馈信息时，包括以下至少一项：When the above-mentioned first terminal sends feedback information to the target terminal, at least one of the following items is included:
(1)在通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息 接收第一消息的情况下，通过终端能力信息旁链路(UE Capability Information Sidelink)消息向目标终端发送反馈信息；(1) In the case of receiving the first message through the UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message, send feedback information to the target terminal through the UE Capability Information Sidelink (UE Capability Information Sidelink) message;
(2)在通过RRC重配置旁链路消息(RRC Reconfiguration Sidelink)接收第一消息的情况下，通过RRC重配置完成旁链路(RRC Reconfiguration Complete Sidelink)消息向目标终端发送反馈信息；(2) In the case of receiving the first message through the RRC Reconfiguration Sidelink message (RRC Reconfiguration Sidelink), send feedback information to the target terminal through the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message;
(3)在通过链路标识符更新请求(Link Identifier Update Request)消息接收第一消息的情况下，通过链路标识符更新响应(Link Identifier Update Response)消息向目标终端发送反馈信息；(3) In the case of receiving the first message through a link identifier update request (Link Identifier Update Request) message, send feedback information to the target terminal through a link identifier update response (Link Identifier Update Response) message;
(4)在通过链路标识符更新确认(Link Identifier Update Ack)消息接收第一消息的情况下，通过新定义的PC5-信令(PC5-S)消息向目标终端发送反馈信息；(4) In the case of receiving the first message through a link identifier update confirmation (Link Identifier Update Ack) message, send feedback information to the target terminal through a newly defined PC5-signaling (PC5-S) message;
(5)在通过断开连接请求(Disconnect Request)消息接收第一消息的情况下，通过断开连接响应(Disconnect Response)消息向目标终端发送反馈信息；(5) in the case of receiving the first message through a disconnection request (Disconnect Request) message, send feedback information to the target terminal through a disconnection response (Disconnect Response) message;
(6)在通过链路修改请求(Link Modification Request)消息接收第一消息的情况下，通过链路修改接受(Link Modification Accept)消息向目标终端发送反馈信息；(6) In the case of receiving the first message through a link modification request (Link Modification Request) message, send feedback information to the target terminal through a link modification accept (Link Modification Accept) message;
(7)在通过保持连接(Keep-alive)消息接收第一消息的情况下，通过保持连接确认(Keep-alive Ack)消息向目标终端发送反馈信息；(7) in the case of receiving the first message by keeping the connection (Keep-alive) message, sending feedback information to the target terminal by keeping the connection confirmation (Keep-alive Ack) message;
(8)在通过新定义的PC5-RRC消息接收第一消息的情况下，通过新定义的PC5-RRC消息向目标终端发送反馈信息；(8) In the case of receiving the first message through the newly defined PC5-RRC message, sending feedback information to the target terminal through the newly defined PC5-RRC message;
(9)在通过新定义的PC5-信令(PC5-S)消息接收第一消息的情况下，通过新定义的PC5-信令(PC5-S)消息向目标终端发送反馈信息。(9) In the case of receiving the first message through the newly defined PC5-signaling (PC5-S) message, send the feedback information to the target terminal through the newly defined PC5-signaling (PC5-S) message.
在一种可能的实现方式中，上述第一终端在接收来自目标终端的与旁链路定位相关的第一信息时，还顺带接收来自目标终端的第一请求，该第一请求用于请求与单锚点终端旁链路定位相关的第二信息。这样，第一终端在向 目标终端发送反馈信息时，还可以顺带发送与单锚点终端旁链路定位相关的第二信息。也就是说，S402中的第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息具体可以是，第一终端在向目标终端发送反馈信息时，顺带向目标终端发送该第二信息。In a possible implementation manner, when receiving the first information related to sidelink positioning from the target terminal, the above-mentioned first terminal also receives a first request from the target terminal incidentally, and the first request is used for requesting and The second information related to sidelink positioning of the single-anchor terminal. In this way, when the first terminal sends the feedback information to the target terminal, it can also send the second information related to the side link positioning of the single-anchor terminal. That is to say, in S402, the first terminal sending the second information related to the side link positioning of the single-anchor terminal to the target terminal may specifically be that, when sending the feedback information to the target terminal, the first terminal sends the target terminal the second information.
在另一种可能的实现方式中，若第一终端在接收来自目标终端的与旁链路定位相关的第一信息时，没有顺带接收到来自目标终端的第一请求，则在第一终端被目标终端确定为锚点终端的情况下，第一终端在向目标终端发送反馈信息后，还可以接收到来自目标终端的第一请求，基于该第一请求，第一终端可以向目标终端发送与单锚点终端旁链路定位相关的第二信息。也就是说，S402中的第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息具体可以是，在目标终端确定第一终端为锚点终端，且目标终端在向第一终端发送第一信息时没有顺带请求第二信息的情况下，第一终端基于来自目标终端的第一请求向目标终端发送第二信息。In another possible implementation manner, if the first terminal does not receive the first request from the target terminal incidentally when receiving the first information related to sidelink positioning from the target terminal, the first terminal is In the case where the target terminal is determined to be the anchor terminal, after the first terminal sends feedback information to the target terminal, it may also receive a first request from the target terminal, and based on the first request, the first terminal may send the target terminal a corresponding The second information related to sidelink positioning of the single-anchor terminal. That is to say, the first terminal in S402 sends the second information related to the side link positioning of the single anchor terminal to the target terminal. When a terminal sends the first information without incidentally requesting the second information, the first terminal sends the second information to the target terminal based on the first request from the target terminal.
上述第一终端在向目标终端发送反馈信息后，接收来自目标终端的第一请求，可以包括以下至少一项：After the above-mentioned first terminal sends feedback information to the target terminal, receiving the first request from the target terminal may include at least one of the following:
(1)通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息接收第一请求；(1) receiving the first request through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;
(2)通过无线资源控制RRC重配置旁链路(RRC Reconfiguration Sidelink)消息接收第一请求；(2) receiving the first request through a radio resource control RRC reconfiguration sidelink (RRC Reconfiguration Sidelink) message;
(3)通过链路标识符更新请求(Link Identifier Update Request)消息接收第一请求；(3) receiving the first request by a link identifier update request (Link Identifier Update Request) message;
(4)通过链路标识符更新确认(Link Identifier Update Ack)消息接收第一请求；(4) receiving the first request through a Link Identifier Update Ack (Link Identifier Update Ack) message;
(5)通过断开连接请求(Disconnect Request)消息接收第一请求；(5) receiving the first request by disconnecting the request (Disconnect Request) message;
(6)通过链路修改请求(Link Modification Request)消息接收第一请求；(6) receiving the first request by a link modification request (Link Modification Request) message;
(7)通过保持连接(Keep-alive)消息接收第一请求；(7) receiving the first request by keeping a connection (Keep-alive) message;
(8)通过新定义的PC5-RRC消息接收第一请求；(8) receiving the first request through a newly defined PC5-RRC message;
(9)通过新定义的PC5-信令(PC5-S)消息接收第一请求。(9) Receive the first request through a newly defined PC5-Signaling (PC5-S) message.
在接收到来自目标终端的第一请求后，第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息，包括以下至少一项：After receiving the first request from the target terminal, the first terminal sends to the target terminal second information related to sidelink positioning of the single-anchor terminal, including at least one of the following:
(1)在通过终端能力查询旁链路(UE Capability Enquiry Sidelink)消息接收第一请求的情况下，通过终端能力信息旁链路(UE Capability Information Sidelink)消息向目标终端发送第二信息；(1) In the case of receiving the first request through the UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message, send the second information to the target terminal through the UE Capability Information Sidelink (UE Capability Information Sidelink) message;
(2)在通过RRC重配置旁链路(RRC Reconfiguration Sidelink)消息接收第一请求的情况下，通过RRC重配置完成旁链路(RRC Reconfiguration Complete Sidelink)消息向目标终端发送第二信息；(2) In the case of receiving the first request through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, send the second information to the target terminal through the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message;
(3)在通过链路标识符更新请求(Link Identifier Update Request)消息接收第一请求的情况下，通过链路标识符更新响应(Link Identifier Update Response)消息向目标终端发送第二信息；(3) In the case of receiving the first request through a link identifier update request (Link Identifier Update Request) message, send the second information to the target terminal through a link identifier update response (Link Identifier Update Response) message;
(4)在通过链路标识符更新确认(Link Identifier Update Ack)消息接收第一请求的情况下，通过新定义的PC5-信令(PC5-S)消息向目标终端发送第二信息；(4) In the case of receiving the first request through a link identifier update confirmation (Link Identifier Update Ack) message, send the second information to the target terminal through a newly defined PC5-signaling (PC5-S) message;
(5)在通过断开连接请求(Disconnect Request)消息接收第一请求的情况下，通过断开连接响应(Disconnect Response)消息向目标终端发送第二信息；(5) in the case of receiving the first request through a disconnection request (Disconnect Request) message, send the second information to the target terminal through a disconnection response (Disconnect Response) message;
(6)在通过链路修改请求(Link Modification Request)消息接收第一请求的情况下，通过链路修改接受(Link Modification Accept)消息向目标终端发送第二信息；(6) In the case of receiving the first request through a link modification request (Link Modification Request) message, send the second information to the target terminal through a link modification accept (Link Modification Accept) message;
(7)在通过保持连接(Keep-alive)消息接收第一请求的情况下，通过保持连接确认(Keep-alive Ack)消息向目标终端发送第二信息；(7) in the case of receiving the first request by keeping the connection (Keep-alive) message, sending the second information to the target terminal by keeping the connection confirmation (Keep-alive Ack) message;
(8)在通过新定义的PC5-RRC消息接收第一请求的情况下，通过新定义的PC5-RRC消息向目标终端发送第二信息；(8) In the case of receiving the first request through the newly defined PC5-RRC message, sending the second information to the target terminal through the newly defined PC5-RRC message;
(9)在通过新定义的PC5-信令(PC5-S)消息接收第一请求的情况下，通过新定义的PC5-信令(PC5-S)消息向目标终端发送第二信息。(9) In the case of receiving the first request through the newly defined PC5-signaling (PC5-S) message, sending the second information to the target terminal through the newly defined PC5-signaling (PC5-S) message.
本实施例中，第一终端在向目标终端发送与单锚点终端旁链路定位相关的第二信息后，在第一终端为锚点终端的情况下，还可以基于第二信息中包括的旁链路PRS的配置信息，向目标终端发送旁链路PRS，由目标终端根据旁链路PRS确定目标终端的位置信息。目标终端确定位置信息的具体实现方式可以参见图3所示实施例中的相应内容，这里不再重复说明。In this embodiment, after the first terminal sends the second information related to the side link positioning of the single-anchor terminal to the target terminal, if the first terminal is an anchor terminal, it may also base on the second information included in the second information The configuration information of the side link PRS is to send the side link PRS to the target terminal, and the target terminal determines the location information of the target terminal according to the side link PRS. For the specific implementation manner of determining the location information of the target terminal, reference may be made to the corresponding content in the embodiment shown in FIG. 3 , which will not be repeated here.
