WO2024027343A1 - 定位方法及装置 - Google Patents

定位方法及装置 Download PDF

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Publication number
WO2024027343A1
WO2024027343A1 PCT/CN2023/099533 CN2023099533W WO2024027343A1 WO 2024027343 A1 WO2024027343 A1 WO 2024027343A1 CN 2023099533 W CN2023099533 W CN 2023099533W WO 2024027343 A1 WO2024027343 A1 WO 2024027343A1
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WO
WIPO (PCT)
Prior art keywords
terminal device
auxiliary
measurement
request
auxiliary terminal
Prior art date
Application number
PCT/CN2023/099533
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English (en)
French (fr)
Inventor
缪馨
周润泽
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2024027343A1 publication Critical patent/WO2024027343A1/zh

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Classifications

    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/04—Arrangements for maintaining operational condition
    • 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
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • 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

Definitions

  • the present application relates to the field of communication technology, and in particular, to a positioning method and device.
  • terminal equipment 1 can initiate an auxiliary terminal equipment discovery process.
  • the auxiliary terminal device performs ranging/side-chain positioning on terminal device 1 and terminal device 2 respectively, and obtains measurement results between the auxiliary terminal device and terminal device 1, and measurement results between the auxiliary terminal device and terminal device 2. Based on these two measurement results, the relative position between terminal device 1 and terminal device 2 can be determined.
  • the auxiliary terminal device can periodically perform ranging/side-chain positioning measurements on the terminal device 1 and the terminal device 2 to periodically determine the relative positions of the terminal device 1 and the terminal device 2.
  • auxiliary terminal equipment may not be able to continue to assist in the measurement, which may cause the positioning service to be discontinuous, resulting in positioning failure. fail.
  • Embodiments of the present application provide a positioning method and device, which can improve the technical problem that when the same auxiliary terminal device performs auxiliary ranging/side chain positioning, the positioning service may be discontinuous, resulting in positioning failure.
  • embodiments of the present application provide a positioning method, which may include: a first terminal device sending a first request to a first auxiliary terminal device, and receiving a first measurement result from the first auxiliary terminal device; wherein, The first request is used to request the relative position of the first terminal device and the second terminal device; the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; if the first terminal device determines the first The auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle.
  • the first terminal device sends a first request to the second auxiliary terminal device and receives a second measurement result from the second auxiliary terminal device; wherein the measurement result is used to indicate the first The relative position of the terminal device and the second terminal device.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. If the first terminal device determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next cycle, the first terminal device may send a first request to the second auxiliary terminal device to perform periodic ranging/side chain positioning through the second auxiliary terminal device. , avoid interruption of the positioning service due to the inability of the first auxiliary terminal device to continue auxiliary measurement, ensure the continuity of the positioning service in the auxiliary terminal device switching scenario, and improve the positioning success rate.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, and first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the first terminal device receives the second instruction information from the first auxiliary terminal device, according to The second indication information determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle; wherein the second indication information is used to indicate the termination of auxiliary measurement.
  • the first terminal device can determine based on the second indication information that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, and the first terminal device determines on its own that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle. Compared with the measurement, the processing complexity of the first terminal device can be reduced, and the power consumption can be reduced at the same time.
  • the first terminal device determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period; wherein the first condition includes one or more of the following: the first terminal device The distance to the first auxiliary terminal device is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, and the signal strength of the first signal is less than or equal to the preset signal. The difference between the intensity, the direction of the first signal and the preset direction is greater than or equal to the preset difference; the first signal is a signal received by the first terminal device from the first auxiliary terminal device.
  • the first terminal device periodically determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period based on the first condition.
  • the first terminal device may determine based on the first condition that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, and the first terminal device may determine based on the second indication information that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle. Compared with performing auxiliary measurement in one measurement cycle, signaling overhead can be reduced.
  • embodiments of the present application provide a positioning method, which may include: a first auxiliary terminal device receiving a first request from the first terminal device, and sending a first measurement result to the first terminal device; wherein, A request is used to request the relative position of the first terminal device and the second terminal device; the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the measurement result is used to indicate the first terminal device relative position to the second terminal device; if the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, the first auxiliary terminal device sends second indication information to the first terminal device; wherein the second indication information is used to indicate auxiliary The measurement is terminated.
  • the first auxiliary terminal device can implement periodic ranging/side chain positioning based on the first auxiliary terminal device according to the first request sent by the first terminal device. If the first auxiliary terminal device cannot perform auxiliary measurement in the next cycle, the first auxiliary terminal device may send second indication information to the first terminal device. The first terminal device can search for the second auxiliary terminal device to perform periodic ranging/side-chain positioning according to the second instruction information, avoiding the interruption of the positioning service due to the inability of the first auxiliary terminal device to continue auxiliary measurement, and ensuring the auxiliary terminal device switching scenario. Positioning business continuity and improving positioning success rate.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, and first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the first auxiliary terminal device determines that it cannot perform auxiliary measurement in the next measurement period; wherein the second condition includes one or more of the following: the first terminal device and the first auxiliary device The distance between terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the second The difference between the direction of the signal and the preset direction is greater than or equal to the preset difference; the second signal is a signal from the first terminal device received by the first auxiliary terminal device.
  • the first auxiliary terminal device periodically determines whether to support the next test based on the second condition. Perform auxiliary measurements during the measurement cycle.
  • the first auxiliary terminal device can determine whether to support auxiliary measurement in the next measurement cycle according to the second condition, providing a feasible solution for the first auxiliary terminal device to determine whether to support auxiliary measurement in the next measurement cycle.
  • embodiments of the present application provide a positioning method, which may include: a first terminal device sending a first request to a first auxiliary terminal device, and receiving a first measurement result from the first auxiliary terminal device; wherein, The first request is used to request the relative position of the first terminal device and the second terminal device; the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the first terminal device receives data from one or Second measurement results of multiple second auxiliary terminal devices; wherein the second measurement results are determined by the second auxiliary terminal device according to a second request sent by the first auxiliary terminal device, and the second request is used to request the second auxiliary terminal device To assist in determining the relative position of the first terminal device and the second terminal device, the second request includes identification information of the first terminal device, identification information of the second terminal device, and period information; the measurement results are used to indicate the relationship between the first terminal device and the second terminal device. The relative position of the terminal device.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device can send a second request to the second auxiliary terminal device. The first terminal device does not need to actively initiate a discovery process for the second auxiliary terminal device. Interference to the first terminal device can be reduced. At the same time, periodic ranging/side-chain positioning is implemented through the second auxiliary terminal device to avoid interruption of the positioning service due to the inability of the first auxiliary terminal device to continue auxiliary measurement, ensuring the continuity of the positioning service in the auxiliary terminal device switching scenario, and improving positioning Success rate.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, first indication information; and/or the second request also includes one or more of the following: Measurement result type, service quality requirement, first indication information; wherein, measurement result type includes one or more of the following: distance, direction, angle; service quality requirement includes one or more of the following: accuracy requirement, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the first terminal device receives a discovery request from one or more auxiliary terminal devices; wherein the one or more auxiliary terminal devices are terminal devices that receive the second request; the first terminal device receives a discovery request according to one or more A plurality of auxiliary terminal devices determines one or more second auxiliary terminal devices and sends a discovery response to the one or more second auxiliary terminal devices; the first terminal device receives a second discovery response from one or more second auxiliary terminal devices. Measurement results.
  • the first terminal device can determine one or more second auxiliary terminal devices from one or more auxiliary terminal devices that have received the second request during the discovery process, and then perform the processing through the second auxiliary terminal device.
  • Periodic ranging/side-chain positioning avoids the interruption of positioning services due to the inability of the first auxiliary terminal device to continue auxiliary measurements, ensures the continuity of positioning services in auxiliary terminal device switching scenarios, and improves the positioning success rate.
  • embodiments of the present application provide a positioning method, which may include: a first auxiliary terminal device receiving a first request from the first terminal device, and sending a first measurement result to the first terminal device; wherein, A request is used to request the relative position of the first terminal device and the second terminal device; the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the measurement result is used to indicate the first terminal device relative position to the second terminal device; if the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device sends a second request; wherein the second request is used to request the second auxiliary terminal device to assist in determining the third The relative position of a terminal device and a second terminal device.
  • the second request includes the identification information of the first terminal device and the label of the second terminal device. recognition information and cycle information.
  • the first auxiliary terminal device can implement periodic ranging/side chain positioning based on the first auxiliary terminal device according to the first request sent by the first terminal device. Furthermore, the first auxiliary terminal device can also determine by itself whether it supports auxiliary measurement in the next measurement period. If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, the first auxiliary terminal device can search for a new auxiliary terminal device (such as a second auxiliary terminal device), and the first terminal device does not need to actively initiate the discovery of the auxiliary terminal device. The process can reduce interference to the first terminal device.
  • a new auxiliary terminal device such as a second auxiliary terminal device
  • the first auxiliary terminal device can implement periodic ranging/side chain positioning through the new auxiliary terminal device, avoiding positioning caused by the inability of the first auxiliary terminal device to continue assisting measurement.
  • Service interruption ensures the continuity of positioning services in auxiliary terminal equipment switching scenarios and improves the positioning success rate.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, first indication information; and/or the second request also includes one or more of the following: Measurement result type, service quality requirement, first indication information; wherein, measurement result type includes one or more of the following: distance, direction, angle; service quality requirement includes one or more of the following: accuracy requirement, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the first auxiliary terminal device determines that it cannot perform auxiliary measurement in the next measurement period; wherein the second condition includes one or more of the following: the first terminal device and the first auxiliary device The distance between terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the second The difference between the direction of the signal and the preset direction is greater than or equal to the preset difference; the second signal is a signal from the first terminal device received by the first auxiliary terminal device.
  • the first auxiliary terminal device periodically determines whether to support auxiliary measurement in the next measurement period based on the second condition.
  • the first auxiliary terminal device can determine whether to support auxiliary measurement in the next measurement cycle according to the second condition, providing a feasible solution for the first auxiliary terminal device to determine whether to support auxiliary measurement in the next measurement cycle.
  • the first auxiliary terminal device broadcasts the second request; or, the first auxiliary terminal device determines one or more second auxiliary terminal devices from one or more auxiliary terminal devices, and sends the request to one or more second auxiliary terminal devices.
  • a second auxiliary terminal device sends a second request.
  • the first auxiliary terminal device may send the second request in a broadcast manner, or may first determine one or more second auxiliary terminal devices and then send the second request. Multiple feasible solutions are provided for the first auxiliary terminal device to send the second request.
  • the first auxiliary terminal device receives the second measurement result from one or more second auxiliary terminal devices, and sends the second measurement result to the first terminal device.
  • the first auxiliary terminal device can send the second measurement result of the second auxiliary terminal device to the first terminal device, so that the first terminal device does not perceive the switching of the auxiliary terminal device.
  • the first auxiliary terminal device receives third indication information from the second auxiliary terminal device; wherein the third indication information is used to instruct the second auxiliary terminal device to determine to perform auxiliary measurement according to the second request.
  • the first auxiliary terminal device can stop performing auxiliary measurements according to the first request according to the third instruction information, thereby reducing the power consumption of the first auxiliary terminal device.
  • inventions of the present application provide a positioning method.
  • the method may include: the second auxiliary terminal device receives a second request from the first auxiliary terminal device, and according to the second request, provides a positioning method to the first terminal device or the first auxiliary terminal device.
  • the terminal device sends a second measurement result; wherein the second request is used to request the second auxiliary terminal device to assist in determining the relative position of the first terminal device and the second terminal device, and the second request includes the identification information of the first terminal device, the second The identification information and period information of the terminal device; the period information is used to indicate the measurement period; the measurement result is used to indicate the relative position of the first terminal device and the second terminal device.
  • the second auxiliary terminal device can implement periodic ranging/side chain positioning through the second auxiliary terminal device according to the second request sent by the first auxiliary terminal device to avoid the failure of the first auxiliary terminal device to continue assisting.
  • the measurement results in the interruption of the positioning service, ensuring the continuity of the positioning service in the auxiliary terminal device switching scenario and improving the positioning success rate.
  • the second request also includes one or more of the following: measurement result type, service quality requirement, first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first indication information is used to instruct measurement through the auxiliary terminal device.
  • the second auxiliary terminal device sends a discovery request to the first terminal device and receives a discovery response from the first terminal device; based on the discovery response of the first terminal device, the second auxiliary terminal device sends a discovery request to the first terminal device according to the second request. Send the second measurement result.
  • the second auxiliary terminal device can perform a discovery process for the first terminal device, and when receiving the discovery response, can send the second measurement result to the first terminal device according to the second request.
  • the second auxiliary terminal device sends third indication information to the first auxiliary terminal device; wherein the third indication information is used to instruct the second auxiliary terminal device to determine to perform auxiliary measurement according to the second request.
  • the second auxiliary terminal device can send the third instruction information to the first auxiliary terminal device, so that the first auxiliary terminal device can stop performing auxiliary measurements according to the first request according to the third instruction information, reducing the first auxiliary The power consumption of the terminal device.
  • embodiments of the present application provide a communication device.
  • the communication device can be applied to the first terminal device in the above-mentioned first aspect or the possible design of the first aspect to realize the functions performed by the above-mentioned first terminal device.
  • the communication device may be a first terminal device, or a chip or a system on a chip of the first terminal device.
  • the communication device may perform the functions performed by the first terminal device through hardware, or may implement corresponding software through hardware.
  • the hardware or software includes one or more modules corresponding to the above functions. For example, transceiver module and processing module.
  • a transceiver module configured to send a first request to the first auxiliary terminal device and receive the first measurement result from the first auxiliary terminal device; wherein the first request is used to request the relative position of the first terminal device and the second terminal device. ;
  • the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the transceiver module is also used to send a request to the third auxiliary terminal device if the processing module determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period.
  • the second auxiliary terminal device sends a first request and receives a second measurement result from the second auxiliary terminal device; wherein the measurement result is used to indicate the relative position of the first terminal device and the second terminal device.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, and first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the transceiver module is also configured to receive second indication information from the first auxiliary terminal device, and the processing module is also configured to determine based on the second indication information that the first auxiliary terminal device cannot assist in the next measurement cycle. Measurement; wherein the second indication information is used to indicate the termination of the auxiliary measurement.
  • the processing module is also configured to determine that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle if the first condition is met; wherein the first condition includes one or more of the following: first The distance between the terminal device and the first auxiliary terminal device is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, and the signal strength of the first signal is less than or equal to the preset distance. Assume that the difference between the signal strength, the direction of the first signal and the preset direction is greater than or equal to the preset difference; the first signal is a signal received by the first terminal device from the first auxiliary terminal device.
  • the processing module is also configured to periodically determine whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle based on the first condition.
  • embodiments of the present application provide a communication device.
  • the communication device can be applied to the first auxiliary terminal equipment in the above-mentioned second aspect or the possible design of the second aspect, so as to realize the functions performed by the above-mentioned first auxiliary terminal equipment.
  • the communication device may be a first auxiliary terminal device, or a chip or a system on a chip of the first auxiliary terminal device.
  • the communication device may perform the functions performed by the first auxiliary terminal device through hardware, or may perform corresponding functions through hardware.
  • the hardware or software includes one or more modules corresponding to the above functions. For example, transceiver module and processing module.
  • a transceiver module configured to receive a first request from the first terminal device and send a first measurement result to the first terminal device; wherein the first request is used to request the relative position of the first terminal device and the second terminal device;
  • a request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the measurement result is used to indicate the relative position of the first terminal device and the second terminal device;
  • the transceiver module is also used to determine if the processing module If the auxiliary measurement cannot be performed in the next measurement cycle, the second indication information is sent to the first terminal device; where the second indication information is used to indicate the termination of the auxiliary measurement.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, and first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the processing module is also used to determine that auxiliary measurement cannot be performed in the next measurement cycle if the second condition is met; wherein the second condition includes one or more of the following: the first terminal device and the first The distance between the auxiliary terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the third The difference between the direction of the second signal and the preset direction is greater than or equal to the preset difference; the second signal is a signal from the first terminal device received by the first auxiliary terminal device.
  • the second condition includes one or more of the following: the first terminal device and the first The distance between the auxiliary terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the third The difference between the direction of
  • the processing module is also used to periodically determine whether to support auxiliary measurement in the next measurement cycle based on the second condition.
  • embodiments of the present application provide a communication device.
  • the communication device can be applied to the first terminal device in the above-mentioned first aspect or a possible design of the first aspect to realize the functions performed by the above-mentioned first terminal device.
  • the communication device may be a first terminal device, or a chip or a system on a chip of the first terminal device.
  • the communication device may perform the functions performed by the first terminal device through hardware, or may implement corresponding software through hardware.
  • the hardware or software includes one or more modules corresponding to the above functions. For example, transceiver module and processing module.
  • a transceiver module configured to send a first request to the first auxiliary terminal device and receive the first measurement result from the first auxiliary terminal device; wherein the first request is used to request the relative position of the first terminal device and the second terminal device. ;
  • the first request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the transceiver module is also used to receive the second measurement result from one or more second auxiliary terminal devices; wherein, the The second measurement result is determined by the second auxiliary terminal device according to the second request sent by the first auxiliary terminal device.
  • the second request is used to request the second auxiliary terminal device to assist in determining the relative position of the first terminal device and the second terminal device.
  • the second request includes identification information of the first terminal device, identification information of the second terminal device, and period information; the measurement results are used to indicate the relative positions of the first terminal device and the second terminal device.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, first indication information; and/or the second request also includes one or more of the following: Measurement result type, service quality requirement, first indication information; wherein, measurement result type includes one or more of the following: distance, direction, angle; service quality requirement includes one or more of the following: accuracy requirement, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the transceiver module is also used to receive discovery requests from one or more auxiliary terminal devices; wherein the one or more auxiliary terminal devices are terminal devices that receive the second request; and the processing module is also used to The transceiver module is configured to determine one or more second auxiliary terminal devices according to the one or more auxiliary terminal devices. The transceiver module is also configured to send discovery responses to the one or more second auxiliary terminal devices and receive messages from the one or more second auxiliary terminal devices. Second measurement result of the auxiliary terminal device.
  • embodiments of the present application provide a communication device.
  • the communication device can be applied to the first auxiliary terminal equipment in the above-mentioned fourth aspect or the possible design of the fourth aspect, so as to realize the functions performed by the above-mentioned first auxiliary terminal equipment.
  • the communication device may be a first auxiliary terminal device, or a chip or a system on a chip of the first auxiliary terminal device.
  • the communication device may perform the functions performed by the first auxiliary terminal device through hardware, or may perform corresponding functions through hardware.
  • the hardware or software includes one or more modules corresponding to the above functions. For example, transceiver module and processing module.
  • a transceiver module configured to receive a first request from the first terminal device and send a first measurement result to the first terminal device; wherein the first request is used to request the relative position of the first terminal device and the second terminal device;
  • a request includes the identification information and period information of the second terminal device; the period information is used to indicate the measurement period; the measurement result is used to indicate the relative position of the first terminal device and the second terminal device;
  • the transceiver module is also used to determine if the processing module Unable to perform auxiliary measurement in the next measurement period, a second request is sent; wherein the second request is used to request the second auxiliary terminal device to assist in determining the relative position of the first terminal device and the second terminal device, and the second request includes the first terminal device identification information, identification information, and period information of the second terminal device.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, first indication information; and/or the second request also includes one or more of the following: Measurement result type, service quality requirement, first indication information; wherein, measurement result type includes one or more of the following: distance, direction, angle; service quality requirement includes one or more of the following: accuracy requirement, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the processing module is also used to determine that auxiliary measurement cannot be performed in the next measurement cycle if the second condition is met; wherein the second condition includes one or more of the following: the first terminal device and the first The distance between the auxiliary terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the third The difference between the direction of the second signal and the preset direction is greater than or equal to the preset difference; the second signal is a signal from the first terminal device received by the first auxiliary terminal device.
  • the second condition includes one or more of the following: the first terminal device and the first The distance between the auxiliary terminal devices is greater than or equal to the preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device is greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, the third The difference between the direction of
  • the processing module is also used to periodically determine whether to support auxiliary measurement in the next measurement cycle based on the second condition.
  • the transceiver module is also used to broadcast the second request; or the processing module is also used to determine one or more second auxiliary terminal devices from one or more auxiliary terminal devices.
  • the transceiver module It is also used to send a second request to one or more second auxiliary terminal devices.
  • the transceiver module is also configured to receive second measurement results from one or more second auxiliary terminal devices, and send the second measurement results to the first terminal device.
  • the transceiver module is also configured to receive third indication information from the second auxiliary terminal device; wherein the third indication information is used to instruct the second auxiliary terminal device to determine to perform auxiliary measurement according to the second request.
  • embodiments of the present application provide a communication device.
