WO2021093710A1 - 一种进行定位的方法、终端及网络侧设备 - Google Patents

一种进行定位的方法、终端及网络侧设备 Download PDF

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Publication number
WO2021093710A1
WO2021093710A1 PCT/CN2020/127573 CN2020127573W WO2021093710A1 WO 2021093710 A1 WO2021093710 A1 WO 2021093710A1 CN 2020127573 W CN2020127573 W CN 2020127573W WO 2021093710 A1 WO2021093710 A1 WO 2021093710A1
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WO
WIPO (PCT)
Prior art keywords
terminal
information
positioning
side device
relative
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Ceased
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PCT/CN2020/127573
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English (en)
French (fr)
Inventor
缪德山
任斌
达人
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Datang Mobile Communications Equipment Co Ltd
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Datang Mobile Communications Equipment Co Ltd
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Filing date
Publication date
Application filed by Datang Mobile Communications Equipment Co Ltd filed Critical Datang Mobile Communications Equipment Co Ltd
Priority to US17/767,921 priority Critical patent/US12276742B2/en
Priority to JP2022527211A priority patent/JP2023501554A/ja
Priority to EP20887763.9A priority patent/EP4061022B1/en
Priority to KR1020227019067A priority patent/KR102828451B1/ko
Publication of WO2021093710A1 publication Critical patent/WO2021093710A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/0051—Allocation of pilot signals, i.e. of signals known to the receiver of dedicated pilots, i.e. pilots destined for a single user or terminal
    • 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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • the present invention relates to the field of communication technology, and in particular to a method, terminal and network side equipment for positioning.
  • a base station and terminal equipment use a Uu interface (a wireless interface between the base station and the terminal).
  • UE1 and UE2 are taken as examples:
  • the sending terminal wants to send data
  • the data is first sent to the base station through the Uu interface between the terminal and its serving base station, and then the base station sends the data received from the receiving end to the outside via the core network equipment
  • the external server determines whether the data needs to be sent to other terminals, and if necessary, forwards the data to the serving base station of the receiving terminal, and the serving base station of the receiving terminal sends the data to the receiving terminal through the Uu interface.
  • D2D Device to Device
  • V2X communication is currently a hot topic in the communication field.
  • V2X communication mainly includes three aspects: Vehicle-to-Vehicle (V2V): Communication between On-Broad Units (OBU) on the vehicle.
  • Vehicle-to-Infrastructure (V2I) The communication between the vehicle and RSU (Road Side Unit).
  • V2P Vehicle-to-Pedestrian, vehicle-to-pedestrian: Communication between vehicles and pedestrians.
  • 3rd Generation Partnership Project 3rd Generation Partnership Project
  • 3GPP 3rd Generation Partnership Project
  • PRS Positioning Reference Signal
  • OTDOA Observed Time Difference of Arrival
  • UDOA Uplink Time Difference of Arrival
  • the current process of positioning the terminal using the above method is relatively cumbersome, and the absolute position of the terminal needs to be determined according to multiple base stations.
  • the relative position between the vehicle needs to be obtained.
  • the present invention provides a method, terminal and network side equipment for positioning, which are used to provide a method for positioning in a V2X scene and simplify the process of positioning in a V2X scene.
  • a positioning method provided by an embodiment of the present invention includes:
  • the first terminal obtains positioning assistance information, and determines the position information of the second terminal relative to the first terminal according to the obtained positioning assistance information.
  • the first terminal determines the position information of the second terminal relative to the first terminal according to the received positioning assistance information, which provides a way for the first terminal to locate the second terminal in the V2X scenario, avoiding relying too much.
  • a base station measures the positions of the first terminal and the second terminal, which further simplifies the process of positioning the peer device (the second terminal) by the first terminal in the V2X scenario, and has strong applicability.
  • acquiring the positioning assistance information by the first terminal includes:
  • the first terminal obtains the time stamp information of the sending time of the first positioning signal by sending the first positioning signal to the second terminal;
  • the first terminal obtains the time stamp information of the receiving moment of the second positioning signal by receiving the second positioning signal sent by the second terminal, and receives the time difference information sent by the second terminal; the time difference The value information is used to indicate the time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent;
  • the first terminal determines the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information, including: timestamp information of the first terminal according to the sending time of the first positioning signal , The time stamp information of the receiving time of the second positioning signal and the time difference information, determine the relative distance between the second terminal and the first terminal; according to the second terminal and the first terminal The relative distance between a terminal determines the relative position between the second terminal and the first terminal.
  • the first terminal determines the second terminal and the first terminal according to the time stamp information of the sending time of the first positioning signal, the time stamp information of the receiving time of the second positioning signal, and the time difference information.
  • the relative distance between a terminal, and the relative position between the two is determined according to the relative distance.
  • the positioning assistance information further includes speed information and speed direction information of the second terminal
  • the determining, by the first terminal, the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information includes:
  • the transmission of the first terminal according to the speed information of the first terminal, the speed direction information of the first terminal, the speed information of the second terminal, the speed direction information of the second terminal, and the first positioning signal
  • the time stamp information of the time, the time stamp information of the receiving time of the second positioning signal, and the time difference information determine the relative distance between the second terminal and the first terminal; according to the second terminal
  • the relative distance from the first terminal determines the relative position between the second terminal and the first terminal.
  • the above method combines the displacement of the first terminal itself and the second terminal in the process of positioning to determine the relative position between the two, and the positioning accuracy is high and the positioning accuracy is improved.
  • acquiring the positioning assistance information by the first terminal includes:
  • the first terminal obtains the receiving time of the second positioning signal by receiving the second positioning signal sent by the second terminal, and receives the time stamp information of the sending time of the second positioning signal;
  • the determining, by the first terminal, the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information includes:
  • the first terminal determines the relative relationship between the second terminal and the first terminal according to the time stamp information of the receiving time of the second positioning signal and the time stamp information of the sending time of the second positioning signal. Distance; the relative position between the second terminal and the first terminal is determined according to the relative distance between the second terminal and the first terminal.
  • the positioning method is simpler, and the higher the accuracy of time synchronization between the first terminal and the second terminal, the higher the positioning accuracy.
  • the determining the relative position between the second terminal and the first terminal according to the relative distance between the second terminal and the first terminal includes:
  • the first terminal determines the relative position between the second terminal and the first terminal according to the angle of arrival of the second positioning signal and the relative distance of the second terminal with respect to the first terminal.
  • acquiring, by the first terminal, positioning assistance information includes: acquiring, by the first terminal, positioning assistance information sent by a network-side device;
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the first terminal performs positioning in combination with the assistance of the network side device, that is, performs positioning through multi-party positioning assistance information, which improves the reliability of positioning.
  • acquiring the positioning assistance information by the first terminal further includes:
  • the first terminal obtains positioning assistance information sent by the network side device; the positioning assistance information further includes: location information of the first terminal relative to the network side device, and location information of the second terminal relative to the network side device And the location information of the network-side device itself; the network-side device obtains the location information of the first terminal relative to the network-side device through the third positioning signal sent by the first terminal, and the first terminal sent by the second terminal Fourth, the positioning signal acquires the position information of the second terminal relative to the network side device.
  • the positioning is performed by the auxiliary information of the network side device.
  • the terminal can obtain relative position information with multiple terminals according to the positioning auxiliary information notified by the network side device. For the terminal, it can quickly obtain the surrounding vehicle condition information. , It also reduces the interaction between terminals and saves signaling overhead.
  • acquiring the positioning assistance information by the first terminal includes: acquiring the positioning assistance information sent by the network side device by the first terminal;
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is sent by the network side device through the first terminal Obtained by the third positioning signal, the absolute position information of the second terminal is obtained by the network side device through the fourth positioning signal sent by the second terminal.
  • a positioning method provided by an embodiment of the present invention includes:
  • the second terminal sends positioning assistance information to the first terminal, so that the first terminal determines the position information relative to the first terminal according to the positioning assistance information.
  • the second terminal after receiving the first positioning signal sent by the first terminal, the second terminal sends the second positioning signal and time difference information to the first terminal; the time difference information is used for Indicate the time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent.
  • the second terminal sends speed information and speed direction information of the second terminal to the first terminal.
  • the second terminal sends the second positioning signal and the time stamp information of the sending time of the second positioning signal to the first terminal.
  • the second terminal sends a third positioning signal to the network side device, so that the network side device determines that the second terminal is relative to the network side device according to the third positioning signal.
  • a positioning method provided by an embodiment of the present invention includes:
  • the network side device receives the third positioning signal sent by the first terminal and the fourth positioning signal sent by the second terminal;
  • the network side device sends positioning assistance information to the first terminal.
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and information about the network side device itself. Location information; the network side device obtains the position information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the position information of the first terminal relative to the network side device through the fourth positioning signal sent by the second terminal Location information of the second terminal relative to the network side device.
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is the network The side device is acquired by the third positioning signal sent by the first terminal, and the absolute position information of the second terminal is acquired by the network side device by the fourth positioning signal sent by the second terminal.
  • an embodiment of the present invention provides a first terminal for positioning, and the first terminal includes: a processor, a memory, and a transceiver;
  • the processor is used to read the program in the memory and execute:
  • the processor is specifically configured to:
  • the time stamp information of the sending time of the first positioning signal is acquired; by receiving the second positioning signal sent by the second terminal, the information of the second positioning signal is acquired Receiving time stamp information, and receiving time difference information sent by a second terminal; the time difference information is used to indicate the time when the second terminal receives the first positioning signal and sends the second positioning signal The time difference between the time; according to the time stamp information of the sending time of the first positioning signal, the time stamp information of the receiving time of the second positioning signal, and the time difference information, determine the second The relative distance between the terminal and the first terminal; the relative position between the second terminal and the first terminal is determined according to the relative distance between the second terminal and the first terminal.
  • the positioning assistance information further includes speed information and speed direction information of the second terminal; the processor is specifically configured to:
  • the speed information of the first terminal the speed direction information of the first terminal, the speed information of the second terminal, the speed direction information of the second terminal, and the time stamp information of the sending time of the first positioning signal .
  • the time stamp information of the receiving moment of the second positioning signal and the time difference information determine the relative distance between the second terminal and the first terminal; according to the second terminal and the first terminal The relative distance between the terminals determines the relative position between the second terminal and the first terminal.
  • the processor is specifically configured to:
  • the relative distance between the second terminal and the first terminal determines the relative position between the second terminal and the first terminal.
  • the processor is specifically configured to:
  • the processor is specifically configured to:
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the processor is further configured to:
  • the positioning assistance information further includes: the location information of the first terminal relative to the network-side device, the location information of the second terminal relative to the network-side device, and the network-side device itself ⁇ location information; the network side device obtains the location information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the location information through the fourth positioning signal sent by the second terminal The location information of the second terminal relative to the network side device.
  • the processor is further configured to:
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is sent by the network side device through the first terminal Obtained by the third positioning signal, the absolute position information of the second terminal is obtained by the network side device through the fourth positioning signal sent by the second terminal.
  • an embodiment of the present invention provides a second terminal for positioning, and the second terminal includes: a processor, a memory, and a transceiver;
  • the processor is used to read the program in the memory and execute:
  • the second positioning signal and time difference information are sent to the first terminal; the time difference information is used to indicate the The time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent.
  • the speed information and the speed direction information of the second terminal are sent to the first terminal.
  • the second positioning signal and the time stamp information of the sending time of the second positioning signal are sent to the first terminal.
  • the processor is further configured to:
  • an embodiment of the present invention provides a network-side device for positioning.
  • the network-side device includes a processor, a memory, and a transceiver;
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself
  • the network-side device obtains the position information of the first terminal relative to the network-side device through the third positioning signal sent by the first terminal, and obtains the second position through the fourth positioning signal sent by the second terminal The location information of the terminal relative to the network side device.
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is the network The side device is acquired by the third positioning signal sent by the first terminal, and the absolute position information of the second terminal is acquired by the network side device by the fourth positioning signal sent by the second terminal.
  • an embodiment of the present invention also provides a computer storable medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods for positioning are implemented.
  • Fig. 1 is a schematic diagram of communication via a network in the background art
  • Fig. 2 is a schematic diagram of direct communication between terminals in the background art
  • Figure 3 is a schematic diagram of a scenario where UL-TDOA (uplink-time different of arrival, uplink signal arrival time difference) is used for terminal positioning;
  • UL-TDOA uplink-time different of arrival, uplink signal arrival time difference
  • Figure 4 is a schematic diagram of a network structure provided by this application.
  • Figure 5 provides a schematic diagram of a positioning system for this application
  • FIG. 6 is a schematic diagram of an interaction flow for positioning in Embodiment 1 of this application.
  • FIG. 7 is a schematic diagram of an application scenario for determining a relative distance provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of another application scenario for determining a relative distance provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of an interaction flow for positioning in Embodiment 2 of this application.
  • FIG. 10 is a schematic diagram of another application scenario provided by an embodiment of the application.
  • FIG. 11 is a schematic diagram of an interaction flow for positioning in Embodiment 3 of this application.
  • FIG. 12 is a schematic diagram of a third application scenario provided by an embodiment of the application.
  • FIG. 13 is a schematic structural diagram of a first terminal for positioning according to an embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of another first terminal for positioning according to an embodiment of the present invention.
  • FIG. 15 is a schematic structural diagram of a second terminal for positioning according to an embodiment of the present invention.
  • 16 is a schematic structural diagram of another second terminal for positioning according to an embodiment of the present invention.
  • FIG. 17 is a schematic structural diagram of a network side device for positioning according to an embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of another network-side device for positioning according to an embodiment of the present invention.
  • FIG. 19 is a schematic flowchart of a method for positioning corresponding to a first terminal according to an embodiment of the present invention.
  • FIG. 20 is a schematic flowchart of a positioning method corresponding to a network side device according to an embodiment of the present invention.
  • the existing 3GPP defines a variety of methods for positioning the terminal, such as OTDOA, UL-TDOA, and so on.
  • OTDOA OTDOA
  • UL-TDOA UL-TDOA
  • FIG. 3 it is a schematic diagram of an application scenario for positioning the UE in the UL-TDOA mode.
  • the communication system shown in Fig. 3 includes evolved NodeB (eNB) 1, eNB2, eNB3, and UE1. Based on this communication system, the process of positioning using the UL-TDOA method is as follows:
  • Step 1 UE1 simultaneously sends uplink positioning reference information PRS to eNB1, eNB2 and eNB3;
  • UE1 sends uplink positioning reference information PRS to eNB1, eNB2, and eNB3 at the same time, where the time when eNB1 receives the PRS is T1 (receiving time), the time when eNB2 receives the PRS is T2, and eNB3 receives the PRS The time is T3.
  • T1, T2, and T3 are the moments when the base station receives the PRS, but in actual applications, the base station only records the difference between T1, T2, T3 and the current timing reference point. For example, the base station expects to receive PRS at symbol 1. , But in fact, the arrival time of the PRS is the time 1us offset by the symbol 1, then the time length of the transmission distance is considered to be 1us, and the base station can pass the time offset value to the positioning server for positioning position calculation.
  • Step 2 The positioning server measures the time difference between two adjacent base stations in eNB1, eNB2 and eNB3;
  • the positioning server (which can be any of eNB1, eNB2, or eNB3, or an independent device other than eNB1, eNB2, and eNB3) measures the relative time difference between each neighboring base station, that is, base station 1 and base station 2.
  • the relative time difference T1-T2 when the PRS is received.
  • the relative time difference T1-T3 when the base station 1 and the base station 3 receive the PRS.
  • the relative time difference T2-T3 when the base station 2 and the base station 3 receive the PRS.