本申请实施例给出了基于单锚点终端的sidelink定位方法对目标终端进行定位时的详细的定位流程，当目标终端有定位需求时，目标终端基于该定位流程可以得到目标终端的位置信息。The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.
基于本申请实施例给出的单锚点终端的sidelink定位方法的定位流程，在一种可能的实现方式中，可以通过以下步骤确定目标终端的位置信息。Based on the positioning process of the sidelink positioning method for a single-anchor terminal provided in the embodiment of the present application, in a possible implementation manner, the location information of the target terminal may be determined through the following steps.
步骤1：目标终端的应用层有定位需求。Step 1: The application layer of the target terminal has positioning requirements.
步骤2：目标终端确定定位方法(比如sidelink定位，或者RAT-dependent定位)需使用sidelink定位。Step 2: The target terminal determines a positioning method (such as sidelink positioning, or RAT-dependent positioning) and needs to use sidelink positioning.
其中，目标终端使用的定位方法可以根据网络侧设备预配置的规则来确定、或者根据协议约定的规则来确定、或者由目标终端自己决定。Wherein, the positioning method used by the target terminal may be determined according to a rule preconfigured by the network side device, or determined according to a rule stipulated in the protocol, or determined by the target terminal itself.
步骤3：目标终端确定sidelink定位的具体方法(比如单Anchor UE还是多Anchor UE的sidelink定位方法)为单Anchor UE的sidelink定位方法。Step 3: The specific method for the target terminal to determine sidelink positioning (for example, a single Anchor UE or a multi-Anchor UE sidelink positioning method) is a single Anchor UE sidelink positioning method.
其中，目标终端使用的sidelink定位的具体方法可以根据网络侧设备预配置或者指示的规则来确定、或者根据协议约定的规则来确定、或者由目标终端自己决定。Wherein, the specific method of sidelink positioning used by the target terminal may be determined according to the rules pre-configured or indicated by the network side device, or determined according to the rules stipulated in the protocol, or determined by the target terminal itself.
步骤4：目标终端向其他终端发送与旁链路定位相关的第一信息。Step 4: The target terminal sends first information related to sidelink positioning to other terminals.
具体地，在目标终端与其他终端已建立PC5单播链路的情况下，目标终端向其他终端发送与旁链路定位相关的第一信息。在目标终端与其他终端未建立PC5单播链路的情况下，目标终端可以先向其他终端发起与其他终端的 PC5单播链路的建立过程，在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，目标终端向其他终端发送与旁链路定位相关的第一信息。Specifically, in the case that the target terminal has established a PC5 unicast link with other terminals, the target terminal sends the first information related to side link positioning to the other terminals. When the target terminal has not established a PC5 unicast link with other terminals, the target terminal can first initiate the process of establishing a PC5 unicast link with other terminals to other terminals. After the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals.
目标终端在向其他终端发送与旁链路定位相关的第一信息时，可以通过以下至少一种方式实现：When the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:
通过UE Capability Enquiry Sidelink消息发送第一信息；Send the first information through the UE Capability Enquiry Sidelink message;
通过RRC Reconfiguration Sidelink消息发送第一信息；Send the first information through the RRC Reconfiguration Sidelink message;
通过Link Identifier Update Request消息发送第一信息；Send the first information through the Link Identifier Update Request message;
通过Link Identifier Update Ack消息发送第一信息；Send the first information through the Link Identifier Update Ack message;
通过Disconnect Request消息发送第一信息；Send the first information through the Disconnect Request message;
通过Link Modification Request消息发送第一信息；Send the first information through the Link Modification Request message;
通过Keep-alive消息发送第一信息；Sending the first information through a Keep-alive message;
通过新定义的PC5-RRC消息发送第一信息；sending the first information through a newly defined PC5-RRC message;
通过新定义的PC5-S消息发送第一信息。The first information is sent through a newly defined PC5-S message.
可选地，目标终端在向其他终端发送与旁链路定位相关的第一信息时，还可以顺带发送第一请求，该第一请求用于请求与单锚点终端旁链路定位相关的第二信息。第二信息包括锚点终端的位置信息和sidelink PRS的配置信息中的至少一项，sidelink PRS的配置信息包括sidelink PRS的发送周期和sidelink PRS的首次发送时刻中的至少一项。Optionally, when the target terminal sends the first information related to sidelink positioning to other terminals, it may also send a first request incidentally, where the first request is used to request the first information related to sidelink positioning of a single-anchor terminal. Two information. The second information includes at least one item of location information of the anchor terminal and configuration information of the sidelink PRS, and the configuration information of the sidelink PRS includes at least one item of the sending cycle of the sidelink PRS and the first sending time of the sidelink PRS.
步骤5：其他终端向目标终端发送反馈信息。Step 5: Other terminals send feedback information to the target terminal.
具体地，其他终端在接收到来自目标终端的第一信息后，可以根据一定规则(比如，是否满足收到的第一信息中的“对其他终端的要求”)确定是否需要发送反馈信息给目标终端。如果需要，则其他终端向目标终端发送反馈信息，如果不需要，则不向目标终端发送反馈信息。本实施例以发送反馈信息为例进行说明。Specifically, after receiving the first information from the target terminal, other terminals can determine whether to send feedback information to the target terminal according to certain rules (for example, whether the "requirements for other terminals" in the received first information are met). terminal. If necessary, other terminals send feedback information to the target terminal, and if not necessary, do not send feedback information to the target terminal. In this embodiment, sending feedback information is taken as an example for description.
其他终端在向目标终端发送反馈信息时，可以通过以下至少一种方式实现：When other terminals send feedback information to the target terminal, it may be implemented in at least one of the following ways:
在通过UE Capability Enquiry Sidelink消息接收第一消息的情况下，通过UE Capability Information Sidelink消息向目标终端发送反馈信息；In the case of receiving the first message through the UE Capability Inquiry Sidelink message, send feedback information to the target terminal through the UE Capability Information Sidelink message;
在通过RRC Reconfiguration Sidelink接收第一消息的情况下，通过RRC Reconfiguration Complete Sidelink消息向目标终端发送反馈信息；In the case of receiving the first message through the RRC Reconfiguration Sidelink, send feedback information to the target terminal through the RRC Reconfiguration Complete Sidelink message;
在通过Link Identifier Update Request消息接收第一消息的情况下，通过Link Identifier Update Response消息向目标终端发送反馈信息；In the case of receiving the first message through the Link Identifier Update Request message, send feedback information to the target terminal through the Link Identifier Update Response message;
在通过Link Identifier Update Ack消息接收第一消息的情况下，通过新定义的PC5-S消息向目标终端发送反馈信息；In the case of receiving the first message through the Link Identifier Update Ack message, send feedback information to the target terminal through the newly defined PC5-S message;
在通过Disconnect Request消息接收第一消息的情况下，通过Disconnect Response消息向目标终端发送反馈信息；In the case of receiving the first message through the Disconnect Request message, send feedback information to the target terminal through the Disconnect Response message;
在通过Link Modification Request消息接收第一消息的情况下，通过Link Modification Accept消息向目标终端发送反馈信息；In the case of receiving the first message through the Link Modification Request message, send feedback information to the target terminal through the Link Modification Accept message;
在通过Keep-alive消息接收第一消息的情况下，通过Keep-alive Ack消息向目标终端发送反馈信息；In the case of receiving the first message through the Keep-alive message, send feedback information to the target terminal through the Keep-alive Ack message;
在通过新定义的PC5-RRC消息接收第一消息的情况下，通过新定义的PC5-RRC消息向目标终端发送反馈信息；In the case of receiving the first message through the newly defined PC5-RRC message, sending feedback information to the target terminal through the newly defined PC5-RRC message;
在通过新定义的PC5-S消息接收第一消息的情况下，通过新定义的PC5-S消息向目标终端发送反馈信息。When the first message is received through the newly defined PC5-S message, the feedback information is sent to the target terminal through the newly defined PC5-S message.
可选地，若在上述步骤4中，目标终端在向其他终端发送与旁链路定位相关的第一信息时，还顺带发送了第一请求，则其他终端在向目标终端发送反馈信息时，还可以发送与单锚点终端旁链路定位相关的第二信息。Optionally, if in step 4 above, when the target terminal sends the first information related to sidelink positioning to other terminals, it also sends the first request incidentally, then when other terminals send feedback information to the target terminal, Second information related to sidelink positioning of the single-anchor terminal may also be sent.
步骤6：目标终端根据收到的反馈信息，从其他终端中选出锚点终端。Step 6: The target terminal selects the anchor terminal from other terminals according to the received feedback information.
在执行步骤6后，若在上述步骤4中，目标终端在向其他终端发送与旁链路定位相关的第一信息时，没有顺带发送第一请求，则需要执行步骤7至步骤8，否则可以跳过步骤7和步骤8，执行步骤9。After performing step 6, if in the above step 4, the target terminal does not send the first request incidentally when sending the first information related to sidelink positioning to other terminals, it needs to perform steps 7 to 8, otherwise it can Skip steps 7 and 8 and go to step 9.
步骤7：目标终端向锚点终端发送第一请求，第一请求用于请求与单锚 点终端旁链路定位相关的第二信息。Step 7: The target terminal sends a first request to the anchor terminal, and the first request is used to request the second information related to the side link positioning of the single anchor terminal.
目标终端在向锚点终端发送第一请求时，可以通过以下至少一种方式实现：When the target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:
通过UE Capability Enquiry Sidelink消息发送第一请求；Send the first request through the UE Capability Enquiry Sidelink message;
通过RRC Reconfiguration Sidelink消息发送第一请求；Send the first request through the RRC Reconfiguration Sidelink message;
通过Link Identifier Update Request消息发送第一请求；Send the first request through the Link Identifier Update Request message;
通过Link Identifier Update Ack消息发送第一请求；Send the first request through the Link Identifier Update Ack message;
通过Disconnect Request消息发送第一请求；Send the first request through the Disconnect Request message;
通过Link Modification Request消息发送第一请求；Send the first request through the Link Modification Request message;
通过Keep-alive消息发送第一请求；Send the first request through the Keep-alive message;
通过新定义的PC5-RRC消息发送第一请求；Sending the first request through a newly defined PC5-RRC message;
通过新定义的PC5-S消息发送第一请求。The first request is sent through the newly defined PC5-S message.