  • the communication device can be applied to the first auxiliary terminal equipment in the above-mentioned fifth aspect or the possible design of the fifth aspect, so as to realize the functions performed by the above-mentioned second auxiliary terminal equipment.
  • the communication device may be a second auxiliary terminal device, or a chip or a system-on-chip of the second auxiliary terminal device.
  • the communication device may perform the functions performed by the above-mentioned second auxiliary terminal device through hardware, or may perform corresponding functions through hardware.
  • the hardware or software includes one or more modules corresponding to the above functions. For example, transceiver module and processing module.
  • a transceiver module configured to receive a second request from the first auxiliary terminal device, and to send the second measurement result to the first terminal device or the first auxiliary terminal device according to the second request; wherein the second request is used to request the second
  • the assisting terminal device assists in determining the relative position of the first terminal device and the second terminal device.
  • the second request includes identification information of the first terminal device, identification information of the second terminal device, and period information; the period information is used to indicate the measurement period; measurement The result is used to indicate the relative position of the first terminal device and the second terminal device.
  • the second request also includes one or more of the following: measurement result type, service quality requirement, and first indication information; wherein the measurement result type includes one or more of the following: distance, direction , angle; service quality requirements include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results; the first instruction information is used to instruct measurement through the auxiliary terminal device.
  • the transceiver module is also configured to send a discovery request to the first terminal device and receive a discovery response from the first terminal device; the transceiver module is also configured to send a discovery request based on the discovery response of the first terminal device according to the first terminal device. Second request Send the second measurement result to the first terminal device.
  • the transceiver module is also configured to send third indication information to the first auxiliary terminal device; wherein the third indication information is used to instruct the second auxiliary terminal device to determine to perform auxiliary measurement according to the second request.
  • inventions of the present application provide a communication device.
  • the communication device includes one or more processors; one or more processors for running computer programs or instructions. When the one or more processors execute computer When the instruction or instruction is given, the communication device is caused to perform the positioning method as described in any one of the first to fifth aspects.
  • the communication device further includes one or more memories, the one or more memories are coupled to one or more processors, and the one or more memories are used to store the above-mentioned computer programs or instructions.
  • the memory is located outside the communication device. In another possible implementation, the memory is located within the communication device.
  • the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.
  • the communication device further includes a transceiver, and the transceiver is used to receive information and/or send information.
  • the communication device further includes one or more communication interfaces, the one or more communication interfaces are coupled to one or more processors, and the one or more communication interfaces are used to communicate with other modules other than the communication device. communicate.
  • embodiments of the present application provide a communication device, which includes an input-output interface and a logic circuit; the input-output interface is used to input and/or output information; and the logic circuit is used to perform the steps from the first aspect to
  • the positioning method described in any one of the fifth aspects processes and/or generates information according to the information.
  • embodiments of the present application provide a computer-readable storage medium that stores computer instructions or programs.
  • the computer instructions or programs When the computer instructions or programs are run on a computer, the following operations are performed as described in the first aspect to the third aspect: The positioning method described in any one of the five aspects is executed.
  • embodiments of the present application provide a computer program product containing computer instructions, which when run on a computer causes the positioning method described in any one of the first to fifth aspects to be executed.
  • embodiments of the present application provide a computer program that, when run on a computer, causes the positioning method described in any one of the first to fifth aspects to be executed.
  • the technical effects brought by any one of the design methods from the eleventh to the fifteenth aspects can be referred to the technical effects brought by any one of the above-mentioned first to fifth aspects.
  • a communication system may include the first terminal device as described in the sixth aspect and the first auxiliary terminal device as described in the seventh aspect, or include the first terminal device as shown in the eighth aspect.
  • Figure 1 is a schematic diagram of wireless signal energy attenuation provided by an embodiment of the present application
  • Figure 2 is a schematic diagram of a ranging method based on received signal strength provided by an embodiment of the present application
  • Figure 3 is a schematic diagram of a unilateral and bidirectional ranging method provided by an embodiment of the present application.
  • Figure 4 is a schematic diagram of a bilateral and two-way ranging method provided by an embodiment of the present application.
  • Figure 5 is a schematic diagram of a ranging/side-chain positioning method based on auxiliary terminal equipment provided by an embodiment of the present application
  • Figure 6 is a flow chart of a ranging/side-chain positioning method based on auxiliary terminal equipment provided by an embodiment of the present application
  • Figure 7 is a flow chart of a periodic ranging/side chain positioning method provided by an embodiment of the present application.
  • Figure 8 is a schematic diagram of a communication system provided by an embodiment of the present application.
  • Figure 9 is a schematic diagram of the composition of a communication device provided by an embodiment of the present application.
  • Figure 10 is a flow chart of a positioning method provided by an embodiment of the present application.
  • Figure 11 is a flow chart of a positioning method provided by an embodiment of the present application.
  • Figure 12 is a flow chart of a positioning method provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram of the composition of a terminal device provided by an embodiment of the present application.
  • Figure 14 is a schematic diagram of the composition of a communication device provided by an embodiment of the present application.
  • Ranging refers to determining the distance between two or more terminal devices and/or the direction and/or the direction of one terminal device (such as the target terminal device) and another terminal device (such as the reference terminal device) through the PC5 interface. Or relative positioning.
  • Side link positioning It can be referred to as side chain positioning, that is, positioning is performed through the side link (or link described as direct communication) between terminal equipment.
  • the PC5 interface can be a communication interface between terminal devices, or can be described as a short-distance direct communication interface between terminal devices.
  • the reference terminal device may be a terminal device that determines the reference plane and the reference direction in ranging-based services and side chain positioning.
  • the target terminal device may be a terminal device whose distance, direction and/or position is measured compared to a reference plane, reference direction and/or position of the reference terminal device.
  • the directions may include horizontal directions and elevation directions.
  • Ranging-based services and side-chain positioning can perform distance measurement, direction measurement, or both distance measurement and direction measurement without restrictions.
  • distance, direction, and relative positioning can also be collectively called relative position, or can also be called ranging/side-chain positioning results, without limitation.
  • Ranging/side-chain positioning methods can include ranging methods based on received signal strength, time-of-flight based ranging methods, ranging/side-chain positioning methods based on auxiliary terminal equipment, etc., and are not limited.
  • the energy of wireless signals will attenuate with distance. If the transmitted signal strength is known, the receiving device can measure the received signal strength, and then estimate the transmitting device based on the transmitted signal strength and the received signal strength. distance from the receiving device.
  • received signal strength will be affected by four elements: transmit power, path attenuation, receiving gain and system processing gain.
  • the sending device determines the distance d between the sending device and the beacon node, and then determine the arrival of the receiving device The distance between sending devices.
  • formula (1) can be:
  • the attenuation of wireless signals is proportional to 1/r 2 (r is the propagation distance).
  • r is the propagation distance
  • the energy attenuation of wireless signals when propagating in space is affected by many factors, including environmental factors. Ranging accuracy is affected by many factors such as obstacles, weather, and non-ranging signals.
  • ranging based on received signal strength The method is suitable for scenarios where the test environment is relatively open and the environmental interference is small. It is avoided to be installed in a shaft or in a complex electromagnetic environment. Only in this way can the communication quality be improved and unpredictable interference phenomena such as background noise be reduced. That is, in actual environments, ranging methods based on received signal strength are mainly used in short-distance ranging and indoor positioning.
  • time of flight can refer to the propagation time of the signal in the medium.
  • time of flight can be used to estimate the distance traveled by the signal.
  • the ranging method based on time of flight may include: ranging method based on time synchronization, ranging method based on device reflection, two-way ranging method, etc., without limitation.
  • d is used to represent the distance from the sending device to the receiving device
  • c is used to represent the propagation speed of the signal (such as the speed of sound)
  • t is used to represent the measured flight time
  • the signal transmission time and signal arrival time need to be accurately known, which requires strict time synchronization between the sending device and the receiving device.
  • the receiving device and the sending device can be the same device, so that the sending device can be avoided when calculating the flight time.
  • the time of the device and the receiving device are synchronized.
  • a common approach is to use the ranging object as a reflector to directly reflect the transmitted signal. In this method, the reflector is required to have a certain volume, and the transceiver can work in full-duplex mode, that is, the transceiver can receive the signal reflected from the target object (ie, the reflector) while sending the signal.
  • the two-way ranging method uses two devices as a sending device and a receiving device respectively. It is assumed that the sending device sends a signal at the first moment. After the receiving device receives the signal, it returns the same wave after waiting time ⁇ t. The sending device records the received signal. At the second moment of reply, the distance between the sending device and the receiving device can be obtained based on the propagation duration (i.e. flight time) and propagation speed.
  • the propagation duration i.e. flight time
  • the two-way ranging method may include a unilateral two-way ranging method and a bilateral two-way ranging method.
  • the unilateral and bidirectional ranging method is a round-trip communication initiated by one side.
  • the single flight time of the signal between the sending device and the receiving device can be determined based on the back-and-forth communication time of the signal between the sending device and the receiving device, and then the distance between the sending device and the receiving device can be determined based on the propagation speed of the signal.
  • device B can send a polling packet to device B at time t 2 .
  • the Poll packet is received.
  • Device B can send a response data packet to device A at time t3
  • device A can receive the response data packet at time t4 .
  • the single flight time of the signal between device A and device B can be:
  • the distance between the sending device and the receiving device can then be determined based on the propagation speed of the signal.
  • the bilateral two-way ranging method adds an additional data transmission on the basis of the unilateral two-way ranging method.
  • the single flight time of the signal between the sending device and the receiving device can be determined based on the back-and-forth communication time of the signal between the sending device and the receiving device, and then the distance between the sending device and the receiving device can be determined based on the propagation speed of the signal.
  • device B can send a polling packet to device B at time t 2 .
  • the Poll packet is received.
  • equipment B can send a response data packet to device A at time t 3
  • device A can receive the response data packet at time t 4 .
  • the current process completes a unilateral and bidirectional ranging process.
  • Device A can then send a Final data packet to device B at time t 5
  • device B can receive the Final data packet at time t 6 .
  • the bilateral and two-way ranging process ends.
  • the single flight time of the signal between device A and device B can be:
  • the distance between the sending device and the receiving device can then be determined based on the propagation speed of the signal.
  • the measurement results between the target terminal equipment and the reference terminal equipment can be obtained with the assistance of one or more terminal equipment (such as auxiliary terminal equipment) .
  • the auxiliary terminal device can realize direct ranging/side chain positioning with the target terminal device and the reference terminal device respectively, and then the target terminal device or the auxiliary terminal device or the reference terminal device can communicate with the target terminal device according to the auxiliary terminal device.
  • the target terminal device, the reference terminal device, and the auxiliary terminal device can obtain ranging/side-chain positioning authorization in the initialization phase according to the authorization and policy configuration sent by the policy control network element.
  • the target terminal device receives a ranging request from the reference terminal device and confirms that direct ranging/side chain positioning cannot be achieved, the target terminal device can actively initiate the discovery process of the auxiliary terminal device, and after determining the auxiliary terminal device, it can establish connection.
  • the target terminal device can send a ranging request to the reference terminal device, and perform a ranging measurement with the auxiliary terminal device to obtain the measurement result.
  • the reference terminal device After receiving the ranging request from the target terminal device, the reference terminal device can also perform a ranging measurement with the corresponding auxiliary terminal device, obtain the measurement results, and send them to the target terminal device.
  • the target terminal device can calculate the ranging/side-chain positioning results of the target terminal device and the reference terminal device by combining the two measurement results.
  • the above method can only achieve a single ranging/side-chain positioning with an auxiliary terminal device, and cannot support periodic ranging/side-chain positioning between the target terminal device and the reference terminal device.
  • the auxiliary terminal equipment participates in the periodic ranging/side chain positioning process. Whenever the period time arrives, the auxiliary terminal equipment can perform ranging/side chain positioning on the target terminal equipment and the reference terminal equipment respectively, and The two measurement results are returned to the target terminal device, and the target terminal device determines the ranging/side-chain positioning results of the target terminal device and the reference terminal device based on the two measurement results. Alternatively, the auxiliary terminal device can also determine the ranging/side-chain positioning results of the target terminal device and the reference terminal device based on the two measurement results, and send the results to the target terminal device.
  • Figure 7 is a flow chart of a periodic ranging/side chain positioning method provided by an embodiment of the present application. As shown in Figure 7, the method may include:
  • Step 701 The third-party terminal device receives discovery messages from one or more auxiliary terminal devices.
  • the third-party terminal device may be a target terminal device, a reference terminal device, or any terminal device other than the target terminal device and the reference terminal device, without limitation.
  • the discovery message may include auxiliary terminal device information, ranging service code, and ranging exposure information.
  • Step 702 The third-party terminal device establishes a PC5 connection with the auxiliary terminal device.
  • the third-party terminal device can select an auxiliary terminal device from one or more auxiliary terminal devices and establish a PC5 connection with it.
  • Step 703 The third-party terminal device sends the PC5 message to the auxiliary terminal device.
  • the PC5 message may include third-party terminal device information, auxiliary terminal device information, and ranging service requests.
  • the ranging service request may be used to request ranging/side-chain positioning results of the measurement target terminal device and the reference terminal device.
  • the ranging service request may include identification information of the target terminal device and identification information of the reference terminal device.
  • Step 704 Assist the terminal device to execute the authentication procedure.
  • the auxiliary terminal device can confirm whether the third-party terminal device is authorized to obtain the ranging/side-chain positioning results of the target terminal device and the reference terminal device based on the PC5 message sent by the third-party terminal device. If it is confirmed that the third-party terminal device is authorized, the auxiliary terminal device determines that ranging/side-chain positioning measurements can be performed.
  • the auxiliary terminal device can query the network for the registration authorization information of the third-party terminal device to confirm whether the third-party terminal device is authorized.
  • the auxiliary terminal device can also determine whether it can support ranging/side-chain positioning measurements of the target terminal device and the reference terminal device based on the PC5 message sent by the third-party terminal device. If supported, ranging/sidechain positioning measurements can be performed.
  • the auxiliary terminal device can establish PC5 connections with the target terminal device and the reference terminal device respectively, and send ranging/side chain positioning requests to the target terminal device and the reference terminal device respectively.
  • the target terminal device and the reference terminal device can determine whether there is The LOS path, signal strength, etc. determine whether positioning measurement can be performed with the auxiliary terminal device. If so, a response message is returned to the auxiliary terminal device respectively. According to the response message, the auxiliary terminal device can determine that it supports ranging/side-chain positioning measurement of the target terminal device and the reference terminal device.
  • Step 705 The auxiliary terminal device performs ranging/side-chain positioning measurements on the target terminal device and the reference terminal device respectively.
  • the auxiliary terminal device can perform ranging/side-chain positioning measurements on the target terminal device, and obtain the ranging/side-chain positioning results of the auxiliary terminal device and the target terminal device.
  • the auxiliary terminal equipment can also perform ranging/side-chain positioning measurements on the reference terminal equipment, and obtain the ranging/side-chain positioning results of the auxiliary terminal equipment and the reference terminal equipment.
  • Step 706 Assist the terminal device to determine the ranging/side-chain positioning results of the target terminal device and the reference terminal device.
  • the auxiliary terminal device can calculate and determine the distance between the target terminal device and the reference terminal device based on the ranging/side-chain positioning results of the auxiliary terminal device and the target terminal device, and the ranging/side-chain positioning results of the auxiliary terminal device and the reference terminal device. Ranging/sidechain positioning results.
  • Step 707 The auxiliary terminal device sends the PC5 message to the third-party terminal device.
  • the PC5 message may include third-party terminal device information, auxiliary terminal device information, and ranging service response.
  • the ranging service response may include ranging/side-chain positioning results of the target terminal device and the reference terminal device.
  • Step 708 Assist the terminal device to detect events. If a corresponding event is detected, re-execute the above steps 705 to 708 to achieve periodic execution of ranging/side-chain positioning measurements between the target terminal device and the reference terminal device.
  • the events detected by the auxiliary terminal device may include one or more of the following: periodic timing expiration, the target terminal device entering or leaving or remaining in a specific area, the straight-line distance of the target terminal device leaving a certain reference point exceeding a certain a predetermined value, etc.
  • the target terminal equipment and the reference terminal equipment are two vehicles traveling on the highway, and the current auxiliary terminal equipment is a sign pole located on the side of the highway. Since the target terminal equipment and the reference terminal equipment are constantly moving, the auxiliary terminal equipment As the distance between the terminal device, the target terminal device, and the reference terminal device continues to increase, it may not be possible to continue the auxiliary measurement in the next cycle, which may lead to discontinuous positioning services and positioning failure.
  • the first terminal device sends a first request to the first auxiliary terminal device and receives the first measurement result from the first auxiliary terminal device; wherein , the first request is used to request the relative position of the first terminal device and the second terminal device; the first request includes identification information of the second terminal device and period information used to indicate the measurement period; if the first terminal device determines that the first auxiliary If the terminal device cannot perform auxiliary measurement in the next measurement cycle, the first terminal device can send a first request to the second auxiliary terminal device and receive a second measurement result from the second auxiliary terminal device; wherein the measurement result is used to indicate the first The relative position of the terminal device and the second terminal device.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. If the first terminal device determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next cycle, the first terminal device may send a first request to the second auxiliary terminal device to perform periodic ranging/side chain positioning through the second auxiliary terminal device. , avoid interruption of the positioning service due to the inability of the first auxiliary terminal device to continue auxiliary measurement, ensure the continuity of the positioning service in the auxiliary terminal device switching scenario, and improve the positioning success rate.
  • the positioning method provided by the embodiment of the present application can be used in any communication system.
  • the communication system can be a third generation partnership project (3GPP) communication system, such as a long term evolution (long term evolution, LTE) system, Fifth generation (5G) mobile communication systems, new radio (NR) communication systems, vehicle to everything (V2X) systems, and can also be applied to LTE and 5G hybrid networking systems, or Non-terrestrial communication network (non-terrestrial network, NTN) system, device-to-device (D2D) communication system, machine-to-machine (M2M) communication system, Internet of things (IoT) ), universal mobile telecommunications system (UMTS) system, code division multiple access (CDMA) system and other next-generation communication systems, such as 6G and other future communication systems, which can also be non-3GPP Communication systems, etc., are not restricted.
  • 3GPP third generation partnership project
  • LTE long term evolution
  • 5G Fifth generation
  • NR new radio
  • V2X vehicle to everything
  • the above-mentioned communication systems applicable to the present application are only examples.
  • the communication systems applicable to the present application are not limited to these and will be explained uniformly here, and will not be described in detail below.
  • the positioning method provided by the embodiments of this application can be applied to various vertical fields, such as consumption, smart home, smart city, smart transportation, smart retail, and Industry 4.0.
  • Some typical application scenarios are as follows:
  • (1) Home TV control Based on the distance between the terminal device and the TV reference point, the direction from the TV reference point to the terminal device, and the direction from the terminal device to the TV reference point, the smart TV can derive the TV screen area pointed by the terminal device. So that it can determine where to place the cursor and what the user has selected.
  • Remote access authorization A person can remotely monitor the distance between a visitor holding terminal device 2 (such as mobile phone 2) and a door that can measure distance through his terminal device 1 (such as mobile phone 1) to determine where to The door is unlocked to allow visitors to enter.
  • a visitor holding terminal device 2 such as mobile phone 2
  • a door that can measure distance through his terminal device 1 (such as mobile phone 1) to determine where to The door is unlocked to allow visitors to enter.
  • Museum tour In a museum, when a person points to a painting with a mobile phone, the museum tour server can detect it, and then the museum tour server transmits the introduction of the painting to the mobile phone. The museum tour server detects events by monitoring the distance and direction of visitors' phones from the paintings.
  • Tracking objects and devices based on energy-saving ranging By deriving relative position information and/or orientation from ranging measurements, objects and devices can also be easily found and tracked outside or partially covered (including coin battery powered) equipment). This is useful for tracking victims or first responders during an emergency, for example.
  • ranging information with the known location of the device (e.g., a user device or drone positioned using enhanced location service (eLCS) or secure user plane location (SUPL)), (within network coverage) links, which can achieve very accurate location estimation, making it easier to find the corresponding object or device.
  • eLCS enhanced location service
  • SUPL secure user plane location
  • Speakers A, B and C coordinate to provide an immersive experience for person D who is listening to music.
  • speakers A, B and C need to know the range of each other and the range to person D.
  • Non-LoS path between Speaker A and Speaker B they can derive the range based on its range result to Speaker C.
  • Cooperative short-distance grouping refers to a scenario where the distance between vehicles such as trucks is very small, creating an ideal form of legal tailgating.
  • a group of vehicles travel together with the lead vehicle, driven normally by a trained professional driver, and several following vehicles are driven fully autonomously by the system. Information is exchanged between the lead vehicle and other vehicles, allowing a small distance between them (longitudinal gap ).