  • the positioning server receives the arrival time difference obtained by each base station when detecting the PRS to perform positioning calculation.
  • Step 3 The positioning server calculates the geographic location (absolute location) of the UE according to the geographic locations and relative time differences T1-T2, T1-T3, and T2-T3 of the three base stations of eNB1, eNB2, and eNB3.
  • the positioning server determines that UE1 It is at the center of the equilateral triangle formed by eNB1, eNB2, and eNB3.
  • the embodiment of the present application provides a method for positioning.
  • the first terminal receives positioning assistance information, and determines the position information of the second terminal relative to the first terminal according to the positioning assistance information, without relying on multiple base stations.
  • Obtaining the location information of the first terminal itself and the location information of the second terminal provides a method suitable for positioning between terminals in a V2X scenario.
  • the technical solutions provided in the embodiments of the present application may be applied to a 5G system, or applied to a future communication system or other similar communication systems.
  • the technical solutions provided by the embodiments of the present application can be applied to a cellular link, and can also be applied to a link between devices, such as a D2D link.
  • the D2D link or V2X link may also be referred to as a side link, where the side link may also be referred to as a side link, a secondary link, or a directly connected channel.
  • the aforementioned terms all refer to links established between devices of the same type, and have the same meaning.
  • the so-called devices of the same type can be the link between the terminal device and the terminal device, the link between the base station and the base station, and the link between the relay node and the relay node.
  • This application The embodiment does not limit this.
  • D2D links defined by 3GPP Release (Rel)-12/13, and there are also car-to-car, car-to-mobile, or car-to-any entity defined by 3GPP for the Internet of Vehicles.
  • V2X link including Rel-14/15. It also includes the V2X link based on the New Radio (NR) system of Rel-16 and subsequent versions that are currently being studied by 3GPP.
  • NR New Radio
  • FIG. 4 is a schematic diagram of a network architecture applied in the embodiment of this application, which includes two terminal devices, namely terminal device 1 (hereinafter referred to as the first terminal) and terminal device 2 (hereinafter referred to as the second terminal).
  • the two terminal devices communicate through a direct link (sidelink).
  • a direct link (sidelink).
  • the number of terminal devices in Figure 1 is just an example.
  • the terminal device in FIG. 1 is an example of a vehicle-mounted terminal device or a car, but the terminal device in the embodiment of the present application is not limited to this.
  • FIG. 4 is only a simplified schematic diagram of an example for ease of understanding.
  • the communication system may also include other network devices or other terminal devices, such as network side devices, which are not shown in FIG. 4.
  • the terminal device may be a wireless terminal device that can receive network device scheduling and instruction information.
  • the wireless terminal device may be a device that provides voice and/or data connectivity to the user, or a handheld device with wireless connection function, or a connection Other processing equipment to the wireless modem.
  • terminal equipment in a 5G network or terminal equipment in a public land mobile network (PLMN) network that will evolve in the future, terminal equipment in an NR communication system, and so on.
  • PLMN public land mobile network
  • vehicle-mounted terminal equipment the vehicle-mounted terminal equipment
  • OBU the vehicle-mounted terminal equipment
  • Network equipment such as access network (AN) equipment, such as a base station (e.g., access point), may refer to those in the access network that communicate with wireless terminal equipment through one or more cells over the air interface
  • AN access network
  • base station e.g., access point
  • the device or, for example, a network device in V2X technology is an RSU.
  • the base station can be used to convert received air frames and Internet Protocol (IP) packets to each other, and serve as a router between the terminal device and the rest of the access network, where the rest of the access network can include the IP network.
  • IP Internet Protocol
  • the RSU can be a fixed infrastructure entity that supports V2X applications, and can exchange messages with other entities that support V2X applications.
  • the network equipment can also coordinate the attribute management of the air interface.
  • the network equipment may include an evolved base station (NodeB or eNB or e-NodeB, evolutional Node B) in a long term evolution (LTE) system or an evolved LTE system (LTE-Advanced, LTE-A), or It can also include the next generation node B (gNB) in the 5G NR system, or it can also include the centralized unit (CU) and distributed unit in the cloud radio access network (CloudRAN) system.
  • a distributed unit (DU) is not limited in the embodiment of the present application.
  • “Multiple” refers to two or more than two. In view of this, “multiple” may also be understood as “at least two” in the embodiments of the present application. "At least one” can be understood as one or more, for example, one, two or more. For example, including at least one means including one, two or more, and it does not limit which ones are included. For example, if at least one of A, B, and C is included, then A, B, C, A and B, A and C, B and C, or A and B and C are included. In the same way, the understanding of "at least one" and other descriptions is similar.
  • ordinal numbers such as “first” and “second” mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority, or importance of multiple objects.
  • first time domain resource and the second time domain resource are only used to distinguish different time domain resources, and not to limit the priority or importance of the two time domain resources.
  • an embodiment of the present invention provides a system for positioning.
  • the system includes: a first terminal 10 and a peer device 20.
  • the first terminal 10 is configured to receive positioning assistance information, and determine the position information of the second terminal relative to the first terminal according to the received positioning assistance information.
  • the opposite device 20 is configured to send positioning assistance information to the first terminal 10.
  • the above-mentioned opposite terminal device 20 may be a second terminal.
  • the first terminal determines the position information of the second terminal relative to the first terminal based on the received positioning assistance information, providing a way for the first terminal to locate the second terminal in the V2X scenario, avoiding relying on Multiple base stations measure the position of the second terminal, which further simplifies the process of positioning the second terminal by the first terminal in the V2X scenario, and has strong applicability.
  • the peer device may be a terminal device that directly has a direct connection channel with the first terminal, or it may be a network-side device.
  • the network-side device determines the location information of the first terminal and the second terminal , And notify the first terminal and the second terminal of the positioning assistance information used to indicate the relative position information between the first terminal and the second terminal, so that in the V2X scenario, the first terminal performs the operation on the second terminal. Positioning to obtain relative position information between the second terminal and the first terminal.
  • the relative position information in the embodiment of the present application includes the relative distance between the two and/or the relative direction angle between the two.
  • the positioning signal in the embodiments of the present application is a signal that can be transmitted between the terminal and the terminal or between the terminal and the network-side device, for example: including but not limited to one or more of the following:
  • PRS channel state information measurement reference signal
  • CSI-RS channel state information measurement reference signal
  • DMRS demodulation reference symbol
  • SSB synchronization signal block
  • data signal is User data transmitted through channels, such as uplink physical shared channel (PUSCH) signals, downlink physical shared channel (Physical Downlink Shared Channel, PDSCH) signals, etc.
  • PUSCH uplink physical shared channel
  • PDSCH Physical Downlink Shared Channel
  • the manner in which the first terminal determines the relative position information of the second terminal relative to the first terminal itself will be introduced.
  • the positioning system shown in FIG. 5 is only for illustration.
  • the positioning system may also include other devices, which may be network devices or may also include other terminal devices.
  • the first terminal It can also serve as a peer device of other devices at the same time, none of which is shown in FIG. 5.
  • the positioning system will be different, and the positioning method and process will also be different.
  • the positioning system shown in FIG. 5 will be described in detail with reference to specific embodiments.
  • UE1 is used as the first terminal in the following, and UE2 is the second terminal.
  • Embodiment 1 A positioning system composed of UE1 and UE2 connected by sidelink.
  • Embodiment 1 is a terminal-to-terminal relative position measurement based on Round-Trip Time (RTT). For example: in the V2X scene, it is the relative position measurement between the car and the car.
  • RTT Round-Trip Time
  • the interaction flow diagram of Embodiment 1 provided for this application includes the following steps:
  • Step 600 Each terminal obtains its own PRS resource configuration information on the sidelink link through its serving base station.
  • the UE1 obtains the resource configuration information of the positioning reference signal PRS1 of the UE1 on the sidelink link through the eNB1.
  • the UE2 obtains the resource configuration information of the positioning reference signal PRS2 of the UE2 on the sidelink link through the eNB2.
  • each terminal performs data transmission with the base station through the Uu port.
  • eNB1 is the serving base station of UE1
  • eNB2 is the serving base station of UE2
  • eNB1 and eNB2 may also be the same base station.
  • step 600 the manner in which the base station determines the PRS resource configuration information of the terminal on the sidelink link and the manner in which the UE configures the PRS according to the PRS resource configuration information are implemented according to the technology of the existing mechanism, which will not be described in detail here. .
  • step 600 is also different. For example, when UE1 and UE2 obtain positioning assistance information based on the data signal, step 600 is not necessary to perform steps, or step 600 is to specifically perform the step of configuring corresponding positioning signals.
  • Step 601 UE1 sends PRS1 to UE2 at the first time.
  • the time stamp of the sending time when UE1 sends PRS1 is the first time (hereinafter referred to as T1)
  • the time stamp of the receiving time when UE2 receives PRS1 is the second time (hereinafter referred to as T2).
  • the time stamp information may be absolute time or the serial number of time domain resources.
  • the number of time domain resources may include, but is not limited to, one or more of the following: radio frame number, subframe number, symbol number, slot number, mini-slot (mini-slot) slot) number, etc.
  • Step 602 UE2 sends PRS2 to UE1 at the third time.
  • the time stamp of the sending time when UE2 sends PRS2 is the third time (hereinafter referred to as T3), and the time stamp of the receiving time when UE1 receives PRS2 is the fourth time (hereinafter referred to as T4).
  • Step 603 UE2 sends to UE1 time difference information used to indicate the length of the interval between T3 and T2;
  • the time difference information sent by UE2 to UE1 may be the interval duration between T3 and T2 (that is, the time difference between T3 and T2) or T2 and T3.
  • the time when UE2 receives PRS1 is 12:59:30 (T2), and the time when UE2 sends PRS2 is 13:05:30 (T3), then UE2 can set the interval between T2 and T3, that is, 12:59:30 and The time difference between 13:05:30 and 6min is sent to UE1; in another example, UE2 can notify UE1 of 12:59:30 (T2) and 13:05:30 (T3), and UE1 determines T2 and The length of the interval between T3.
  • Step 604 UE2 reports its own speed information and speed direction information to UE1;
  • UE2 may also report its own speed information and speed direction information to UE1, where the speed direction of UE2 is determined by UE2 according to the angle between its own moving speed and a preset reference direction.
  • the included angle ranges from 0° to 360°.
  • Step 605 UE1 determines the relative distance between UE2 and itself.
  • the positioning assistance information includes the time stamp information (T1) of the sending time when UE1 sends PRS1, the time stamp information of receiving time when UE1 receives PRS2 sent by UE2 (T4), and the time difference sent by UE2.
  • Determination method 1 Estimate the relative distance between UE1 and UE2 according to PRS2.
  • UE1 determines the relative distance between UE1 and UE2 according to the received power RSRP of PRS2.
  • UE1 determines the signal transmission loss according to the received power RSRP when receiving PRS2 and the transmission power of PRS2, so as to estimate the relative distance between UE1 and UE2.
  • Determination method 2 Determine the relative distance between UE1 and UE2 according to time information.
  • FIG. 7 it is a schematic diagram of an application scenario of positioning signal transmission of PRS1 and PRS2 when UE1 and UE2 are in a relatively static state.
  • d 1 represents the relative distance between UE1 and UE2
  • C light represents the air interface transmission rate, that is, the speed of light
  • ⁇ t represents the total transmission time of PRS1 and PRS2.
  • the relative distance between UE1 and UE2 is L. It should be understood that since the speed of the car is much lower than the speed of light, and the interval between T2 and T1 is small, the interval between T4 and T3 is similarly small, so it can be considered d 1 is infinitely close to L, so here L ⁇ d 1 .
  • the above calculation method can be applied when UE1 and UE2 are relatively stationary or the speed of UE1 and the speed of UE2 both exceed the preset speed.
  • UE2 reports its own speed information and speed direction information to UE1, as in step 604.
  • UE1 determines the relative distance from UE2, it determines the relative distance from UE2 in combination with the speed of UE2 and UE1 itself.
  • UE1 determines the displacement of UE2 in the process of positioning, the displacement of UE1 itself in the process, and the initial distance between UE1 and UE2 to determine the relative distance between UE1 and UE2. That is, UE1 is based on UE1's own speed information, UE1's speed direction information, UE2's speed information, UE2's speed direction information, time stamp information of the transmission time of PRS1 (T1), and time stamp information of the reception time of PRS2 (T4) And the time difference information determines the actual distance between the second terminal and the first terminal.
  • the actual distance includes the starting distance between UE1 and UE2, and from the first terminal sending PRS1 to the first terminal receiving Up to PRS2, the total displacement of UE1 and UE2 during this period of time includes the displacement in the horizontal direction and the displacement in the vertical direction.
  • the speed direction information is the angle between the speed of the terminal and the preset reference direction. As shown in Figure 7, it is assumed that the reference direction is the horizontal direction in the map coordinate system. It should be understood that when UE1 determines its own speed direction and UE2 determines its own speed direction, it is based on the same preset reference direction.
  • FIG 8 another PRS1 and PRS2 signal transmission application scenario schematic diagram provided for this application.
  • the reference direction is the horizontal direction in the map coordinate system.
  • UE1 and UE2 have a relative movement tendency in the vertical direction (perpendicular to the horizontal direction), and are relatively stationary in the horizontal direction.
  • the initial distance between UE1 and UE2 is the vertical distance d 1 .
  • speed of the horizontal direction is the direction angle ⁇ 1, the speed of the horizontal direction UE2 direction angle of [theta] 2 (assuming that the value of ⁇ 1 is positive, the negative value of [theta] 2).
  • V 1 is the moving direction refers to the UE1
  • V 2 refers to the moving direction of UE2:
  • the relative distance d 3 between UE1 and UE2 satisfies:
  • the foregoing calculation method may be applied when UE1 and UE2 have a relative movement tendency, or when the speed of UE1 and/or the speed of UE2 exceeds a preset speed.
  • the information sent by UE2 to UE1 in step 603 and step 604 it can be implemented in step 602, that is, time difference information, UE2 speed information or speed direction information
  • time difference information UE2 speed information or speed direction information
  • UE2 may transmit part or all of the information involved in step 602 to step 604 at one time.
  • UE2 sends PRS2, time difference information, its own speed information and speed direction information to UE1 at the same time, or sends each information separately as shown in Figure 6, or combines the information sent in steps 602 to 604 in pairs. Send later.
  • the speed information and speed direction information reported by UE2 are the speed and speed direction corresponding to the moment when UE2 sends PRS2.
  • Step 606 UE1 estimates the direction angle of UE2 relative to itself according to PRS2.
  • UE1 determines the direction angle of UE2 relative to UE1 according to the angle of arrival of PRS2. Specifically, the process for UE1 to determine the angle of arrival of PRS2 is as follows: UE1 receives PRS2 sent by UE2, UE1 obtains multiple signals through antenna array reception, and searches for a maximum value through local angle weighting vector matching. The angle corresponding to the maximum value is It is the direction angle of the incoming wave, or the MUSIC algorithm is used to estimate the maximum angle component in the received signal to obtain the angle of arrival (Angle of Arrival, AOA).
  • UE1 receives PRS2 sent by UE2, UE1 obtains multiple signals through antenna array reception, and searches for a maximum value through local angle weighting vector matching. The angle corresponding to the maximum value is It is the direction angle of the incoming wave, or the MUSIC algorithm is used to estimate the maximum angle component in the received signal to obtain the angle of arrival (Angle of Arrival, AOA).