步骤8：锚点终端收到第一请求后，决定单锚点终端旁链路定位相关的第二信息，并向目标终端发送第二信息。Step 8: After receiving the first request, the anchor terminal determines second information related to sidelink positioning of the single anchor terminal, and sends the second information to the target terminal.
锚点终端在向目标终端发送第二信息时，可以通过以下至少一种方式实现：When the anchor terminal sends the second information to the target terminal, it may be implemented in at least one of the following ways:
在通过UE Capability Enquiry Sidelink消息接收第一请求的情况下，通过UE Capability Information Sidelink消息向目标终端发送第二信息；In the case of receiving the first request through the UE Capability Inquiry Sidelink message, send the second information to the target terminal through the UE Capability Information Sidelink message;
在通过RRC Reconfiguration Sidelink消息接收第一请求的情况下，通过RRC Reconfiguration Complete Sidelink消息向目标终端发送第二信息；In the case of receiving the first request through the RRC Reconfiguration Sidelink message, send the second information to the target terminal through the RRC Reconfiguration Complete Sidelink message;
在通过Link Identifier Update Request消息接收第一请求的情况下，通过Link Identifier Update Response消息向目标终端发送第二信息；In the case of receiving the first request through the Link Identifier Update Request message, send the second information to the target terminal through the Link Identifier Update Response message;
在通过Link Identifier Update Ack消息接收第一请求的情况下，通过新定义的PC5-S消息向目标终端发送第二信息；In the case of receiving the first request through the Link Identifier Update Ack message, send the second information to the target terminal through the newly defined PC5-S message;
在通过Disconnect Request消息接收第一请求的情况下，通过Disconnect Response消息向目标终端发送第二信息；In the case of receiving the first request through the Disconnect Request message, send the second information to the target terminal through the Disconnect Response message;
在通过Link Modification Request消息接收第一请求的情况下，通过Link Modification Accept消息向目标终端发送第二信息；In the case of receiving the first request through the Link Modification Request message, send the second information to the target terminal through the Link Modification Accept message;
在通过Keep-alive消息接收第一请求的情况下，通过Keep-alive Ack消息向目标终端发送第二信息；In the case of receiving the first request through the Keep-alive message, send the second information to the target terminal through the Keep-alive Ack message;
在通过新定义的PC5-RRC消息接收第一请求的情况下，通过新定义的PC5-RRC消息向目标终端发送第二信息；In the case of receiving the first request through the newly defined PC5-RRC message, sending the second information to the target terminal through the newly defined PC5-RRC message;
在通过新定义的PC5-S消息接收第一请求的情况下，通过新定义的PC5-S消息向目标终端发送第二信息。When the first request is received through the newly defined PC5-S message, the second information is sent to the target terminal through the newly defined PC5-S message.
步骤9：目标终端收到第二信息后，进行定位的测量，包括测量多次收到sidelink PRS的时刻(比如3次)、目标终端在相邻的收到sidelink PRS的时间段内行驶的距离(比如图2所示的D1和D2)。Step 9: After receiving the second information, the target terminal performs positioning measurement, including measuring the time when the sidelink PRS is received multiple times (for example, 3 times), and the distance traveled by the target terminal within the adjacent time period of receiving the sidelink PRS (such as D1 and D2 shown in Figure 2).
步骤10：目标终端确定位置信息。Step 10: The target terminal determines the location information.
具体地，如果定位结果由目标终端计算，那么目标终端根据锚点终端的位置信息、多次收到sidelink PRS的时刻值、多个行驶距离值(比如2个)，算出目标终端的位置信息。Specifically, if the positioning result is calculated by the target terminal, then the target terminal calculates the location information of the target terminal based on the location information of the anchor terminal, the time value of receiving sidelink PRS multiple times, and multiple driving distance values (for example, 2).
如果定位结果由网络计算，那么目标终端将锚点终端的位置信息、多次收到sidelink PRS的时刻值、多个行驶距离值(比如2个)等信息发送给网络侧设备，网络侧设备收到目标终端发送的锚点终端的位置信息、多次收到sidelink PRS的时刻值、多个行驶距离值(比如2个)等信息后，计算目标终端的定位结果，并将定位结果发送给目标终端。If the positioning result is calculated by the network, then the target terminal sends information such as the location information of the anchor terminal, the time value at which sidelink PRS has been received multiple times, and multiple driving distance values (for example, 2) to the network side device, and the network side device receives After receiving the location information of the anchor terminal sent by the target terminal, the time value of the sidelink PRS multiple times, and multiple driving distance values (such as 2) and other information, calculate the positioning result of the target terminal and send the positioning result to the target terminal.
上述步骤1至步骤10的具体实现方式参见图3和图4所示实施例中的相应步骤的具体实现，这里不再重复说明。For the specific implementation of the above steps 1 to 10, refer to the specific implementation of the corresponding steps in the embodiment shown in FIG. 3 and FIG. 4 , which will not be repeated here.
本申请实施例给出了基于单锚点终端的sidelink定位方法对目标终端进行定位时的详细的定位流程，当目标终端有定位需求时，目标终端基于该定位流程可以得到目标终端的位置信息。The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.
需要说明的是，本申请实施例提供的定位方法，执行主体可以为定位装 置，或者，该定位装置中的用于执行定位方法的控制模块。本申请实施例中以定位装置执行定位方法为例，说明本申请实施例提供的定位装置。It should be noted that, for the positioning method provided in the embodiment of the present application, the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method. In the embodiment of the present application, the positioning device provided in the embodiment of the present application is described by taking the positioning device executing the positioning method as an example.
图5是根据本申请实施例的定位装置的结构示意图，该装置可以对应于其他实施例中的目标终端。如图5所示，装置500包括如下模块。Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to a target terminal in other embodiments. As shown in FIG. 5 , the device 500 includes the following modules.
定位模块501，用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；A positioning module 501, configured to determine the location information of the target terminal according to the second information from the anchor terminal;
其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, the second information is related to single-anchor terminal sidelink positioning.
可选的，作为一个实施例，所述装置500还包括发送模块502、接收模块503和确定模块504：Optionally, as an embodiment, the apparatus 500 further includes a sending module 502, a receiving module 503, and a determining module 504:
所述发送模块502，用于向其他终端发送与旁链路定位相关的第一信息；The sending module 502 is configured to send first information related to sidelink positioning to other terminals;
所述接收模块503，用于接收来自所述其他终端的反馈信息；The receiving module 503 is configured to receive feedback information from the other terminals;
所述确定模块504，用于根据所述反馈信息从所述其他终端中确定所述锚点终端。The determining module 504 is configured to determine the anchor terminal from the other terminals according to the feedback information.
可选的，作为一个实施例，所述发送模块502，用于以下至少一项：Optionally, as an embodiment, the sending module 502 is used for at least one of the following:
在所述目标终端与所述其他终端已建立PC5单播链路的情况下，所述目标终端向所述其他终端发送与旁链路定位相关的第一信息；When the target terminal has established a PC5 unicast link with the other terminal, the target terminal sends first information related to sidelink positioning to the other terminal;
在所述目标终端与所述其他终端未建立PC5单播链路的情况下，所述目标终端向所述其他终端发起与所述其他终端的PC5单播链路的建立过程；在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，所述目标终端向所述其他终端发送与旁链路定位相关的第一信息。In the case that the target terminal has not established a PC5 unicast link with the other terminal, the target terminal initiates a process of establishing a PC5 unicast link with the other terminal to the other terminal; During the link establishment process or after the PC5 unicast link establishment process, the target terminal sends the first information related to sidelink positioning to the other terminals.
可选的，作为一个实施例，所述发送模块502，用于以下至少一项：Optionally, as an embodiment, the sending module 502 is used for at least one of the following:
通过终端能力查询旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a terminal capability query sidelink message;
通过无线资源控制RRC重配置旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a radio resource control RRC reconfiguration sidelink message;
通过链路标识符更新请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update request message;
通过链路标识符更新确认消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update confirmation message;
通过断开连接请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a disconnection request message;
通过链路修改请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link modification request message;
通过保持连接消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a keepalive message;
通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a newly defined PC5-RRC message;
通过新定义的PC5-信令消息向所述其他终端发送所述第一消息。The first message is sent to the other terminal through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述接收模块503，用于以下至少一项：Optionally, as an embodiment, the receiving module 503 is used for at least one of the following:
在所述目标终端通过终端能力查询旁链路消息向所述其他终端发送所述第一消息的情况下，通过终端能力信息旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a terminal capability query sidelink message, receive the feedback information through a terminal capability information sidelink message;
在所述目标终端通过RRC重配置旁链路消息向所述其他终端发送所述第一消息的情况下，通过RRC重配置完成旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through an RRC reconfiguration sidelink message, receiving the feedback information through an RRC reconfiguration complete sidelink message;
在所述目标终端通过链路标识符更新请求消息向所述其他终端发送所述第一消息的情况下，通过链路标识符更新响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update request message, receive the feedback information through a link identifier update response message;
在所述目标终端通过链路标识符更新确认消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update confirmation message, receive the feedback information through a newly defined PC5-signaling message;
在所述目标终端通过断开连接请求消息向所述其他终端发送所述第一消息的情况下，通过断开连接响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a disconnection request message, receive the feedback information through a disconnection response message;
在所述目标终端通过链路修改请求消息向所述其他终端发送所述第一消息的情况下，通过链路修改接受消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link modification request message, receive the feedback information through a link modification accept message;
在所述目标终端通过保持连接消息向所述其他终端发送所述第一消息的情况下，通过保持连接确认消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a keep-alive message, receive the feedback information through a keep-alive confirmation message;
在所述目标终端通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-RRC消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a newly defined PC5-RRC message, receive the feedback information through a newly defined PC5-RRC message;
在所述目标终端通过新定义的PC5-信令消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息。When the target terminal sends the first message to the other terminal through the newly defined PC5-signaling message, the feedback information is received through the newly defined PC5-signaling message.
可选的，作为一个实施例，所述第二信息包括以下至少一项：Optionally, as an embodiment, the second information includes at least one of the following:
所述锚点终端的位置信息；The location information of the anchor terminal;
旁链路定位参考信号PRS的配置信息；configuration information of the sidelink positioning reference signal PRS;
其中，所述旁链路PRS的配置信息包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
可选的，作为一个实施例，所述发送模块502，还用于：Optionally, as an embodiment, the sending module 502 is also configured to:
向所述其他终端发送第一请求，所述第一请求用于请求所述第二信息；sending a first request to the other terminal, where the first request is used to request the second information;
其中，所述接收模块，还用于：Wherein, the receiving module is also used for:
接收来自所述其他终端的所述第二信息。receiving the second information from the other terminal.