  • the automotive industry needs this approach because reduced aerodynamic drag will lead to higher fuel economy and reduced greenhouse gas emissions.
  • the 3GPP standard stipulates the functional and performance requirements for ranging-based services, and stipulates that ranging-based positioning and services can support 5G coverage or not support 5G coverage, that is, 5G coverage, partial 5G coverage, and 5G coverage. Various scenes outside. Both licensed and unlicensed spectrum can be used for ranging.
  • the 3GPP system should support a relative lateral position accuracy of 0.1m between UEs supporting V2X applications.
  • the 3GPP system should support a relative longitudinal position accuracy of less than 0.5m.
  • the standard also specifies use cases and business requirements for side-link positioning between V2X-enabled end devices and public safety services, as well as use cases for in-coverage, partial coverage, and out-of-coverage use cases.
  • 5G Automotive Association has identified high-precision sidechain positioning as one of its main areas of interest to support advanced use cases such as vulnerable road user (VRU) protection, autonomous driving, Remote control driving, dynamic intersection management, etc.
  • VRU vulnerable road user
  • Ranging-based services enhance the architecture of 5GC, enabling its application in commercial services, V2X services and public safety services.
  • Figure 8 is a schematic diagram of a communication system provided by an embodiment of the present application. As shown in Figure 8, the communication system may include one or more terminal devices.
  • the terminal devices in Figure 8 may include one or more target terminal devices, one or more reference terminal devices, and one or more auxiliary terminal devices.
  • the terminal device can communicate with the network device through the air interface through uplink (UL) or downlink (downlink, DL).
  • Terminal devices can communicate with each other through side links.
  • the terminal device in FIG. 8 may be a device with a wireless transceiver function or a chip or chip system that may be disposed on the device, and may be used to provide voice and/or data connectivity to the user. It can also be called user equipment (UE) or terminal (terminal) or mobile station (MS) or mobile terminal (mobile terminal, MT), etc.
  • UE user equipment
  • terminal terminal
  • MS mobile station
  • mobile terminal mobile terminal
  • the terminal device in FIG. 8 may be a handheld device with a wireless connection function, a vehicle-mounted device, etc., such as a mobile phone, a tablet computer, a notebook, a handheld computer, or a computer with a wireless transceiver function.
  • the terminal device can also be a mobile internet device (MID), a wearable device, a virtual reality (VR) terminal, an augmented reality (AR) terminal, or a wireless terminal in industrial control (industrial control) , wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, wireless terminals in transportation safety, smart cities ( Wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, vehicles with vehicle-to-vehicle (V2V) communication capabilities, intelligent connected vehicles, drones UAVs with UAV to UAV (U2U) communication capabilities, etc., are not restricted.
  • MID mobile internet device
  • VR virtual reality
  • AR augmented reality
  • industrial control industrial control
  • wireless terminals in self-driving wireless terminals in remote medical surgery
  • wireless terminals in smart grid wireless terminals in transportation safety
  • smart cities Wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, vehicles with vehicle-to-vehicle (V2V) communication capabilities, intelligent
  • the communication system also includes a policy control network element, which is used to authorize the ranging/assisted ranging capabilities of the terminal device during the initialization phase of the terminal device.
  • a policy control network element which is used to authorize the ranging/assisted ranging capabilities of the terminal device during the initialization phase of the terminal device.
  • the policy control network element may be a policy control function (PCF).
  • PCF policy control function
  • terminal equipment and policy control network elements in the embodiments of this application can be one or more chips, or they can be a system on chip (SOC), etc.
  • FIG. 8 is only an exemplary drawing, and the number of devices included therein is not limited.
  • the communication system may include other devices in addition to the devices shown in FIG. 8 .
  • the names of each device and each link in Figure 8 are not restricted. In addition to the names shown in Figure 8, each device and each link can also be named with other names without restrictions.
  • each terminal device and policy control network element can adopt the composition structure shown in Figure 9, or include the components shown in Figure 9.
  • Figure 9 is a schematic diagram of the composition of a communication device 900 provided by an embodiment of the present application.
  • the communication device 900 can be a terminal device or a chip or a system on a chip in the terminal device; it can also be a network device or a chip or a system on a chip in the network device.
  • the communication device 900 includes a processor 901 , a transceiver 902 and a communication line 903 .
  • the communication device 900 may also include a memory 904.
  • the processor 901, the memory 904 and the transceiver 902 may be connected through a communication line 903.
  • the processor 901 is a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (digital signal processing, DSP), a microprocessor, a microcontroller, Programmable logic device (PLD) or any combination thereof.
  • the processor 901 can also be other devices with processing functions, such as circuits, devices or software modules, without limitation.
  • Transceiver 902 used to communicate with other devices or other communication networks.
  • the other communication network may be Ethernet, wireless access network (radio access network, RAN), wireless local area networks (wireless local area networks, WLAN), etc.
  • Transceiver 902 may be a module, a circuit, a transceiver, or any device capable of communicating.
  • the communication line 903 is used to transmit information between various components included in the communication device 900 .
  • Memory 904 is used to store instructions. Wherein, the instructions may be computer programs.
  • the memory 904 may be a read-only memory (ROM) or other type of static storage device that can store static information and/or instructions, or it may be a random access memory (random access memory, RAM) or other types of static storage devices that can store static information and/or instructions.
  • ROM read-only memory
  • RAM random access memory
  • Other types of dynamic storage devices that store information and/or instructions can also be electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD- ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., are not restricted.
  • EEPROM electrically erasable programmable read-only memory
  • CD- ROM compact disc read-only memory
  • optical disc storage including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.
  • the memory 904 may exist independently of the processor 901 or may be integrated with the processor 901 .
  • the memory 904 can be used to store instructions or program codes or some data.
  • the memory 904 may be located within the communication device 900 or outside the communication device 900, without limitation.
  • the processor 901 is configured to execute instructions stored in the memory 904 to implement the positioning method provided in the following embodiments of the present application.
  • the processor 901 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 9 .
  • the communication device 900 includes multiple processors.
  • the processor 901 in Figure 9 it may also include a processor 907.
  • the communication device 900 also includes an output device 905 and an input device 906.
  • the input device 906 is a device such as a keyboard, a mouse, a microphone, or a joystick
  • the output device 905 is a device such as a display screen, a speaker, or the like.
  • the communication device 900 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system, or a device with a similar structure as shown in FIG. 9 .
  • the composition structure shown in Figure 9 does not constitute a limitation of the communication device.
  • the communication device may include more or less components than shown in the figure, or combine certain components. , or a different component arrangement.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • actions, terms, etc. involved in various embodiments of this application can be referred to each other and are not limited.
  • the name of the message exchanged between the various devices or the name of the parameters in the message is just an example, and other names may also be used in the specific implementation without limitation.
  • the first terminal device can be any target terminal device in the communication system shown in Figure 10, and the second terminal device It can be any reference terminal device in the communication system shown in Figure 10 (or the first terminal device can be any reference terminal device, and the second terminal device can be any target terminal device), and the first auxiliary terminal device can be
  • the second auxiliary terminal equipment can be any auxiliary terminal equipment in the communication system shown in Figure 10 except for the first auxiliary terminal equipment.
  • the first terminal device, the second terminal device, the first auxiliary terminal device, and the second auxiliary terminal device described in the following embodiments may all be equipped with the components shown in FIG. 9 .
  • the processing performed by a single execution subject (terminal device or auxiliary terminal device) shown in the embodiments of this application can also be divided into multiple execution subjects for execution, and these execution subjects can be logically and/or physically separated. No restrictions.
  • the first terminal device and the second terminal device may obtain the ranging authorization policy from the policy control network element during the registration process, where, The ranging authorization policy may be used to indicate whether to authorize the terminal device to perform ranging with the participation of the auxiliary terminal device.
  • the first auxiliary terminal device and the second auxiliary terminal device may also obtain the ranging authorization policy from the policy control network element during the registration process, where the ranging authorization policy may be used to indicate whether to authorize the terminal device to serve as the auxiliary terminal device to assist in ranging. .
  • the first terminal device and the second terminal device determine that they are authorized to perform ranging with the participation of the auxiliary terminal device according to the ranging authorization policy
  • the first auxiliary terminal device and the second auxiliary terminal device determine that they are authorized to perform ranging according to the ranging authorization policy. If the auxiliary terminal device participates in ranging, the first terminal device, the second terminal device, the first auxiliary terminal device, and the second auxiliary terminal device may use the positioning methods shown in the following embodiments to perform positioning measurements.
  • Figure 10 is a flow chart of a positioning method provided by an embodiment of the present application. As shown in Figure 10, the method may include:
  • Step 1001 The first terminal device sends a first request to the first auxiliary terminal device; accordingly, the first auxiliary terminal device receives the first request from the first terminal device.
  • the first request may be used to request the relative position of the first terminal device and the second terminal device; the first request may include identification information and period information of the second terminal device; and the period information may be used to indicate the measurement period.
  • the relative position of the first terminal device and the second terminal device may be the position of the first terminal device relative to the second terminal device; or the relative position of the first terminal device and the second terminal device may also be the position of the second terminal device.
  • the position of the terminal device relative to the first terminal device is not limited.
  • the identification information of the second terminal device may be a user permanent identifier (subscription permanent identifier, SUPI), a layer 2 identifier (layer 2 ID), an Internet protocol (internet protocol, IP) address, etc., which may be used to indicate the second terminal. Identification information of the device.
  • SUPI subscription permanent identifier
  • layer 2 ID layer 2 identifier
  • IP Internet protocol
  • the period information may include one or more of the following: period interval of the measurement period, start time of the measurement period, end time of the measurement period, measurement time point of the measurement period, etc.
  • the third-party terminal device may send a ranging service request to the first terminal device to request to obtain the relative positions of the first terminal device and the second terminal device.
  • the first terminal device can determine whether the first terminal device and the second terminal device can directly perform ranging/side chain positioning according to the ranging service request. If the first terminal device determines that the first terminal device and the second terminal device cannot directly perform ranging/side chain positioning, For chain positioning, the first terminal device may initiate a discovery process of the auxiliary terminal device to discover the first auxiliary terminal device, and then send the first request to the first auxiliary terminal device. When the first auxiliary terminal device receives the first request, it may perform auxiliary measurement on the relative positions of the first terminal device and the second terminal device according to the first request.
  • the third-party terminal device may be any terminal device other than the first terminal device and the second terminal device, or may be the first terminal device or the second terminal device, without limitation.
  • the first terminal device may send an auxiliary request to one or more terminal devices, where the auxiliary request may be used to request auxiliary measurement. If the terminal device that receives the assistance request determines that it can provide auxiliary measurement for the first terminal device, the terminal device can send an auxiliary response to the first terminal device to indicate that it can provide auxiliary measurement for the first terminal device. According to the received auxiliary response, the first terminal device may determine the first auxiliary terminal device from one or more terminal devices that sent the auxiliary response.
  • the first terminal device may determine the first auxiliary terminal device according to the order in which the auxiliary responses are received. For example, the terminal device corresponding to the received first auxiliary response may be determined as the first auxiliary terminal device. Alternatively, the first terminal device may also determine the first auxiliary terminal device according to the signal strength of the received auxiliary response, for example, determine the terminal device corresponding to the auxiliary response with the strongest received signal strength as the first auxiliary terminal device. Alternatively, if the auxiliary response includes the distance between the current terminal device and the first terminal device, the first terminal device may also determine the first auxiliary terminal device based on the distance in the auxiliary response, such as the closest distance to the first terminal device. The terminal device is determined as the first auxiliary terminal device.
  • the auxiliary terminal device can continuously send broadcast messages that it can perform auxiliary measurements.
  • the first terminal device can determine the third terminal device based on the broadcast message of the auxiliary terminal device.
  • An auxiliary terminal device can continuously send broadcast messages that it can perform auxiliary measurements.
  • the first terminal device may determine the first auxiliary terminal device according to the order in which the broadcast messages are received. For example, the terminal device corresponding to the received first broadcast message may be determined as the first auxiliary terminal device. Alternatively, the first terminal device may also determine the first auxiliary terminal device according to the signal strength of the received broadcast message, for example, determine the terminal device corresponding to the broadcast message with the strongest signal strength received as the first auxiliary terminal device.
  • the first request also includes one or more of the following: measurement result type, service quality requirement, first indication information.
  • the measurement result type may include one or more of the following: distance, direction, and angle.
  • Service quality requirements may include one or more of the following: accuracy requirements, delay requirements, reliability requirements, and integrity requirements of measurement results.
  • the first indication information may be used to instruct measurement through the auxiliary terminal device.
  • Step 1002 The first auxiliary terminal device sends the first measurement result to the first terminal device; correspondingly, the first terminal device receives the first measurement result from the first auxiliary terminal device.
  • the measurement result is used to indicate the relative position of the first terminal device and the second terminal device.
  • the first auxiliary terminal device when it receives the first request sent by the first terminal device, it can perform ranging/side chain positioning measurement on the first terminal device and the second terminal device respectively to obtain the relationship between the first auxiliary terminal device and the first terminal device.
  • the measurement results of the terminal equipment, the measurement results of the first auxiliary terminal equipment and the second terminal equipment are based on the measurement results of the terminal equipment, the measurement results of the first auxiliary terminal equipment and the second terminal equipment.
  • the first auxiliary terminal device may report the measurement results of the first auxiliary terminal device and the first terminal device, and the measurement results of the first auxiliary terminal device and the second terminal device as the first measurement results to the first terminal device.
  • the first terminal determines the relative position of the first terminal device and the second terminal device based on the measurement results of the first auxiliary terminal device and the first terminal device, and the measurement results of the first auxiliary terminal device and the second terminal device.
  • the first terminal device may also send the relative positions of the first terminal device and the second terminal device to the third party terminal device.
  • the first auxiliary terminal device may also determine the first terminal device and the second terminal according to the measurement results of the first auxiliary terminal device and the first terminal device, and the measurement results of the first auxiliary terminal device and the second terminal device.
  • the relative position of the device is reported to the first terminal device as the first measurement result.
  • the first terminal device sends the relative positions of the first terminal device and the second terminal device to the third party terminal device according to the first measurement result.
  • the first auxiliary terminal device can use any of the ranging methods based on received signal strength, the ranging method based on flight time, and other methods to perform ranging/side measurement on the first terminal device and the second terminal device respectively.
  • Chain positioning measurement is not limited.
  • the first auxiliary terminal device can establish a PC5 connection with the first terminal device, perform ranging/side-chain positioning measurement based on the PC5 connection, and obtain measurement results of the first auxiliary terminal device and the first terminal device.
  • the first auxiliary terminal device can also establish a PC5 connection with the second terminal device, perform ranging/side-chain positioning measurements based on the PC5 connection, and obtain measurement results of the first auxiliary terminal device and the second terminal device.
  • the first auxiliary terminal device does not need to establish a PC5 connection with the first terminal device/second terminal device.
  • the first auxiliary terminal device can perform ranging/side measurement based on the positioning reference signal sent by the first terminal device. Chain positioning measurement is performed to obtain measurement results of the first auxiliary terminal equipment and the first terminal equipment.
  • the first auxiliary terminal device may also perform ranging/side-chain positioning measurement based on the positioning reference signal sent by the second terminal device to obtain measurement results of the first auxiliary terminal device and the second terminal device.
  • the first request may include information related to positioning reference signals of the first terminal device and/or the second terminal device.
  • the relevant information of the positioning reference signal may include information such as frequency information of the positioning reference signal, signal propagation direction, etc.
  • the first terminal device may send a first request to the second auxiliary terminal device to request the second auxiliary terminal device to perform auxiliary measurement according to the first request. Auxiliary measurement. If the first terminal device determines that the first auxiliary terminal device can continue to perform auxiliary measurement in the next measurement cycle, the first terminal device can continue to perform auxiliary measurement through the first auxiliary terminal device.
  • the first terminal device may determine whether the first auxiliary terminal device can perform auxiliary measurement in the next measurement period based on the following step 1003a, or may determine the first auxiliary measurement based on the following steps 1003a', 1003b' and 1003c'. Whether the terminal equipment can perform auxiliary measurement in the next measurement cycle.
  • Step 1003a If the first condition is met, the first terminal device determines that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle.
  • the first condition may include one or more of the following: the distance between the first terminal device and the first auxiliary terminal device is greater than or equal to a preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device Greater than or equal to the preset speed, the signal strength of the first signal is less than or equal to the preset signal strength, and the difference between the direction of the first signal and the preset direction is greater than or equal to the preset difference; the first signal may be the first terminal device Received signal from the first auxiliary terminal device.
  • the first terminal device may determine the distance between the first terminal device and the first auxiliary terminal device according to the measurement results of the first auxiliary terminal device and the first terminal device.
  • the first terminal device determines the moving speed of the first terminal device relative to the first auxiliary terminal device based on the distance between the first terminal device and the first auxiliary terminal device and the moving time of the first terminal device.
  • the first terminal device periodically determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period based on the first condition.
  • the measurement period in which the first terminal device determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period according to the first condition may be predefined by the protocol, may be preconfigured by the network device, or may be the first terminal Device customization is not restricted.
  • the first terminal device may determine whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle each time it receives the first measurement result. That is, the period in which the first terminal device determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period according to the first condition is consistent with the period in which the first auxiliary terminal device reports the first measurement result to the first terminal device.
  • the first auxiliary terminal device can also determine whether it can perform auxiliary measurement according to the second condition. An auxiliary measurement can be performed in the next measurement cycle.
  • Step 1003a' if the second condition is met, the first auxiliary terminal device determines that auxiliary measurement cannot be performed in the next measurement cycle.
  • the second condition may include one or more of the following: the distance between the first terminal device and the first auxiliary terminal device is greater than or equal to a preset distance, the moving speed of the first terminal device relative to the first auxiliary terminal device Greater than or equal to the preset speed, the signal strength of the second signal is less than or equal to the preset signal strength, and the difference between the direction of the second signal and the preset direction is greater than or equal to the preset difference; the second signal may be the first auxiliary terminal The signal received by the device from the first terminal device.
  • the first auxiliary terminal device can determine based on the measurement results of the first auxiliary terminal device and the first terminal device. Determine the distance between the first terminal device and the first auxiliary terminal device. The first auxiliary terminal device may also determine the moving speed of the first terminal device relative to the first auxiliary terminal device based on the distance between the first terminal device and the first auxiliary terminal device and the moving time of the first terminal device.
  • the first auxiliary terminal device periodically determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period based on the second condition.
  • the first auxiliary terminal device determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle according to the second condition.
  • the measurement period may be predefined by the protocol, may be preconfigured by the network device, or may be the first Customized auxiliary terminal equipment is not restricted.
  • the first auxiliary terminal device may determine whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle each time it sends the first measurement result to the first terminal device. That is, the period in which the first auxiliary terminal device determines whether the first auxiliary terminal device supports auxiliary measurement in the next measurement period according to the second condition is consistent with the period in which the first auxiliary terminal device reports the first measurement result to the first terminal device.
  • Step 1003b' If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device sends the second instruction information to the first terminal device; accordingly, the first terminal device receives the second instruction information from the first auxiliary terminal device. Second instruction information.
  • the second indication information may be used to indicate the termination of the auxiliary measurement.
  • the first auxiliary terminal device may carry the second indication information and the first measurement result in the same signaling and send them to the first terminal device, or may carry the second indication information and the first measurement result in different signaling. sent to the first terminal device.
  • the first auxiliary terminal device may send the second indication information to the first terminal device when it determines that it cannot perform auxiliary measurement in the next measurement cycle, and does not send the second indication information to the first auxiliary terminal device when it determines that it can perform auxiliary measurement in the next measurement cycle.
  • a terminal device sends instruction information. It can be understood that, when the first auxiliary terminal device determines that it can perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device may send instruction information for instructing the continuation of the auxiliary measurement to the first terminal device, without limitation.
  • Step 1003c' The first terminal device determines based on the second indication information that the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle.
  • the first terminal device may initiate a discovery process of the auxiliary terminal device to discover the second auxiliary terminal device, and then report to the second auxiliary terminal device.
  • the auxiliary terminal device sends the first request.
  • the second auxiliary terminal device receives the first request, it may perform auxiliary measurement on the relative position of the first terminal device and the second terminal device according to the first request.
  • Step 1004 The second auxiliary terminal device sends the second measurement result to the first terminal device; correspondingly, the first terminal device receives the second measurement result from the second auxiliary terminal device.
  • the measurement result is used to indicate the relative position of the first terminal device and the second terminal device.
  • the second auxiliary terminal device when it receives the first request sent by the first terminal device, it can perform ranging/side chain positioning measurement on the first terminal device and the second terminal device respectively to obtain the relationship between the second auxiliary terminal device and the first terminal device.