  • the direction angle of UE2 relative to UE1 itself is the relative direction angle between the two vehicles. For example, if UE1 determines that the angle of arrival of PRS2 is directly in front of UE1, UE1 can determine that UE2 is located after determining the relative distance between UE2 and itself. , Take UE1 as the center of the circle, and determine the relative distance as the radius on the circle. When the direction angle of UE2 relative to UE1 is determined, a position can be uniquely determined according to the determined direction angle relative to UE1 itself, and this position is the position of UE2 relative to UE1.
  • UE2 may also estimate the relative distance and relative direction angle between UE1 and UE1 based on the foregoing method in combination with the PRS1 received by itself, so as to determine the relative position of UE1.
  • UE1 is the first to initiate positioning.
  • UE1 can either send PRS1 to UE2, or perform UE2 after receiving positioning reference signals sent by other terminals.
  • UE1's own positioning reference information is fed back to the opposite end.
  • UE1 can perform step 601 and step 605 at the same time, or perform step 605 first, and then step 604. That is, UE1 can also determine the relative direction and angle first and then determine the relative distance. Or determine the relative distance and relative direction angle at the same time. Furthermore, the above UE1 using the direction of arrival of PRS2 to determine the relative direction angle between UE2 and UE1 is only an example. UE1 can also use other information sent by UE2, such as time difference information, speed information, or speed direction information. Determine the relative direction angle between UE2 and UE1.
  • Embodiment 2 A positioning system composed of UE1 and UE2 based on sidelink connection.
  • Embodiment 2 is the measurement of the relative position of the terminal and the terminal based on time synchronization.
  • the time of UE1 and UE2 are synchronized.
  • both UE1 and UE2 are synchronized with Global Navigation Satellite System (GNSS) signals to achieve time synchronization between UE1 and UE2.
  • GNSS Global Navigation Satellite System
  • the accuracy of time synchronization The higher the accuracy, the higher the positioning accuracy.
  • the accuracy of time synchronization is milliseconds or microseconds.
  • FIG. 9 it is a schematic diagram of the interaction process of Embodiment 2 provided for this application.
  • This Embodiment 2 can be applied to the application scenario shown in FIG. 4, and specifically includes the following steps:
  • Step 900 Each terminal obtains resource configuration information of its own positioning reference signal PRS on the sidelink link through the base station.
  • step 900 For the execution flow of step 900, refer to the specific operation steps of step 600, which will not be repeated here.
  • Step 901 UE1 receives PRS2 and transmission time information sent by UE2.
  • PRS2 in this embodiment and PRS2 in Embodiment 1 do not refer to the same signal in the same process, but refer to the sidelink-based PRS corresponding to UE2.
  • the PRS2 in different embodiments can be understood as the above statement.
  • the PRS1 in each embodiment can refer to the description of PRS2, which will not be repeated here.
  • UE2 sends PRS2 to UE1, and the time stamp of the time when PRS2 is sent is T3.
  • UE1 receives the PRS2, and the time stamp of the time when the PRS is received is T4.
  • the UE2 sends the time stamp information of the transmission time corresponding to T3 to the UE1, and the time stamp information may be sent together with the PRS2, or sent after the PRS2 is sent. If sent together with PRS2, the time stamp information and PRS2 can be two independent data units, or they can be placed in the data unit of the PRS2, for example, the time stamp of the sending time of PRS2 is added to the data unit carrying PRS2 information.
  • Step 902 UE1 determines the relative distance between UE2 and itself.
  • UE1 may perform determination method 1 in step 605 to determine the relative distance between UE2 and itself.
  • UE1 may also determine the relative distance between UE2 and itself according to the duration of PRS2 transmission.
  • the relative distance D between UE1 and UE2 satisfies:
  • Step 903 UE1 estimates the direction angle of UE2 relative to itself according to PRS2.
  • step 903 For the execution flow of step 903, please refer to the specific operation steps of step 606, which will not be repeated here.
  • UE1 may also send PRS1 and the time stamp information of the time when PRS1 is sent to UE2, and UE2 determines the difference with the time stamp information of the time when UE1 sends PRS1 and the time when PRS1 is received.
  • the distance between UE1 and the azimuth angle of UE1 relative to UE2 is estimated according to PRS1 sent by UE1, see step 905.
  • the process implemented by UE2 can refer to the specific execution steps of step 902 and step 903 on the UE1 side, which will not be repeated here.
  • the first time and the third time introduced in step 601 and step 602 in Embodiment 1 may be preset times, that is, times that are known in advance by both UE1 and UE2.
  • UE1 before sending PRS1, UE1 notifies UE2 of the time (first time) when UE1 sends PRS1 to UE2.
  • UE1 sends the PRS1 to UE2; before sending PRS2, UE2 notifies UE1 of the time (the third time) to send PRS2.
  • the third time arrives, UE2 sends the PRS2 to UE1.
  • the first time is the slot m of each radio frame
  • the third time is the slot n of each radio frame (slot n is located after slot m)
  • UE1 sends to UE2 in slot m of the current radio frame
  • UE2 sends PRS2 to UE1 in slot n.
  • UE2 can according to the time when UE2 actually receives PRS1 ( T2) and the preset first time directly determine the relative position information of UE1 relative to itself, refer to the above formula 7; similarly, after UE1 receives the PRS2 sent by UE2, it can also determine the actual position of UE1 according to the preset third time. The time when PRS2 is received directly determines the relative position information of UE1 relative to itself.
  • UE2 sends PRS2 to UE1 at the preset sending time. Therefore, UE2 does not need to report the timestamp information of the sending time of sending PRS2 to UE1.
  • UE1 is based on the preset sending time and receiving the PRS2.
  • the relative position information of UE2 relative to UE1 itself is determined at the time.
  • the above two embodiments are methods for the terminal to perform positioning based on the sidelink positioning reference signal.
  • the terminal can also combine the network-assisted positioning method with the above two methods to improve positioning accuracy. Give a detailed introduction.
  • Embodiment 3 A positioning system composed of UE1, UE2 and network side equipment (such as a base station).
  • Embodiment 3 is a network-assisted vehicle-to-vehicle relative position measurement. As shown in Figure 10, the scenario where Embodiment 3 provided for this application may be applicable, in which there is a sidelink connection between UE1 and UE2, UE1 and the network side device are connected through an air interface, and UE2 and the network side device also have a sidelink connection. Through the air interface connection, UE1 and UE2 can be positioned through the above-mentioned Embodiment 1 and/or Embodiment 2 on the one hand, and on the other hand can also be combined with network side equipment to assist in positioning.
  • Embodiment 2 can be applied to the application scenario shown in FIG. 10, and specifically includes the following steps:
  • Step 1100 Each terminal obtains the resource configuration information of its own positioning reference signal PRS on the sidelink through the base station, and obtains the resource configuration information of its own positioning reference signal PRS on the Uu port through the base station.
  • Step 1101 UE1 sends Uu port positioning reference signal PRS3 to eNB1, and UE2 sends Uu port positioning reference signal PRS4 to eNB1.
  • the UE1 obtains the resource configuration information of its own positioning reference signal PRS3 at the Uu port through the eNB1, and configures the PRS3 signal according to the resource configuration information of the PRS3.
  • the UE2 obtains the resource configuration information of its own positioning reference signal PRS4 at the Uu port through the eNB1, and configures the PRS4 signal according to the resource configuration information of the PRS4.
  • the time when UE1 sends PRS1 to eNB1 and the time when UE2 sends PRS2 to eNB1 may be at the same time, and the time difference between the two may also be within a certain threshold range. If it is sent at the same time, it can be sent at a preset sending time. For example, eNB1 informs UE1 and UE2 to send positioning reference signals in the same time slot, or UE1 and UE2 exchange time information to determine the time to send positioning reference signals.
  • UE1 and UE2 may perform the steps in the above-mentioned embodiment 1 or the steps in the above-mentioned embodiment 2 to obtain the positioning result based on the sidelink.
  • Step 1102 eNB1 determines the relative position of UE1 and itself, and the relative position of UE2 and itself.
  • eNB1 determines the relative distance and direction angle between UE1 and itself according to PRS1.
  • eNB2 determines the relative distance and direction angle between UE2 and itself according to PRS2.
  • determination method refer to the relevant execution steps in the foregoing Embodiment 1 or Embodiment 2, which will not be repeated here.
  • Step 1103 eNB1 notifies UE1 and UE2 of positioning assistance information respectively.
  • the positioning assistance information includes the relative distance and relative direction angle between UE2 and eNB1 itself, the relative distance and relative direction angle between UE1 and eNB1 itself, and the position information of eNB1 itself.
  • UE1 calculates the relative position of UE2 and itself according to the positioning assistance information notified by eNB1.
  • UE2 calculates the relative position of UE1 and itself according to the positioning assistance information notified by eNB1.
  • the positioning assistance information sent by eNB1 includes location information of eNB1 itself, such as (0, 0) coordinates of eNB1 in the map coordinate system, and the relative position of UE1 relative to eNB1 is (0, 10) coordinates.
  • the relative position of UE2 relative to eNB1 is (0, 20) coordinates, and UE1 can infer the relative position of UE2 relative to UE1 itself based on the above information.
  • eNB1 can also directly determine the absolute positions of the two terminals, and send the absolute position information of the two terminals to UE1 and UE2, and UE1 and UE2 will determine the relative distance and relative direction angle according to the acquired absolute position information. Derive relative position information. Specifically, UE1 determines the relative distance and relative direction angle between UE2 and UE1 according to its absolute position and UE2's absolute position, and determines the position information of UE2 relative to UE1 according to the determined relative distance and relative direction angle.
  • eNB1 may also directly notify UE1 and UE2 of the relative position information between the two terminals. That is, eNB1 determines the relative distance and direction angle between UE1 and UE2, and determines the relative distance between UE2 and UE1. Information such as relative distance and direction angle is sent to UE1. Similarly, the eNB1 may also send the determined information such as the distance and direction angle of the UE1 relative to the UE2 to the UE2.
  • UE1 and UE2 may not be connected to the same serving base station.
  • the base station that UE1 is connected to is eNB1
  • the base station that UE2 is connected to is eNB2, as shown in Figure 12, then in step 1100 and step 1101 , UE1 and UE2 respectively exchange information with their respective servers.
  • UE1 sends a PRS3 signal to eNB1
  • UE2 sends a PRS4 signal to eNB2.
  • eNB1 determines the relative position of UE1 with respect to eNB1 according to PRS3.
  • eNB2 determines the relative position of UE2 with respect to Enb2 according to PRS4.
  • eNB1 and eNB2 perform mutual positioning.
  • eNB1 and eNB2 exchange the positioning results of the terminal to obtain the positioning information of each other's access terminal and the relative position information between the two base stations.
  • eNB1 sends eNB1's access terminal and its own The relative position and the position information of eNB1 relative to eNB2, eNB2 sends to eNB1 the relative position of eNB2's access terminal to itself and the position information of eNB2 relative to eNB1.
  • eNB1 can calculate the relative position of access terminal under eNB2
  • the relative position of the eNB1, and the determined relative position information of each terminal and the position information of the eNB1 itself are notified as UE1.
  • the same eNB2 can also execute the method procedure of eNB1 to notify UE2, which will not be repeated here.
  • eNB1 can notify any terminal of the determined location information of all terminals, Enable the terminal to determine the relative position of itself and other terminals.
  • Step 1104 UE1 determines the relative position of UE2 according to the positioning result of eNB1 and the positioning result based on sidelink.
  • UE1 calculates the position of UE2 relative to UE1 according to the positioning result of eNB1, and determines the relative position of UE2 based on the position of UE2 relative to UE1 itself determined by the method of embodiment 1 or embodiment 2, so as to improve the positioning of UE2 Accuracy.
  • UE1 determines the final UE2 relative to UE1 based on the location information of UE2 and UE1 itself determined by the positioning assistance information of the network side device and the location information of UE2 and UE1 determined in combination with Embodiment 1 and/or Embodiment 2.
  • location information the following are a few:
  • the Uu port signal is strong, it can be understood that the reliability of positioning based on the Uu port signal is high, and UE1 can use the relative position of UE2 determined based on the Uu port signal as the relative position of UE2 and UE1 itself, that is, UE1 uses the network
  • the positioning assistance information notified by the side device shall prevail to determine the position information of UE2 relative to UE1.
  • the distance of UE2 relative to UE1 itself determined by UE1 based on the sidelink link is 10m, and the azimuth angle is 60
  • the distance of UE2 relative to UE1 itself obtained by UE1 according to eNB1 is 11m
  • the azimuth angle is 61.
  • UE1 can perform weighting calculation based on the two results to determine the final relative position of UE2 relative to UE1. For example, UE1 determines that the final relative distance of UE2 relative to UE1 is 10.5m, and the azimuth angle is 60.5.
  • Embodiment 4 A positioning system composed of UE1, UE2 and network side equipment (such as a base station).
  • Embodiment 4 is a positioning method based entirely on network equipment.
  • UE1 and UE2 when UE1 and UE2 do not have a direct communication link, UE1 and UE2 can use the eNB1 in the above embodiment 3.
  • the method of positioning includes the following steps:
  • Each terminal obtains the resource configuration information of its own positioning reference signal PRS at the Uu port through its own serving base station.
  • UE1 sends a Uu port positioning reference signal PRS3 to eNB1, and UE2 sends a Uu port positioning reference signal PRS4 to eNB1.
  • eNB1 determines the relative position of UE1 and itself, and the relative position of UE2 and itself;
  • eNB1 notifies UE1 and UE2 of the positioning result and its own location information.
  • UE1 determines the relative position of UE2 (relative to UE1) according to the positioning result of eNB1.
  • UE2 may also determine the relative position of UE1 relative to UE2 according to the positioning result of eNB1.
  • the embodiment of the present invention also provides a first terminal for positioning. Because the terminal is the first terminal in a positioning system according to the embodiment of the present invention, and the principle of the terminal for solving the problem is the same as The method of the first terminal in the system is similar, so the implementation of this terminal can refer to the implementation of the first terminal in the system, and the repetition will not be repeated.
  • the first terminal for positioning in the first embodiment of the present invention includes a processor 1300, a memory 1301, and a transceiver 1302;
  • the processor 1300 is responsible for managing the bus architecture and general processing, and the memory 1301 may store data used by the processor 1300 when performing operations.
  • the transceiver 1302 is used to receive and send data under the control of the processor 1300.
  • the bus architecture may include any number of interconnected buses and bridges. Specifically, one or more processors represented by the processor 1300 and various circuits of the memory represented by the memory 1301 are linked together.
  • the bus architecture can also link various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are all known in the art, and therefore, will not be further described herein.
  • the bus interface provides the interface.
  • the processor 1300 is responsible for managing the bus architecture and general processing, and the memory 1301 may store data used by the processor 1300 when performing operations.
  • the process disclosed in the embodiment of the present invention may be applied to the processor 1300 or implemented by the processor 1300.
  • each step of the signal processing flow can be completed by an integrated logic circuit of hardware in the processor 1300 or instructions in the form of software.
  • the processor 1300 may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the embodiments of the present invention The disclosed methods, steps and logic block diagrams.
  • the general-purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in combination with the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 1301, and the processor 1300 reads the information in the memory 1301, and completes the steps of the signal processing flow in combination with its hardware.
  • the processor 1300 is configured to read a program in the memory 1301 and execute:
  • processor 1300 is specifically used for:
  • the time stamp information of the receiving moment of the second positioning signal is acquired, and the time difference information sent by the second terminal is received; the time difference information is used to indicate The time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent;
  • the time stamp information of the sending time of the first positioning signal According to the time stamp information of the sending time of the first positioning signal, the time stamp information of the receiving time of the second positioning signal, and the time difference information, it is determined between the second terminal and the first terminal
  • the relative distance between the second terminal and the first terminal is determined according to the relative distance between the second terminal and the first terminal.