可选的，作为一个实施例，所述发送模块502，还用于向所述锚点终端发送所述第一请求；Optionally, as an embodiment, the sending module 502 is further configured to send the first request to the anchor terminal;
所述接收模块503，还用于接收来自所述锚点终端的所述第二信息。The receiving module 503 is further configured to receive the second information from the anchor terminal.
可选的，作为一个实施例，所述发送模块502，还用于以下至少一项：Optionally, as an embodiment, the sending module 502 is also used for at least one of the following:
通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a terminal capability query sidelink message;
通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through an RRC reconfiguration sidelink message;
通过链路标识符更新请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update request message;
通过链路标识符更新确认消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update confirmation message;
通过断开连接请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a disconnection request message;
通过链路修改请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link modification request message;
通过保持连接消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a keepalive message;
通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a newly defined PC5-RRC message;
通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求。The first request is sent to the anchor terminal through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述接收模块503，还用于以下至少一项：Optionally, as an embodiment, the receiving module 503 is also used for at least one of the following:
在通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求的情况下，通过终端能力信息旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a terminal capability query sidelink message, receiving the second information through a terminal capability information sidelink message;
在通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求的情况下，通过RRC重配置完成旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through an RRC reconfiguration sidelink message, receiving the second information through an RRC reconfiguration complete sidelink message;
在通过链路标识符更新请求消息向所述锚点终端发送所述第一请求的情 况下，通过链路标识符更新响应消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a link identifier update request message, receiving the second information through a link identifier update response message;
在通过链路标识符更新确认消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a link identifier update confirmation message, receiving the second information through a newly defined PC5-signaling message;
在通过断开连接请求消息向所述锚点终端发送所述第一请求的情况下，通过断开连接响应消息接收所述第二信息；receiving the second information through a disconnection response message in a case where the first request is sent to the anchor terminal through a disconnection request message;
在通过链路修改请求消息向所述锚点终端发送所述第一请求的情况下，通过链路修改接受消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a link modification request message, receiving the second information through a link modification accept message;
在通过保持连接消息向所述锚点终端发送所述第一请求的情况下，通过保持连接确认消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a keep-alive message, receiving the second information through a keep-alive confirmation message;
在通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-RRC消息接收所述第二信息；When sending the first request to the anchor terminal through a newly defined PC5-RRC message, receive the second information through a newly defined PC5-RRC message;
在通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息。In a case where the first request is sent to the anchor terminal through a newly defined PC5-signaling message, the second information is received through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述确定模块504，还用于以下至少一项：Optionally, as an embodiment, the determining module 504 is also used for at least one of the following:
接收来自所述锚点终端的旁链路PRS；receiving a sidelink PRS from the anchor terminal;
测量多次收到旁链路PRS的时刻以及所述目标终端在多个第一时间段内行驶的多个第一距离，所述第一时间段为所述目标终端收到相邻的两次旁链路PRS的时刻之间的时间段；Measuring the moment when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within multiple first time periods, the first time period is when the target terminal receives two adjacent PRS the time period between the instants of the sidelink PRS;
根据所述锚点终端的位置信息、所述多次收到旁链路PRS的时刻以及所述多个第一距离，确定所述目标终端的位置信息。Determine the location information of the target terminal according to the location information of the anchor terminal, the times at which sidelink PRSs are received multiple times, and the multiple first distances.
根据本申请实施例的装置500可以参照对应本申请实施例的方法300的流程，并且，该装置500中的各个单元/模块和上述其他操作和/或功能分别为了实现方法300中的相应流程，并且能够达到相同或等同的技术效果，为了简洁，在此不再赘述。The device 500 according to the embodiment of the present application can refer to the process of the method 300 corresponding to the embodiment of the present application, and each unit/module in the device 500 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 300, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.
图6是根据本申请实施例的定位装置的结构示意图，该装置可以对应于其他实施例中的第一终端。如图6所示，装置600包括如下模块。Fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to the first terminal in other embodiments. As shown in FIG. 6 , the device 600 includes the following modules.
发送模块601，用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；A sending module 601, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;
其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
可选的，作为一个实施例，所述装置600还包括接收模块602；Optionally, as an embodiment, the device 600 further includes a receiving module 602;
所述接收模块602，用于接收来自目标终端的与旁链路定位相关的第一信息；The receiving module 602 is configured to receive first information related to sidelink positioning from the target terminal;
所述发送模块601，还用于向所述目标终端发送反馈信息；The sending module 601 is further configured to send feedback information to the target terminal;
其中，所述目标终端用于根据来自多个所述第一终端的反馈信息从所述多个第一终端中确定锚点终端。Wherein, the target terminal is configured to determine the anchor terminal from the multiple first terminals according to the feedback information from the multiple first terminals.
可选的，作为一个实施例，所述接收模块602，还用于以下至少一项：Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:
在所述第一终端与所述目标终端已建立PC5单播链路的情况下，所述第一终端接收来自所述目标终端的与旁链路定位相关的第一信息；When the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;
在所述第一终端与所述目标终端未建立PC5单播链路的情况下，在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，所述第一终端接收来自所述目标终端的与旁链路定位相关的第一信息，PC5单播链路的建立过程由所述目标终端发起。In the case that the first terminal has not established a PC5 unicast link with the target terminal, during or after the establishment of the PC5 unicast link, the first terminal receives First information related to sidelink positioning from the target terminal, and the establishment process of the PC5 unicast link is initiated by the target terminal.
可选的，作为一个实施例，所述接收模块602，还用于以下至少一项：Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:
通过终端能力查询旁链路消息接收所述第一消息；receiving the first message through a terminal capability query sidelink message;
通过RRC重配置旁链路消息接收所述第一消息；receiving the first message through an RRC reconfiguration sidelink message;
通过链路标识符更新请求消息接收所述第一消息；receiving the first message via a Link Identifier Update Request message;
通过链路标识符更新确认消息接收所述第一消息；receiving said first message via a Link Identifier Update Confirmation message;
通过断开连接请求消息接收所述第一消息；receiving said first message via a disconnection request message;
通过链路修改请求消息接收所述第一消息；receiving the first message via a link modification request message;
通过保持连接消息接收所述第一消息；receiving the first message via a keepalive message;
通过新定义的PC5-RRC消息接收所述第一消息；receiving the first message through a newly defined PC5-RRC message;
通过新定义的PC5-信令消息接收所述第一消息。The first message is received through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述发送模块601，还用于以下至少一项：Optionally, as an embodiment, the sending module 601 is also used for at least one of the following:
在通过终端能力查询旁链路消息接收所述第一消息的情况下，通过终端能力信息旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a terminal capability query sidelink message, sending the feedback information to the target terminal through a terminal capability information sidelink message;
在通过RRC重配置旁链路消息接收所述第一消息的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through an RRC reconfiguration sidelink message, sending the feedback information to the target terminal through an RRC reconfiguration complete sidelink message;
在通过链路标识符更新请求消息接收所述第一消息的情况下，通过链路标识符更新响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update request message, sending the feedback information to the target terminal through a link identifier update response message;
在通过链路标识符更新确认消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update confirmation message, sending the feedback information to the target terminal through a newly defined PC5-signaling message;
在通过断开连接请求消息接收所述第一消息的情况下，通过断开连接响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a disconnection request message, sending the feedback information to the target terminal through a disconnection response message;
在通过链路修改请求消息接收所述第一消息的情况下，通过链路修改接受消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link modification request message, sending the feedback information to the target terminal through a link modification acceptance message;
在通过保持连接消息接收所述第一消息的情况下，通过保持连接确认消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a keep-alive message, sending the feedback information to the target terminal through a keep-alive confirmation message;
在通过新定义的PC5-RRC消息接收所述第一消息的情况下，通过新定义的PC5-RRC消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a newly defined PC5-RRC message, sending the feedback information to the target terminal through a newly defined PC5-RRC message;
在通过新定义的PC5-信令消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息。When the first message is received through a newly defined PC5-signaling message, the feedback information is sent to the target terminal through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述发送模块601，用于：Optionally, as an embodiment, the sending module 601 is configured to:
第一终端在接收来自目标终端的与旁链路定位相关的第一信息时，接收来自所述目标终端的第一请求，所述第一请求用于请求与单锚点终端旁链路定位相关的第二信息；When receiving the first information related to sidelink positioning from the target terminal, the first terminal receives a first request from the target terminal, where the first request is used to request information related to sidelink positioning of a single-anchor terminal the second information of
在向所述目标终端发送反馈信息时，向所述目标终端发送所述第二信息。When sending feedback information to the target terminal, send the second information to the target terminal.
可选的，作为一个实施例，所述第二信息包括以下至少一项：Optionally, as an embodiment, the second information includes at least one of the following:
所述第一终端的位置信息；location information of the first terminal;
旁链路定位参考信号PRS的配置信息；configuration information of the sidelink positioning reference signal PRS;
其中，所述旁链路PRS的配置信息包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
可选的，作为一个实施例，所述接收模块602，还用于在所述第一终端为锚点终端的情况下，在所述发送模块向所述目标终端发送所述反馈信息后，接收来自所述目标终端的所述第一请求；Optionally, as an embodiment, the receiving module 602 is further configured to, when the first terminal is an anchor terminal, after the sending module sends the feedback information to the target terminal, receive said first request from said target terminal;
所述发送模块601，还用于向所述目标终端发送所述第二信息。The sending module 601 is further configured to send the second information to the target terminal.
可选的，作为一个实施例，所述接收模块602，还用于以下至少一项：Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:
通过终端能力查询旁链路消息接收所述第一请求；receiving the first request through a terminal capability query sidelink message;
通过无线资源控制RRC重配置旁链路消息接收所述第一请求；receiving the first request through a radio resource control RRC reconfiguration sidelink message;
通过链路标识符更新请求消息接收所述第一请求；receiving the first request via a Link Identifier Update Request message;
通过链路标识符更新确认消息接收所述第一请求；receiving the first request via a link identifier update confirmation message;
通过断开连接请求消息接收所述第一请求；receiving said first request via a disconnect request message;
通过链路修改请求消息接收所述第一请求；receiving the first request via a link modification request message;
通过保持连接消息接收所述第一请求；receiving the first request via a keepalive message;
通过新定义的PC5-RRC消息接收所述第一请求；receiving the first request through a newly defined PC5-RRC message;
通过新定义的PC5-信令消息接收所述第一请求。The first request is received through a newly defined PC5-signalling message.