  • the measurement results of the terminal device, the measurement results of the second auxiliary terminal device and the second terminal device are based on the measurement results of the terminal device, the measurement results of the second auxiliary terminal device and the second terminal device.
  • the second auxiliary terminal device may combine the measurement results of the second auxiliary terminal device and the first terminal device, The measurement results of the second auxiliary terminal equipment and the second terminal equipment are reported to the first terminal equipment as the second measurement result.
  • the first terminal uses the measurement results of the second auxiliary terminal equipment and the first terminal equipment, the second auxiliary terminal equipment and the third terminal equipment.
  • the measurement results of the two terminal devices determine the relative positions of the first terminal device and the second terminal device.
  • the first terminal device may also send the relative positions of the first terminal device and the second terminal device to the third party terminal device.
  • the second auxiliary terminal device may also determine the first terminal device and the second terminal according to the measurement results of the second auxiliary terminal device and the first terminal device, and the measurement results of the second auxiliary terminal device and the second terminal device.
  • the relative position of the device is reported to the first terminal device as the second measurement result.
  • the first terminal device sends the relative positions of the first terminal device and the second terminal device to the third party terminal device according to the second measurement result.
  • the first terminal device when it receives the second measurement result of the second auxiliary terminal device, it may also perform the following steps 1005 to 1007.
  • Step 1005 The first terminal device determines whether the second auxiliary terminal device supports auxiliary measurement in the next measurement cycle. If it is determined to be supported, step 1006 is executed; if it is determined not to be supported, step 1007 is executed.
  • the first terminal device determining whether the second auxiliary terminal device supports auxiliary measurement in the next measurement cycle reference may be made to the first terminal device determining whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle in step 1003. The relevant descriptions will not be repeated.
  • Step 1006 The second auxiliary terminal device periodically sends the second measurement result to the first terminal device.
  • the second auxiliary terminal device can periodically perform ranging/ The side chain positions the measurement and sends the second measurement result to the first terminal device.
  • Step 1007 The first terminal device sends a first request to the third auxiliary terminal device.
  • the first terminal device can re-initiate the discovery process of the auxiliary terminal device and re-find the auxiliary terminal device (such as the third auxiliary terminal device) to perform auxiliary measurement.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. Furthermore, the first terminal device/first auxiliary terminal device can also determine by itself whether the first auxiliary terminal device supports auxiliary measurement in the next measurement cycle. If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, the first terminal device can find a new auxiliary terminal device (such as a second auxiliary terminal device) and send a first request to the new auxiliary terminal device to achieve the pass.
  • the new auxiliary terminal equipment performs periodic ranging/side-chain positioning to avoid interruption of positioning services due to the inability of the first auxiliary terminal equipment to continue auxiliary measurements, ensure the continuity of positioning services in auxiliary terminal equipment switching scenarios, and improve the positioning success rate.
  • the first terminal equipment searches for a new auxiliary terminal equipment again.
  • the first auxiliary terminal device may send a second request to find a new auxiliary terminal device.
  • Figure 11 is a flow chart of a positioning method provided by an embodiment of the present application. As shown in Figure 11, the method may include:
  • Step 1101 The first terminal device sends a first request to the first auxiliary terminal device; accordingly, the first auxiliary terminal device receives the first request from the first terminal device.
  • step 110 For the description of step 1101, reference may be made to the foregoing description of step 1001, which will not be described again.
  • Step 1102 The first auxiliary terminal device sends the first measurement result to the first terminal device; accordingly, the first terminal device receives the first measurement result from the first auxiliary terminal device.
  • step 1102 For the description of step 1102, reference may be made to the foregoing description of step 1002, which will not be described again.
  • Step 1103 If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device sends a second request; accordingly, one or more second auxiliary terminal devices receive the second request from the first auxiliary terminal device. ask.
  • the second request may be used to request the second auxiliary terminal device to assist in determining the relative position of the first terminal device and the second terminal device, and the second request may include identification information of the first terminal device, identification information of the second terminal device, Period information; period information can be used to indicate the measurement period.
  • the first auxiliary terminal device can determine by itself whether it can support auxiliary measurement in the next measurement period. If it is determined that it is not supported, the first auxiliary terminal device may send a second request.
  • the first auxiliary terminal device determining whether it can support auxiliary measurement in the next measurement cycle you may refer to the related description of the first auxiliary terminal device determining whether it can support auxiliary measurement in the next measurement cycle in the aforementioned step 1003. No. To elaborate further.
  • the second request also includes one or more of the following: measurement result type, service quality requirement, and first indication information.
  • the first auxiliary terminal device may broadcast the second request.
  • the second auxiliary terminal device may be one or more auxiliary terminal devices that receive the second request.
  • the first auxiliary terminal device may determine one or more second auxiliary terminal devices from one or more auxiliary terminal devices, and send the second request to the one or more second auxiliary terminal devices.
  • the first auxiliary terminal device can initiate a discovery process of the auxiliary terminal device to discover the auxiliary terminal devices existing around it. If a certain auxiliary terminal device and the first terminal device meet the third condition, the first auxiliary terminal device can add the auxiliary terminal device to the auxiliary terminal device. The auxiliary terminal device considers it to be the second auxiliary terminal device and sends the second request to the auxiliary terminal device.
  • the third condition may be one or more of the following: the auxiliary terminal device is in the movement direction of the first terminal device, the distance between the auxiliary terminal device and the first terminal device is continuously decreasing, the auxiliary terminal device and the first terminal device are continuously decreasing.
  • the distance between terminal devices is smaller than the distance between the first auxiliary terminal device and the first terminal device.
  • the first auxiliary terminal device can also trigger one or more second auxiliary terminal devices that receive the second request by sending a second request.
  • the auxiliary terminal device executes a discovery process for the first terminal device, and then the first terminal device determines one or more second auxiliary terminal devices from the one or more auxiliary terminal devices.
  • one or more auxiliary terminal devices that receive the second request may send a discovery request to the first terminal device, and the first terminal device may determine one or more second auxiliary terminal devices based on the one or more auxiliary terminal devices.
  • the terminal device and sends a discovery response to the one or more second auxiliary terminal devices. That is, the auxiliary terminal device that receives the discovery response is the second auxiliary terminal device.
  • the first terminal device determining one or more second auxiliary terminal devices from one or more auxiliary terminal devices please refer to the relevant description of the first terminal device discovering the second auxiliary terminal device in step 1003, No further details will be given.
  • the second auxiliary terminal device may also initiate a discovery request for the second terminal device according to the second request to discover the second terminal device.
  • the second auxiliary terminal device may also send third indication information to the first auxiliary terminal device when determining to perform auxiliary measurement according to the second request.
  • the first auxiliary terminal device may stop performing auxiliary measurement according to the first request according to the third indication information.
  • the third indication information may be used to instruct the second auxiliary terminal device to determine to perform auxiliary measurement according to the second request.
  • Step 1104 The second auxiliary terminal device sends the second measurement result to the first terminal device according to the second request.
  • the second auxiliary terminal device can perform ranging/side chain positioning measurement on the first terminal device and the second terminal device respectively according to the second request, and obtain the measurement results of the second auxiliary terminal device and the first terminal device, and the second auxiliary terminal device. Assist the terminal device and the second terminal device in measuring the results, and send the second measurement result to the first terminal device.
  • the second auxiliary terminal device performing ranging/side-chain positioning measurement on the first terminal device and the second terminal device respectively, please refer to the aforementioned step 1004 for the second auxiliary terminal device to perform the first terminal device on the first terminal device respectively.
  • the relevant description of ranging/side-chain positioning measurements performed by the device and the second terminal device will not be described again.
  • the first terminal device when it receives the second measurement result of the second auxiliary terminal device, it may also perform the aforementioned steps 1005 to 1007 to determine whether the second auxiliary terminal device supports auxiliary measurement in the next measurement cycle. If it is determined that it is supported, the second auxiliary terminal device can periodically send the second measurement result to the first terminal device; if it is determined that it is not supported, the first terminal device can reinitiate the discovery process of the auxiliary terminal device and re-search for the auxiliary terminal device (such as The third auxiliary terminal equipment) performs auxiliary measurement.
  • the second auxiliary terminal device can periodically send the second measurement result to the first terminal device; if it is determined that it is not supported, the first terminal device can reinitiate the discovery process of the auxiliary terminal device and re-search for the auxiliary terminal device (such as The third auxiliary terminal equipment) performs auxiliary measurement.
  • the second auxiliary terminal device may also perform the following step 1105.
  • Step 1105 The second auxiliary terminal device sends the second measurement result to the first auxiliary terminal device according to the second request.
  • Step 1106 The first auxiliary terminal device sends the second measurement result to the first terminal device.
  • the second auxiliary terminal device may directly send the second measurement result to the first terminal device, or may send the second measurement result to the first terminal device through the first auxiliary terminal device, without limitation.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. Furthermore, the first auxiliary terminal device can also determine by itself whether it supports auxiliary measurement in the next measurement period. If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, the first auxiliary terminal device can search for a new auxiliary terminal device (such as a second auxiliary terminal device), and the first terminal device does not need to actively initiate the discovery of the auxiliary terminal device. The process can reduce interference to the first terminal device.
  • a new auxiliary terminal device such as a second auxiliary terminal device
  • the first auxiliary terminal device can implement periodic ranging/side chain positioning through the new auxiliary terminal device, avoiding positioning caused by the inability of the first auxiliary terminal device to continue assisting measurement.
  • Service interruption ensures the continuity of positioning services in auxiliary terminal equipment switching scenarios and improves the positioning success rate.
  • the first auxiliary terminal device may also send a third request to the second auxiliary terminal device to request the second auxiliary terminal device to measure the relative position of the first terminal device and the second terminal device.
  • Figure 12 is a positioning method provided by an embodiment of the present application. As shown in Figure 12, the method may include:
  • Step 1201 The first terminal device sends a first request to the first auxiliary terminal device; accordingly, the first auxiliary terminal device receives the first request from the first terminal device.
  • step 120 For the description of step 1201, reference may be made to the foregoing description of step 1001, which will not be described again.
  • Step 1202 The first auxiliary terminal device sends the first measurement result to the first terminal device; accordingly, the first terminal device receives the first measurement result from the first auxiliary terminal device.
  • step 1202 For the description of step 1202, reference may be made to the foregoing description of step 1002, which will not be described again.
  • Step 1203 If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement period, the first auxiliary terminal device sends a third request; accordingly, one or more second auxiliary terminal devices receive the third request from the first auxiliary terminal device. ask.
  • the third request may be used to request the second auxiliary terminal device to assist in determining the relative position of the first terminal device and the second terminal device.
  • the third request may include period information, information related to the positioning reference signal of the first terminal device, 2. Information related to the positioning reference signal of the terminal equipment.
  • the relevant information of the positioning reference signal may include information such as frequency point information of the positioning reference signal, signal propagation direction and other information.
  • the first auxiliary terminal device can determine by itself whether it can support auxiliary measurement in the next measurement period. If it is determined that it is not supported, the first auxiliary terminal device may send a third request.
  • the first auxiliary terminal device determining whether it can support auxiliary measurement in the next measurement cycle you may refer to the related description of the first auxiliary terminal device determining whether it can support auxiliary measurement in the next measurement cycle in the aforementioned step 1003. No. To elaborate further.
  • the first auxiliary terminal device may broadcast the third request.
  • the second auxiliary terminal device may be one or more auxiliary terminal devices that receive the third request.
  • the first auxiliary terminal device may determine one or more second auxiliary terminal devices from one or more auxiliary terminal devices, and send the third request to the one or more second auxiliary terminal devices.
  • the first auxiliary terminal device can initiate a discovery process of the auxiliary terminal device to discover the auxiliary terminal devices existing around it. If a certain auxiliary terminal device and the first terminal device meet the third condition, the first auxiliary terminal device can add the auxiliary terminal device to the auxiliary terminal device. The auxiliary terminal device considers it to be the second auxiliary terminal device and sends the third request to the auxiliary terminal device.
  • Step 1204 The second auxiliary terminal device sends the second measurement result to the first auxiliary terminal device according to the second request.
  • the second auxiliary terminal device does not need to establish a PC5 connection with the first terminal device/second terminal device.
  • the second auxiliary terminal device can perform ranging/side-chain positioning measurement according to the positioning reference signal sent by the first terminal device, and we obtain Measurement results of the second auxiliary terminal device and the first terminal device.
  • the second auxiliary terminal device can also perform ranging/side-chain positioning measurements based on the positioning reference signal sent by the second terminal device, obtain the measurement results of the second auxiliary terminal device and the second terminal device, and then send the second auxiliary terminal device to the first auxiliary terminal device. 2. Measurement results.
  • Step 1205 The first auxiliary terminal device sends the second measurement result to the first terminal device.
  • the description of the second measurement result may refer to the description of the second measurement result in the aforementioned step 1004. Repeat.
  • the first terminal device can implement periodic ranging/side-chain positioning based on the first auxiliary terminal device by sending a first request to the first auxiliary terminal device. Furthermore, the first auxiliary terminal device can also determine by itself whether it supports auxiliary measurement in the next measurement cycle. If the first auxiliary terminal device cannot perform auxiliary measurement in the next measurement cycle, the first auxiliary terminal device can find a new auxiliary terminal device (such as a second auxiliary terminal device) and send a third request to the second auxiliary terminal device. The second auxiliary terminal device may perform ranging/side-chain positioning measurement according to the third request, and send the second measurement result to the first auxiliary terminal device.
  • a new auxiliary terminal device such as a second auxiliary terminal device
  • the first auxiliary terminal device then sends the received second measurement result to the first terminal device to avoid interruption of the positioning service due to the inability of the first auxiliary terminal device to continue the auxiliary measurement and ensure the continuity of the positioning service in the scenario of switching of the auxiliary terminal device. , improve the positioning success rate.
  • the second auxiliary terminal device performs ranging/side-chain positioning measurement based on the positioning reference signals of the first terminal device and the second terminal device in the third request, and sends the second measurement result to the first Auxiliary terminal equipment.
  • the first terminal device always receives the measurement results from the first auxiliary terminal device and does not sense the switching of the auxiliary terminal device.
  • the execution subject can perform some or all of the steps in the embodiment of the present application. These steps or operations are only examples. The embodiment of the present application can also perform other operations or variations of various operations. In addition, various steps may be performed in a different order than those presented in the embodiments of the present application, and it may not be necessary to perform all operations in the embodiments of the present application.
  • each device includes a corresponding hardware structure and/or software module to perform each function.
  • the algorithm steps of each example described in conjunction with the embodiments disclosed herein the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.
  • Embodiments of the present application can divide each device into functional modules according to the above method examples.
  • each functional module can be divided into corresponding functional modules, or two or more functions can be integrated into one processing module.
  • the above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.
  • FIG. 13 shows a terminal device 130.
  • the terminal device 130 can perform the actions performed by the first terminal device in the above-mentioned FIGS. 10 to 12, or perform the above-mentioned FIG. 10 to the actions performed by the first auxiliary terminal device in Figure 12, or to perform the actions performed by the second auxiliary terminal device in Figures 10 to 12 described above.
  • the terminal device 130 may include a transceiver module 1301 and a processing module 1302.
  • the terminal device 130 may be a terminal device, or may be a chip applied in the terminal device or other combined devices, components, etc. having the above terminal device functions.
  • the transceiver module 1301 may be a transceiver, and the transceiver may include an antenna, a radio frequency circuit, etc.
  • the processing module 1302 may be a processor (or, processing circuit), such as a base
  • the baseband processor may include one or more CPUs.
  • the transceiver module 1301 may be a radio frequency unit; the processing module 1302 may be a processor (or, processing circuit), such as a baseband processor.
  • the transceiver module 1301 may be the input and output interface of the chip (such as a baseband chip); the processing module 1302 may be the processor (or processing circuit) of the chip system, which may include one or more central processing units. unit.
  • transceiver module 1301 in the embodiment of the present application can be implemented by a transceiver or a transceiver-related circuit component;
  • processing module 1302 can be implemented by a processor or a processor-related circuit component (or, referred to as a processing circuit).
  • the transceiver module 1301 can be used to perform all transceiver operations performed by the terminal device in the embodiments shown in Figures 10 to 12, and/or to support other processes of the technology described herein; the processing module 1302 can use In performing all operations performed by the terminal device in the embodiments shown in FIGS. 10 to 12 , except for the sending and receiving operations, and/or other processes used to support the technology described herein.
  • the transceiver module 1301 in Figure 13 can be replaced by a transceiver, which can integrate the functions of the transceiver module 1301; the processing module 1302 can be replaced by a processor, which can integrate the functions of the processing module 1302. Function.
  • the terminal device 130 shown in FIG. 13 may also include a memory.
  • the terminal device 130 involved in the embodiment of the present application can also be the communication device 140 shown in Figure 14, where the processor can be Logic circuit 1401, transceiver may be interface circuit 1402. Further, the communication device 140 shown in FIG. 14 may also include a memory 1403.
  • Embodiments of the present application also provide a computer program product, which, when executed by a computer, can implement the functions of any of the above method embodiments.
  • An embodiment of the present application also provides a computer program, which when executed by a computer can implement the functions of any of the above method embodiments.
  • An embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by instructing relevant hardware through a computer program.
  • the program can be stored in the above computer-readable storage medium. When executed, the program can include the processes of the above method embodiments. .
  • the computer-readable storage medium may be an internal storage unit of the terminal (including the data sending end and/or the data receiving end) of any of the foregoing embodiments, such as the hard disk or memory of the terminal.
  • the above-mentioned computer-readable storage medium can also be an external storage device of the above-mentioned terminal, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash memory card equipped on the above-mentioned terminal.
  • SMC smart media card
  • SD secure digital
  • the computer-readable storage medium may also include both an internal storage unit of the terminal and an external storage device.
  • the above computer-readable storage medium is used to store the above computer program and other programs and data required by the above terminal.
  • the above-mentioned computer-readable storage media can also be used to temporarily store data that has been output or is to be output.
  • At least one (item) refers to one or more.
  • “Plural” means two or more.
  • “At least two (items)” means two or three or more than three.
  • “And/or” is used to describe the relationship between associated objects, indicating that three relationships can exist. For example, “A and/or B” can mean: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural.
  • the character “/” generally indicates that the related objects are in an "or” relationship. “At least one of the following” or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • At least one of a, b or c can mean: a, b, c, "a and b", “a and c", “b and c”, or “a and b and c” ”, where a, b, c can be single or multiple.
  • "...when” and “if” both mean that corresponding processing will be made under certain objective circumstances. They do not limit the time, nor do they require judgment during implementation, nor do they mean that there are other limitations.
  • words such as “exemplary” or “for example” are used to represent examples, illustrations or explanations. Any embodiment or design described as “exemplary” or “such as” in the embodiments of the application is not to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as “exemplary” or “such as” is intended to present related concepts in a concrete manner that is easier to understand.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division.
  • there may be other division methods for example, multiple units or components may be The combination can either be integrated into another device, or some features can be omitted, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a readable storage medium.