  • the positioning assistance information further includes speed information and speed direction information of the second terminal; the processor 1300 is specifically configured to:
  • the speed information of the first terminal the speed direction information of the first terminal, the speed information of the second terminal, the speed direction information of the second terminal, and the time stamp information of the sending time of the first positioning signal .
  • the time stamp information of the receiving moment of the second positioning signal and the time difference information determine the relative distance between the second terminal and the first terminal; according to the second terminal and the first terminal The relative distance between the terminals determines the relative position between the second terminal and the first terminal.
  • the processor 1300 is specifically configured to:
  • the relative distance between the second terminal and the first terminal determines the relative position between the second terminal and the first terminal.
  • the processor 1300 is specifically configured to:
  • the processor 1300 is specifically configured to: obtain positioning assistance information sent by the network side device;
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the processor 1300 is specifically configured to:
  • the positioning assistance information further includes: the location information of the first terminal relative to the network-side device, the location information of the second terminal relative to the network-side device, and the network-side device itself ⁇ location information; the network side device obtains the location information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the location information through the fourth positioning signal sent by the second terminal The location information of the second terminal relative to the network side device.
  • the processor 1300 is specifically configured to:
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is sent by the network side device through the first terminal Obtained by the third positioning signal, the absolute position information of the second terminal is obtained by the network side device through the fourth positioning signal sent by the second terminal.
  • another first terminal for positioning in an embodiment of the present invention includes:
  • Transmission module 1400 used to obtain positioning assistance information
  • the processing module 1401 is configured to determine the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information.
  • the transmission module 1400 is specifically configured to:
  • the time stamp information of the sending time of the first positioning signal is acquired; by receiving the second positioning signal sent by the second terminal, the information of the second positioning signal is acquired Receiving time stamp information, and receiving time difference information sent by a second terminal; the time difference information is used to indicate the time when the second terminal receives the first positioning signal and sends the second positioning signal The time difference between the time;
  • the processing module 1401 is specifically configured to:
  • the time stamp information of the sending time of the first positioning signal According to the time stamp information of the sending time of the first positioning signal, the time stamp information of the receiving time of the second positioning signal, and the time difference information, it is determined between the second terminal and the first terminal
  • the relative distance between the second terminal and the first terminal is determined according to the relative distance between the second terminal and the first terminal.
  • the positioning assistance information further includes speed information and speed direction information of the second terminal;
  • the processing module 1401 is specifically configured to:
  • the speed information of the first terminal the speed direction information of the first terminal, the speed information of the second terminal, the speed direction information of the second terminal, and the time stamp information of the sending time of the first positioning signal .
  • the time stamp information of the receiving moment of the second positioning signal and the time difference information determine the relative distance between the second terminal and the first terminal; according to the second terminal and the first terminal The relative distance between the terminals determines the relative position between the second terminal and the first terminal.
  • the transmission module 1400 is specifically configured to:
  • the processing module 1401 is specifically configured to:
  • the relative distance between the second terminal and the first terminal determines the relative position between the second terminal and the first terminal.
  • processing module 1401 is specifically configured to:
  • the transmission module 1400 is specifically configured to: obtain positioning assistance information sent by the network side device;
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the transmission module 1400 is specifically configured to: obtain positioning assistance information sent by the network side device;
  • the positioning assistance information further includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself; the network side device passes The third positioning signal sent by the first terminal obtains the position information of the first terminal relative to the network side device, and the fourth positioning signal sent by the second terminal obtains the position information of the second terminal relative to the network side device. location information.
  • the transmission module 1400 is further configured to:
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the embodiment of the present invention also provides a second terminal for positioning. Because the terminal is a peer device in a positioning system according to the embodiment of the present invention, and the principle of the terminal for solving the problem is the same as The method of the peer device in the system is similar, so the implementation of the terminal can refer to the implementation of the peer device in the system, and the repetition will not be repeated.
  • an embodiment of the present invention is a second terminal for positioning.
  • the second terminal includes a processor 1500, a memory 1501, and a transceiver 1502;
  • the processor 1500 is responsible for managing the bus architecture and general processing, and the memory 1501 can store data used by the processor 1500 when performing operations.
  • the transceiver 1502 is used to receive and transmit data under the control of the processor 1500.
  • the bus architecture may include any number of interconnected buses and bridges. Specifically, one or more processors represented by the processor 1500 and various circuits of the memory represented by the memory 1501 are linked together.
  • the bus architecture can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are all known in the art, and therefore, no further descriptions are given here.
  • the bus interface provides the interface.
  • the processor 1500 is responsible for managing the bus architecture and general processing, and the memory 1501 can store data used by the processor 1500 when performing operations.
  • the process disclosed in the embodiment of the present invention may be applied to the processor 1500 or implemented by the processor 1500.
  • each step of the signal processing flow can be completed by an integrated logic circuit of hardware in the processor 1500 or instructions in the form of software.
  • the processor 1500 may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the embodiments of the present invention The disclosed methods, steps and logic block diagrams.
  • the general-purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in combination with the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 1501, and the processor 1500 reads the information in the memory 1501, and completes the steps of the signal processing flow in combination with its hardware.
  • the processor 1500 is configured to read a program in the memory 1501 and execute:
  • the positioning assistance information is sent to the first terminal through the transceiver 1502, so that the first terminal determines the position information relative to the first terminal according to the positioning assistance information.
  • processor 1500 is specifically configured to:
  • the time difference information is used to instruct the second terminal to receive the first positioning signal The time difference between the time at and the time at which the second positioning signal is sent.
  • the positioning assistance information of the first terminal includes time information when the first terminal sends the positioning assistance information
  • the processor 1500 is further configured to send speed information and speed direction information of the second terminal to the first terminal.
  • the processor 1500 is further configured to send the second positioning signal and the time stamp information of the sending time of the second positioning signal to the first terminal.
  • the processor 1500 is further configured to: send a third positioning signal to the network-side device, so that the network-side device determines that the second terminal is relative to the network-side device according to the third positioning signal Location information or absolute location information of the second terminal.
  • another second terminal for positioning in an embodiment of the present invention includes:
  • the sending module 1600 is configured to send positioning assistance information to the first terminal, so that the first terminal determines the position information relative to the first terminal according to the positioning assistance information.
  • the control module 1601 is used to control the sending module 1600 to send positioning assistance information to the first terminal.
  • the sending module 1600 is specifically configured to: after receiving the first positioning signal sent by the first terminal, send a second positioning signal and time difference information to the first terminal; the time difference information is used for Indicate the time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent.
  • the sending module 1600 is further configured to send speed information and speed direction information of the second terminal to the first terminal.
  • the sending module 1600 is specifically configured to send the second positioning signal and the time stamp information of the sending time of the second positioning signal to the first terminal.
  • the sending module 1600 is further configured to send a third positioning signal to the network-side device, so that the network-side device determines the position of the second terminal relative to the network-side device according to the third positioning signal. Location information or absolute location information of the second terminal.
  • the embodiment of the present invention also provides a network-side device for positioning. Because the network-side device is the network side of a positioning system in the embodiment of the present invention, and the principle of the terminal to solve the problem The method is similar to the method of the network side device in the system, so the implementation of the network side device can refer to the implementation of the peer device in the system, and the repetition will not be repeated.
  • an embodiment of the present invention is a network-side device for positioning.
  • the network-side device includes a processor 1700, a memory 1701, and a transceiver 1702;
  • the processor 1700 is responsible for managing the bus architecture and general processing, and the memory 1701 can store data used by the processor 1700 when performing operations.
  • the transceiver 1702 is used to receive and transmit data under the control of the processor 1700.
  • the bus architecture may include any number of interconnected buses and bridges. Specifically, one or more processors represented by the processor 1700 and various circuits of the memory represented by the memory 1701 are linked together.
  • the bus architecture can also link various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are all known in the art, and therefore, will not be further described herein.
  • the bus interface provides the interface.
  • the processor 1700 is responsible for managing the bus architecture and general processing, and the memory 1701 can store data used by the processor 1700 when performing operations.
  • the process disclosed in the embodiment of the present invention may be applied to the processor 1700 or implemented by the processor 1700.
  • each step of the signal processing flow can be completed by an integrated logic circuit of hardware in the processor 1700 or instructions in the form of software.
  • the processor 1700 may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the embodiments of the present invention The disclosed methods, steps and logic block diagrams.
  • the general-purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in combination with the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 1701, and the processor 1700 reads the information in the memory 1701, and completes the steps of the signal processing flow in combination with its hardware.
  • the processor 1700 is configured to read a program in the memory 1701 and execute:
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself; the network The side device obtains the position information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the position information of the second terminal relative to the network side device through the fourth positioning signal sent by the second terminal. Location information of the side device.
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal means that the network-side device passes the second terminal Obtained by a third positioning signal sent by a terminal, and the absolute position information of the second terminal is obtained by the network side device through a fourth positioning signal sent by the second terminal.
  • another network-side device for positioning in an embodiment of the present invention includes:
  • Receiving module 1800 used to receive the third positioning signal sent by the first terminal and the fourth positioning signal sent by the second terminal;
  • Notification module 1801 Send positioning assistance information to the first terminal.
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself; the network The side device obtains the position information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the position information of the second terminal relative to the network side device through the fourth positioning signal sent by the second terminal. Location information of the side device.
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal means that the network-side device passes the second terminal Obtained by a third positioning signal sent by a terminal, and the absolute position information of the second terminal is obtained by the network side device through a fourth positioning signal sent by the second terminal.
  • the embodiment of the present invention also provides a method for positioning, because this method corresponds to a method corresponding to the first terminal in the positioning system of the embodiment of the present invention, and this method solves the problem
  • the principle of the device is similar to that of the device, so the implementation of the method can refer to the implementation of the device, and the repetition will not be repeated.
  • FIG. 19 it is a flowchart of a positioning method provided by an embodiment of the present invention, which specifically includes the following steps:
  • Step 1900 the first terminal obtains positioning assistance information
  • Step 1901 The first terminal determines the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information.
  • the obtaining of positioning assistance information by the first terminal includes:
  • the first terminal obtains the time stamp information of the sending time of the first positioning signal by sending the first positioning signal to the second terminal;
  • the first terminal obtains the time stamp information of the receiving moment of the second positioning signal by receiving the second positioning signal sent by the second terminal, and receives the time difference information sent by the second terminal; the time difference The value information is used to indicate the time difference between the time when the second terminal receives the first positioning signal and the time when the second positioning signal is sent;
  • the first terminal determines the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information, including: timestamp information of the first terminal according to the sending time of the first positioning signal , The time stamp information of the receiving time of the second positioning signal and the time difference information, determine the relative distance between the second terminal and the first terminal; according to the second terminal and the first terminal The relative distance between a terminal determines the relative position between the second terminal and the first terminal.
  • the positioning assistance information further includes speed information and speed direction information of the second terminal;
  • the determining, by the first terminal, the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information includes:
  • the transmission of the first terminal according to the speed information of the first terminal, the speed direction information of the first terminal, the speed information of the second terminal, the speed direction information of the second terminal, and the first positioning signal
  • the time stamp information of the time, the time stamp information of the receiving time of the second positioning signal, and the time difference information determine the relative distance between the second terminal and the first terminal; according to the second terminal
  • the relative distance from the first terminal determines the relative position between the second terminal and the first terminal.
  • the obtaining of positioning assistance information by the first terminal includes:
  • the first terminal obtains the receiving time of the second positioning signal by receiving the second positioning signal sent by the second terminal, and receives the time stamp information of the sending time of the second positioning signal;
  • the determining, by the first terminal, the position information of the second terminal relative to the first terminal according to the acquired positioning assistance information includes:
  • the first terminal determines the relative relationship between the second terminal and the first terminal according to the time stamp information of the receiving time of the second positioning signal and the time stamp information of the sending time of the second positioning signal. Distance; the relative position between the second terminal and the first terminal is determined according to the relative distance between the second terminal and the first terminal.
  • the determining the relative position between the second terminal and the first terminal according to the relative distance between the second terminal and the first terminal includes:
  • the first terminal determines the relative position between the second terminal and the first terminal according to the angle of arrival of the second positioning signal and the relative distance of the second terminal with respect to the first terminal.
  • the acquiring, by the first terminal, the positioning assistance information includes: acquiring, by the first terminal, the positioning assistance information sent by the network side device;
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and location information of the network side device itself;
  • the location information of the network-side device is obtained by the network-side device through the third positioning signal sent by the first terminal, and the location information of the second terminal relative to the network-side device is that the network-side device passes through the first terminal. Obtained by the fourth positioning signal sent by the second terminal.
  • the obtaining of positioning assistance information by the first terminal further includes:
  • the first terminal obtains positioning assistance information sent by the network side device; the positioning assistance information further includes: location information of the first terminal relative to the network side device, and location information of the second terminal relative to the network side device And the location information of the network-side device itself; the network-side device obtains the location information of the first terminal relative to the network-side device through the third positioning signal sent by the first terminal, and the first terminal sent by the second terminal Fourth, the positioning signal acquires the position information of the second terminal relative to the network side device.
  • the acquiring, by the first terminal, the positioning assistance information includes: acquiring, by the first terminal, the positioning assistance information sent by the network side device;
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is sent by the network side device through the first terminal Obtained by the third positioning signal, the absolute position information of the second terminal is obtained by the network side device through the fourth positioning signal sent by the second terminal.
  • the embodiment of the present invention also provides a method for positioning, because this method corresponds to a method corresponding to the second terminal in a positioning system according to the embodiment of the present invention.
  • the principle of the method for solving the problem is similar to that of the device, so the implementation of the method can refer to the implementation of the device, and the repetition will not be repeated.
  • the embodiment of the present invention provides a second terminal side positioning method, which specifically includes the following steps:
  • the second terminal sends positioning assistance information to the first terminal, so that the first terminal determines the position information relative to the first terminal according to the positioning assistance information.
  • the second terminal after receiving the first positioning signal sent by the first terminal, the second terminal sends a second positioning signal and time difference information to the first terminal; the time difference information is used to indicate the second terminal The time difference between the time when the first positioning signal is received and the time when the second positioning signal is sent.
  • the second terminal sends speed information and speed direction information of the second terminal to the first terminal.
  • the second terminal sends the second positioning signal and the time stamp information of the sending time of the second positioning signal to the first terminal.
  • the second terminal sends a third positioning signal to the network-side device, so that the network-side device determines the position information of the second terminal relative to the network-side device according to the third positioning signal or Absolute location information of the second terminal.
  • the embodiment of the present invention also includes a computer storable medium for positioning, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in FIG. 17 are implemented, or the positioning is performed on the second terminal side. Steps of the method.
  • the embodiment of the present invention also provides a method for positioning, because this method corresponds to a method corresponding to the network side device in the positioning system in the embodiment of the present invention, and this method solves the problem
  • the principle of the device is similar to that of the device, so the implementation of the method can refer to the implementation of the device, and the repetition will not be repeated.
  • FIG. 20 it is a flowchart of a positioning method provided by an embodiment of the present invention, which specifically includes the following steps:
  • Step 2000 The network side device receives the third positioning signal sent by the first terminal and the fourth positioning signal sent by the second terminal;
  • Step 2001 The network side device sends positioning assistance information to the first terminal.
  • the positioning assistance information includes: location information of the first terminal relative to the network side device, location information of the second terminal relative to the network side device, and information about the network side device itself. Location information; the network side device obtains the position information of the first terminal relative to the network side device through the third positioning signal sent by the first terminal, and obtains the position information of the first terminal relative to the network side device through the fourth positioning signal sent by the second terminal Location information of the second terminal relative to the network side device.