可选的，作为一个实施例，所述发送模块601，还用于以下至少一项：Optionally, as an embodiment, the sending module 601 is also used for at least one of the following:
在通过终端能力查询旁链路消息接收所述第一请求的情况下，通过终端能力信息旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a terminal capability query sidelink message, sending the second information to the target terminal through a terminal capability information sidelink message;
在通过RRC重配置旁链路消息接收所述第一请求的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through an RRC reconfiguration sidelink message, sending the second information to the target terminal through an RRC reconfiguration complete sidelink message;
在通过链路标识符更新请求消息接收所述第一请求的情况下，通过链路标识符更新响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update request message, sending the second information to the target terminal through a link identifier update response message;
在通过链路标识符更新确认消息接收所述第一请求的情况下，通过新定 义的PC5-信令消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update confirmation message, sending the second information to the target terminal through a newly defined PC5-signaling message;
在通过断开连接请求消息接收所述第一请求的情况下，通过断开连接响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a disconnection request message, sending the second information to the target terminal through a disconnection response message;
在通过链路修改请求消息接收所述第一请求的情况下，通过链路修改接受消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link modification request message, sending the second information to the target terminal through a link modification acceptance message;
在通过保持连接消息接收所述第一请求的情况下，通过保持连接确认消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a keep-alive message, sending the second information to the target terminal through a keep-alive confirmation message;
在通过新定义的PC5-RRC消息接收所述第一请求的情况下，通过新定义的PC5-RRC消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a newly defined PC5-RRC message, sending the second information to the target terminal through a newly defined PC5-RRC message;
在通过新定义的PC5-信令消息接收所述第一请求的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述第二信息。If the first request is received through a newly defined PC5-signaling message, the second information is sent to the target terminal through a newly defined PC5-signaling message.
可选的，作为一个实施例，所述发送模块601，还用于：Optionally, as an embodiment, the sending module 601 is also configured to:
根据所述第二信息中包括的旁链路PRS的配置信息，向所述目标终端发送旁链路PRS，所述目标终端用于根据所述旁链路PRS确定所述目标终端的位置信息。Sending a sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information, where the target terminal is used to determine the location information of the target terminal according to the sidelink PRS.
根据本申请实施例的装置600可以参照对应本申请实施例的方法400的流程，并且，该装置600中的各个单元/模块和上述其他操作和/或功能分别为了实现方法400中的相应流程，并且能够达到相同或等同的技术效果，为了简洁，在此不再赘述。The device 600 according to the embodiment of the present application can refer to the process of the method 400 corresponding to the embodiment of the present application, and each unit/module in the device 600 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 400, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.
本申请实施例中的定位装置可以是装置，具有操作***的装置或电子设备，也可以是终端中的部件、集成电路、或芯片。该装置或电子设备可以是移动终端，也可以为非移动终端。示例性的，移动终端可以包括但不限于上述所列举的终端11的类型，非移动终端可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。The positioning device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or a component, an integrated circuit, or a chip in a terminal. The apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal. Exemplarily, the mobile terminal may include but not limited to the types of terminals 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television ( television, TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.
本申请实施例提供的定位装置能够实现图3至图4的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。The positioning device provided by the embodiment of the present application can realize various processes realized by the method embodiments in FIG. 3 to FIG. 4 and achieve the same technical effect. To avoid repetition, details are not repeated here.
可选的，如图7所示，本申请实施例还提供一种通信设备700，包括处理器701，存储器702，存储在存储器702上并可在所述处理器701上运行的程序或指令，例如，该通信设备700为目标终端时，该程序或指令被处理器701执行时实现上述定位方法实施例的各个过程，且能达到相同的技术效果。该通信设备700为第一终端时，该程序或指令被处理器701执行时实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。Optionally, as shown in FIG. 7 , the embodiment of the present application further provides a communication device 700, including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701, For example, when the communication device 700 is a target terminal, when the program or instruction is executed by the processor 701, each process of the above positioning method embodiment can be realized, and the same technical effect can be achieved. When the communication device 700 is the first terminal, when the program or instruction is executed by the processor 701, each process of the positioning method embodiment described above can be achieved, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
本申请实施例还提供一种终端，包括处理器和通信接口，在终端为目标终端的情况下，处理器用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；其中，所述第二信息与单锚点终端旁链路定位相关。在终端为第一终端的情况下，通信接口用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。该终端实施例是与上述终端侧方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图8为实现本申请实施例的一种终端的硬件结构示意图。The embodiment of the present application also provides a terminal, including a processor and a communication interface. When the terminal is a target terminal, the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, The second information is related to sidelink positioning of the single-anchor terminal. In the case where the terminal is the first terminal, the communication interface is used to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal, the The second information is used by the target terminal to determine the location information of the target terminal. This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 8 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.
该终端800包括但不限于：射频单元801、网络模块802、音频输出单元803、输入单元804、传感器805、显示单元806、用户输入单元807、接口单元808、存储器809、以及处理器810等中的至少部分部件。The terminal 800 includes but is not limited to: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810, etc. at least some of the components.
本领域技术人员可以理解，终端800还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理***与处理器810逻辑相连，从而通过电源管理***实现管理充电、放电、以及功耗管理等功能。图8中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。Those skilled in the art can understand that the terminal 800 may also include a power supply (such as a battery) for supplying power to various components, and the power supply may be logically connected to the processor 810 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 8 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.
应理解的是，本申请实施例中，输入单元804可以包括图形处理器(Graphics Processing Unit，GPU)8041和麦克风8042，图形处理器8041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元806可包括显示面板8061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板8061。用户输入单元807包括触控面板8071以及其他输入设备8072。触控面板8071，也称为触摸屏。触控面板8071可包括触摸检测装置和触摸控制器两个部分。其他输入设备8072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。It should be understood that, in the embodiment of the present application, the input unit 804 may include a graphics processor (Graphics Processing Unit, GPU) 8041 and a microphone 8042, and the graphics processor 8041 is used for the image capture device ( Such as the image data of the still picture or video obtained by the camera) for processing. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 807 includes a touch panel 8071 and other input devices 8072 . The touch panel 8071 is also called a touch screen. The touch panel 8071 may include two parts, a touch detection device and a touch controller. Other input devices 8072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.
本申请实施例中，射频单元801将来自网络侧设备的下行数据接收后，给处理器810处理；另外，将上行的数据发送给网络侧设备。通常，射频单元801包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。In the embodiment of the present application, the radio frequency unit 801 receives the downlink data from the network side device, and processes it to the processor 810; in addition, sends the uplink data to the network side device. Generally, the radio frequency unit 801 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
存储器809可用于存储软件程序或指令以及各种数据。存储器809可主要包括存储程序或指令区和存储数据区，其中，存储程序或指令区可存储操作***、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器809可以包括高速随机存取存储器，还可以包括非易失性存储器，其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。The memory 809 can be used to store software programs or instructions as well as various data. The memory 809 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playback function, an image playback function, etc.) and the like. In addition, the memory 809 may include a high-speed random access memory, and may also include a nonvolatile memory, wherein the nonvolatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. For example at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
处理器810可包括一个或多个处理单元；可选的，处理器810可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作***、用户界面和应用程序或指令等，调制解调处理器主要处理无线通信，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器810中。The processor 810 may include one or more processing units; optionally, the processor 810 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 810 .
其中，在终端为目标终端的情况下，处理器810，用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, when the terminal is a target terminal, the processor 810 is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is side-chained with a single anchor terminal related to road positioning.
在终端为第一终端的情况下，射频单元801，用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。In the case where the terminal is the first terminal, the radio frequency unit 801 is configured to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal , the second information is used by the target terminal to determine location information of the target terminal.
本申请实施例给出了基于单锚点终端的sidelink定位方法对目标终端进行定位时的详细的定位流程，当目标终端有定位需求时，目标终端基于该定位流程可以得到目标终端的位置信息。The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.
本申请实施例提供的终端800还可以实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The terminal 800 provided in the embodiment of the present application can also implement various processes in the above embodiments of the positioning method, and can achieve the same technical effect. To avoid repetition, details are not repeated here.
本申请实施例还提供一种可读存储介质，所述可读存储介质可以是易失性的，也可以是非易失性的，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The embodiment of the present application also provides a readable storage medium, the readable storage medium may be volatile or non-volatile, and a program or instruction is stored on the readable storage medium, the program or When the instructions are executed by the processor, each process of the positioning method embodiment described above can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。Wherein, the processor is the processor in the terminal described in the foregoing embodiments. The readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement each of the above positioning method embodiments process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
应理解，本申请实施例提到的芯片还可以称为***级芯片，***芯片，芯片***或片上***芯片等。It should be understood that the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序 产品被存储在非瞬态的可读存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The embodiment of the present application further provides a computer program/program product, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to realize The various processes of the above embodiments of the positioning method can achieve the same technical effect, and will not be repeated here to avoid repetition.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

Claims (42)

  1. 一种定位方法，包括：A positioning method, comprising:
    目标终端根据来自锚点终端的第二信息，确定所述目标终端的位置信息；The target terminal determines the location information of the target terminal according to the second information from the anchor terminal;
    其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, the second information is related to single-anchor terminal sidelink positioning.
  2. 根据权利要求1所述的方法，其中，在目标终端根据来自锚点终端的第二信息，确定所述目标终端的位置信息之前，所述方法还包括：The method according to claim 1, wherein, before the target terminal determines the location information of the target terminal according to the second information from the anchor terminal, the method further comprises:
    目标终端向其他终端发送与旁链路定位相关的第一信息；The target terminal sends first information related to sidelink positioning to other terminals;
    接收来自所述其他终端的反馈信息；receiving feedback information from the other terminal;
    根据所述反馈信息从所述其他终端中确定所述锚点终端。determining the anchor terminal from the other terminals according to the feedback information.
  3. 根据权利要求2所述的方法，其中，目标终端向其他终端发送与旁链路定位相关的第一信息，包括以下至少一项：The method according to claim 2, wherein the target terminal sends the first information related to sidelink positioning to other terminals, including at least one of the following:
    在所述目标终端与所述其他终端已建立PC5单播链路的情况下，所述目标终端向所述其他终端发送与旁链路定位相关的第一信息；When the target terminal has established a PC5 unicast link with the other terminal, the target terminal sends first information related to sidelink positioning to the other terminal;
    在所述目标终端与所述其他终端未建立PC5单播链路的情况下，所述目标终端向所述其他终端发起与所述其他终端的PC5单播链路的建立过程；在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，所述目标终端向所述其他终端发送与旁链路定位相关的第一信息。In the case that the target terminal has not established a PC5 unicast link with the other terminal, the target terminal initiates a process of establishing a PC5 unicast link with the other terminal to the other terminal; During the link establishment process or after the PC5 unicast link establishment process, the target terminal sends the first information related to sidelink positioning to the other terminals.