  • the software product is stored in a storage medium and includes a number of instructions to cause a device ( It may be a microcontroller, a chip, etc.) or a processor (processor) that executes all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

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Abstract

一种定位方法及装置，涉及通信技术领域，可以改善由同一个辅助终端设备进行辅助测距/侧链定位时可能会导致定位业务不连续，造成定位失败的技术问题。该方法包括：第一终端设备向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、用于指示测量周期的周期信息；如果第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备向第二辅助终端设备发送第一请求，并接收来自第二辅助终端设备的第二测量结果；其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。

Description

定位方法及装置
本申请要求于2022年08月01日提交国家知识产权局、申请号为202210916867.6、申请名称为“定位方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，尤其是涉及一种定位方法及装置。
背景技术
通信***中，如果终端设备1和终端设备2之间的直接测距/侧链定位无法实现或测量结果无法满足预设需求(如测量结果无法满足精度需求)，终端设备1可以发起辅助终端设备的发现流程。由辅助终端设备对终端设备1和终端设备2分别进行测距/侧链定位，得到辅助终端设备与终端设备1之间的测量结果、辅助终端设备与终端设备2之间的测量结果。根据这两个测量结果，可以确定终端设备1与终端设备2之间的相对位置。
其中，辅助终端设备可以周期性对终端设备1和终端设备2进行测距/侧链定位测量，以周期性确定终端设备1和终端设备2的相对位置。
但是，对于有辅助终端设备参与的周期性测距/侧链定位方法，当终端设备与辅助终端设备的距离拉远，辅助终端设备可能无法继续辅助测量，可能会导致定位业务不连续，造成定位失败。
发明内容
本申请实施例提供一种定位方法及装置，可以改善由同一个辅助终端设备进行辅助测距/侧链定位时可能会导致定位业务不连续，造成定位失败的技术问题。
第一方面，本申请实施例提供一种定位方法，该方法可以包括：第一终端设备向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；如果第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备向第二辅助终端设备发送第一请求，并接收来自第二辅助终端设备的第二测量结果；其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。
基于第一方面，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。如果第一终端设备确定第一辅助终端设备无法在下一周期进行辅助测量，第一终端设备可以向第二辅助终端设备发送第一请求，通过第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，第一终端设备接收来自第一辅助终端设备的第二指示信息，根据 第二指示信息确定第一辅助终端设备无法在下一测量周期进行辅助测量；其中，第二指示信息用于指示辅助测量终止。
基于该可能的设计，第一终端设备可以根据第二指示信息确定第一辅助终端设备无法在下一测量周期进行辅助测量，与第一终端设备自行确定第一辅助终端设备无法在下一测量周期进行辅助测量相比，可以降低第一终端设备的处理复杂度，同时降低功耗。
一种可能的设计中，如果满足第一条件，第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量；其中，第一条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第一信号的信号强度小于或等于预设信号强度、第一信号的方向与预设方向的差值大于或等于预设差值；第一信号为第一终端设备接收的来自第一辅助终端设备的信号。
一种可能的设计中，第一终端设备周期性根据第一条件，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。
基于上述两种可能的设计，第一终端设备可以根据第一条件确定第一辅助终端设备无法在下一测量周期进行辅助测量，与第一终端设备根据第二指示信息确定第一辅助终端设备无法在下一测量周期进行辅助测量相比，可以减少信令开销。
第二方面，本申请实施例提供一种定位方法，该方法可以包括：第一辅助终端设备接收来自第一终端设备的第一请求，并向第一终端设备发送第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置；如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备向第一终端设备发送第二指示信息；其中，第二指示信息用于指示辅助测量终止。
基于第二方面，第一辅助终端设备可以根据第一终端设备发送的第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。如果第一辅助终端设备无法在下一周期进行辅助测量，第一辅助终端设备可以向第一终端设备发送第二指示信息。第一终端设备根据第二指示信息可以寻找第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，如果满足第二条件，第一辅助终端设备确定无法在下一测量周期进行辅助测量；其中，第二条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、第二信号的方向与预设方向的差值大于或等于预设差值；第二信号为第一辅助终端设备接收的来自第一终端设备的信号。
一种可能的设计中，第一辅助终端设备周期性根据第二条件，确定是否支持在下一测 量周期进行辅助测量。
基于上述两种可能的设计，第一辅助终端设备可以根据第二条件确定是否支持在下一测量周期进行辅助测量，为第一辅助终端设备确定是否支持在下一测量周期进行辅助测量提供可行性方案。
第三方面，本申请实施例提供一种定位方法，该方法可以包括：第一终端设备向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；第一终端设备接收来自一个或多个第二辅助终端设备的第二测量结果；其中，第二测量结果是第二辅助终端设备根据第一辅助终端设备发送的第二请求确定的，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息；测量结果用于指示第一终端设备与第二终端设备的相对位置。
基于第三方面，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备可以向第二辅助终端设备发送第二请求，第一终端设备可以不用主动发起对第二辅助终端设备的发现流程，可以降低对第一终端设备的干扰。同时实现通过第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，第一终端设备接收来自一个或多个辅助终端设备的发现请求；其中，一个或多个辅助终端设备为接收到第二请求的终端设备；第一终端设备根据一个或多个辅助终端设备，确定一个或多个第二辅助终端设备，并向一个或多个第二辅助终端设备发送发现响应；第一终端设备接收来自一个或多个第二辅助终端设备的第二测量结果。
基于该可能的设计，第一终端设备可以在发现流程中，从一个或多个接收到第二请求的辅助终端设备中确定一个或多个第二辅助终端设备，进而通过第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
第四方面，本申请实施例提供一种定位方法，该方法可以包括：第一辅助终端设备接收来自第一终端设备的第一请求，并向第一终端设备发送第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置；如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备发送第二请求；其中，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标 识信息、周期信息。
基于第四方面，第一辅助终端设备可以根据第一终端设备发送的第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。进一步的，第一辅助终端设备还可以自行判断自身是否支持在下一测量周期进行辅助测量。如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备可以寻找新的辅助终端设备(如第二辅助终端设备)，第一终端设备可以不用主动发起对辅助终端设备的发现流程，可以降低对第一终端设备的干扰。同时，第一辅助终端设备通过向新的辅助终端设备发送第二请求，可以实现通过新的辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，如果满足第二条件，第一辅助终端设备确定无法在下一测量周期进行辅助测量；其中，第二条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、第二信号的方向与预设方向的差值大于或等于预设差值；第二信号为第一辅助终端设备接收的来自第一终端设备的信号。
一种可能的设计中，第一辅助终端设备周期性根据第二条件，确定是否支持在下一测量周期进行辅助测量。
基于上述两种可能的设计，第一辅助终端设备可以根据第二条件确定是否支持在下一测量周期进行辅助测量，为第一辅助终端设备确定是否支持在下一测量周期进行辅助测量提供可行性方案。
一种可能的设计中，第一辅助终端设备广播第二请求；或者，第一辅助终端设备从一个或多个辅助终端设备中，确定一个或多个第二辅助终端设备，并向一个或多个第二辅助终端设备发送第二请求。
基于该可能的设计，第一辅助终端设备可以采用广播的方式发送第二请求，也可以先确定一个或多个第二辅助终端设备，再发送第二请求。为第一辅助终端设备发送第二请求提供多种可行性方案。
一种可能的设计中，第一辅助终端设备接收来自一个或多个第二辅助终端设备的第二测量结果，并向第一终端设备发送第二测量结果。
基于该可能的设计，第一辅助终端设备可以将第二辅助终端设备的第二测量结果发送给第一终端设备，可以使得第一终端设备不感知辅助终端设备的切换。
一种可能的设计中，第一辅助终端设备接收来自第二辅助终端设备的第三指示信息；其中，第三指示信息用于指示第二辅助终端设备确定根据第二请求进行辅助测量。
基于该可能的设计，第一辅助终端设备根据第三指示信息可以停止根据第一请求进行辅助测量，降低第一辅助终端设备的功耗。
第五方面，本申请实施例提供一种定位方法，该方法可以包括：第二辅助终端设备接收来自第一辅助终端设备的第二请求，根据第二请求，向第一终端设备或第一辅助终端设备发送第二测量结果；其中，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置。
基于第五方面，第二辅助终端设备可以根据第一辅助终端设备发送的第二请求，实现通过第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
一种可能的设计中，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，第二辅助终端设备向第一终端设备发送发现请求，并接收来自第一终端设备的发现响应；基于第一终端设备的发现响应，根据第二请求向第一终端设备发送第二测量结果。
基于该可能的设计，第二辅助终端设备可以进行对第一终端设备的发现流程，当接收到发现响应时，可以根据第二请求向第一终端设备发送第二测量结果。
一种可能的设计中，第二辅助终端设备向第一辅助终端设备发送第三指示信息；其中，第三指示信息用于指示第二辅助终端设备确定根据第二请求进行辅助测量。
基于该可能的设计，第二辅助终端设备通过向第一辅助终端设备发送第三指示信息，可以使得第一辅助终端设备根据第三指示信息可以停止根据第一请求进行辅助测量，降低第一辅助终端设备的功耗。
第六方面，本申请实施例提供一种通信装置，通信装置可以应用于上述第一方面或第一方面可能的设计中的第一终端设备，以实现上述第一终端设备所执行的功能，该通信装置可以是第一终端设备，也可以是第一终端设备的芯片或者片上***等，通信装置可以通过硬件执行上述第一终端设备所执行的功能，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。如，收发模块和处理模块。收发模块，用于向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；收发模块，还用于如果处理模块确定第一辅助终端设备无法在下一测量周期进行辅助测量，向第二辅助终端设备发送第一请求，并接收来自第二辅助终端设备的第二测量结果；其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，收发模块，还用于接收来自第一辅助终端设备的第二指示信息，处理模块，还用于根据第二指示信息确定第一辅助终端设备无法在下一测量周期进行辅助测量；其中，第二指示信息用于指示辅助测量终止。
一种可能的设计中，处理模块，还用于如果满足第一条件，确定第一辅助终端设备无法在下一测量周期进行辅助测量；其中，第一条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第一信号的信号强度小于或等于预设信号强度、第一信号的方向与预设方向的差值大于或等于预设差值；第一信号为第一终端设备接收的来自第一辅助终端设备的信号。
一种可能的设计中，处理模块，还用于周期性根据第一条件，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。
需要说明的是，上述模块可以执行上述第一方面的方法示例中的相应功能，具体可以参见方法示例中的详细描述，有益效果也可以参见上述第一方面的相关描述，此处不予赘述。
第七方面，本申请实施例提供一种通信装置，通信装置可以应用于上述第二方面或第二方面可能的设计中的第一辅助终端设备，以实现上述第一辅助终端设备所执行的功能，该通信装置可以是第一辅助终端设备，也可以是第一辅助终端设备的芯片或者片上***等，通信装置可以通过硬件执行上述第一辅助终端设备所执行的功能，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。如，收发模块和处理模块。收发模块，用于接收来自第一终端设备的第一请求，并向第一终端设备发送第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置；收发模块，还用于如果处理模块确定无法在下一测量周期进行辅助测量，向第一终端设备发送第二指示信息；其中，第二指示信息用于指示辅助测量终止。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，处理模块，还用于如果满足第二条件，确定无法在下一测量周期进行辅助测量；其中，第二条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、第二信号的方向与预设方向的差值大于或等于预设差值；第二信号为第一辅助终端设备接收的来自第一终端设备的信号。
一种可能的设计中，处理模块，还用于周期性根据第二条件，确定是否支持在下一测量周期进行辅助测量。
需要说明的是，上述模块可以执行上述第二方面的方法示例中的相应功能，具体可以参见方法示例中的详细描述，有益效果也可以参见上述第二方面的相关描述，此处不予赘 述。
第八方面，本申请实施例提供一种通信装置，通信装置可以应用于上述第一方面或第一方面可能的设计中的第一终端设备，以实现上述第一终端设备所执行的功能，该通信装置可以是第一终端设备，也可以是第一终端设备的芯片或者片上***等，通信装置可以通过硬件执行上述第一终端设备所执行的功能，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。如，收发模块和处理模块。收发模块，用于向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；收发模块，还用于接收来自一个或多个第二辅助终端设备的第二测量结果；其中，第二测量结果是第二辅助终端设备根据第一辅助终端设备发送的第二请求确定的，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息；测量结果用于指示第一终端设备与第二终端设备的相对位置。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，收发模块，还用于接收来自一个或多个辅助终端设备的发现请求；其中，一个或多个辅助终端设备为接收到第二请求的终端设备；处理模块，还用于根据一个或多个辅助终端设备，确定一个或多个第二辅助终端设备，收发模块，还用于向一个或多个第二辅助终端设备发送发现响应，并接收来自一个或多个第二辅助终端设备的第二测量结果。
需要说明的是，上述模块可以执行上述第三方面的方法示例中的相应功能，具体可以参见方法示例中的详细描述，有益效果也可以参见上述第三方面的相关描述，此处不予赘述。
第九方面，本申请实施例提供一种通信装置，通信装置可以应用于上述第四方面或第四方面可能的设计中的第一辅助终端设备，以实现上述第一辅助终端设备所执行的功能，该通信装置可以是第一辅助终端设备，也可以是第一辅助终端设备的芯片或者片上***等，通信装置可以通过硬件执行上述第一辅助终端设备所执行的功能，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。如，收发模块和处理模块。收发模块，用于接收来自第一终端设备的第一请求，并向第一终端设备发送第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置；收发模块，还用于如果处理模块确定无法在下一测量周期进行辅助测量，发送第二请求；其中，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息。
一种可能的设计中，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，处理模块，还用于如果满足第二条件，确定无法在下一测量周期进行辅助测量；其中，第二条件包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、第二信号的方向与预设方向的差值大于或等于预设差值；第二信号为第一辅助终端设备接收的来自第一终端设备的信号。
一种可能的设计中，处理模块，还用于周期性根据第二条件，确定是否支持在下一测量周期进行辅助测量。
一种可能的设计中，收发模块，还用于广播第二请求；或者，处理模块，还用于从一个或多个辅助终端设备中，确定一个或多个第二辅助终端设备，收发模块，还用于向一个或多个第二辅助终端设备发送第二请求。
一种可能的设计中，收发模块，还用于接收来自一个或多个第二辅助终端设备的第二测量结果，并向第一终端设备发送第二测量结果。
一种可能的设计中，收发模块，还用于接收来自第二辅助终端设备的第三指示信息；其中，第三指示信息用于指示第二辅助终端设备确定根据第二请求进行辅助测量。
需要说明的是，上述模块可以执行上述第四方面的方法示例中的相应功能，具体可以参见方法示例中的详细描述，有益效果也可以参见上述第四方面的相关描述，此处不予赘述。
第十方面，本申请实施例提供一种通信装置，通信装置可以应用于上述第五方面或第五方面可能的设计中的第一辅助终端设备，以实现上述第二辅助终端设备所执行的功能，该通信装置可以是第二辅助终端设备，也可以是第二辅助终端设备的芯片或者片上***等，通信装置可以通过硬件执行上述第二辅助终端设备所执行的功能，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。如，收发模块和处理模块。收发模块，用于接收来自第一辅助终端设备的第二请求，并根据第二请求，向第一终端设备或第一辅助终端设备发送第二测量结果；其中，第二请求用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息；周期信息用于指示测量周期；测量结果用于指示第一终端设备与第二终端设备的相对位置。
一种可能的设计中，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；其中，测量结果类型包括下述一种或多种：距离、方向、角度；服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求；第一指示信息用于指示通过辅助终端设备进行测量。
一种可能的设计中，收发模块，还用于向第一终端设备发送发现请求，并接收来自第一终端设备的发现响应；收发模块，还用于基于第一终端设备的发现响应，根据第二请求 向第一终端设备发送第二测量结果。
一种可能的设计中，收发模块，还用于向第一辅助终端设备发送第三指示信息；其中，第三指示信息用于指示第二辅助终端设备确定根据第二请求进行辅助测量。
需要说明的是，上述模块可以执行上述第五方面的方法示例中的相应功能，具体可以参见方法示例中的详细描述，有益效果也可以参见上述第五方面的相关描述，此处不予赘述。
第十一方面，本申请实施例提供一种通信装置，该通信装置包括一个或多个处理器；一个或多个处理器，用于运行计算机程序或指令，当一个或多个处理器执行计算机指令或指令时，使得通信装置执行如第一方面至第五方面中任一方面所述的定位方法。
一种可能的设计中，该通信装置还包括一个或多个存储器，一个或多个存储器与一个或多个处理器耦合，一个或多个存储器用于存储上述计算机程序或指令。在一种可能的实现方式中，存储器位于所述通信装置之外。在另一种可能的实现方式中，存储器位于所述通信装置之内。本申请实施例中，处理器和存储器还可能集成于一个器件中，即处理器和存储器还可以被集成在一起。在一种可能的实现方式中，所述通信装置还包括收发器，所述收发器，用于接收信息和/或发送信息。
一种可能的设计中，该通信装置还包括一个或多个通信接口，一个或多个通信接口和一个或多个处理器耦合，一个或多个通信接口用于与通信装置之外的其它模块进行通信。
第十二方面，本申请实施例提供了一种通信装置，该通信装置包括输入输出接口和逻辑电路；输入输出接口，用于输入和/或输出信息；逻辑电路用于执行如第一方面至第五方面中任一方面所述的定位方法，根据信息进行处理和/或生成信息。
第十三方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机指令或程序，当计算机指令或程序在计算机上运行时，使得如第一方面至第五方面中任一方面所述的定位方法被执行。
第十四方面，本申请实施例提供了一种包含计算机指令的计算机程序产品，当其在计算机上运行时，使得如第一方面至第五方面中任一方面所述的定位方法被执行。
第十五方面，本申请实施例提供一种计算机程序，当其在计算机上运行时，使得如第一方面至第五方面中任一方面所述的定位方法被执行。