  • the positioning assistance information includes: absolute position information of the first terminal and absolute position information of the second terminal; the absolute position information of the first terminal is the network The side device is acquired by the third positioning signal sent by the first terminal, and the absolute position information of the second terminal is acquired by the network side device by the fourth positioning signal sent by the second terminal.
  • the embodiment of the present invention also includes a computer storable medium for positioning, on which a computer program is stored.
  • a computer program When the program is executed by a processor, the steps of the method described in FIG. 19 are implemented, or the second terminal in the positioning system is implemented. The steps of the method described on the side, or the steps of implementing the method described in FIG. 20 above.
  • this application can also be implemented by hardware and/or software (including firmware, resident software, microcode, etc.).
  • this application may take the form of a computer program product on a computer-usable or computer-readable storage medium, which has a computer-usable or computer-readable program code implemented in the medium to be used or used by the instruction execution system. Used in conjunction with the instruction execution system.
  • a computer-usable or computer-readable medium can be any medium that can contain, store, communicate, transmit, or transmit a program for use by an instruction execution system, apparatus, or device, or in combination with an instruction execution system, Device or equipment use.

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Abstract

本发明公开了一种进行定位的方法、终端及网络侧设备，涉及通信技术领域，用以提供一种在V2X场景中进行定位的方式，简化V2X场景下进行定位的流程。本申请实施例中第一终端根据接收到的定位辅助信息确定第二终端相对于第一终端的位置信息，提供了一种在V2X场景下第一终端对对端设备进行定位的方式，避免通过依赖多个基站来测量第一终端和第二终端的位置，进一步简化了在V2X场景下第一终端对第二终端进行定位的流程，应用性较强。

Description

一种进行定位的方法、终端及网络侧设备
相关申请的交叉引用
本申请要求在2019年11月11日提交中国专利局、申请号为201911094955.7、申请名称为“一种进行定位的方法、终端及网络侧设备”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
本发明涉及通信技术领域，特别涉及一种进行定位的方法、终端及网络侧设备。
背景技术
目前无线通信领域主要有两种通信方式：
经由网络的通信方式和直接通信方式。
1、经由网络的通信方式；
传统的经由网络通信的方式如图1所示，其中基站和终端设备(user equipment，UE)之间使用Uu接口(基站和终端的无线接口)，图1中以UE1和UE2为例：
对于经由网络的通信方式，发送终端(UE)如果要发送数据，那么数据首先通过终端和其服务基站之间的Uu接口发送给基站，然后基站将接收端到的数据经由核心网设备送到外部服务器，由外部服务器判断数据是否需要发送给其他终端，如果需要，则将数据转发给接收终端的服务基站，接收终端的服务基站再将数据通过Uu接口发送给接收终端。
2、直接通信方式；
直接通信的方式如图2所示：
终端之间采用设备到设备(Device to Device，D2D)技术实现直接通信。
车与万物(Vehicle-to-Everything,V2X)通信是目前通信领域一个热门议 题。V2X通信主要包含三方面内容：车到车(Vehicle-to-Vehicle，V2V)：车上的车载单元(On Broad Unit，OBU)之间的通信。车到网络(Vehicle-to-Infrastructure，V2I)：车和RSU(Road Side Unit，路侧设备)之间的通信。V2P(Vehicle-to-Pedestrian，车到行人)：车和行人之间的通信。
目前，在上述1中所示的经由网络的通信方式中，定义了多种对终端进行定位的方式，例如第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)定义的通过测量3GPP无线通信系统的自身定位参考信号(Positioning Reference Signal，PRS)的UE定位方法，例如到达时间差定位法(Observed Time Difference of Arrival，OTDOA)，上行到达时间差(Uplink Time Difference of Arrival，UTDOA)等等，但上述方式都依赖于多个基站对一个终端进行定位。
现有使用上述方式对终端进行定位的流程比较繁琐，需要根据多个基站来确定终端的绝对位置，而在V2X通信场景中，需要获取车与车之间的相对位置，目前还没有针对V2X场景的定位方式。
发明内容
本发明提供一种进行定位的方法、终端及网络侧设备，用以提供一种在V2X场景中进行定位的方式，简化V2X场景下进行定位的流程。
第一方面，本发明实施例提供的一种进行定位的方法包括：
第一终端获取定位辅助信息，并根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
上述方法，第一终端根据接收到的定位辅助信息确定第二终端相对于第一终端的位置信息，提供了一种在V2X场景下第一终端对第二终端进行定位的方式，避免通过依赖多个基站来测量第一终端和第二终端的位置，进一步简化了在V2X场景下第一终端对对端设备(第二终端)进行定位的流程，应用性强。
在一种可选的实施方式中，所述第一终端获取定位辅助信息，包括：
所述第一终端通过向第二终端发送所述第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；
所述第一终端通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：所述第一终端根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
上述方法，第一终端根据第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离，并根据相对距离确定两者之间的相对位置，上述流程对第一终端和第二终端的时间同步要求较低，避免通过多个基站来进行定位，行定位的方式简单，应用性较强。
在一种可选的实施方式中，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；
所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：
所述第一终端根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
上述方法，结合第一终端自身和第二终端在进行定位的过程中的位移确定两者之间的相对位置，定位精度高，提高了定位的准确性。
在一种可选的实施方式中，所述第一终端获取定位辅助信息，包括：
第一终端通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
所述第一终端根据获取到的所述定位辅助信息确定所述第二终端相对于所述第一终端的位置信息，包括：
所述第一终端根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
上述方法，进行定位的方式更加简单，第一终端与第二终端的时间同步的精度越高，定位精度也越高。
在一种可选的实施方式中，所述根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置，包括：
所述第一终端根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
在一种可选的实施方式中，所述第一终端获取定位辅助信息，包括：所述第一终端获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
上述方法，第一终端结合网络侧设备的辅助进行定位，即通过多方的定位辅助信息进行定位，提高了定位的可靠性。
在一种可选的实施方式中，所述第一终端获取定位辅助信息，还包括：
所述第一终端获取网络侧设备发送的定位辅助信息；所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
上述方法，通过网络侧设备辅助信进行定位的方式，终端可以根据网络侧设备通知的定位辅助信息获取与多个终端之间的相对位置信息，对于终端而言，能够较快获取周围的车况信息，同时也减少了终端之间的交互，节省了信令开销。
在一种可选的实施方式中，所述第一终端获取定位辅助信息包括：所述第一终端获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
第二方面，本发明实施例提供的一种进行定位的方法包括：
第二终端向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
在一种可选的实施方式中，第二终端接收第一终端发送的第一定位信号之后，向所述第一终端发送第二定位信号和时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值。
在一种可选的实施方式中，所述第二终端向所述第一终端发送所述第二终端的速度信息和速度方向信息。
在一种可选的实施方式中，所述第二终端向所述第一终端发送第二定位 信号和所述第二定位信号的发送时刻的时间戳信息。
在一种可选的实施方式中，所述第二终端向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
第三方面，本发明实施例提供的一种进行定位的方法包括：
网络侧设备接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
所述网络侧设备向所述第一终端发送定位辅助信息。
在一种可选的实施方式中，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
在一种可选的实施方式中，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
第四方面，本发明实施例提供的一种进行定位的第一终端，该第一终端包括：处理器、存储器和收发机；
其中，所述处理器，用于读取存储器中的程序并执行：
获取定位辅助信息；根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
在一种可能的实现方式中，所述处理器具体用于：
通过向第二终端发送所述第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值 信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
在一种可能的实现方式中，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；所述处理器具体用于：
根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
在一种可能的实现方式中，所述处理器具体用于：
通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
在一种可能的实现方式中，所述处理器具体用于：
根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
在一种可能的实现方式中，所述处理器具体用于：
获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、 所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
在一种可能的实现方式中，所述处理器还用于：
获取网络侧设备发送的定位辅助信息；所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
在一种可能的实现方式中，所述处理器还用于：
获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
第五方面，本发明实施例提供的一种进行定位的第二终端，该第二终端包括：处理器、存储器和收发机；
其中，所述处理器，用于读取存储器中的程序并执行：
向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
在一种可选的实施方式中，接收第一终端发送的第一定位信号之后，向所述第一终端发送第二定位信号和时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值。
在一种可选的实施方式中，向所述第一终端发送所述第二终端的速度信 息和速度方向信息。
在一种可选的实施方式中，向所述第一终端发送第二定位信号和所述第二定位信号的发送时刻的时间戳信息。
在一种可选的实施方式中，所述处理器，还用于：
向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
第六方面，本发明实施例提供的一种进行定位的网络侧设备，该网络侧设备包括：处理器、存储器和收发机；
接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；向所述第一终端发送定位辅助信息。
在一种可选的实施方式中，定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
在一种可选的实施方式中，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
第七方面，本发明实施例还提供一种计算机可存储介质，其上存储有计算机程序，该程序被处理器执行时实现进行定位中任一一种方法的步骤。
另外，第四方面至第七方面中任一一种实现方式所带来的技术效果可参见第一方面及第三方面中不同实现方式所带来的技术效果，此处不再赘述。
附图说明
图1为背景技术中经由网络通信的示意图；
图2为背景技术中终端直接通信的示意图；
图3为使用UL-TDOA(uplink-time different of arrival，上行链路信号到达时间差)方式进行终端定位的场景示意图；
图4为本申请提供的一种网络结构示意图；
图5为本申请提供一种定位系统示意图；
图6为本申请实施例1中进行定位的交互流程示意图；
图7为本申请实施例提供的一种确定相对距离的应用场景示意图；
图8为本申请实施例提供的另一种确定相对距离的应用场景示意图；
图9为本申请实施例2中进行定位的交互流程示意图；
图10为本申请实施例提供的另一种应用场景示意图；
图11为本申请实施例3中进行定位的交互流程示意图；
图12为本申请实施例提供的第三种应用场景示意图。
图13为本发明实施例提供的一种进行定位的第一终端的结构示意图；
图14为本发明实施例另一种进行定位的第一终端的结构示意图；
图15为本发明实施例一种进行定位的第二终端的结构示意图；
图16为本发明实施例另一种进行定位的第二终端的结构示意图；
图17为本发明实施例一种进行定位的网络侧设备的结构示意图；
图18为本发明实施例另一种进行定位的网络侧设备的结构示意图；
图19为本发明实施例提供的一种第一终端对应的进行定位的方法流程示意图；
图20为本发明实施例提供的一种网络侧设备对应的进行定位的方法流程示意图。
具体实施方式
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发 明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
现有3GPP定义了多种对终端进行定位的方式，例如OTDOA，UL-TDOA等。下面以UL-TDOA为例，对现有经由网络通信的场景下对终端进行定位的方式进行说明：
如图3所述，为通过UL-TDOA方式对UE进行定位的应用场景示意图。图3所示的通信系统包括演进型基站(Evolved NodeB，eNB)1、eNB2、eNB3和UE1，基于该通信系统使用UL-TDOA方式进行定位的流程如下：
步骤1：UE1同时向eNB1、eNB2和eNB3发送上行定位参考信息PRS；
如图3所述，UE1同时向eNB1、eNB2和eNB3发送上行定位参考信息PRS，其中，eNB1接收该PRS的时间为T1(即接收时刻)，eNB2接收该PRS的时间为T2，eNB3接收该PRS的时间为T3，上述T1、T2和T3皆为基站接收到PRS的时刻，但在实际应用中，基站仅记录T1、T2、T3和当前定时基准点的差异，比如基站预期在符号1接收PRS，但实际上PRS的到达时间是偏移符号1的时间1us，则认为传输距离经历的时间长度1us，基站可以把时间偏移值传递到定位服务器，进行定位位置计算。
步骤2：由定位服务器测量eNB1、eNB2和eNB3中各相邻俩基站之间的时间差；
由定位服务器(可以是eNB1、eNB2或eNB3中的任一个，或是eNB1、eNB2和eNB3之外的一个独立的装置)测量各相邻基站两两之间的相对时间差，即基站1与基站2接收到该PRS的相对时间差T1-T2。基站1与基站3接收到该PRS的相对时间差T1-T3。基站2与基站3接收到该PRS的相对时间差T2-T3。可选的，定位服务器接收各个基站在检测PRS时获得到达时间差进行定位计算。
步骤3：定位服务器根据eNB1、eNB2和eNB3三个基站的地理位置和相对时间差T1-T2，T1-T3和T2-T3推算出UE的地理位置(绝对位置)。
比如，举一个简单的例子，假设eNB1、eNB2和eNB3分别位于同一个 等边三角形的其中一个顶点，且T1-T2，T1-T3和T2-T3的值都为0，则定位服务器确定该UE1处于eNB1、eNB2和eNB3形成的等边三角形的中心位置。