  4. 根据权利要求2所述的方法，其中，目标终端向其他终端发送与旁链路定位相关的第一信息，包括以下至少一项：The method according to claim 2, wherein the target terminal sends the first information related to sidelink positioning to other terminals, including at least one of the following:
    通过终端能力查询旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a terminal capability query sidelink message;
    通过无线资源控制RRC重配置旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a radio resource control RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update request message;
    通过链路标识符更新确认消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update confirmation message;
    通过断开连接请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a disconnection request message;
    通过链路修改请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link modification request message;
    通过保持连接消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a keepalive message;
    通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息向所述其他终端发送所述第一消息。The first message is sent to the other terminal through a newly defined PC5-signaling message.
  5. 根据权利要求4所述的方法，其中，接收来自所述其他终端的反馈信息，包括以下至少一项：The method according to claim 4, wherein receiving feedback information from the other terminals includes at least one of the following:
    在所述目标终端通过终端能力查询旁链路消息向所述其他终端发送所述第一消息的情况下，通过终端能力信息旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a terminal capability query sidelink message, receive the feedback information through a terminal capability information sidelink message;
    在所述目标终端通过RRC重配置旁链路消息向所述其他终端发送所述第一消息的情况下，通过RRC重配置完成旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through an RRC reconfiguration sidelink message, receiving the feedback information through an RRC reconfiguration complete sidelink message;
    在所述目标终端通过链路标识符更新请求消息向所述其他终端发送所述第一消息的情况下，通过链路标识符更新响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update request message, receive the feedback information through a link identifier update response message;
    在所述目标终端通过链路标识符更新确认消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update confirmation message, receive the feedback information through a newly defined PC5-signaling message;
    在所述目标终端通过断开连接请求消息向所述其他终端发送所述第一消息的情况下，通过断开连接响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a disconnection request message, receive the feedback information through a disconnection response message;
    在所述目标终端通过链路修改请求消息向所述其他终端发送所述第一消息的情况下，通过链路修改接受消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link modification request message, receive the feedback information through a link modification accept message;
    在所述目标终端通过保持连接消息向所述其他终端发送所述第一消息的情况下，通过保持连接确认消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a keep-alive message, receive the feedback information through a keep-alive confirmation message;
    在所述目标终端通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-RRC消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a newly defined PC5-RRC message, receive the feedback information through a newly defined PC5-RRC message;
    在所述目标终端通过新定义的PC5-信令消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息。When the target terminal sends the first message to the other terminal through the newly defined PC5-signaling message, the feedback information is received through the newly defined PC5-signaling message.
  6. 根据权利要求1所述的方法，其中，所述第二信息包括以下至少一项：The method according to claim 1, wherein the second information includes at least one of the following:
    所述锚点终端的位置信息；The location information of the anchor terminal;
    旁链路定位参考信号PRS的配置信息；configuration information of the sidelink positioning reference signal PRS;
    其中，所述旁链路PRS的配置信息包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
  7. 根据权利要求2所述的方法，其中，目标终端在向其他终端发送所述第一信息时，所述方法还包括：The method according to claim 2, wherein when the target terminal sends the first information to other terminals, the method further comprises:
    向所述其他终端发送第一请求，所述第一请求用于请求所述第二信息；sending a first request to the other terminal, where the first request is used to request the second information;
    其中，在接收来自所述其他终端的反馈信息时，所述方法还包括：Wherein, when receiving feedback information from the other terminal, the method further includes:
    接收来自所述其他终端的所述第二信息。receiving the second information from the other terminal.
  8. 根据权利要求7所述的方法，其中，若目标终端在向其他终端发送所述第一信息时未向所述其他终端发送所述第一请求，则在确定所述锚点终端后，所述方法还包括：The method according to claim 7, wherein if the target terminal does not send the first request to other terminals when sending the first information to other terminals, after determining the anchor terminal, the Methods also include:
    向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal;
    接收来自所述锚点终端的所述第二信息。receiving the second information from the anchor terminal.
  9. 根据权利要求8所述的方法，其中，向所述锚点终端发送所述第一请求，包括以下至少一项：The method according to claim 8, wherein sending the first request to the anchor terminal includes at least one of the following:
    通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a terminal capability query sidelink message;
    通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through an RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update request message;
    通过链路标识符更新确认消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update confirmation message;
    通过断开连接请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a disconnection request message;
    通过链路修改请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link modification request message;
    通过保持连接消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a keepalive message;
    通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求。The first request is sent to the anchor terminal through a newly defined PC5-signaling message.
  10. 根据权利要求9所述的方法，其中，接收来自所述锚点终端的所述第二信息，包括以下至少一项：The method according to claim 9, wherein receiving the second information from the anchor terminal comprises at least one of the following:
    在通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求的情况下，通过终端能力信息旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a terminal capability query sidelink message, receiving the second information through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求的情况下，通过RRC重配置完成旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through an RRC reconfiguration sidelink message, receiving the second information through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息向所述锚点终端发送所述第一请求的情况下，通过链路标识符更新响应消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a link identifier update request message, receiving the second information through a link identifier update response message;
    在通过链路标识符更新确认消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a link identifier update confirmation message, receiving the second information through a newly defined PC5-signaling message;
    在通过断开连接请求消息向所述锚点终端发送所述第一请求的情况下，通过断开连接响应消息接收所述第二信息；receiving the second information through a disconnection response message in a case where the first request is sent to the anchor terminal through a disconnection request message;
    在通过链路修改请求消息向所述锚点终端发送所述第一请求的情况下，通过链路修改接受消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a link modification request message, receiving the second information through a link modification accept message;
    在通过保持连接消息向所述锚点终端发送所述第一请求的情况下，通过保持连接确认消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a keep-alive message, receiving the second information through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-RRC消息接收所述第二信息；When sending the first request to the anchor terminal through a newly defined PC5-RRC message, receive the second information through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息。In a case where the first request is sent to the anchor terminal through a newly defined PC5-signaling message, the second information is received through a newly defined PC5-signaling message.
  11. 根据权利要求1所述的方法，其中，目标终端根据来自所述锚点终端的第二信息，确定所述目标终端的位置信息，包括以下至少一项：The method according to claim 1, wherein the target terminal determines the location information of the target terminal according to the second information from the anchor terminal, including at least one of the following:
    接收来自所述锚点终端的旁链路PRS；receiving a sidelink PRS from the anchor terminal;
    测量多次收到旁链路PRS的时刻以及所述目标终端在多个第一时间段内行驶的多个第一距离，所述第一时间段为所述目标终端收到相邻的两次旁链路PRS的时刻之间的时间段；Measuring the moment when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within multiple first time periods, the first time period is when the target terminal receives two adjacent PRS the time period between the instants of the sidelink PRS;
    根据所述锚点终端的位置信息、所述多次收到旁链路PRS的时刻以及所述多个第一距离，确定所述目标终端的位置信息。Determine the location information of the target terminal according to the location information of the anchor terminal, the times at which sidelink PRSs are received multiple times, and the multiple first distances.
  12. 一种定位方法，包括：A positioning method, comprising:
    第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息；The first terminal sends second information related to sidelink positioning of the single-anchor terminal to the target terminal;
    其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
  13. 根据权利要求12所述的方法，其中，第一终端在向目标终端发送与 单锚点终端旁链路定位相关的第二信息之前，所述方法还包括：The method according to claim 12, wherein, before the first terminal sends the second information related to sidelink positioning of the single-anchor terminal to the target terminal, the method further comprises:
    第一终端接收来自目标终端的与旁链路定位相关的第一信息；The first terminal receives first information related to sidelink positioning from the target terminal;
    向所述目标终端发送反馈信息；sending feedback information to the target terminal;
    其中，所述目标终端用于根据来自多个所述第一终端的反馈信息从所述多个第一终端中确定锚点终端。Wherein, the target terminal is configured to determine the anchor terminal from the multiple first terminals according to the feedback information from the multiple first terminals.
  14. 根据权利要求13所述的方法，其中，第一终端接收来自目标终端的与旁链路定位相关的第一信息，包括以下至少一项：The method according to claim 13, wherein the first terminal receives the first information related to sidelink positioning from the target terminal, including at least one of the following:
    在所述第一终端与所述目标终端已建立PC5单播链路的情况下，所述第一终端接收来自所述目标终端的与旁链路定位相关的第一信息；When the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;
    在所述第一终端与所述目标终端未建立PC5单播链路的情况下，在PC5单播链路的建立过程中或在PC5单播链路的建立过程之后，所述第一终端接收来自所述目标终端的与旁链路定位相关的第一信息，PC5单播链路的建立过程由所述目标终端发起。In the case that the first terminal has not established a PC5 unicast link with the target terminal, during or after the establishment of the PC5 unicast link, the first terminal receives First information related to sidelink positioning from the target terminal, and the establishment process of the PC5 unicast link is initiated by the target terminal.
  15. 根据权利要求13所述的方法，其中，第一终端接收来自目标终端的与旁链路定位相关的第一信息，包括以下至少一项：The method according to claim 13, wherein the first terminal receives the first information related to sidelink positioning from the target terminal, including at least one of the following:
    通过终端能力查询旁链路消息接收所述第一消息；receiving the first message through a terminal capability query sidelink message;
    通过RRC重配置旁链路消息接收所述第一消息；receiving the first message through an RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息接收所述第一消息；receiving the first message via a Link Identifier Update Request message;
    通过链路标识符更新确认消息接收所述第一消息；receiving said first message via a Link Identifier Update Confirmation message;
    通过断开连接请求消息接收所述第一消息；receiving said first message via a disconnection request message;
    通过链路修改请求消息接收所述第一消息；receiving the first message via a link modification request message;
    通过保持连接消息接收所述第一消息；receiving the first message via a keepalive message;
    通过新定义的PC5-RRC消息接收所述第一消息；receiving the first message through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息接收所述第一消息。The first message is received through a newly defined PC5-signaling message.
  16. 根据权利要求15所述的方法，其中，向所述目标终端发送反馈信息，包括以下至少一项：The method according to claim 15, wherein sending feedback information to the target terminal includes at least one of the following:
    在通过终端能力查询旁链路消息接收所述第一消息的情况下，通过终端 能力信息旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a terminal capability query sidelink message, sending the feedback information to the target terminal through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息接收所述第一消息的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through an RRC reconfiguration sidelink message, sending the feedback information to the target terminal through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息接收所述第一消息的情况下，通过链路标识符更新响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update request message, sending the feedback information to the target terminal through a link identifier update response message;
    在通过链路标识符更新确认消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update confirmation message, sending the feedback information to the target terminal through a newly defined PC5-signaling message;
    在通过断开连接请求消息接收所述第一消息的情况下，通过断开连接响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a disconnection request message, sending the feedback information to the target terminal through a disconnection response message;
    在通过链路修改请求消息接收所述第一消息的情况下，通过链路修改接受消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link modification request message, sending the feedback information to the target terminal through a link modification acceptance message;
    在通过保持连接消息接收所述第一消息的情况下，通过保持连接确认消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a keep-alive message, sending the feedback information to the target terminal through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息接收所述第一消息的情况下，通过新定义的PC5-RRC消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a newly defined PC5-RRC message, sending the feedback information to the target terminal through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息。When the first message is received through a newly defined PC5-signaling message, the feedback information is sent to the target terminal through a newly defined PC5-signaling message.