其中，第十一方面至第十五方面中任一种设计方式所带来的技术效果可参见上述第一方面至第五方面中任一方面所带来的技术效果。
第十六方面，提供了一种通信***，该通信***可以包括如第六方面所述的第一终端设备和如第七方面所述的第一辅助终端设备，或者包括如第八方面所示的第一终端设备、如第九方面所示的第一辅助终端设备和如第十方面所示的第二辅助终端设备。
附图说明
图1为本申请实施例提供的一种无线信号能量衰减示意图；
图2为本申请实施例提供的一种基于接收信号强度的测距方法的示意图；
图3为本申请实施例提供的一种单边双向测距方法的示意图；
图4为本申请实施例提供的一种双边双向测距方法的示意图；
图5为本申请实施例提供的一种基于辅助终端设备的测距/侧链定位方法的示意图；
图6为本申请实施例提供的一种基于辅助终端设备的测距/侧链定位方法的流程图；
图7为本申请实施例提供的一种周期性测距/侧链定位方法的流程图；
图8为本申请实施例提供的一种通信***的示意图；
图9为本申请实施例提供的一种通信装置的组成示意图；
图10为本申请实施例提供的一种定位方法的流程图；
图11为本申请实施例提供的一种定位方法的流程图；
图12为本申请实施例提供的一种定位方法的流程图；
图13为本申请实施例提供的一种终端设备的组成示意图；
图14为本申请实施例提供的一种通信装置的组成示意图。
具体实施方式
在描述本申请实施例之前，对本申请实施例涉及的技术术语进行描述。
测距(ranging)：是指通过PC5接口确定两个或多个终端设备之间的距离和/或一个终端设备(如目标终端设备)与另一个终端设备(如参考终端设备)的方向和/或相对定位。
侧行链路(side link)定位：可以简称为侧链定位，即通过终端设备与终端设备之间的侧行链路(或者描述为直接通信的链路)进行定位。
其中，PC5接口可以为终端设备与终端设备之间的通信接口，或者描述为终端设备与终端设备之间的短距离直接通信接口。参考终端设备可以是在基于测距的服务和侧链定位中确定参考平面和参考方向的终端设备。目标终端设备可以是与参考终端设备的参考平面、参考方向和/或位置相比测量的距离、方向和/或位置的终端设备。
其中，在三维(3dimensions，3D)情况下，方向可以包括水平方向和立面方向。
基于测距的服务和侧链定位可以进行距离测量，也可以进行方向测量，也可以在进行距离测量的同时进行方向测量，不予限制。
需要说明的是，距离、方向、相对定位也可以统称为相对位置，也可以称为测距/侧链定位结果，不予限制。
测距/侧链定位方法：可以包括基于接收信号强度的测距方法、基于飞行时间的测距方法、基于辅助终端设备的测距/侧链定位方法等方法，不予限制。
一、基于接收信号强度的测距方法
如图1所示，无线信号(或称为无线电波)的能量会随距离衰减，如果已知发射信号强度，接收设备可以测量接收信号强度，进而根据发射信号强度和接收信号强度估计出发送设备与接收设备之间的距离。
其中，接收信号强度(received signal strength，RSS)会受到发送功率、路径衰减、接收增益和***处理增益四个元素的影响。
示例性的，如图2所示，以测量接收设备与发送设备之间的距离为例，可以参照下述公式(1)，根据接收设备到信标节点之间的参考距离d0、发送设备处的信号传播损耗p(d0)、接收设备处的信号传播损耗p(d)、路径损耗因子n、遮挡因子X，确定发送设备到信标节点之间的距离d，进而确定接收设备到发送设备之间的距离。
其中，公式(1)可以为：
需要说明的是，在理想传播环境下，无线信号的衰减与1/r2成正比(r为传播距离)。但实际上，无线信号在空间传播时能量的衰减受多种因素影响，环境因素的影响。测距精度受障碍物、天气、非测距信号等诸多因素的影响。总的来说，基于接收信号强度的测距 方法适用于测试环境较空旷、环境干扰较小的场景，避免安装在竖井内或电磁环境复杂处，只有这样才能提高通讯质量，减少背景噪音等不可预测的干扰现象。即在实际环境下，基于接收信号强度的测距方法主要应用于短距离测距、室内定位中。
二、基于飞行时间的测距方法
其中，飞行时间(time of flight，TOF)可以是指信号在介质内的传播时间。在已知信号在介质中的传播速度的情况下，使用飞行时间可以估算出信号经过的距离。
示例性的，基于飞行时间的测距方法可以包括：基于时间同步的测距方法、基于设备反射的测距方法、双向测距方法等，不予限制。
1、基于时间同步的测距方法。
假设采用d表示发送设备到接收设备的距离，采用c表示信号的传播速度(例如声速)，采用t表示测量得到的飞行时间，则可以得到：d＝c*t。
在该方法中，需要能准确获知信号发送时间和信号到达时间，即要求发送设备和接收设备之间进行严格的时间同步。
2、基于设备反射的测距方法
如果根据信号到达时间(time of arrival，TOA)进行测距，发送设备和接收设备的时间同步可能存在困难，因此提出可以令接收设备和发送设备为同一设备，从而在计算飞行时间时可以避免发送设备和接收设备的时间同步。一种常见的做法是令测距对象作为反射体，直接反射传输的信号。在该方法中要求反射体具有一定的体积，并且收发机能在全双工模式工作，即收发机在发送信号的同时能接收来自目标对象(即反射体)反射的信号。
3、双向测距方法
其中，双向测距方法是将两个设备分别作为发送设备和接收设备，假设发送设备于第一时刻发送信号，接收设备接收到信号后，等待时间Δt后返回同样的波，发送设备记录收到回复的第二时刻，从而根据传播时长(即飞行时间)和传播速度得到发送设备与接收设备之间的距离。
可选的，双向测距方法可以包括单边双向测距方法和双边双向测距方法。
其中，单边双向测距方法，即单边发起的来回通信。可以根据信号在发送设备和接收设备之前的来回通信时长，确定信号在发送设备和接收设备之间的单次飞行时间，进而根据信号的传播速度确定发送设备和接收设备之间的距离。
示例性的，如图3所示，以测量设备A和设备B之间的距离为例，假设设备A在t1时刻向设备B发送轮询(poll)数据包，设备B可以在t2时刻接收到该Poll数据包。设备B可以在t3时刻向设备A发送响应(response)数据包，设备A可以在t4时刻接收到该响应数据包。
此时，信号在设备A与设备B之间的单次飞行时间可以为：进而根据信号的传播速度可以确定发送设备和接收设备之间的距离。
其中，双边双向测距方法，是在单边双向测距方法的基础上额外增加了一次数据传输。可以根据信号在发送设备和接收设备之前的来回通信时长，确定信号在发送设备和接收设备之间的单次飞行时间，进而根据信号的传播速度确定发送设备和接收设备之间的距离。
示例性的，如图4所示，以测量设备A和设备B之间的距离为例，假设设备A在t1时刻向设备B发送轮询(poll)数据包，设备B可以在t2时刻接收到该Poll数据包。设备 B可以在t3时刻向设备A发送响应(response)数据包，设备A可以在t4时刻接收到该响应数据包。目前的过程完成了一次单边双向测距流程，设备A进而还可以在t5时刻向设备B发送Final数据包，设备B可以在t6时刻接收到Final数据包。至此，双边双向测距流程结束。
此时，信号在设备A与设备B之间的单次飞行时间可以为：
进而根据信号的传播速度可以确定发送设备和接收设备之间的距离。
三、基于辅助终端设备的测距/侧链定位方法
其中，对于目标终端设备与参考终端设备之间的定位测量，如果目标终端设备和参考终端设备之间的直接测距/侧链定位无法实现(如两者之间不存在视距(line-of-sight，LOS)径的情况)，或测量结果的准确度无法满足要求，可以通过一个或多个终端设备(如辅助终端设备)的协助来得到目标终端设备和参考终端设备之间的测量结果。
如图5所示，辅助终端设备可以分别实现与目标终端设备和参考终端设备之间的直接测距/侧链定位，进而目标终端设备或者辅助终端设备或者参考终端设备可以根据辅助终端设备与目标终端设备之间的测量结果、以及辅助终端设备与参考终端设备之间的测量结果，确定目标终端设备与参考终端设备的测距/侧链定位结果。
示例性的，如图6所示，目标终端设备、参考终端设备、辅助终端设备可以分别在初始化阶段，根据策略控制网元发送的授权和策略配置获得测距/侧链定位授权。当目标终端设备收到与参考终端设备之间的测距请求并确认无法实现直接测距/侧链定位时，目标终端设备可以主动发起辅助终端设备的发现流程，在确定辅助终端设备后可以与其建立连接。目标终端设备可以向参考终端设备发送测距请求，并与辅助终端设备进行一次测距测量，得到测量结果。参考终端设备接收到目标终端设备的测距请求后，也可以与对应的辅助终端设备进行一次测距测量，得到测量结果并发送给目标终端设备。目标终端设备综合两次测量结果可以计算得到目标终端设备与参考终端设备的测距/侧链定位结果。
但是，上述方法只能实现有辅助终端设备的单次测距/侧链定位，无法支持对目标终端设备和参考终端设备之间周期性的测距/侧链定位。
基于此，提出对于辅助终端设备参与的周期性测距/侧链定位过程，每当周期时刻到达，辅助终端设备可以分别对目标终端设备和参考终端设备进行一次测距/侧链定位，并将两次测量结果返回给目标终端设备，由目标终端设备根据两次测量结果确定目标终端设备与参考终端设备的测距/侧链定位结果。或者，辅助终端设备也可以根据两次测量结果确定目标终端设备与参考终端设备的测距/侧链定位结果，并发送给目标终端设备。
示例性的，如图7所示，以第三方终端设备请求目标终端设备与参考终端设备的测距/侧链定位结果为例，对基于辅助终端设备进行周期性测距/侧链定位的过程进行描述。
图7为本申请实施例提供的一种周期性测距/侧链定位方法的流程图，如图7所示，该方法可以包括：
步骤701、第三方终端设备接收来自一个或多个辅助终端设备的发现消息。
其中，第三方终端设备可以是目标终端设备，也可以是参考终端设备，也可以是除目标终端设备和参考终端设备之外的任一终端设备，不予限制。
其中，发现消息可以包括辅助终端设备信息、测距服务编码、测距曝光信息。
步骤702、第三方终端设备与辅助终端设备建立PC5连接。
其中，第三方终端设备可以从一个或多个辅助终端设备中，选择一个辅助终端设备并与其建立PC5连接。
步骤703、第三方终端设备向辅助终端设备发送PC5消息。
其中，PC5消息可以包括第三方终端设备信息、辅助终端设备信息、测距业务请求。
其中，测距业务请求可以用于请求测量目标终端设备和参考终端设备的测距/侧链定位结果。
可选的，测距业务请求可以包括目标终端设备的标识信息和参考终端设备的标识信息。
步骤704、辅助终端设备执行认证程序。
其中，辅助终端设备根据第三方终端设备发送的PC5消息，可以确认第三方终端设备是否被授权获取目标终端设备与参考终端设备的测距/侧链定位结果。如果确认第三方终端设备被授权，则辅助终端设备确定可以执行测距/侧链定位测量。
示例性的，辅助终端设备可以向网络查询第三方终端设备的注册授权信息来确认第三方终端设备是否被授权。
或者，辅助终端设备也可以根据第三方终端设备发送的PC5消息，确定自身是否可以支持对目标终端设备和参考终端设备的测距/侧链定位测量。如果支持，则可以执行测距/侧链定位测量。
示例性的，辅助终端设备可以分别与目标终端设备和参考终端设备建立PC5连接，并分别向目标终端设备和参考终端设备发送测距/侧链定位请求，目标终端设备和参考终端设备根据是否存在LOS径、信号强度等判断能否与辅助终端设备进行定位测量，如果可以，则分别向辅助终端设备返回一个响应消息。辅助终端设备根据响应消息，可以确定自身支持对目标终端设备和参考终端设备的测距/侧链定位测量。
步骤705、辅助终端设备分别对目标终端设备和参考终端设备进行测距/侧链定位测量。
其中，辅助终端设备可以对目标终端设备进行测距/侧链定位测量，得到辅助终端设备与目标终端设备的测距/侧链定位结果。辅助终端设备还可以对参考终端设备进行测距/侧链定位测量，得到辅助终端设备与参考终端设备的测距/侧链定位结果。
步骤706、辅助终端设备确定目标终端设备与参考终端设备的测距/侧链定位结果。
其中，辅助终端设备可以根据辅助终端设备与目标终端设备的测距/侧链定位结果、以及辅助终端设备与参考终端设备的测距/侧链定位结果，计算确定目标终端设备与参考终端设备的测距/侧链定位结果。
步骤707、辅助终端设备向第三方终端设备发送PC5消息。
其中，PC5消息可以包括第三方终端设备信息、辅助终端设备信息、测距业务响应。
其中，测距业务响应可以包括目标终端设备与参考终端设备的测距/侧链定位结果。
步骤708、辅助终端设备进行事件检测，如果检测到相应事件，则重新执行上述步骤705至步骤708，以实现周期性执行目标终端设备与参考终端设备的测距/侧链定位测量。
其中，辅助终端设备检测的事件可以包括下述一种或多种：周期性计时到期、目标终端设备进入或离开或保持在某一个特定区域、目标终端设备离开某参考点的直线距离超过某一预定数值等。
基于上述图7所示的方法，可以实现基于辅助终端设备的周期性测距/侧链定位，但是， 该方法目前仅支持始终由同一个辅助终端设备进行辅助测距/侧链定位，当终端设备与辅助终端设备的距离拉远，辅助终端设备可能无法继续辅助测量，可能会导致定位业务不连续，造成定位失败。
示例性的，假设目标终端设备与参考终端设备为高速公路上的两辆行驶车辆，且当前的辅助终端设备为位于高速公路边的标牌杆架，由于目标终端设备和参考终端设备不断移动，辅助终端设备与目标终端设备、参考终端设备的距离不断拉远，可能无法继续进行下一个周期的辅助测量，进而可能会导致定位业务不连续，定位失败。
为解决上述技术问题，本申请实施例提供一种定位方法，该方法中，第一终端设备向第一辅助终端设备发送第一请求，并接收来自第一辅助终端设备的第一测量结果；其中，第一请求用于请求第一终端设备与第二终端设备的相对位置；第一请求包括第二终端设备的标识信息、用于指示测量周期的周期信息；如果第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备可以向第二辅助终端设备发送第一请求，并接收来自第二辅助终端设备的第二测量结果；其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。
本申请实施例中，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。如果第一终端设备确定第一辅助终端设备无法在下一周期进行辅助测量，第一终端设备可以向第二辅助终端设备发送第一请求，通过第二辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
下面结合说明书附图对本申请实施例的实施方式进行详细描述。
本申请实施例提供的定位方法可用于任一通信***，该通信***可以为第三代合作伙伴计划(third generation partnership project，3GPP)通信***，例如，长期演进(long term evolution，LTE)***、第五代(fifth generation，5G)移动通信***、新空口(new radio，NR)通信***、车联网(vehicle to everything，V2X)***，还可以应用于LTE和5G混合组网的***中，或者非陆地通信网络(non-terrestrial network，NTN)***、设备到设备(device-to-device，D2D)通信***、机器到机器(machine to machine，M2M)通信***、物联网(internet of things，IoT)、通用移动通信***(universal mobile telecommunications system，UMTS)***、码分多址接入(code division multiple access，CDMA)***以及其他下一代通信***，例如6G等未来通信***，也可以为非3GPP通信***等，不予限制。
其中，上述适用本申请的通信***仅是举例说明，适用本申请的通信***不限于此，在此统一说明，以下不再赘述。
本申请实施例提供的定位方法可以应用于各种垂直领域，如消费、智能家居、智能城市、智能交通、智能零售和工业4.0等。一些典型的应用场景如下：
(1)家居电视控制：根据终端设备与电视参考点之间的距离、电视参考点到终端设备的方向、终端设备到电视参考点的方向，智能电视可以导出终端设备指向的电视屏幕区域。以便它可以确定将光标放置在哪里以及用户选择的内容。
(2)远程访问权授权：一个人可以通过他的终端设备1(如手机1)远程监控持有终端设备2(如手机2)的访客与能够测距的门之间的距离，以决定何时解锁门，允许访客进入。
(3)博物馆导览：在博物馆中，当一个人用手机指着一幅画时，博物馆之旅服务器可以检测到它，然后博物馆之旅服务器将画作的介绍传输到手机上。博物馆游览服务器通过监控游客手机到画作的距离和方向来检测事件。
(4)基于节能测距跟踪物体和设备：通过从测距测量中导出相对位置信息和/或方向，也可以在超出覆盖或部分覆盖的情况下轻松找到和跟踪物体和设备(包括硬币电池供电设备)。例如，这对于在紧急情况下跟踪受害者或第一反应者非常有用。通过进一步将测距信息与设备的已知位置(例如，使用增强的定位业务(enhanced location service，eLCS)或安全用户平面定位(secure user plane location，SUPL)定位的用户设备或无人机，在网络覆盖内)链接，可以实现非常准确的位置估计，使找到相应的对象或设备变得更容易。
(5)基于多终端设备测距的沉浸式声音：扬声器A、B和C协调，为正在听音乐的人D提供身临其境的体验。为了实现这一目标，扬声器A、B和C需要知道彼此的范围以及到人员D的范围。当扬声器A和扬声器B之间存在Non-LoS路径时，他们可以根据其到扬声器C的范围结果导出范围。
(6)用于短距离分组的自动合作驾驶：合作短距离分组是指卡车等车辆之间的距离非常小的场景，创造了一种理想的合法尾随形式。一组车辆与领头车辆一起行驶，由训练有素的专业司机正常驾驶，几辆跟随车辆由***完全自动驾驶，领头车辆与其他车辆之间交换信息，允许它们之间的距离较小(纵向间隙)。汽车工业需要这种方式，因为空气动力学阻力的降低将导致更高的燃油经济性和温室气体排放的减少。
需要说明的是，3GPP标准中规定了基于测距的服务的功能和性能要求，并规定基于测距的定位和服务可以支持5G覆盖或不支持5G覆盖，即5G覆盖、部分5G覆盖和5G覆盖外等各种场景。授权频谱和非授权频谱都可以用于测距。
对于支持V2X服务(例如车辆排)的相对定位要求也有规定：(a)3GPP***应支持支持V2X应用的UE之间的相对横向位置精度为0.1m。(b)对于支持V2X应用的终端设备，3GPP***应支持小于0.5m的相对纵向位置精度。此外，标准还规定了支持V2X的终端设备与公共安全服务之间的侧链路定位的用例和业务要求，以及用于覆盖内、部分覆盖和覆盖外的用例。此外，5G汽车联盟(5G automotive association，5GAA)还将高精度侧链定位确定为主要兴趣领域之一，以支持高级使用案例，例如，弱势道路用户(vulnerable road user，VRU)保护、自动驾驶、遥控驾驶、动态交叉口管理等。基于测距的服务对5GC的架构增强，使能其在商业服务、V2X服务和公共安全服务中的应用。
下面以图8为例，对本申请实施例提供的通信***进行描述。
图8为本申请实施例提供的一种通信***的示意图，如图8所示，该通信***可以包括一个或多个终端设备。
其中，图8中的终端设备可以包括一个或多个目标终端设备、一个或多个参考终端设备、一个或多个辅助终端设备。
其中，终端设备可以通过上行链路(uplink，UL)或下行链路(downlink，DL)与网络设备进行空口通信。终端设备与终端设备之间可以通过侧行链路进行通信。
可选的，图8中的终端设备可以是具有无线收发功能的设备或可设置于该设备的芯片或芯片***，可以用于向用户提供语音和/或数据连通性。也可以称为用户设备(user equipment，UE)或者终端(terminal)或者移动台(mobile station，MS)或者移动终端(mobile  terminal，MT)等。示例性的，图8中的终端设备可以是具有无线连接功能的手持式设备、车载设备等，如手机(mobile phone)、平板电脑、笔记本、掌上电脑或带无线收发功能的电脑。终端设备还可以是移动互联网设备(mobile internet device，MID)、可穿戴设备、虚拟现实(virtual reality，VR)终端、增强现实(augmented reality，AR)终端、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端、车载终端、具有车对车(vehicle-to-vehicle，V2V)通信能力的车辆、智能网联车、有无人机对无人机(UAV to UAV，U2U)通信能力的无人机等等，不予限制。
可选的，通信***还包括策略控制网元，策略控制网元用于在终端设备的初始化阶段授权终端设备测距/辅助测距等能力。
示例性的，策略控制网元可以是策略控制功能(policy control function，PCF)。
需要说明的是，本申请实施例的终端设备、策略控制网元都可以为一个或多个芯片，也可以为片上***(system on chip，SOC)等。图8仅为示例性附图，其包括的设备数量不受限制。此外，除图8所示设备之外，该通信***还可以包括其他设备。图8中各个设备的名称、各个链路的命名不受限制，除图8所示名称之外，各个设备、各个链路还可以命名为其他名称，不予限制。
具体实现时，图8所示，如：各个终端设备、策略控制网元均可以采用图9所示的组成结构，或者包括图9所示的部件。图9为本申请实施例提供的一种通信装置900的组成示意图，该通信装置900可以为终端设备或者终端设备中的芯片或者片上***；也可以为网络设备或者网络设备中的芯片或者片上***。如图9所示，该通信装置900包括处理器901，收发器902以及通信线路903。
进一步的，该通信装置900还可以包括存储器904。其中，处理器901，存储器904以及收发器902之间可以通过通信线路903连接。
其中，处理器901是中央处理器(central processing unit，CPU)、通用处理器网络处理器(network processor，NP)、数字信号处理器(digital signal processing，DSP)、微处理器、微控制器、可编程逻辑器件(programmable logic device，PLD)或它们的任意组合。处理器901还可以是其它具有处理功能的装置，例如电路、器件或软件模块，不予限制。
收发器902，用于与其他设备或其它通信网络进行通信。该其它通信网络可以为以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。收发器902可以是模块、电路、收发器或者任何能够实现通信的装置。
通信线路903，用于在通信装置900所包括的各部件之间传送信息。
存储器904，用于存储指令。其中，指令可以是计算机程序。
其中，存储器904可以是只读存储器(read-only memory，ROM)或可存储静态信息和/或指令的其他类型的静态存储设备，也可以是随机存取存储器(random access memory，RAM)或可存储信息和/或指令的其他类型的动态存储设备，还可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或其他磁存储设备等，不予限制。
需要指出的是，存储器904可以独立于处理器901存在，也可以和处理器901集成在一起。存储器904可以用于存储指令或者程序代码或者一些数据等。存储器904可以位于通信装置900内，也可以位于通信装置900外，不予限制。处理器901，用于执行存储器904中存储的指令，以实现本申请下述实施例提供的定位方法。
在一种示例中，处理器901可以包括一个或多个CPU，例如图9中的CPU0和CPU1。
作为一种可选的实现方式，通信装置900包括多个处理器，例如，除图9中的处理器901之外，还可以包括处理器907。