现有，对于在经由网络的通信系统中，对于终端进行定位时需要终端与多个基站进行信息交互，多个基站之间也可能需要进行信息交互，以此来对终端进行定位，来获取终端的绝对位置，而对于V2X通信而言，车与车之间要确定对端的位置信息时，若使用上述定位方式，则需要两车同时向各自相邻的多个基站发送定位参考信号，再由两侧的基站或两终端之间交互各自的绝对位置信息，定位流程复杂，现有还没有对V2X终端进行定位的方案。
鉴于此，本申请实施例提供了一种进行定位的方法，第一终端接收定位辅助信息，并根据定位辅助信息来确定第二终端相对于第一终端的位置信息，不需要依赖多个基站来获取第一终端自身的位置信息和第二终端的位置信息，提供了一种适用于V2X场景的终端之间进行定位的方式。
本申请实施例提供的技术方案可以应用于5G系统，或者应用于未来的通信系统或其他类似的通信系统。另外，本申请实施例提供的技术方案可以应用于蜂窝链路，也可以应用于设备间的链路，例如D2D链路。D2D链路或V2X链路，也可以称为侧行链路(sidelink)，其中侧行链路也可以称为边链路、副链路或直连通道等。在本申请实施例中，上述的术语都是指相同类型的设备之间建立的链路，其含义相同。所谓相同类型的设备，可以是终端设备到终端设备之间的链路，也可以是基站到基站之间的链路，还可以是中继节点到中继节点之间的链路等，本申请实施例对此不做限定。对于终端设备和终端设备之间的链路，有3GPP的版本(Rel)-12/13定义的D2D链路，也有3GPP为车联网定义的车到车、车到手机、或车到任何实体的V2X链路，包括Rel-14/15。还包括目前3GPP正在研究的Rel-16及后续版本的基于新空口(New Radio，NR)系统的V2X链路等。
下面介绍本申请实施例所应用的网络架构。请参考图4，为本申请实施例所应用的一种网络架构示意图，包括两个终端设备，分别为终端设备1(下文称第一终端)和终端设备2(下文称第二终端)。
这两个终端设备之间通过直连通道(sidelink)进行通信。当然图1中的终端设备的数量只是举例。并且，图1中的终端设备是以车载终端设备或车为例，但本申请实施例中的终端设备不限于此。
应理解，图4仅为便于理解而示例的简化示意图，该通信系统中还可以包括其他网络设备或者还可以包括其他终端设备，比如：网络侧设备，图4中均未予以画出。
在介绍本申请的技术方案前，首先对本申请实施例中的部分用语进行解释说明，以便于本领域技术人员理解。
(1)终端设备可以是能够接收网络设备调度和指示信息的无线终端设备，无线终端设备可以是指向用户提供语音和/或数据连通性的设备，或具有无线连接功能的手持式设备、或连接到无线调制解调器的其他处理设备。例如，5G网络中的终端设备或者未来演进的公共陆地移动网络(public land mobile network，PLMN)网络中的终端设备，NR通信系统中的终端设备等。
而如上介绍的各种终端设备，如果位于车辆上(例如放置在车辆内或安装在车辆内)，都可以认为是车载终端设备，车载终端设备例如也称为OBU。
(2)网络设备，例如包括接入网(access network，AN)设备，例如基站(例如，接入点)，可以是指接入网中在空口通过一个或多个小区与无线终端设备通信的设备，或者例如，一种V2X技术中的网络设备为RSU。基站可用于将收到的空中帧与网际协议(Internet Protocol，IP)分组进行相互转换，作为终端设备与接入网的其余部分之间的路由器，其中接入网的其余部分可包括IP网络。RSU可以是支持V2X应用的固定基础设施实体，可以与支持V2X应用的其他实体交换消息。网络设备还可协调对空口的属性管理。例如，网络设备可以包括长期演进(long term evolution，LTE)系统或演进的LTE系统(LTE-Advanced，LTE-A)中的演进型基站(NodeB或eNB或e-NodeB，evolutional Node B)，或者也可以包括5G NR系统中的下一代节点B(next generation node B，gNB)或者也可以包括云接入网(cloud radio access network，CloudRAN)系统中的集中式单元(centralized unit，CU)和分布式单元 (distributed unit，DU)，本申请实施例并不限定。
3)本申请实施例中的术语“系统”和“网络”可被互换使用。“多个”是指两个或两个以上，鉴于此，本申请实施例中也可以将“多个”理解为“至少两个”。“至少一个”，可理解为一个或多个，例如理解为一个、两个或更多个。例如，包括至少一个，是指包括一个、两个或更多个，而且不限制包括的是哪几个。例如，包括A、B和C中的至少一个，那么包括的可以是A、B、C，A和B，A和C，B和C，或A和B和C。同理，对于“至少一种”等描述的理解，也是类似的。
4)本申请实施例中的术语“和/或”，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：单独存在A，同时存在A和B，单独存在B这三种情况。另外，字符“/”，如无特殊说明，一般表示前后关联对象是一种“或”的关系。
除非有相反的说明，本申请实施例提及“第一”、“第二”等序数词用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如第一时域资源和第二时域资源，只是为了区分不同的时域资源，并不是限制这两个时域资源的优先级或重要程度等。
接下来结合附图介绍本申请实施例提供的技术方案。以下，不失一般性，以两个终端设备之间的交互过程为例进行详细说明本申请实施例。
如图5所示，本发明实施例提供的是一种进行定位的系统，该系统包括：第一终端10和对端设备20。
第一终端10，用于接收定位辅助信息，根据接收到的所述定位辅助信息确定所述第二终端相对于第一终端的位置信息。
对端设备20，用于向第一终端10发送定位辅助信息。
在一些具体的实施例中，上述对端设备20可以为第二终端。
通过上述方法，第一终端根据接收到的定位辅助信息确定第二终端相对于第一终端的位置信息，提供了一种在V2X场景下第一终端对第二终端进行定位的方式，避免通过依赖多个基站来测量第二终端的位置，进一步简化了 在V2X场景下第一终端对第二终端进行定位的流程，应用性强。
本申请提供的进行定位的系统中，对端设备可以是直接与第一终端具有直连通道的终端设备，也可以是网络侧设备，由网络侧设备确定第一终端和第二终端的位置信息，并将用于指示第一终端和第二终端之间的相对位置信息的定位辅助信息分别通知给第一终端和第二终端，由此实现在V2X场景下，第一终端对第二终端进行定位，以获取第二终端与第一终端之间的相对位置信息。
其中，本申请实施例中的相对位置信息包括两者之间的相对距离和/或两者之间的相对方向角度。
本申请实施例确定两者之间的相对距离的方式有多种，包括但不限于下列方式：
1)根据定位信号的传输时长确定；
2)根据信号的传输损耗与传输距离的关系确定。
本申请实施例确定两者之间的相对方向角度的方式也有多种，比如，根据定位信号的来波方向等。因此，本申请实施例中的定位信号为终端与终端之间或终端与网络侧设备之间能够传输的信号，比如：包括但不限于下列中的一项或多项：
PRS、信道状态信息测量参考信号(channel state information reference signal，CSI-RS)、解调参考符号(Demodulation Reference Symbol，DMRS)、同步信号块(synchronization signal block，SSB)或数据信号，其中数据信号为通过信道传输的用户数据，比如上行物理共享信道(Physical Uplink Shared Channel，PUSCH)信号，下行物理共享信道(Physical Downlink Shared Channel，PDSCH)信号等。
优选的，下面以PRS作为定位信号为例，对第一终端确定第二终端相对于第一终端自身的相对位置信息的方式进行介绍。
需说明的是，图5所示的定位系统仅为示意，该定位系统中还可以包括其他设备，该设备可以为网络设备或者还可以包括其他终端设备，在可选的 场景中，第一终端还可以同时作为其他设备的对端设备，图5中均未示出。
应理解，与第一终端交互的对端设备不同，则组成的定位系统便不同，进行定位的方式以及流程也不同。下面结合具体的实施例，对上述图5所示的定位系统进行具体说明。
下述实施例可以应用于图4所示的网络架构中。为了简化区分，下文中以UE1表示第一终端，UE2表示第二终端。
实施例1：基于sidelink连接的UE1和UE2组成的定位系统。
实施例1为基于往返时延(Round-Trip Time，RTT)的终端到终端的相对位置测量。比如：在V2X场景下，为车与车之间的相对位置测量。
如图6所示，为本申请提供的实施例1的交互流程示意图，包括以下步骤：
步骤600：各终端通过各自的服务基站获取自身在sidelink链路的PRS的资源配置信息。
UE1通过eNB1获取UE1在sidelink链路的定位参考信号PRS1的资源配置信息。UE2通过eNB2获取UE2在sidelink链路的定位参考信号PRS2的资源配置信息。
其中，各终端通过Uu口与基站进行数据传输。eNB1为UE1的服务基站，eNB2为UE2的服务基站，eNB1与eNB2也可以为同一基站。
需要说明的是，步骤600中，基站确定终端在sidelink链路的PRS的资源配置信息的方式以及UE根据该PRS资源配置信息配置PRS的方式为根据现有机制的技术实现，这里不再详述。
应理解，上述仅为举例，若进行定位的定位信号不同，则步骤600也有所不同。比如UE1和UE2基于数据信号来获取定位辅助信息时，步骤600不是必须执行步骤，或步骤600为具体执行配置相应定位信号的步骤。
步骤601：UE1在第一时间向UE2发送PRS1。
UE1向UE2发送PRS1，相应的，UE2接收UE1发送的PRS1。其中，UE1发送PRS1的发送时刻的时间戳记为第一时间(下文称T1)，UE2接收 PRS1的接收时刻的时间戳记为第二时间(下文称T2)。所述时间戳信息可以是绝对时间，也可以是时域资源的编号。具体的，例如，时域资源的编号可以包括但不限于下列中的一项或多项：无线帧编号子帧编号，符号(symbol)编号，时隙(slot)编号，微小时隙(mini-slot)编号等。
步骤602：UE2在第三时间向UE1发送PRS2。
UE2向UE1发送PRS2，对应的，UE1接收UE2发送的PRS2。其中，UE2发送PRS2的发送时刻的时间戳记为第三时间(下文称T3)，UE1接收PRS2的接收时刻的时间戳记为第四时间(下文称T4)。
步骤603：UE2向UE1发送用于指示T3与T2之间的间隔时长的时间差值信息；
在该步骤中，UE2向UE1发送的时间差值信息，可以是T3与T2之间的间隔时长(即T3与T2之间的时间差值)或者是T2和T3。
例如，UE2接收PRS1的时间为12:59:30(T2)，UE2发送PRS2的时间为13:05:30(T3)，则UE2可以将T2和T3的间隔时长，即12:59:30与13:05:30之间的时间差值6min发送给UE1；另一种示例，UE2可以将12:59:30(T2)和13:05:30(T3)通知给UE1，由UE1确定T2和T3之间的间隔时长。
步骤604：UE2向UE1上报自身的速度信息和速度方向信息；
可选的，UE2还可以向UE1上报自身的速度信息和速度方向信息，其中，UE2的速度方向为UE2根据自身的移动速度与预设的基准方向之间的夹角确定的。该夹角的范围为0～360°。
步骤605：UE1确定UE2与自身之间的相对距离。
UE1通过上述方式获取定位辅助信息，该定位辅助信息包括UE1发送PRS1的发送时刻的时间戳信息(T1)、UE1接收UE2发送的PRS2的接收时刻的时间戳信息(T4)、UE2发送的时间差值信息，UE1根据上述定位辅助信息确定UE2相对于UE1自身的位置信息，其中，确定的位置信息包括相对距离和/或相对方向角度，下面首先对确定相对距离的方式进行说明。
本申请实施例确定UE1与UE2之间的相对距离的方式有多种，下面列举 两种：
确定方式一：根据PRS2预估UE1与UE2之间的相对距离。
UE1根据PRS2的接收功率RSRP确定UE1与UE2之间的相对距离。
根据信号的传输损耗与传输距离的关系，UE1根据接收PRS2时的接收功率RSRP和PRS2的发送功率确定信号的传输损耗，以此预估UE1与UE2之间的相对距离。
确定方式二：根据时间信息确定UE1与UE2之间的相对距离。
示例性的，如图7所示，为UE1与UE2为相对静止状态时的PRS1和PRS2的定位信号传输的应用场景示意图。
在如图7所示的应用场景中，UE1与UE2之间的相对距离满足：
d 1＝Δt/2×C 光  公式1
Δt＝|T1-T4|-|T2-T3|  公式2
其中，| |表示取绝对值，d 1表示UE1与UE2之间的相对距离；C 光表示空口传输速率，即光速；Δt表示PRS1和PRS2的传输总时长。
实际上UE1与UE2之间的相对距离为L，应理解，由于车运行的速度远小于光速，且T2与T1的间隔时长较小，同样的，T4与T3的间隔时长较小，因此可以认为d 1是无限趋近于L的，因此，此处L≈d 1。
上述计算方式，可以应用于UE1与UE2为相对静止状态或UE1的速度与UE2的速度均为超过预设速度的情况下。
作为另一种示例，一种可选的场景中，UE2向UE1上报自身的速度信息和速度方向信息，如步骤604。UE1在确定与UE2的相对距离时，结合UE2和UE1自身的速度确定与UE2的相对距离。
UE1确定在进行定位的过程中UE2的位移、UE1自身在该过程中的位移以及UE1与UE2的初始距离确定UE1与UE2之间的相对距离。即，UE1根据UE1自身的速度信息、UE1的速度方向信息、UE2的速度信息、UE2的速度方向信息、PRS1的发送时刻的时间戳信息(T1)、PRS2的接收时刻的时间戳信息(T4)以及时间差值信息确定所述第二终端与所述第一终端之间的实 际距离，该实际距离包括UE1与UE2之间的起始距离，以及从第一终端发送PRS1开始至第一终端接收PRS2为止，这一段时间内UE1和UE2的总的位移，包括水平方向的位移和垂直方向的位移。
其中，速度方向信息为该终端的速度与预设的基准方向之间的夹角。如图7中，假设基准方向为地图坐标系中的水平方向。应理解，UE1确定自身的速度方向与UE2确定自身的速度方向时，是基于相同的预设的基准方向。
下面举一个简单的例子进行说明，如图8所示，为本申请提供的另一种PRS1和PRS2的信号传输应用场景示意图，该应用场景下，假设基准方向为地图坐标系下的水平方向，UE1与UE2在竖直方向(垂直于水平方向)上具有相对运动趋势，在水平方向上为相对静止状态，UE1与UE2的初始距离为竖直方向的距离d 1，参见图8可知，UE1的速度方向为与水平线夹角为θ 1的方向，UE2的速度方向为与水平线夹角为θ 2的方向(假设θ 1的值为正数，则θ 2的值为负)。
在图8所示的应用场景中，UE1通过下列方式确定与UE2之间的相对距离，其中V 1是指UE1的移动方向，V 2是指UE2的移动方向：
2d 1+(V 1×sinθ 1+V 2×sinθ 2)×(T4-T1)＝Δt×C 光  公式3
Δt＝(T1-T4)-(T2-T3)  公式4
通过公式3和公式4可得，UE1与UE2之间的相对距离d 2满足：
d 2＝d 1+[(V 1×sinθ 1+V 2×sinθ 2)×(T4-T1)]/2  公式5
作为又一示例，由于T2与T1的间隔时长较小，因此可以认为UE1与UE1的位置不变。同样的，T4与T3的间隔时长较小，也可假设在该时间段内UE1与UE1的位置不变。因此，在一种可选的场景中，UE1与UE2之间的相对距离d 3满足：
d 3＝d 1+[(V 1×sinθ 1+V 2×sinθ 2)×(T3-T2)]/2   公式6
上述计算方式，可以应用于UE1与UE2具有相对运动趋势时，或者UE1的速度和/或UE2的速度超过预设速度的情况下。
需要说明的是，步骤603和步骤604之间没有时间顺序，对于步骤603 和步骤604中UE2向UE1发送的信息，可以在步骤602实现，即时间差值信息、UE2的速度信息或速度方向信息中的一项或多项可以与PRS2一起发送，也可以在PRS2之后发送。也就是，UE2可以一次传输步骤602～步骤604涉及的部分或全部信息。比如，UE2将PRS2、时间差值信息和自身的速度信息以及速度方向信息同时发送给UE1，或如图6所示将各信息单独发送，或者将步骤602～步骤604发送的信息进行两两组合后发送。
优选的，UE2上报的速度信息和速度方向信息为UE2在发送PRS2的时刻对应的速度和速度方向。
步骤606：UE1根据PRS2预估UE2相对于自身的方向角度。
UE1根据PRS2的到达角度确定UE2相对于UE1的方向角度。具体的，UE1确定PRS2的到达角度的过程为：UE1接收UE2发送的PRS2，UE1通过天线阵列接收获得多路信号，并通过本地角度加权向量进行匹配寻找一个最大值，该最大值对应的角度即为来波方向角，或者使用MUSIC算法估计接收信号中的最大角度分量，从而获得到达角度方向(Angle of Arrival，AOA)。
其中UE2相对于UE1自身的方向角度为两车之间的相对方向角度，比如，UE1确定PRS2的到达角度为UE1正前方，则UE1在确定UE2与自身之间的相对距离之后，可以确定UE2位于，以UE1为圆心，以确定的相对距离为半径形成的圆上。当确定了UE2相对于UE1的方向角度后，可以根据确定的相对于UE1自身的方向角度唯一确定一个位置，该位置即为UE2相对于UE1的位置。
需要说明的是，上述根据PRS预估距离和方向角度为基于现有技术的实现，这里不再详述。
相应的，UE2也可以基于上述方式结合自身接收到的PRS1预估与UE1之间的相对距离和相对方向角度，从而确定UE1的相对位置。
一种可能的场景中，在与UE2的交互过程中，UE1为首先发起定位的一方，实际上，UE1即可以向UE2发送PRS1，也可以在接收到其他终端发送的定位参考信号后，执行UE2的流程，向对端反馈UE1自身的定位参考信息。
需要说明的是，步骤604和步骤605并没有时间顺序，UE1可以同时执行步骤601和步骤605，或先执行步骤605，再执行步骤604，即UE1还可以先确定相对方向角度再确定相对距离，或同时确定相对距离和相对方向角度。进一步，上述UE1通过PRS2的来波方向确定UE2与UE1之间的相对方向角度仅为举例，UE1也可以通过UE2发送的其他信息，比如时间差值信息、速度信息或速度方向信息的来波方向确定UE2与UE1之间的相对方向角度。
基于上述方法，UE1确定UE2相对于自身的位置信息时，不需要通过多个基站进行交互，简化了进行定位的流程。
实施例2：基于sidelink连接的UE1和UE2组成的定位系统。
实施例2为基于时间同步的终端与终端的相对位置测量。该实施例中，UE1与UE2的时间同步，比如，UE1与UE2都与全球导航卫星系统(Global Navigation Satellite System，GNSS)信号同步，以实现UE1与UE2的时间同步，应理解，时间同步的精度越高则定位精度越高，比如，时间同步的精度为毫秒或微妙等。
如图9所示，为本申请提供的实施例2的交互流程示意图，该实施例2可应用于图4所示的应用场景中，具体包括以下步骤：
步骤900：各终端通过基站获取自身在sidelink链路的定位参考信号PRS的资源配置信息。
对于步骤900的执行流程可以参见步骤600的具体操作步骤，此处不再赘述。
步骤901：UE1接收UE2发送的PRS2和发送时间信息。
该实施例中的PRS2与实施例1中的PRS2并非指同一流程中的同一信号，而是指UE2对应的基于sidelink的PRS。针对不同实施例中的PRS2都可以理解为以上陈述，同样的，各实施例中的PRS1可以参照对PRS2的阐述，这里不再赘述。
UE2向UE1发送PRS2，发送PRS2的时刻的时间戳记为T3。对应的，UE1接收该PRS2，接收PRS的时刻的时间戳记为T4。
UE2向UE1发送T3对应的发送时间的时间戳信息，该时间戳信息可以与PRS2一起发送，或在发送PRS2之后发送。若与PRS2一起发送时，该时间戳信息和PRS2可以为两个独立的数据单元，也可以置于该PRS2的数据单元中，比如，在承载PRS2的数据单元中添加PRS2的发送时刻的时间戳信息。
步骤902：UE1确定UE2与自身之间的相对距离。