  17. 根据权利要求13所述的方法，其中，第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息，包括：The method according to claim 13, wherein the first terminal sends the second information related to sidelink positioning of the single-anchor terminal to the target terminal, including:
    第一终端在接收来自目标终端的与旁链路定位相关的第一信息时，接收来自所述目标终端的第一请求，所述第一请求用于请求与单锚点终端旁链路定位相关的第二信息；When receiving the first information related to sidelink positioning from the target terminal, the first terminal receives a first request from the target terminal, where the first request is used to request information related to sidelink positioning of a single-anchor terminal the second information of
    在向所述目标终端发送反馈信息时，向所述目标终端发送所述第二信息。When sending feedback information to the target terminal, send the second information to the target terminal.
  18. 根据权利要求17所述的方法，其中，所述第二信息包括以下至少一项：The method according to claim 17, wherein the second information includes at least one of the following:
    所述第一终端的位置信息；location information of the first terminal;
    旁链路定位参考信号PRS的配置信息；configuration information of the sidelink positioning reference signal PRS;
    其中，所述旁链路PRS的配置信息包括以下至少一项：旁链路PRS的发送周期；旁链路PRS的首次发送时刻。Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.
  19. 根据权利要求17所述的方法，其中，若第一终端在接收所述第一信息时，未接收到所述第一请求，则第一终端向目标终端发送与单锚点终端旁链路定位相关的第二信息，包括：The method according to claim 17, wherein, if the first terminal does not receive the first request when receiving the first information, the first terminal sends a side link location link with the single-anchor terminal to the target terminal. Relevant secondary information, including:
    在所述第一终端为锚点终端的情况下，在向所述目标终端发送所述反馈信息后，接收来自所述目标终端的所述第一请求；If the first terminal is an anchor terminal, after sending the feedback information to the target terminal, receiving the first request from the target terminal;
    向所述目标终端发送所述第二信息。Send the second information to the target terminal.
  20. 根据权利要求19所述的方法，其中，接收来自所述目标终端的所述第一请求，包括以下至少一项：The method according to claim 19, wherein receiving the first request from the target terminal comprises at least one of the following:
    通过终端能力查询旁链路消息接收所述第一请求；receiving the first request through a terminal capability query sidelink message;
    通过无线资源控制RRC重配置旁链路消息接收所述第一请求；receiving the first request through a radio resource control RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息接收所述第一请求；receiving the first request via a Link Identifier Update Request message;
    通过链路标识符更新确认消息接收所述第一请求；receiving the first request via a link identifier update confirmation message;
    通过断开连接请求消息接收所述第一请求；receiving said first request via a disconnect request message;
    通过链路修改请求消息接收所述第一请求；receiving the first request via a link modification request message;
    通过保持连接消息接收所述第一请求；receiving the first request via a keepalive message;
    通过新定义的PC5-RRC消息接收所述第一请求；receiving the first request through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息接收所述第一请求。The first request is received through a newly defined PC5-signalling message.
  21. 根据权利要求20所述的方法，其中，向所述目标终端发送所述第二信息，包括以下至少一项：The method according to claim 20, wherein sending the second information to the target terminal includes at least one of the following:
    在通过终端能力查询旁链路消息接收所述第一请求的情况下，通过终端能力信息旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a terminal capability query sidelink message, sending the second information to the target terminal through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息接收所述第一请求的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through an RRC reconfiguration sidelink message, sending the second information to the target terminal through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息接收所述第一请求的情况下，通过链路标识符更新响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update request message, sending the second information to the target terminal through a link identifier update response message;
    在通过链路标识符更新确认消息接收所述第一请求的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update confirmation message, sending the second information to the target terminal through a newly defined PC5-signaling message;
    在通过断开连接请求消息接收所述第一请求的情况下，通过断开连接响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a disconnection request message, sending the second information to the target terminal through a disconnection response message;
    在通过链路修改请求消息接收所述第一请求的情况下，通过链路修改接受消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link modification request message, sending the second information to the target terminal through a link modification acceptance message;
    在通过保持连接消息接收所述第一请求的情况下，通过保持连接确认消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a keep-alive message, sending the second information to the target terminal through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息接收所述第一请求的情况下，通过新定义的PC5-RRC消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a newly defined PC5-RRC message, sending the second information to the target terminal through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息接收所述第一请求的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述第二信息。If the first request is received through a newly defined PC5-signaling message, the second information is sent to the target terminal through a newly defined PC5-signaling message.
  22. 根据权利要求12所述的方法，其中，所述第一终端在向所述目标终端发送所述第二信息后，所述方法还包括：The method according to claim 12, wherein, after the first terminal sends the second information to the target terminal, the method further comprises:
    根据所述第二信息中包括的旁链路PRS的配置信息，向所述目标终端发送旁链路PRS，所述目标终端用于根据所述旁链路PRS确定所述目标终端的位置信息。Sending a sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information, where the target terminal is used to determine the location information of the target terminal according to the sidelink PRS.
  23. 一种定位装置，包括：A positioning device, comprising:
    定位模块，用于根据来自锚点终端的第二信息，确定所述目标终端的位置信息；a positioning module, configured to determine the location information of the target terminal according to the second information from the anchor terminal;
    其中，所述第二信息与单锚点终端旁链路定位相关。Wherein, the second information is related to single-anchor terminal sidelink positioning.
  24. 根据权利要求1所述的装置，其中，所述装置还包括发送模块、接收模块和确定模块：The device according to claim 1, wherein the device further comprises a sending module, a receiving module and a determining module:
    所述发送模块，用于向其他终端发送与旁链路定位相关的第一信息；The sending module is configured to send first information related to sidelink positioning to other terminals;
    所述接收模块，用于接收来自所述其他终端的反馈信息；The receiving module is configured to receive feedback information from the other terminals;
    所述确定模块，用于根据所述反馈信息从所述其他终端中确定所述锚点终端。The determining module is configured to determine the anchor terminal from the other terminals according to the feedback information.
  25. 根据权利要求24所述的装置，其中，所述发送模块，用于以下至少一项：The device according to claim 24, wherein the sending module is used for at least one of the following:
    通过终端能力查询旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a terminal capability query sidelink message;
    通过无线资源控制RRC重配置旁链路消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a radio resource control RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update request message;
    通过链路标识符更新确认消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link identifier update confirmation message;
    通过断开连接请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a disconnection request message;
    通过链路修改请求消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a link modification request message;
    通过保持连接消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a keepalive message;
    通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息；sending the first message to the other terminal through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息向所述其他终端发送所述第一消息。The first message is sent to the other terminal through a newly defined PC5-signaling message.
  26. 根据权利要求25所述的装置，其中，所述接收模块，用于以下至少一项：The device according to claim 25, wherein the receiving module is used for at least one of the following:
    在所述目标终端通过终端能力查询旁链路消息向所述其他终端发送所述第一消息的情况下，通过终端能力信息旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a terminal capability query sidelink message, receive the feedback information through a terminal capability information sidelink message;
    在所述目标终端通过RRC重配置旁链路消息向所述其他终端发送所述第一消息的情况下，通过RRC重配置完成旁链路消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through an RRC reconfiguration sidelink message, receiving the feedback information through an RRC reconfiguration complete sidelink message;
    在所述目标终端通过链路标识符更新请求消息向所述其他终端发送所述第一消息的情况下，通过链路标识符更新响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update request message, receive the feedback information through a link identifier update response message;
    在所述目标终端通过链路标识符更新确认消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link identifier update confirmation message, receive the feedback information through a newly defined PC5-signaling message;
    在所述目标终端通过断开连接请求消息向所述其他终端发送所述第一消息的情况下，通过断开连接响应消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a disconnection request message, receive the feedback information through a disconnection response message;
    在所述目标终端通过链路修改请求消息向所述其他终端发送所述第一消息的情况下，通过链路修改接受消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a link modification request message, receive the feedback information through a link modification accept message;
    在所述目标终端通过保持连接消息向所述其他终端发送所述第一消息的 情况下，通过保持连接确认消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a keep-alive message, receive the feedback information through a keep-alive confirmation message;
    在所述目标终端通过新定义的PC5-RRC消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-RRC消息接收所述反馈信息；When the target terminal sends the first message to the other terminal through a newly defined PC5-RRC message, receive the feedback information through a newly defined PC5-RRC message;
    在所述目标终端通过新定义的PC5-信令消息向所述其他终端发送所述第一消息的情况下，通过新定义的PC5-信令消息接收所述反馈信息。When the target terminal sends the first message to the other terminal through the newly defined PC5-signaling message, the feedback information is received through the newly defined PC5-signaling message.
  27. 根据权利要求24所述的装置，其中，所述发送模块，还用于：The device according to claim 24, wherein the sending module is further configured to:
    向所述其他终端发送第一请求，所述第一请求用于请求所述第二信息；sending a first request to the other terminal, where the first request is used to request the second information;
    其中，所述接收模块，还用于：Wherein, the receiving module is also used for:
    接收来自所述其他终端的所述第二信息。receiving the second information from the other terminal.
  28. 根据权利要求27所述的装置，其中，The apparatus of claim 27, wherein,
    所述发送模块，还用于向所述锚点终端发送所述第一请求；The sending module is further configured to send the first request to the anchor terminal;
    所述接收模块，还用于接收来自所述锚点终端的所述第二信息。The receiving module is further configured to receive the second information from the anchor terminal.
  29. 根据权利要求28所述的装置，其中，所述发送模块，还用于以下至少一项：The device according to claim 28, wherein the sending module is also used for at least one of the following:
    通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a terminal capability query sidelink message;
    通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through an RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update request message;
    通过链路标识符更新确认消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link identifier update confirmation message;
    通过断开连接请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a disconnection request message;
    通过链路修改请求消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a link modification request message;
    通过保持连接消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a keepalive message;
    通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求；sending the first request to the anchor terminal through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求。The first request is sent to the anchor terminal through a newly defined PC5-signaling message.