作为一种可选的实现方式，通信装置900还包括输出设备905和输入设备906。示例性地，输入设备906是键盘、鼠标、麦克风或操作杆等设备，输出设备905是显示屏、扬声器(speaker)等设备。
需要指出的是，通信装置900可以是台式机、便携式电脑、网络服务器、移动手机、平板电脑、无线终端、嵌入式设备、芯片***或有图9中类似结构的设备。此外，图9中示出的组成结构并不构成对该通信装置的限定，除图9所示部件之外，该通信装置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。
本申请实施例中，芯片***可以由芯片构成，也可以包括芯片和其他分立器件。
此外，本申请的各实施例之间涉及的动作、术语等均可以相互参考，不予限制。本申请的实施例中各个设备之间交互的消息名称或消息中的参数名称等只是一个示例，具体实现中也可以采用其他的名称，不予限制。
结合图8所示通信***，参照下述图10，对本申请实施例提供的定位方法进行描述，其中，第一终端设备可以是图10所示通信***中任一目标终端设备，第二终端设备可以是图10所示通信***中任一参考终端设备(或者，第一终端设备可以是任一参考终端设备，第二终端设备可以是任一目标终端设备)，第一辅助终端设备可以是图10所示通信***中任一辅助终端设备，第二辅助终端设备可以是图10所示通信***中除第一辅助终端设备之外的任一辅助终端设备。下述实施例所述的第一终端设备、第二终端设备、第一辅助终端设备、第二辅助终端设备均可以具备图9所示部件。本申请实施例中示出的单个执行主体(终端设备或辅助终端设备)所执行的处理也可以被划分为由多个执行主体执行，这些执行主体可以在逻辑上和/或在物理上分离，不予限制。
需要说明的是，下述各个实施例中，在执行测距/侧链定位流程之前，第一终端设备和第二终端设备可以在注册流程中从策略控制网元获得测距授权策略，其中，该测距授权策略可以用于指示是否授权终端设备进行有辅助终端设备参与的测距。第一辅助终端设备和第二辅助终端设备也可以在注册流程中从策略控制网元获得测距授权策略，其中，该测距授权策略可以用于指示是否授权终端设备作为辅助终端设备辅助测距。
如果第一终端设备、第二终端设备根据测距授权策略确定自身被授权进行有辅助终端设备参与的测距，第一辅助终端设备、第二辅助终端设备根据测距授权策略确定自身被授权作为辅助终端设备参与测距，则第一终端设备、第二终端设备、第一辅助终端设备、第二辅助终端设备可以采用下述各个实施例所示的定位方法进行定位测量。
图10为本申请实施例提供的一种定位方法的流程图，如图10所示，该方法可以包括：
步骤1001、第一终端设备向第一辅助终端设备发送第一请求；相应的，第一辅助终端设备接收来自第一终端设备的第一请求。
其中，第一请求可以用于请求第一终端设备与第二终端设备的相对位置；第一请求可以包括第二终端设备的标识信息、周期信息；周期信息可以用于指示测量周期。
示例性的，第一终端设备与第二终端设备的相对位置可以是第一终端设备相对于第二终端设备的位置；或者，第一终端设备与第二终端设备的相对位置也可以是第二终端设备相对于第一终端设备的位置，不予限制。
示例性的，第二终端设备的标识信息可以是用户永久标识符(subscription permanent identifier，SUPI)、层2标识(层2ID)、互联网协议(internet protocol，IP)地址等可以用于指示第二终端设备的标识信息。
示例性的，周期信息可以包括下述一种或多种：测量周期的周期间隔、测量周期的起始时间、测量周期的终止时间、测量周期的测量时间点等。
可选的，第三方终端设备可以向第一终端设备发送测距业务请求，以请求获取第一终端设备与第二终端设备的相对位置。第一终端设备根据测距业务请求，可以确定第一终端设备与第二终端设备是否可以直接进行测距/侧链定位，如果第一终端设备确定与第二终端设备无法直接进行测距/侧链定位，第一终端设备可以发起辅助终端设备的发现流程，以发现第一辅助终端设备，然后向第一辅助终端设备发送第一请求。第一辅助终端设备接收到第一请求时，可以根据第一请求对第一终端设备与第二终端设备的相对位置进行辅助测量。
其中，第三方终端设备可以是除第一终端设备和第二终端设备以外的任一终端设备，也可以是第一终端设备，也可以是第二终端设备，不予限制。
一种示例中，第一终端设备发起辅助终端设备的发现流程时，第一终端设备可以向一个或多个终端设备发送辅助请求，其中，辅助请求可以用于请求进行辅助测量。接收到该辅助请求的终端设备如果确定自身可以为第一终端设备提供辅助测量，则该终端设备可以向第一终端设备发送辅助响应，以指示自身可以为第一终端设备提供辅助测量。第一终端设备根据接收到的辅助响应，可以从发送辅助响应的一个或多个终端设备中确定第一辅助终端设备。
其中，第一终端设备可以根据接收到辅助响应的顺序确定第一辅助终端设备，如可以将接收到的第一个辅助响应对应的终端设备确定为第一辅助终端设备。或者，第一终端设备也可以根据接收到的辅助响应的信号强度确定第一辅助终端设备，如将接收到的信号强度最强的辅助响应对应的终端设备确定为第一辅助终端设备。或者，如果辅助响应包括当前终端设备与第一终端设备之间的距离，第一终端设备也可以根据辅助响应中的距离确定第一辅助终端设备，如将与第一终端设备之间的距离最近的终端设备确定为第一辅助终端设备。
又一种示例中，辅助终端设备可以持续发送自身可以进行辅助测量的广播消息，第一终端设备在发起辅助终端设备的发现流程时，第一终端设备可以根据辅助终端设备的广播消息，确定第一辅助终端设备。
其中，第一终端设备可以根据接收到广播消息的顺序确定第一辅助终端设备，如可以将接收到的第一个广播消息对应的终端设备确定为第一辅助终端设备。或者，第一终端设备也可以根据接收到的广播消息的信号强度确定第一辅助终端设备，如将接收到的信号强度最强的广播消息对应的终端设备确定为第一辅助终端设备。
可选的，第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示 信息。
其中，测量结果类型可以包括下述一种或多种：距离、方向、角度。服务质量需求可以包括下述一种或多种：精度需求、时延需求、可靠性需求、测量结果的完整性需求。第一指示信息可以用于指示通过辅助终端设备进行测量。
其中，精度需求可以用于指示测量结果的精度需求；时延需求可以用于指示第一终端设备获取测量结果的时延；可靠性需求可以用于指示测量结果的可靠性。
步骤1002、第一辅助终端设备向第一终端设备发送第一测量结果；相应的，第一终端设备接收来自第一辅助终端设备的第一测量结果。
其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。
其中，第一辅助终端设备接收到第一终端设备发送的第一请求时，可以分别对第一终端设备和第二终端设备进行测距/侧链定位测量，得到第一辅助终端设备与第一终端设备的测量结果、第一辅助终端设备与第二终端设备的测量结果。
一种示例中，第一辅助终端设备可以将第一辅助终端设备与第一终端设备的测量结果、第一辅助终端设备与第二终端设备的测量结果作为第一测量结果上报给第一终端设备，第一终端根据第一辅助终端设备与第一终端设备的测量结果、第一辅助终端设备与第二终端设备的测量结果确定第一终端设备与第二终端设备的相对位置。第一终端设备还可以将第一终端设备与第二终端设备的相对位置发送给第三方终端设备。
又一种示例中，第一辅助终端设备也可以根据第一辅助终端设备与第一终端设备的测量结果、第一辅助终端设备与第二终端设备的测量结果确定第一终端设备与第二终端设备的相对位置，将第一终端设备与第二终端设备的相对位置作为第一测量结果上报给第一终端设备。第一终端设备根据第一测量结果将第一终端设备与第二终端设备的相对位置发送给第三方终端设备。
可选的，第一辅助终端设备可以采用基于接收信号强度的测距方法、基于飞行时间的测距方法等方法中的任一方法分别对第一终端设备和第二终端设备进行测距/侧链定位测量，不予限制。
一种示例中，第一辅助终端设备可以建立与第一终端设备的PC5连接，基于PC5连接进行测距/侧链定位测量，得到第一辅助终端设备与第一终端设备的测量结果。第一辅助终端设备也可以建立与第二终端设备的PC5连接，基于PC5连接进行测距/侧链定位测量，得到第一辅助终端设备与第二终端设备的测量结果。
又一种示例中，第一辅助终端设备也可以不用建立与第一终端设备/第二终端设备的PC5连接，第一辅助终端设备可以根据第一终端设备发送的定位参考信号进行测距/侧链定位测量，得到第一辅助终端设备与第一终端设备的测量结果。第一辅助终端设备也可以根据第二终端设备发送的定位参考信号进行测距/侧链定位测量，得到第一辅助终端设备与第二终端设备的测量结果。
其中，第一请求可以包括第一终端设备和/或第二终端设备的定位参考信号的相关信息。
示例性的，定位参考信号的相关信息可以包括定位参考信号的频点信息、信号传播方向等信息。
步骤1003、如果第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备向第二辅助终端设备发送第一请求；相应的，第二辅助终端设备接收来 自第一终端设备的第一请求。
其中，如果第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备可以向第二辅助终端设备发送第一请求，以请求第二辅助终端设备根据第一请求进行辅助测量。如果第一终端设备确定第一辅助终端设备可以继续在下一测量周期进行辅助测量，则第一终端设备可以继续通过第一辅助终端设备进行辅助测量。
示例性的，第一终端设备可以基于下述步骤1003a确定第一辅助终端设备是否可以在下一测量周期进行辅助测量，也可以基于下述步骤1003a’、步骤1003b’和步骤1003c’确定第一辅助终端设备是否可以在下一测量周期进行辅助测量。
步骤1003a、如果满足第一条件，第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量。
其中，第一条件可以包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第一信号的信号强度小于或等于预设信号强度、第一信号的方向与预设方向的差值大于或等于预设差值；第一信号可以为第一终端设备接收的来自第一辅助终端设备的信号。
其中，第一终端设备可以根据第一辅助终端设备与第一终端设备的测量结果，确定第一终端设备与第一辅助终端设备之间的距离。第一终端设备根据第一终端设备与第一辅助终端设备之间的距离，以及第一终端设备的移动时间，确定第一终端设备相对于第一辅助终端设备的移动速度。
可选的，第一终端设备周期性根据第一条件，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。
其中，第一终端设备根据第一条件确定第一辅助终端设备是否支持在下一测量周期进行辅助测量的测量周期可以是协议预定义的，也可以是网络设备预先配置的，还可以是第一终端设备自定义的，不予限制。
例如，第一终端设备可以在每次接收到第一测量结果时，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。即第一终端设备根据第一条件确定第一辅助终端设备是否支持在下一测量周期进行辅助测量的周期，与第一辅助终端设备向第一终端设备上报第一测量结果的周期一致。
与上述第一终端设备根据第一条件确定第一辅助终端设备是否可以在下一测量周期进行辅助测量相类似的，参照下述步骤1003a’，第一辅助终端设备也可以根据第二条件确定自身是否可以在下一测量周期进行辅助测量。
步骤1003a’、如果满足第二条件，第一辅助终端设备确定无法在下一测量周期进行辅助测量。
其中，第二条件可以包括下述一种或多种：第一终端设备与第一辅助终端设备之间的距离大于或等于预设距离、第一终端设备相对于第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、第二信号的方向与预设方向的差值大于或等于预设差值；第二信号可以为第一辅助终端设备接收的来自所述第一终端设备的信号。
其中，第一辅助终端设备可以根据第一辅助终端设备与第一终端设备的测量结果，确 定第一终端设备与第一辅助终端设备之间的距离。第一辅助终端设备还可以根据第一终端设备与第一辅助终端设备之间的距离，以及第一终端设备的移动时间，确定第一终端设备相对于第一辅助终端设备的移动速度。
可选的，第一辅助终端设备周期性根据第二条件，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。
其中，第一辅助终端设备根据第二条件确定第一辅助终端设备是否支持在下一测量周期进行辅助测量的测量周期可以是协议预定义的，也可以是网络设备预先配置的，还可以是第一辅助终端设备自定义的，不予限制。
例如，第一辅助终端设备可以在每次向第一终端设备发送第一测量结果时，确定第一辅助终端设备是否支持在下一测量周期进行辅助测量。即第一辅助终端设备根据第二条件确定第一辅助终端设备是否支持在下一测量周期进行辅助测量的周期，与第一辅助终端设备向第一终端设备上报第一测量结果的周期一致。
步骤1003b’、如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备向第一终端设备发送第二指示信息；相应的，第一终端设备接收来自第一辅助终端设备的第二指示信息。
其中，第二指示信息可以用于指示辅助测量终止。
可选的，第一辅助终端设备可以将第二指示信息与第一测量结果携带在同一信令中发送给第一终端设备，也可以将第二指示信息与第一测量结果携带在不同信令中发送给第一终端设备。
可选的，第一辅助终端设备可以在确定自身无法在下一测量周期进行辅助测量时，向第一终端设备发送第二指示信息，在确定自身可以在下一测量周期进行辅助测量时，不向第一终端设备发送指示信息。可以理解的是，第一辅助终端设备也可以在确定自身可以在下一测量周期进行辅助测量时，向第一终端设备发送用于指示辅助测量继续的指示信息，不予限制。
步骤1003c’、第一终端设备根据第二指示信息确定第一辅助终端设备无法在下一测量周期进行辅助测量。
基于上述描述，当第一终端设备确定第一辅助终端设备无法在下一测量周期进行辅助测量时，第一终端设备可以发起辅助终端设备的发现流程，以发现第二辅助终端设备，然后向第二辅助终端设备发送第一请求。第二辅助终端设备接收到第一请求时，可以根据第一请求对第一终端设备与第二终端设备的相对位置进行辅助测量。
其中，对第一终端设备发现第二辅助终端设备的描述可以参照前述对第一终端设备发现第一辅助终端设备的相关描述，不予赘述。
步骤1004、第二辅助终端设备向第一终端设备发送第二测量结果；相应的，第一终端设备接收来自第二辅助终端设备的第二测量结果。
其中，测量结果用于指示第一终端设备与第二终端设备的相对位置。
其中，第二辅助终端设备接收到第一终端设备发送的第一请求时，可以分别对第一终端设备和第二终端设备进行测距/侧链定位测量，得到第二辅助终端设备与第一终端设备的测量结果、第二辅助终端设备与第二终端设备的测量结果。
一种示例中，第二辅助终端设备可以将第二辅助终端设备与第一终端设备的测量结果、 第二辅助终端设备与第二终端设备的测量结果作为第二测量结果上报给第一终端设备，第一终端根据第二辅助终端设备与第一终端设备的测量结果、第二辅助终端设备与第二终端设备的测量结果确定第一终端设备与第二终端设备的相对位置。第一终端设备还可以将第一终端设备与第二终端设备的相对位置发送给第三方终端设备。
又一种示例中，第二辅助终端设备也可以根据第二辅助终端设备与第一终端设备的测量结果、第二辅助终端设备与第二终端设备的测量结果确定第一终端设备与第二终端设备的相对位置，将第一终端设备与第二终端设备的相对位置作为第二测量结果上报给第一终端设备。第一终端设备根据第二测量结果将第一终端设备与第二终端设备的相对位置发送给第三方终端设备。
需要说明的是，对第二辅助终端设备分别对第一终端设备和第二终端设备进行测距/侧链定位测量的描述，可以参照前述对第一辅助终端设备分别对第一终端设备和第二终端设备进行测距/侧链定位测量的相关描述，不予赘述。
可选的，第一终端设备接收到第二辅助终端设备的第二测量结果时，还可以执行下述步骤1005至步骤1007。
步骤1005、第一终端设备确定第二辅助终端设备是否支持在下一测量周期进行辅助测量。如果确定支持，则执行步骤1006；如果确定不支持，则执行步骤1007。
其中，对第一终端设备确定第二辅助终端设备是否支持在下一测量周期进行辅助测量的描述，可以参照前述步骤1003中第一终端设备确定第一辅助终端设备是否支持在下一测量周期进行辅助测量的相关描述，不予赘述。
步骤1006、第二辅助终端设备周期性向第一终端设备发送第二测量结果。
其中，如果第二辅助终端设备可以支持在下一测量周期进行辅助测量，则第二辅助终端设备可以根据第一请求中的测量周期，周期性对第一终端设备和第二终端设备进行测距/侧链定位测量，并向第一终端设备发送第二测量结果。
步骤1007、第一终端设备向第三辅助终端设备发送第一请求。
其中，如果第二辅助终端设备无法在下一测量周期进行辅助测量，则第一终端设备可以重新发起辅助终端设备的发现流程，重新寻找辅助终端设备(如第三辅助终端设备)进行辅助测量。
基于上述图10所示的方法，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。进一步的，第一终端设备/第一辅助终端设备还可以自行判断第一辅助终端设备是否支持在下一测量周期进行辅助测量。如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一终端设备可以寻找新的辅助终端设备(如第二辅助终端设备)，通过向新的辅助终端设备发送第一请求，以实现通过新的辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
与上述图10中第一辅助终端设备无法在下一测量周期进行辅助测量时，第一终端设备重新寻找新的辅助终端设备所不同的，参照下述图11，当第一辅助终端设备无法在下一测量周期进行辅助测量时，第一辅助终端设备可以发送第二请求，以寻找新的辅助终端设备。
图11为本申请实施例提供的一种定位方法的流程图，如图11所示，该方法可以包括：
步骤1101、第一终端设备向第一辅助终端设备发送第一请求；相应的，第一辅助终端设备接收来自第一终端设备的第一请求。
其中，对步骤1101的描述可以参照前述对步骤1001的相关描述，不予赘述。
步骤1102、第一辅助终端设备向第一终端设备发送第一测量结果；相应的，第一终端设备接收来自第一辅助终端设备的第一测量结果。
其中，对步骤1102的描述可以参照前述对步骤1002的相关描述，不予赘述。
步骤1103、如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备发送第二请求；相应的，一个或多个第二辅助终端设备接收来自第一辅助终端设备的第二请求。
其中，第二请求可以用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第二请求可以包括第一终端设备的标识信息、第二终端设备的标识信息、周期信息；周期信息可以用于指示测量周期。
其中，第一辅助终端设备可以自行确定自身是否可以支持在下一测量周期进行辅助测量。如果确定不支持，第一辅助终端设备可以发送第二请求。
对第一辅助终端设备确定自身是否可以支持在下一测量周期进行辅助测量的描述，可以参照前述步骤1003中对第一辅助终端设备确定自身是否可以支持在下一测量周期进行辅助测量的相关描述，不予赘述。
可选的，第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息。
其中，对测量结果类型、服务质量需求、第一指示信息可以参照前述步骤1001中对测量结果类型、服务质量需求、第一指示信息的相关描述，不予赘述。
一种示例中，第一辅助终端设备可以广播第二请求。
其中，第二辅助终端设备可以为接收到第二请求的一个或多个辅助终端设备。
又一种示例中，第一辅助终端设备可以从一个或多个辅助终端设备中，确定一个或多个第二辅助终端设备，并向一个或多个第二辅助终端设备发送第二请求。
其中，第一辅助终端设备可以发起辅助终端设备的发现流程，以发现周围存在的辅助终端设备，如果某一辅助终端设备与第一终端设备满足第三条件，则第一辅助终端设备可以将该辅助终端设备认为是第二辅助终端设备，并向该辅助终端设备发送第二请求。
其中，第三条件可以为下述一种或多种：辅助终端设备在第一终端设备的运动方向上、辅助终端设备与第一终端设备之间的距离不断减小、辅助终端设备与第一终端设备之间的距离小于第一辅助终端设备与第一终端设备之间的距离。
与上述两种示例中第一辅助终端设备自行确定一个或多个第二辅助终端设备所不同的，第一辅助终端设备也可以通过发送第二请求，触发接收到第二请求的一个或多个辅助终端设备执行对第一终端设备的发现流程，进而由第一终端设备从该一个或多个辅助终端设备中，确定一个或多个第二辅助终端设备。
示例性的，接收到第二请求的一个或多个辅助终端设备可以向第一终端设备发送发现请求，第一终端设备可以根据该一个或多个辅助终端设备，确定一个或多个第二辅助终端设备，并向该一个或多个第二辅助终端设备发送发现响应。即接收到发现响应的辅助终端设备为第二辅助终端设备。
其中，对第一终端设备从一个或多个辅助终端设备，确定一个或多个第二辅助终端设备的描述，可以参照前述步骤1003中对第一终端设备发现第二辅助终端设备的相关描述，不予赘述。
可选的，基于上述对第二辅助终端设备的描述，第二辅助终端设备还可以根据第二请求发起对第二终端设备的发现请求，以发现第二终端设备。
可选的，第二辅助终端设备还可以在确定根据第二请求进行辅助测量时，向第一辅助终端设备发送第三指示信息。第一辅助终端设备根据第三指示信息可以停止根据第一请求进行辅助测量。
其中，第三指示信息可以用于指示第二辅助终端设备确定根据第二请求进行辅助测量。
步骤1104、第二辅助终端设备根据第二请求，向第一终端设备发送第二测量结果。
其中，第二辅助终端设备可以根据第二请求，分别对第一终端设备和第二终端设备进行测距/侧链定位测量，得到第二辅助终端设备与第一终端设备的测量结果、第二辅助终端设备与第二终端设备的测量结果，并向第一终端设备发送第二测量结果。
其中，对第二测量结果的描述可以参照前述步骤1004中对第二测量结果的描述，不予赘述。
需要说明的是，对第二辅助终端设备分别对第一终端设备和第二终端设备进行测距/侧链定位测量的描述，可以参照前述步骤1004中对第二辅助终端设备分别对第一终端设备和第二终端设备进行测距/侧链定位测量的相关描述，不予赘述。
可选的，第一终端设备接收到第二辅助终端设备的第二测量结果时，还可以执行前述步骤1005至步骤1007，以确定第二辅助终端设备是否支持在下一测量周期进行辅助测量。如果确定支持，则第二辅助终端设备可以周期性向第一终端设备发送第二测量结果；如果确定不支持，则第一终端设备可以重新发起辅助终端设备的发现流程，重新寻找辅助终端设备(如第三辅助终端设备)进行辅助测量。
可替换的，与前述步骤1104中第二辅助终端设备根据第二请求，向第一终端设备发送第二测量结果所不同的，第二辅助终端设备还可以执行下述步骤1105。
步骤1105、第二辅助终端设备根据第二请求，向第一辅助终端设备发送第二测量结果。
步骤1106、第一辅助终端设备向第一终端设备发送第二测量结果。
其中，第二辅助终端设备可以直接将第二测量结果发送给第一终端设备，也可以通过第一辅助终端设备将第二测量结果发送给第一终端设备，不予限制。
基于上述图11所示的方法，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。进一步的，第一辅助终端设备还可以自行判断自身是否支持在下一测量周期进行辅助测量。如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备可以寻找新的辅助终端设备(如第二辅助终端设备)，第一终端设备可以不用主动发起对辅助终端设备的发现流程，可以降低对第一终端设备的干扰。同时，第一辅助终端设备通过向新的辅助终端设备发送第二请求，可以实现通过新的辅助终端设备进行周期性测距/侧链定位，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