示例性的，UE1可以执行上述步骤605中确定方式一来确定UE2与自身之间的相对距离。
作为另一种示例，UE1还可以根据传输PRS2的时长确定UE2与自身之间的相对距离。UE1与UE2之间的相对距离D满足：
D＝|T4-T3|×C 光  公式7
步骤903：UE1根据PRS2预估UE2相对于自身的方向角度。
对于步骤903的执行流程可以参见步骤606的具体操作步骤，此处不再赘述。
可选的，如步骤904所示，UE1还可以向UE2发送PRS1以及发送PRS1的发送时刻的时间戳信息，UE2根据UE1发送PRS1的时刻的时间戳信息和接收PRS1的时刻的时间戳信息确定与UE1之间的距离，并根据UE1发送的PRS1预估UE1相对于UE2的方位角度，参见步骤905。对于步骤905，UE2实现的流程可以参见UE1侧的步骤902和步骤903的具体执行步骤，此处不再赘述。
一种可选的实现方式，对于实施例1中步骤601和步骤602中介绍的第一时间和第三时间，可以为预设的时间，即UE1与UE2都预先已知的时间。
比如，UE1在发送PRS1之前，通知UE2，UE1向UE2发送PRS1的时间(第一时间)。当第一时间到达时，UE1向UE2发送该PRS1；UE2在发送PRS2之前，通知UE1，发送PRS2的时间(第三时间)。当第三时间到达时，UE2向UE1发送该PRS2。作为另一种示例性，假设第一时间为各无线帧的slot m，第三时间为各无线帧的slot n(slot n位于slot m之后)，则UE1在当前无线帧的slot m向UE2发送PRS1，UE2在接收到PRS1之后，在slot n向 UE1发送PRS2。
若在实施例1应用上述方式，UE2在接收到UE1发送的PRS1后，由于UE2已知UE1发送PRS1的时间为预设的第一时间(T1)，因此UE2可以根据UE2实际接收PRS1的时间(T2)和预设的第一时间直接确定UE1相对于自身的相对位置信息，参见上述公式7；同样的，UE1在接收到UE2发送的PRS2后，也可以根据预设的第三时间和UE1实际接收到PRS2的时间直接确定UE1相对于自身的相对位置信息。
若在实施例2应用上述方式，UE2在预设的发送时刻向UE1发送PRS2，因此UE2不需要向UE1上报发送PRS2的发送时刻的时间戳信息，UE1根据预设的发送时刻和接收该PRS2的时刻确定UE2相对于UE1自身的相对位置信息。
上述两个实施例为终端基于sidelink定位参考信号进行定位的方式，在上述方式中，终端还可以将网络辅助进行定位的方式与上述两种方式进行结合，以提高定位精度，下面通过实施例3进行详细介绍。
实施例3：UE1、UE2和网络侧设备(比如基站)组成的定位系统。
实施例3为基于网络辅助的车到车的相对位置测量。如图10所示，为本申请提供的实施例3可能适用的场景，其中，UE1与UE2之间具有sidelink连接，UE1和网络侧设备之间通过空口连接，UE2和网络侧设备之间也具有通过空口连接，UE1和UE2一方面可以通过上述实施例1和/或实施例2的方式进行定位，另一方面还可以结合网络侧设备辅助进行定位。
如图11所示，为本申请提供的实施例3的交互流程示意图，该实施例2可应用于图10所示的应用场景中，具体包括以下步骤：
步骤1100：各终端通过基站获取自身在sidelink的定位参考信号PRS的资源配置信息，以及通过基站获取自身在Uu口的定位参考信号PRS的资源配置信息。
步骤1101：UE1向eNB1发送Uu口的定位参考信号PRS3，UE2向eNB1发送Uu口的定位参考信号PRS4。
UE1通过eNB1获取自身在Uu口的定位参考信号PRS3的资源配置信息，并根据PRS3的资源配置信息配置PRS3信号。UE2通过eNB1获取自身在Uu口的定位参考信号PRS4的资源配置信息，并根据PRS4的资源配置信息配置PRS4信号。
其中，UE1向eNB1发送PRS1的时间和UE2向eNB1发送PRS2的时间可以同时，两者的时间差值也可以处于一定阈值范围内。若是同时发送，则可以通过预设发送时间来发送，比如，eNB1通知UE1和UE2在相同的时隙发送定位参考信号，或UE1和UE2交互时间信息来确定发送定位参考信号的时间。
在该步骤1101执行的同时，UE1和UE2可以执行上述实施例1中步骤或上述实施例2的步骤，以获取基于sidelink的定位结果。
步骤1102：eNB1确定UE1与自身的相对位置，以及UE2与自身的相对位置。
eNB1根据PRS1确定UE1与自身的相对距离和方向角度。同样的，eNB2根据PRS2确定UE2与自身的相对距离和方向角度。其确定方式可以参见上述实施例1或实施例2中的相关执行步骤，此处不再赘述。
步骤1103：eNB1将定位辅助信息分别通知给UE1和UE2。
该实施例中，定位辅助信息包括UE2与eNB1自身的相对距离和相对方向角度、UE1与eNB1自身的相对距离和相对方向角度以及eNB1自身的位置信息。
UE1根据eNB1通知的定位辅助信息推算出UE2与自身的相对位置，同样的，UE2根据eNB1通知的定位辅助信息推算出UE1与自身的相对位置。
举例来说：假设eNB1发送的定位辅助信息包括，eNB1自身的位置信息，比如：eNB1位于地图坐标系下的(0，0)坐标，UE1相对于eNB1的相对位置为(0，10)坐标，UE2相对于eNB1的相对位置为(0，20)坐标，则UE1能够根据上述信息推断出UE2相对于UE1自身的相对位置。
可选的，eNB1也可以直接确定两个终端的绝对位置，并将两个终端的绝 对位置信息发给UE1和UE2，UE1和UE2根据获取的绝对位置信息进行相对距离和相对方向角度的判断，推导出相对位置信息。具体的如，UE1根据自身的绝对位置和UE2的绝对位置，确定UE2与UE1自身之间的相对距离和相对方向角度，并根据确定的相对距离和相对方向角度确定UE2相对于UE1的位置信息。
可选的，eNB1也可以直接将两终端之间的相对位置信息通知给UE1和UE2，也就是，eNB1确定出UE1与UE2之间的相对距离和方向角度，将确定出的UE2相对于UE1的相对距离和方向角度等信息发送给UE1。同样的，eNB1也可以将确定出的UE1相对于UE2的距离和方向角度等信息发送给UE2。
在一种可能的场景中，UE1和UE2可能不连接在同一个服务基站，比如，UE1连接的基站为eNB1，UE2连接的基站为eNB2，如图12所示，则在步骤1100和步骤1101中，UE1和UE2分别向各自的服务器交互信息，比如，在步骤1101中，UE1将PRS3信号发送eNB1，UE2将PRS4信号发送eNB2。eNB1根据PRS3确定出UE1相对于eNB1的相对位置。eNB2根据PRS4确定出UE2相对于Enb2的相对位置。eNB1与eNB2进行互相定位，eNB1与eNB2交互对终端的定位结果，以获取对方接入终端的定位信息和两基站之间的相对位置信息，比如，eNB1向eNB2发送eNB1的接入终端与自身的相对位置以及eNB1相对于eNB2的位置信息，eNB2向eNB1发送eNB2的接入终端与自身的相对位置以及eNB2相对于eNB1的位置信息，以此，eNB1便可推算出eNB2下的接入终端相对于eNB1的相对位置，并将确定的各终端的相对位置信息和eNB1自身的位置信息通知为UE1。同样的eNB2也可以执行eNB1的方法流程通知UE2，此处不再赘述。
需要说明的是，上述仅是以两个终端与eNB1组成的通信系统为例，对实施例3的方式进行说明，实施时，eNB1可以将确定的所有终端的位置信息通知给任一终端，以使该终端能够确定自身与其他终端的相对位置。
步骤1104：UE1根据eNB1的定位结果和基于sidelink的定位结果确定 UE2的相对位置。
UE1根据eNB1的定位结果推算出UE2相对于UE1自身的位置，并基于自身通过实施例1或实施例2的方式确定的UE2相对于UE1自身的位置确定UE2的相对位置，以提高对UE2的定位精度。
其中，UE1根据网络侧设备的定位辅助信息确定的UE2与UE1自身的位置信息以及结合实施例1和/或实施例2的方式确定的UE2与UE1自身的位置信息来确定最终的UE2相对于UE1自身的位置信息的方式有多种，下面列举几种：
1)根据sidelink链路的信号强度和Uu口信号的信号强度确定最终的位置信息。
比较sidelink链路的信号和Uu口信号的信号强度来选择最终的定位结果，比如，sidelink链路的信号较强，则可理解为基于sidelink链路的信号进行定位的可靠度较高，则UE1可将基于sidelink链路的信号确定的UE2的相对位置作为最终UE2与UE1自身的相对位置，即UE1通过实施例1或实施例2的方式确定UE2相对于UE1的位置信息。若Uu口信号较强，则可理解为基于Uu口信号进行定位的可靠度较高，则UE1可将基于Uu口信号确定的UE2的相对位置作为UE2与UE1自身的相对位置，即UE1以网络侧设备通知的定位辅助信息为准，来确定UE2相对于UE1的位置信息。
2)根据基于sidelink链路的定位结果和基于基站的定位结果确定。
比如，UE1基于sidelink链路确定的UE2相对于UE1自身的距离为10m，方位角度为60，UE1根据eNB1获取的UE2相对于UE1自身的距离为11m，方位角度为61。则UE1可以基于两结果进行加权计算，来确定UE2最终相对于UE1的相对位置，比如，UE1确定UE2最终相对于UE1的相对距离为10.5m，方位角度为60.5。
实施例4：UE1、UE2和网络侧设备(比如基站)组成的定位系统。
实施例4为完全基于网络设备进行定位的方式，在一种可能的场景中，如图12所示，UE1与UE2没有直接通信链路时，UE1和UE2可以采用上述 实施例3中的通过eNB1进行定位的方式，比如包括以下步骤：
1、各终端通过自身的服务基站获取自身在Uu口的定位参考信号PRS的资源配置信息。
2、UE1向eNB1发送Uu口的定位参考信号PRS3，UE2向eNB1发送Uu口的定位参考信号PRS4。
3、eNB1确定UE1与自身的相对位置，以及UE2与自身的相对位置；
4、eNB1将定位结果和自身的位置信息通知给UE1和UE2。
5、UE1根据eNB1的定位结果确定UE2的相对位置(相对UE1)。
可选的，UE2也可以根据eNB1的定位结果确定UE1相对于UE2自身的相对位置。
其中，上述步骤的具体实施流程可以参见实施3中的相关执行步骤，此处不再赘述。
基于同一发明构思，本发明实施例中还提供了一种进行定位的第一终端，由于该终端是本发明实施例一种进行定位的系统中的第一终端，并且该终端解决问题的原理与系统中第一终端的方法相似，因此该终端的实施可以参见系统中第一终端的实施，重复之处不再赘述。
如图13所示，本发明实施例第一种进行定位的第一终端，该第一终端包括处理器1300、存储器1301和收发机1302；
处理器1300负责管理总线架构和通常的处理，存储器1301可以存储处理器1300在执行操作时所使用的数据。收发机1302用于在处理器1300的控制下接收和发送数据。
总线架构可以包括任意数量的互联的总线和桥，具体由处理器1300代表的一个或多个处理器和存储器1301代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。处理器1300负责管理总线架构和通常的处理，存储器1301可以存储处理器1300在执行操作时所使用的数据。
本发明实施例揭示的流程，可以应用于处理器1300中，或者由处理器1300实现。在实现过程中，信号处理流程的各步骤可以通过处理器1300中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1300可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1301，处理器1300读取存储器1301中的信息，结合其硬件完成信号处理流程的步骤。
具体地，处理器1300，用于读取存储器1301中的程序并执行：
通过收发机1302获取定位辅助信息；
根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
可选的，处理器1300，具体用于：
通过向第二终端发送第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；
通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；所述处理器1300具体用于：
根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述处理器1300具体用于：
通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述处理器1300具体用于：
根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
可选的，所述处理器1300具体用于：获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
可选的，所述处理器1300具体用于：
获取网络侧设备发送的定位辅助信息；所述定位辅助信息还包括：所述 第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
可选的，所述处理器1300具体用于：
获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
基于相同的思路，如图14所示，本发明实施例另一种进行定位的第一终端，该第一终端包括：
传输模块1400：用于获取定位辅助信息；
处理模块1401：用于根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
可选的，所述传输模块1400具体用于：
通过向第二终端发送所述第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
所述处理模块1401具体用于：
根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；
所述处理模块1401具体用于：
根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述传输模块1400具体用于：
通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
所述处理模块1401具体用于：
根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述处理模块1401具体用于：
根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
可选的，所述传输模块具体1400用于：获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
可选的，所述传输模块1400具体用于：获取网络侧设备发送的定位辅助信息；
所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
可选的，所述传输模块1400还用于：
获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
基于同一发明构思，本发明实施例中还提供了一种进行定位的第二终端，由于该终端是本发明实施例一种进行定位的系统中的对端设备，并且该终端解决问题的原理与系统中对端设备的方法相似，因此该终端的实施可以参见系统中对端设备的实施，重复之处不再赘述。
如图15所示，本发明实施例一种进行定位的第二终端，该第二终端包括处理器1500、存储器1501和收发机1502；
处理器1500负责管理总线架构和通常的处理，存储器1501可以存储处理器1500在执行操作时所使用的数据。收发机1502用于在处理器1500的控制下接收和发送数据。
总线架构可以包括任意数量的互联的总线和桥，具体由处理器1500代表的一个或多个处理器和存储器1501代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步 描述。总线接口提供接口。处理器1500负责管理总线架构和通常的处理，存储器1501可以存储处理器1500在执行操作时所使用的数据。
本发明实施例揭示的流程，可以应用于处理器1500中，或者由处理器1500实现。在实现过程中，信号处理流程的各步骤可以通过处理器1500中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1500可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1501，处理器1500读取存储器1501中的信息，结合其硬件完成信号处理流程的步骤。
具体地，处理器1500，用于读取存储器1501中的程序并执行：
通过收发机1502向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
可选的，所述处理器1500具体用于：
接收第一终端发送的第一定位信号之后，向所述第一终端发送第二定位信号和时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值。
可选的，所述第一终端的定位辅助信息包括所述第一终端发送所述定位辅助信息的时间信息；
可选的，所述处理器1500还用于：向所述第一终端发送所述第二终端的速度信息和速度方向信息。
可选的，所述处理器1500还用于：向所述第一终端发送第二定位信号和所述第二定位信号的发送时刻的时间戳信息。
可选的，所述处理器1500还用于：向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
基于相同的思路，如图16所示，本发明实施例另一种进行定位的第二终端，该第二终端包括：
发送模块1600：用于向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
控制模块1601：用于控制发送模块1600向第一终端发送定位辅助信息。
可选的，所述发送模块1600具体用于：接收第一终端发送的第一定位信号之后，向所述第一终端发送第二定位信号和时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值。
可选的，所述发送模块1600还用于向所述第一终端发送所述第二终端的速度信息和速度方向信息。
可选的，所述发送模块1600具体用于向所述第一终端发送第二定位信号和所述第二定位信号的发送时刻的时间戳信息。
可选的，所述发送模块1600还用于向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
基于同一发明构思，本发明实施例中还提供了一种进行定位的网络侧设备，由于该网络侧设备是本发明实施例一种进行定位的系统中的网络侧，并且该终端解决问题的原理与系统中网络侧设备的方法相似，因此该网络侧设备的实施可以参见系统中对端设备的实施，重复之处不再赘述。
如图17所示，本发明实施例一种进行定位的网络侧设备，该网络侧设备包括处理器1700、存储器1701和收发机1702；
处理器1700负责管理总线架构和通常的处理，存储器1701可以存储处理器1700在执行操作时所使用的数据。收发机1702用于在处理器1700的控 制下接收和发送数据。
总线架构可以包括任意数量的互联的总线和桥，具体由处理器1700代表的一个或多个处理器和存储器1701代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。处理器1700负责管理总线架构和通常的处理，存储器1701可以存储处理器1700在执行操作时所使用的数据。
本发明实施例揭示的流程，可以应用于处理器1700中，或者由处理器1700实现。在实现过程中，信号处理流程的各步骤可以通过处理器1700中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1700可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1701，处理器1700读取存储器1701中的信息，结合其硬件完成信号处理流程的步骤。
具体地，处理器1700，用于读取存储器1701中的程序并执行：