  30. 根据权利要求29所述的装置，其中，所述接收模块，还用于以下至少一项：The device according to claim 29, wherein the receiving module is also used for at least one of the following:
    在通过终端能力查询旁链路消息向所述锚点终端发送所述第一请求的情况下，通过终端能力信息旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a terminal capability query sidelink message, receiving the second information through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息向所述锚点终端发送所述第一请求的情况下，通过RRC重配置完成旁链路消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through an RRC reconfiguration sidelink message, receiving the second information through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息向所述锚点终端发送所述第一请求的情况下，通过链路标识符更新响应消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a link identifier update request message, receiving the second information through a link identifier update response message;
    在通过链路标识符更新确认消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a link identifier update confirmation message, receiving the second information through a newly defined PC5-signaling message;
    在通过断开连接请求消息向所述锚点终端发送所述第一请求的情况下，通过断开连接响应消息接收所述第二信息；receiving the second information through a disconnection response message in a case where the first request is sent to the anchor terminal through a disconnection request message;
    在通过链路修改请求消息向所述锚点终端发送所述第一请求的情况下，通过链路修改接受消息接收所述第二信息；In the case where the first request is sent to the anchor terminal through a link modification request message, receiving the second information through a link modification accept message;
    在通过保持连接消息向所述锚点终端发送所述第一请求的情况下，通过保持连接确认消息接收所述第二信息；In the case of sending the first request to the anchor terminal through a keep-alive message, receiving the second information through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-RRC消息接收所述第二信息；When sending the first request to the anchor terminal through a newly defined PC5-RRC message, receive the second information through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息向所述锚点终端发送所述第一请求的情况下，通过新定义的PC5-信令消息接收所述第二信息。In a case where the first request is sent to the anchor terminal through a newly defined PC5-signaling message, the second information is received through a newly defined PC5-signaling message.
  31. 一种定位装置，包括：A positioning device, comprising:
    发送模块，用于向目标终端发送与单锚点终端旁链路定位相关的第二信息；A sending module, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;
    其中，在所述第一终端为锚点终端的情况下，所述第二信息用于所述目标终端确定所述目标终端的位置信息。Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.
  32. 根据权利要求31所述的装置，其中，所述装置还包括接收模块；The device according to claim 31, wherein the device further comprises a receiving module;
    所述接收模块，用于接收来自目标终端的与旁链路定位相关的第一信息；The receiving module is configured to receive first information related to sidelink positioning from the target terminal;
    所述发送模块，还用于向所述目标终端发送反馈信息；The sending module is further configured to send feedback information to the target terminal;
    其中，所述目标终端用于根据来自多个所述第一终端的反馈信息从所述多个第一终端中确定锚点终端。Wherein, the target terminal is configured to determine the anchor terminal from the multiple first terminals according to the feedback information from the multiple first terminals.
  33. 根据权利要求32所述的装置，其中，所述接收模块，还用于以下至 少一项：The device according to claim 32, wherein the receiving module is also used for at least one of the following:
    通过终端能力查询旁链路消息接收所述第一消息；receiving the first message through a terminal capability query sidelink message;
    通过RRC重配置旁链路消息接收所述第一消息；receiving the first message through an RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息接收所述第一消息；receiving the first message via a Link Identifier Update Request message;
    通过链路标识符更新确认消息接收所述第一消息；receiving said first message via a Link Identifier Update Confirmation message;
    通过断开连接请求消息接收所述第一消息；receiving said first message via a disconnection request message;
    通过链路修改请求消息接收所述第一消息；receiving the first message via a link modification request message;
    通过保持连接消息接收所述第一消息；receiving the first message via a keepalive message;
    通过新定义的PC5-RRC消息接收所述第一消息；receiving the first message through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息接收所述第一消息。The first message is received through a newly defined PC5-signaling message.
  34. 根据权利要求33所述的装置，其中，所述发送模块，还用于以下至少一项：The device according to claim 33, wherein the sending module is also used for at least one of the following:
    在通过终端能力查询旁链路消息接收所述第一消息的情况下，通过终端能力信息旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a terminal capability query sidelink message, sending the feedback information to the target terminal through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息接收所述第一消息的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through an RRC reconfiguration sidelink message, sending the feedback information to the target terminal through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息接收所述第一消息的情况下，通过链路标识符更新响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update request message, sending the feedback information to the target terminal through a link identifier update response message;
    在通过链路标识符更新确认消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link identifier update confirmation message, sending the feedback information to the target terminal through a newly defined PC5-signaling message;
    在通过断开连接请求消息接收所述第一消息的情况下，通过断开连接响应消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a disconnection request message, sending the feedback information to the target terminal through a disconnection response message;
    在通过链路修改请求消息接收所述第一消息的情况下，通过链路修改接受消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a link modification request message, sending the feedback information to the target terminal through a link modification acceptance message;
    在通过保持连接消息接收所述第一消息的情况下，通过保持连接确认消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a keep-alive message, sending the feedback information to the target terminal through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息接收所述第一消息的情况下，通过新定 义的PC5-RRC消息向所述目标终端发送所述反馈信息；In the case of receiving the first message through a newly defined PC5-RRC message, sending the feedback information to the target terminal through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息接收所述第一消息的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述反馈信息。When the first message is received through a newly defined PC5-signaling message, the feedback information is sent to the target terminal through a newly defined PC5-signaling message.
  35. 根据权利要求32所述的装置，其中，所述发送模块，用于：The device according to claim 32, wherein the sending module is configured to:
    第一终端在接收来自目标终端的与旁链路定位相关的第一信息时，接收来自所述目标终端的第一请求，所述第一请求用于请求与单锚点终端旁链路定位相关的第二信息；When receiving the first information related to sidelink positioning from the target terminal, the first terminal receives a first request from the target terminal, where the first request is used to request information related to sidelink positioning of a single-anchor terminal the second information of
    在向所述目标终端发送反馈信息时，向所述目标终端发送所述第二信息。When sending feedback information to the target terminal, send the second information to the target terminal.
  36. 根据权利要求35所述的装置，其中，The apparatus of claim 35, wherein,
    所述接收模块，还用于在所述第一终端为锚点终端的情况下，在所述发送模块向所述目标终端发送所述反馈信息后，接收来自所述目标终端的所述第一请求；The receiving module is further configured to receive the first message from the target terminal after the sending module sends the feedback information to the target terminal when the first terminal is an anchor terminal. ask;
    所述发送模块，还用于向所述目标终端发送所述第二信息。The sending module is further configured to send the second information to the target terminal.
  37. 根据权利要求36所述的装置，其中，所述接收模块，还用于以下至少一项：The device according to claim 36, wherein the receiving module is also used for at least one of the following:
    通过终端能力查询旁链路消息接收所述第一请求；receiving the first request through a terminal capability query sidelink message;
    通过无线资源控制RRC重配置旁链路消息接收所述第一请求；receiving the first request through a radio resource control RRC reconfiguration sidelink message;
    通过链路标识符更新请求消息接收所述第一请求；receiving the first request via a Link Identifier Update Request message;
    通过链路标识符更新确认消息接收所述第一请求；receiving the first request via a link identifier update confirmation message;
    通过断开连接请求消息接收所述第一请求；receiving said first request via a disconnect request message;
    通过链路修改请求消息接收所述第一请求；receiving the first request via a link modification request message;
    通过保持连接消息接收所述第一请求；receiving the first request via a keepalive message;
    通过新定义的PC5-RRC消息接收所述第一请求；receiving the first request through a newly defined PC5-RRC message;
    通过新定义的PC5-信令消息接收所述第一请求。The first request is received through a newly defined PC5-signalling message.
  38. 根据权利要求37所述的装置，其中，所述发送模块，还用于以下至少一项：The device according to claim 37, wherein the sending module is also used for at least one of the following:
    在通过终端能力查询旁链路消息接收所述第一请求的情况下，通过终端 能力信息旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a terminal capability query sidelink message, sending the second information to the target terminal through a terminal capability information sidelink message;
    在通过RRC重配置旁链路消息接收所述第一请求的情况下，通过RRC重配置完成旁链路消息向所述目标终端发送所述第二信息；In the case of receiving the first request through an RRC reconfiguration sidelink message, sending the second information to the target terminal through an RRC reconfiguration complete sidelink message;
    在通过链路标识符更新请求消息接收所述第一请求的情况下，通过链路标识符更新响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update request message, sending the second information to the target terminal through a link identifier update response message;
    在通过链路标识符更新确认消息接收所述第一请求的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link identifier update confirmation message, sending the second information to the target terminal through a newly defined PC5-signaling message;
    在通过断开连接请求消息接收所述第一请求的情况下，通过断开连接响应消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a disconnection request message, sending the second information to the target terminal through a disconnection response message;
    在通过链路修改请求消息接收所述第一请求的情况下，通过链路修改接受消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a link modification request message, sending the second information to the target terminal through a link modification acceptance message;
    在通过保持连接消息接收所述第一请求的情况下，通过保持连接确认消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a keep-alive message, sending the second information to the target terminal through a keep-alive confirmation message;
    在通过新定义的PC5-RRC消息接收所述第一请求的情况下，通过新定义的PC5-RRC消息向所述目标终端发送所述第二信息；In the case of receiving the first request through a newly defined PC5-RRC message, sending the second information to the target terminal through a newly defined PC5-RRC message;
    在通过新定义的PC5-信令消息接收所述第一请求的情况下，通过新定义的PC5-信令消息向所述目标终端发送所述第二信息。If the first request is received through a newly defined PC5-signaling message, the second information is sent to the target terminal through a newly defined PC5-signaling message.
  39. 一种终端，包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至11任一项所述的定位方法的步骤，或者实现如权利要求12至22任一项所述的定位方法的步骤。A terminal, comprising a processor, a memory, and a program or instruction stored on the memory and operable on the processor, when the program or instruction is executed by the processor, any of claims 1 to 11 can be realized. The steps of the positioning method described in one of the claims, or the steps of realizing the positioning method described in any one of claims 12 to 22.
  40. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被目标终端的处理器执行时实现如权利要求1至11任一项所述的定位方法的步骤，或者被第一终端的处理器执行时实现如权利要求12至22任一项所述的定位方法的步骤。A readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by the processor of the target terminal, the steps of the positioning method according to any one of claims 1 to 11 are implemented, Or implement the steps of the positioning method according to any one of claims 12 to 22 when executed by the processor of the first terminal.
  41. 一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求1至11任一项所述的定位方法的步骤，或者实现如权利要求12至22任一项所述的定位 方法的步骤。A chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the positioning method according to any one of claims 1 to 11 steps, or realize the steps of the positioning method according to any one of claims 12 to 22.
  42. 一种计算机程序产品，所述计算机程序产品被存储在非瞬态的可读存储介质中，所述计算机程序产品被目标终端的处理器执行时实现如权利要求1至11任一项所述的定位方法的步骤，或者被第一终端的处理器执行时实现如权利要求12至22任一项所述的定位方法的步骤。A computer program product, the computer program product is stored in a non-transitory readable storage medium, and when the computer program product is executed by a processor of a target terminal, the method described in any one of claims 1 to 11 is realized. The steps of the positioning method, or the steps of realizing the positioning method according to any one of claims 12 to 22 when executed by the processor of the first terminal.
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