与上述图11中第一辅助终端设备向第二辅助终端设备发送第二请求所不同的，参照 下述图12，第一辅助终端设备也可以向第二辅助终端设备发送第三请求，以请求第二辅助终端设备测量第一终端设备与第二终端设备的相对位置。
图12为本申请实施例提供的一种定位方法，如图12所示，该方法可以包括：
步骤1201、第一终端设备向第一辅助终端设备发送第一请求；相应的，第一辅助终端设备接收来自第一终端设备的第一请求。
其中，对步骤1201的描述可以参照前述对步骤1001的相关描述，不予赘述。
步骤1202、第一辅助终端设备向第一终端设备发送第一测量结果；相应的，第一终端设备接收来自第一辅助终端设备的第一测量结果。
其中，对步骤1202的描述可以参照前述对步骤1002的相关描述，不予赘述。
步骤1203、如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备发送第三请求；相应的，一个或多个第二辅助终端设备接收来自第一辅助终端设备的第三请求。
其中，第三请求可以用于请求第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，第三请求可以包括周期信息、第一终端设备的定位参考信号的相关信息、第二终端设备的定位参考信号的相关信息。
其中，定位参考信号的相关信息可以包括定位参考信号的频点信息、信号传播方向等信息。
其中，第一辅助终端设备可以自行确定自身是否可以支持在下一测量周期进行辅助测量。如果确定不支持，第一辅助终端设备可以发送第三请求。
对第一辅助终端设备确定自身是否可以支持在下一测量周期进行辅助测量的描述，可以参照前述步骤1003中对第一辅助终端设备确定自身是否可以支持在下一测量周期进行辅助测量的相关描述，不予赘述。
一种示例中，第一辅助终端设备可以广播第三请求。
其中，第二辅助终端设备可以为接收到第三请求的一个或多个辅助终端设备。
又一种示例中，第一辅助终端设备可以从一个或多个辅助终端设备中，确定一个或多个第二辅助终端设备，并向一个或多个第二辅助终端设备发送第三请求。
其中，第一辅助终端设备可以发起辅助终端设备的发现流程，以发现周围存在的辅助终端设备，如果某一辅助终端设备与第一终端设备满足第三条件，则第一辅助终端设备可以将该辅助终端设备认为是第二辅助终端设备，并向该辅助终端设备发送第三请求。
其中，对第三条件的描述可以参照前述步骤1103中对第三条件的相关描述，不予赘述。
步骤1204、第二辅助终端设备根据第二请求，向第一辅助终端设备发送第二测量结果。
其中，第二辅助终端设备可以不用建立与第一终端设备/第二终端设备的PC5连接，第二辅助终端设备可以根据第一终端设备发送的定位参考信号进行测距/侧链定位测量，得到第二辅助终端设备与第一终端设备的测量结果。第二辅助终端设备也可以根据第二终端设备发送的定位参考信号进行测距/侧链定位测量，得到第二辅助终端设备与第二终端设备的测量结果，进而向第一辅助终端设备发送第二测量结果。
步骤1205、第一辅助终端设备向第一终端设备发送第二测量结果。
其中，对第二测量结果的描述可以参照前述步骤1004中对第二测量结果的描述，不予 赘述。
基于上述图12所示的方法，第一终端设备可以通过向第一辅助终端设备发送第一请求，实现基于第一辅助终端设备的周期性测距/侧链定位。进一步的，第一辅助终端设备还可以自行判断自身是否支持在下一测量周期进行辅助测量。如果第一辅助终端设备无法在下一测量周期进行辅助测量，第一辅助终端设备可以寻找新的辅助终端设备(如第二辅助终端设备)，并向第二辅助终端设备发送第三请求。第二辅助终端设备根据第三请求可以进行测距/侧链定位测量，并将第二测量结果发送给第一辅助终端设备。第一辅助终端设备再将接收到的第二测量结果发送给第一终端设备，避免因第一辅助终端设备无法继续辅助测量导致定位业务的中断，保证辅助终端设备切换场景下定位业务的连续性，提高定位成功率。
同时，由于第二辅助终端设备是根据第三请求中第一终端设备和第二终端设备的定位参考信号进行测距/侧链定位测量的，并将测量得到的第二测量结果发送给第一辅助终端设备。第一终端设备始终从第一辅助终端设备接收测量结果，并不感知辅助终端设备的切换。
需要说明的是，本申请实施例提供的各个方法可以单独实施，也可以结合起来实施，不予限制。
可以理解的，本申请实施例中，执行主体可以执行本申请实施例中的部分或全部步骤，这些步骤或操作仅是示例，本申请实施例还可以执行其它操作或者各种操作的变形。此外，各个步骤可以按照本申请实施例呈现的不同的顺序来执行，并且有可能并非要执行本申请实施例中的全部操作。
上述主要从设备之间交互的角度对本申请实施例提供的方案进行了介绍。可以理解的是，各个设备为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对各个设备进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
在采用对应各个功能划分各个功能模块的情况下，图13示出了一种终端设备130，该终端设备130可以执行上述图10至图12中第一终端设备执行的动作，或者执行上述图10至图12中第一辅助终端设备执行的动作，或者执行上述图10至图12中第二辅助终端设备执行的动作。
其中，终端设备130可以包括收发模块1301和处理模块1302。示例性地，终端设备130可以是终端设备，也可以是应用于终端设备中的芯片或者其他具有上述终端设备功能的组合器件、部件等。当终端设备130是终端设备时，收发模块1301可以是收发器，收发器可以包括天线和射频电路等；处理模块1302可以是处理器(或者，处理电路)，例如基 带处理器，基带处理器中可以包括一个或多个CPU。当终端设备130是具有上述终端设备功能的部件时，收发模块1301可以是射频单元；处理模块1302可以是处理器(或者，处理电路)，例如基带处理器。当终端设备130是芯片***时，收发模块1301可以是芯片(例如基带芯片)的输入输出接口；处理模块1302可以是芯片***的处理器(或者，处理电路)，可以包括一个或多个中央处理单元。应理解，本申请实施例中的收发模块1301可以由收发器或收发器相关电路组件实现；处理模块1302可以由处理器或处理器相关电路组件(或者，称为处理电路)实现。
例如，收发模块1301可以用于执行图10至图12所示的实施例中由终端设备所执行的全部收发操作，和/或用于支持本文所描述的技术的其它过程；处理模块1302可以用于执行图10至图12所示的实施例中由终端设备所执行的除了收发操作之外的全部操作，和/或用于支持本文所描述的技术的其它过程。
作为又一种可实现方式，图13中的收发模块1301可以由收发器代替，该收发器可以集成收发模块1301的功能；处理模块1302可以由处理器代替，该处理器可以集成处理模块1302的功能。进一步的，图13所示终端设备130还可以包括存储器。
可替换的，当处理模块1302由处理器代替，收发模块1301由收发器代替时，本申请实施例所涉及的终端设备130还可以为图14所示的通信装置140，其中，处理器可以为逻辑电路1401，收发器可以是接口电路1402。进一步的，图14所示通信装置140还可以包括存储器1403。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时可以实现上述任一方法实施例的功能。
本申请实施例还提供了一种计算机程序，该计算机程序被计算机执行时可以实现上述任一方法实施例的功能。
本申请实施例还提供了一种计算机可读存储介质。上述方法实施例中的全部或者部分流程可以由计算机程序来指令相关的硬件完成，该程序可存储于上述计算机可读存储介质中，该程序在执行时，可包括如上述各方法实施例的流程。计算机可读存储介质可以是前述任一实施例的终端(包括数据发送端和/或数据接收端)的内部存储单元，例如终端的硬盘或内存。上述计算机可读存储介质也可以是上述终端的外部存储设备，例如上述终端上配备的插接式硬盘，智能存储卡(smart media card,SMC)，安全数字(secure digital,SD)卡，闪存卡(flash card)等。进一步地，上述计算机可读存储介质还可以既包括上述终端的内部存储单元也包括外部存储设备。上述计算机可读存储介质用于存储上述计算机程序以及上述终端所需的其他程序和数据。上述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
需要说明的是，本申请的说明书、权利要求书及附图中的术语“第一”和“第二”等是用于区别不同对象，而不是用于描述特定顺序。“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或 单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
应当理解，在本申请中，“至少一个(项)”是指一个或者多个。“多个”是指两个或两个以上。“至少两个(项)”是指两个或三个及三个以上。“和/或”，用于描述关联对象的关联关系，表示可以存在三种关系。例如，“A和/或B”可以表示：只存在A，只存在B以及同时存在A和B三种情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b或c中的至少一项(个)，可以表示：a，b，c，“a和b”，“a和c”，“b和c”，或“a和b和c”，其中a，b，c可以是单个，也可以是多个。“…时”以及“若”均指在某种客观情况下会做出相应的处理，并非是限定时间，且也不要求实现时要有判断的动作，也不意味着存在其它限定。
在本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念，便于理解。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是一个物理单元或多个物理单元，即可以位于一个地方，或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者该技术方案的全部或部分可以以软件产品的形式体现出来，该软件产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。

Claims (27)

  1. 一种定位方法，其特征在于，包括：
    第一终端设备向第一辅助终端设备发送第一请求；其中，所述第一请求用于请求所述第一终端设备与第二终端设备的相对位置；所述第一请求包括所述第二终端设备的标识信息、周期信息；所述周期信息用于指示测量周期；
    所述第一终端设备接收来自所述第一辅助终端设备的第一测量结果；
    如果所述第一终端设备确定所述第一辅助终端设备无法在下一测量周期进行辅助测量，所述第一终端设备向第二辅助终端设备发送所述第一请求；
    所述第一终端设备接收来自所述第二辅助终端设备的第二测量结果；
    其中，所述测量结果用于指示所述第一终端设备与所述第二终端设备的相对位置。
  2. 根据权利要求1所述的方法，其特征在于，
    所述第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；
    其中，所述测量结果类型包括下述一种或多种：距离、方向、角度；所述服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、所述测量结果的完整性需求；所述第一指示信息用于指示通过辅助终端设备进行测量。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第一终端设备确定所述第一辅助终端设备无法在下一测量周期进行辅助测量，包括：
    所述第一终端设备接收来自所述第一辅助终端设备的第二指示信息；其中，所述第二指示信息用于指示辅助测量终止；
    所述第一终端设备根据所述第二指示信息确定所述第一辅助终端设备无法在下一测量周期进行辅助测量。
  4. 根据权利要求1或2所述的方法，其特征在于，所述第一终端设备确定所述第一辅助终端设备无法在下一测量周期进行辅助测量，包括：
    如果满足第一条件，所述第一终端设备确定所述第一辅助终端设备无法在下一测量周期进行辅助测量；
    其中，所述第一条件包括下述一种或多种：所述第一终端设备与所述第一辅助终端设备之间的距离大于或等于预设距离、所述第一终端设备相对于所述第一辅助终端设备的移动速度大于或等于预设速度、第一信号的信号强度小于或等于预设信号强度、所述第一信号的方向与预设方向的差值大于或等于预设差值；所述第一信号为所述第一终端设备接收的来自所述第一辅助终端设备的信号。
  5. 根据权利要求4所述的方法，其特征在于，
    所述第一终端设备周期性根据所述第一条件，确定所述第一辅助终端设备是否支持在下一测量周期进行辅助测量。
  6. 一种定位方法，其特征在于，包括：
    第一辅助终端设备接收来自第一终端设备的第一请求；其中，所述第一请求用于请求所述第一终端设备与第二终端设备的相对位置；所述第一请求包括所述第二终端设备的标识信息、周期信息；所述周期信息用于指示测量周期；
    所述第一辅助终端设备向所述第一终端设备发送第一测量结果；其中，所述测量结果用于指示所述第一终端设备与所述第二终端设备的相对位置；
    如果所述第一辅助终端设备无法在下一测量周期进行辅助测量，所述第一辅助终端设备向所述第一终端设备发送第二指示信息；其中，所述第二指示信息用于指示辅助测量终止。
  7. 根据权利要求6所述的方法，其特征在于，
    所述第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；
    其中，所述测量结果类型包括下述一种或多种：距离、方向、角度；所述服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、所述测量结果的完整性需求；所述第一指示信息用于指示通过辅助终端设备进行测量。
  8. 根据权利要求6或7所述的方法，其特征在于，所述方法还包括：
    如果满足第二条件，所述第一辅助终端设备确定无法在下一测量周期进行辅助测量；
    其中，所述第二条件包括下述一种或多种：所述第一终端设备与所述第一辅助终端设备之间的距离大于或等于预设距离、所述第一终端设备相对于所述第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、所述第二信号的方向与预设方向的差值大于或等于预设差值；所述第二信号为所述第一辅助终端设备接收的来自所述第一终端设备的信号。
  9. 根据权利要求8所述的方法，其特征在于，
    所述第一辅助终端设备周期性根据所述第二条件，确定是否支持在下一测量周期进行辅助测量。
  10. 一种定位方法，其特征在于，包括：
    第一终端设备向第一辅助终端设备发送第一请求；其中，所述第一请求用于请求所述第一终端设备与第二终端设备的相对位置；所述第一请求包括所述第二终端设备的标识信息、周期信息；所述周期信息用于指示测量周期；
    所述第一终端设备接收来自所述第一辅助终端设备的第一测量结果；
    所述第一终端设备接收来自一个或多个第二辅助终端设备的第二测量结果；其中，所述第二测量结果是所述第二辅助终端设备根据所述第一辅助终端设备发送的第二请求确定的，所述第二请求用于请求第二辅助终端设备辅助确定所述第一终端设备与所述第二终端设备的相对位置，所述第二请求包括所述第一终端设备的标识信息、所述第二终端设备的标识信息、所述周期信息；
    其中，所述测量结果用于指示所述第一终端设备与所述第二终端设备的相对位置。
  11. 根据权利要求10所述的方法，其特征在于，
    所述第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或
    所述第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；
    其中，所述测量结果类型包括下述一种或多种：距离、方向、角度；所述服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、所述测量结果的完整性需求；所述第一指示信息用于指示通过辅助终端设备进行测量。
  12. 根据权利要求10或11所述的方法，其特征在于，所述第一终端设备接收来自所述一个或多个第二辅助终端设备的所述第二测量结果，包括：
    所述第一终端设备接收来自一个或多个辅助终端设备的发现请求；其中，所述一个或 多个辅助终端设备为接收到所述第二请求的终端设备；
    所述第一终端设备根据所述一个或多个辅助终端设备，确定一个或多个所述第二辅助终端设备；
    所述第一终端设备向一个或多个所述第二辅助终端设备发送发现响应；
    所述第一终端设备接收来自一个或多个所述第二辅助终端设备的所述第二测量结果。
  13. 一种定位方法，其特征在于，包括：
    第一辅助终端设备接收来自第一终端设备的第一请求；其中，所述第一请求用于请求所述第一终端设备与第二终端设备的相对位置；所述第一请求包括所述第二终端设备的标识信息、周期信息；所述周期信息用于指示测量周期；
    所述第一辅助终端设备向所述第一终端设备发送第一测量结果；其中，所述测量结果用于指示所述第一终端设备与所述第二终端设备的相对位置；
    如果所述第一辅助终端设备无法在下一测量周期进行辅助测量，所述第一辅助终端设备发送第二请求；其中，所述第二请求用于请求第二辅助终端设备辅助确定所述第一终端设备与所述第二终端设备的相对位置，所述第二请求包括所述第一终端设备的标识信息、所述第二终端设备的标识信息、所述周期信息。
  14. 根据权利要求13所述的方法，其特征在于，
    所述第一请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；和/或
    所述第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；
    其中，所述测量结果类型包括下述一种或多种：距离、方向、角度；所述服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、所述测量结果的完整性需求；所述第一指示信息用于指示通过辅助终端设备进行测量。
  15. 根据权利要求13或14所述的方法，其特征在于，所述方法还包括：
    如果满足第二条件，所述第一辅助终端设备确定无法在下一测量周期进行辅助测量；
    其中，所述第二条件包括下述一种或多种：所述第一终端设备与所述第一辅助终端设备之间的距离大于或等于预设距离、所述第一终端设备相对于所述第一辅助终端设备的移动速度大于或等于预设速度、第二信号的信号强度小于或等于预设信号强度、所述第二信号的方向与预设方向的差值大于或等于预设差值；所述第二信号为所述第一辅助终端设备接收的来自所述第一终端设备的信号。
  16. 根据权利要求15所述的方法，其特征在于，
    所述第一辅助终端设备周期性根据所述第二条件，确定是否支持在下一测量周期进行辅助测量。
  17. 根据权利要求13-16任一项所述的方法，其特征在于，所述第一辅助终端设备向所述第一个或多个第二辅助终端设备发送所述第二请求，包括：
    所述第一辅助终端设备广播所述第二请求；或者
    所述第一辅助终端设备从一个或多个辅助终端设备中，确定所述一个或多个第二辅助终端设备，并向所述一个或多个第二辅助终端设备发送所述第二请求。
  18. 根据权利要求13-17任一项所述的方法，其特征在于，所述方法还包括：
    所述第一辅助终端设备接收来自所述一个或多个第二辅助终端设备的第二测量结果；
    所述第一辅助终端设备向所述第一终端设备发送所述第二测量结果。
  19. 根据权利要求13-17任一项所述的方法，其特征在于，所述方法还包括：
    所述第一辅助终端设备接收来自所述第二辅助终端设备的第三指示信息；其中，所述第三指示信息用于指示所述第二辅助终端设备确定根据所述第二请求进行辅助测量。
  20. 一种定位方法，其特征在于，包括：
    第二辅助终端设备接收来自第一辅助终端设备的第二请求；其中，所述第二请求用于请求所述第二辅助终端设备辅助确定第一终端设备与第二终端设备的相对位置，所述第二请求包括所述第一终端设备的标识信息、所述第二终端设备的标识信息、周期信息；所述周期信息用于指示测量周期；
    所述第二辅助终端设备根据所述第二请求，向所述第一终端设备或所述第一辅助终端设备发送第二测量结果；其中，所述测量结果用于指示所述第一终端设备与所述第二终端设备的相对位置。
  21. 根据权利要求20所述的方法，其特征在于，
    所述第二请求还包括下述一种或多种：测量结果类型、服务质量需求、第一指示信息；
    其中，所述测量结果类型包括下述一种或多种：距离、方向、角度；所述服务质量需求包括下述一种或多种：精度需求、时延需求、可靠性需求、所述测量结果的完整性需求；所述第一指示信息用于指示通过辅助终端设备进行测量。
  22. 根据权利要求20或21所述的方法，其特征在于，所述第二辅助终端设备根据所述第二请求，向所述第一终端设备发送所述第二测量结果，包括：
    所述第二辅助终端设备向所述第一终端设备发送发现请求；
    所述第二辅助终端设备接收来自所述第一终端设备的发现响应；
    所述第二辅助终端设备基于所述第一终端设备的发现响应，根据所述第二请求向所述第一终端设备发送所述第二测量结果。
  23. 根据权利要求20-22任一项所述的方法，其特征在于，如果所述第二辅助终端设备根据所述第二请求，向所述第一终端设备发送所述第二测量结果，所述方法还包括：
    所述第二辅助终端设备向所述第一辅助终端设备发送第三指示信息；其中，所述第三指示信息用于指示所述第二辅助终端设备确定根据所述第二请求进行辅助测量。
  24. 一种通信装置，其特征在于，所述通信装置包括处理器；所述处理器，用于运行计算机程序或指令，以使所述通信装置执行如权利要求1-5任一项所述的定位方法，或者执行如权利要求6-9任一项所述的定位方法，或者执行如权利要求10-12任一项所述的定位方法，或者执行如权利要求13-19任一项所述的定位方法，或者执行如权利要求20-23任一项所述的定位方法。
  25. 一种计算机可读存储介质，其特征在于，计算机可读存储介质存储有计算机指令或程序，当计算机指令或程序在计算机上运行时，使得如权利要求1-5任一项所述的定位方法被执行，或者如权利要求6-9任一项所述的定位方法被执行，或者如权利要求10-12任一项所述的定位方法被执行，或者如权利要求13-19任一项所述的定位方法被执行，或者如权利要求20-23任一项所述的定位方法被执行。
  26. 一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机指令；当部分或全部所述计算机指令在计算机上运行时，使得如权利要求1-5任一项所述的定位方法被 执行，或者如权利要求6-9任一项所述的定位方法被执行，或者如权利要求10-12任一项所述的定位方法被执行，或者如权利要求13-19任一项所述的定位方法被执行，或者如权利要求20-23任一项所述的定位方法被执行。
  27. 一种通信装置，其特征在于，包括用于执行如权利要求1-5、或者如权利要求6-9、或者如权利要求10-12、或者如权利要求13-19、或者如权利要求20-23中的任一项所述方法的模块。
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