接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
向所述第一终端发送定位辅助信息。
可选的，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
可选的，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
基于相同的思路，如图18所示，本发明实施例另一种进行定位的网络侧设备，该网络侧设备包括：
接收模块1800：用于接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
通知模块1801：向所述第一终端发送定位辅助信息。
可选的，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
可选的，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
基于同一发明构思，本发明实施例中还提供了一种进行定位的方法，由于该方法对应的是本发明实施例一种进行定位的系统中的第一终端对应的方法，并且该方法解决问题的原理与该设备相似，因此该方法的实施可以参见该设备的实施，重复之处不再赘述。
如图19所示，为本发明实施例提供的一种进行定位的方法流程图，具体包括如下步骤：
步骤1900，第一终端获取定位辅助信息；
步骤1901，所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
可选的，所述第一终端获取定位辅助信息，包括：
所述第一终端通过向第二终端发送第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；
所述第一终端通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：所述第一终端根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；
所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：
所述第一终端根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述第一终端获取定位辅助信息，包括：
第一终端通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
所述第一终端根据获取到的所述定位辅助信息确定所述第二终端相对于 所述第一终端的位置信息，包括：
所述第一终端根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
可选的，所述根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置，包括：
所述第一终端根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
可选的，所述第一终端获取定位辅助信息，包括：所述第一终端获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
可选的，所述第一终端获取定位辅助信息，还包括：
所述第一终端获取网络侧设备发送的定位辅助信息；所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
可选的，所述第一终端获取定位辅助信息包括：所述第一终端获取网络侧设备发送的定位辅助信息；
所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端 的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
基于同一发明构思，本发明实施例中还提供了一种进行定位的方法，由于该方法对应的是本发明实施例一种进行定位的系统中的对端设备为第二终端时对应的方法，并且该方法解决问题的原理与该设备相似，因此该方法的实施可以参见该设备的实施，重复之处不再赘述。
本发明实施例提供的了一种第二终端侧进行定位的方法，具体包括如下步骤：
第二终端向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
可选的，第二终端接收第一终端发送的第一定位信号之后，向所述第一终端发送第二定位信号和时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值。
可选的，所述第二终端向所述第一终端发送所述第二终端的速度信息和速度方向信息。
可选的，所述第二终端向所述第一终端发送第二定位信号和所述第二定位信号的发送时刻的时间戳信息。
可选的，所述第二终端向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
本发明实施例还包括一种进行定位的计算机可存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述图17所述的方法的步骤，或实现上述第二终端侧进行定位的方法的步骤。
基于同一发明构思，本发明实施例中还提供了一种进行定位的方法，由于该方法对应的是本发明实施例一种进行定位的系统中的网络侧设备对应的 方法，并且该方法解决问题的原理与该设备相似，因此该方法的实施可以参见该设备的实施，重复之处不再赘述。
如图20所示，为本发明实施例提供的一种进行定位的方法流程图，具体包括如下步骤：
步骤2000，网络侧设备接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
步骤2001，所述网络侧设备向所述第一终端发送定位辅助信息。
在一种可选的实施方式中，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
在一种可选的实施方式中，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
本发明实施例还包括一种进行定位的计算机可存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述图19所述的方法的步骤，或实现上述定位系统中第二终端侧所述的方法的步骤，或实现上述图20所述的方法的步骤。
以上参照示出根据本申请实施例的方法、装置(系统)和/或计算机程序产品的框图和/或流程图描述本申请。应理解，可以通过计算机程序指令来实现框图和/或流程图示图的一个块以及框图和/或流程图示图的块的组合。可以将这些计算机程序指令提供给通用计算机、专用计算机的处理器和/或其它可编程数据处理装置，以产生机器，使得经由计算机处理器和/或其它可编程数据处理装置执行的指令创建用于实现框图和/或流程图块中所指定的功能/动 作的方法。
相应地，还可以用硬件和/或软件(包括固件、驻留软件、微码等)来实施本申请。更进一步地，本申请可以采取计算机可使用或计算机可读存储介质上的计算机程序产品的形式，其具有在介质中实现的计算机可使用或计算机可读程序代码，以由指令执行系统来使用或结合指令执行系统而使用。在本申请上下文中，计算机可使用或计算机可读介质可以是任意介质，其可以包含、存储、通信、传输、或传送程序，以由指令执行系统、装置或设备使用，或结合指令执行系统、装置或设备使用。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (36)

  1. 一种定位方法，其特征在于，该方法包括：
    第一终端获取定位辅助信息；
    所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
  2. 如权利要求1所述的方法，其特征在于，
    所述第一终端获取定位辅助信息，包括：
    所述第一终端通过向第二终端发送第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；
    所述第一终端通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
    所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：所述第一终端根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
  3. 如权利要求2所述的方法，其特征在于，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；
    所述第一终端根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息，包括：
    所述第一终端根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以 及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
  4. 如权利要求1所述的方法，其特征在于，所述第一终端获取定位辅助信息，包括：
    第一终端通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
    所述第一终端根据获取到的所述定位辅助信息确定所述第二终端相对于所述第一终端的位置信息，包括：
    所述第一终端根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
  5. 如权利要求2-4中任一项所述的方法，其特征在于，所述根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置，包括：
    所述第一终端根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
  6. 如权利要求1所述的方法，其特征在于，所述第一终端获取定位辅助信息，包括：所述第一终端获取网络侧设备发送的定位辅助信息；
    所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  7. 如权利要求2-4任一项所述的方法，其特征在于，所述第一终端获取 定位辅助信息，还包括：
    所述第一终端获取网络侧设备发送的定位辅助信息；所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
  8. 如权利要求1所述的方法，其特征在于，所述第一终端获取定位辅助信息包括：所述第一终端获取网络侧设备发送的定位辅助信息；
    所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  9. 一种定位方法，其特征在于，该方法包括：
    第二终端向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
  10. 如权利要求9所述的方法，其特征在于，第二终端向第一终端发送定位辅助信息之前，还包括：
    第二终端接收第一终端发送的第一定位信号；
    所述定位辅助信息包括：时间差值信息，所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送第二定位信号的时间之间的时间差值。
  11. 如权利要求10所述的方法，其特征在于，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息。
  12. 如权利要求10所述的方法，其特征在于，所述定位辅助信息包括：所述第二定位信号的发送时刻的时间戳信息。
  13. 如权利要求9、11或12所述的方法，其特征在于，所述第二终端向 网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
  14. 一种定位方法，其特征在于，该方法包括：
    网络侧设备接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
    所述网络侧设备向所述第一终端发送定位辅助信息。
  15. 如权利要求14所述的方法，其特征在于，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
  16. 如权利要求14所述的方法，其特征在于，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  17. 一种进行定位的第一终端，其特征在于，该第一终端包括：处理器、存储器和收发机；
    其中，所述处理器，用于读取存储器中的程序并执行权利要求1-8任一项所述的方法。
  18. 一种进行定位的第二终端，其特征在于，该第二终端包括：处理器、存储器和收发机；
    其中，所述处理器，用于读取存储器中的程序并执行权利要求9-13任一项所述的方法。
  19. 一种进行定位的网络侧设备，其特征在于，该网络侧设备包括：处 理器、存储器和收发机；
    其中，所述处理器，用于读取存储器中的程序并执行权利要求14-16任一项所述的方法。
  20. 一种进行定位的第一终端，其特征在于，该第一终端包括：
    传输模块：用于获取定位辅助信息；
    处理模块：用于根据获取到的所述定位辅助信息确定第二终端相对于所述第一终端的位置信息。
  21. 如权利要求20所述的第一终端，其特征在于，所述传输模块具体用于：
    通过向第二终端发送所述第一定位信号，获取所述第一定位信号的发送时刻的时间戳信息；通过接收所述第二终端发送的第二定位信号，获取所述第二定位信号的接收时刻的时间戳信息，并且接收第二终端发送的时间差值信息；所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送所述第二定位信号的时间之间的时间差值；
    所述处理模块具体用于：
    根据所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
  22. 如权利要求21所述的第一终端，其特征在于，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息；
    所述处理模块具体用于：
    根据第一终端的速度信息、所述第一终端的速度方向信息、所述第二终端的速度信息、所述第二终端的速度方向信息、所述第一定位信号的发送时刻的时间戳信息、所述第二定位信号的接收时刻的时间戳信息以及所述时间差值信息确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相 对位置。
  23. 如权利要求20所述的第一终端，其特征在于，所述传输模块具体用于：
    通过接收第二终端发送的第二定位信号，获取所述第二定位信号的接收时间，并且接收所述第二定位信号的发送时刻的时间戳信息；
    所述处理模块具体用于：
    根据所述第二定位信号的接收时刻的时间戳信息和所述第二定位信号的发送时刻的时间戳信息，确定所述第二终端与所述第一终端之间的相对距离；根据所述第二终端与所述第一终端之间的相对距离确定所述第二终端与第一终端之间的相对位置。
  24. 如权利要求21-23任一项所述的第一终端，其特征在于，所述处理模块具体用于：
    根据所述第二定位信号的到达角度和所述第二终端相对于所述第一终端的相对距离，确定所述第二终端与所述第一终端之间的相对位置。
  25. 如权利要求20所述的第一终端，其特征在于，所述传输模块具体用于：获取网络侧设备发送的定位辅助信息；
    所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述第一终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端相对于网络侧设备的位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  26. 如权利要求21-23任一项所述的第一终端，其特征在于，所述传输模块具体用于：
    获取网络侧设备发送的定位辅助信息；
    所述定位辅助信息还包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相 对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
  27. 如权利要求20所述的第一终端，其特征在于，所述传输模块具体用于：获取网络侧设备发送的定位辅助信息；
    所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  28. 一种进行定位的第二终端，其特征在于，该第二终端包括：
    发送模块：用于向第一终端发送定位辅助信息，以使所述第一终端根据所述定位辅助信息确定相对于所述第一终端的位置信息。
    控制模块：用于控制发送模块向第一终端发送定位辅助信息。
  29. 如权利要求28所述的第二终端，其特征在于，所述发送模块具体用于：在向第一终端发送定位辅助信息之前，接收第一终端发送的第一定位信号；
    所述定位辅助信息包括：时间差值信息，所述时间差值信息用于指示所述第二终端接收所述第一定位信号的时间和发送第二定位信号的时间之间的时间差值。
  30. 如权利要求29所述的第二终端，其特征在于，所述定位辅助信息还包括所述第二终端的速度信息和速度方向信息。
  31. 如权利要求29所述的第二终端，其特征在于，所述定位辅助信息包括：所述第二定位信号的发送时刻的时间戳信息。
  32. 如权利要求28、30或31所述的第二终端，其特征在于，所述发送模块还用于：
    向网络侧设备发送第三定位信号，以使所述网络侧设备根据所述第三定位信号确定所述第二终端相对于所述网络侧设备的位置信息或所述第二终端的绝对位置信息。
  33. 一种进行定位的网络侧设备，其特征在于，该网络侧设备包括：
    接收模块：用于接收第一终端发送的第三定位信号，以及第二终端发送的第四定位信号；
    通知模块：向所述第一终端发送定位辅助信息。
  34. 如权利要求33所述的网络侧设备，其特征在于，所述定位辅助信息包括：所述第一终端相对于网络侧设备的位置信息、所述第二终端相对于网络侧设备的位置信息和网络侧设备自身的位置信息；所述网络侧设备通过所述第一终端发送的第三定位信号获取所述第一终端相对于网络侧设备的位置信息，通过所述第二终端发送的第四定位信号获取所述第二终端相对于网络侧设备的位置信息。
  35. 如权利要求33所述的网络侧设备，其特征在于，所述定位辅助信息包括：所述第一终端的绝对位置信息和所述第二终端的绝对位置信息；所述第一终端的绝对位置信息是所述网络侧设备通过所述第一终端发送的第三定位信号获取的，所述第二终端的绝对位置信息是所述网络侧设备通过所述第二终端发送的第四定位信号获取的。
  36. 一种计算机可存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-8任一所述方法的步骤，或执行时实现如权利要求9-13任一所述方法的步骤，或执行时实现如权利要求14-16任一所述方法的步骤。
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US20230194648A1 (en) 2023-06-22
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CN112788519B (zh) 2022-07-22
US12276742B2 (en) 2025-04-15
JP2023501554A (ja) 2023-01-18
EP4061022A1 (en) 2022-09-21
CN112788519A (zh) 2021-05-11
EP4061022C0 (en) 2026-02-25
KR20220097477A (ko) 2022-07-07

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