WO2022143091A1 - 定位方法、设备及计算机可读存储介质 - Google Patents

定位方法、设备及计算机可读存储介质 Download PDF

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Publication number
WO2022143091A1
WO2022143091A1 PCT/CN2021/136892 CN2021136892W WO2022143091A1 WO 2022143091 A1 WO2022143091 A1 WO 2022143091A1 CN 2021136892 W CN2021136892 W CN 2021136892W WO 2022143091 A1 WO2022143091 A1 WO 2022143091A1
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WIPO (PCT)
Prior art keywords
terminal
positioning reference
reference signal
positioning
configuration information
Prior art date
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Ceased
Application number
PCT/CN2021/136892
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English (en)
French (fr)
Inventor
李健翔
傅婧
全海洋
王达
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Datang Mobile Communications Equipment Co Ltd
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Datang Mobile Communications Equipment Co Ltd
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Publication date
Application filed by Datang Mobile Communications Equipment Co Ltd filed Critical Datang Mobile Communications Equipment Co Ltd
Priority to EP21913832.8A priority Critical patent/EP4274264A4/en
Priority to US18/260,232 priority patent/US20240267872A1/en
Priority to KR1020237026149A priority patent/KR20230125062A/ko
Priority to JP2023540619A priority patent/JP7604664B2/ja
Publication of WO2022143091A1 publication Critical patent/WO2022143091A1/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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0236—Assistance data, e.g. base station almanac
    • 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
    • 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
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/0001—Arrangements for dividing the transmission path
    • H04L5/0014—Three-dimensional division
    • H04L5/0023—Time-frequency-space
    • 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
    • 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
    • H04L5/0078—Timing of allocation
    • H04L5/0082—Timing of allocation at predetermined intervals
    • 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
    • H04L5/0091—Signalling for the administration of the divided path, e.g. signalling of configuration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • 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
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/14—Backbone network devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices
    • 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
    • H04L5/0032—Distributed allocation, i.e. involving a plurality of allocating devices, each making partial allocation
    • H04L5/0033—Distributed allocation, i.e. involving a plurality of allocating devices, each making partial allocation each allocating device acting autonomously, i.e. without negotiation with other allocating devices
    • 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
    • H04L5/0058—Allocation criteria
    • H04L5/0069—Allocation based on distance or geographical location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

Definitions

  • the present application relates to the field of communication technologies, and in particular, the present application relates to a positioning method, a device, and a computer-readable storage medium.
  • the 3GPP architecture does not consider a scenario in which a terminal accessing the base station under the coverage of the base station can also provide a positioning reference signal when data transmission is performed through a sidelink (direct communication link).
  • the positioning reference signals sent by the outdoor coverage base stations cannot meet the requirements of high-precision positioning. If the rate is not high enough, etc., the accuracy of the outdoor positioning results based on the cellular network will be greatly reduced.
  • the Sidelink scenario higher requirements are placed on the positioning accuracy. If the existing positioning architecture is used, the positioning accuracy requirements of Sidelink cannot be fully met.
  • the present application provides a positioning method, device, and computer-readable storage medium, which can solve the problem that the existing positioning framework cannot meet the positioning accuracy requirement in the Sidelink scenario.
  • the technical solution is as follows:
  • a positioning method executed by a core network device, and the method includes:
  • configuration information is sent to the located terminal and the target terminal at the same time, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and to instruct the located terminal to send a positioning reference signal according to the configuration information.
  • the configuration information receives the positioning reference signal for locating the located terminal.
  • the sending configuration information to the located terminal and the target terminal at the same time according to the first request includes:
  • the configured configuration information is sent to the located terminal and the target terminal at the same time.
  • the determining the target terminal for sending the positioning reference signal according to the identification information of the located terminal carried in the first request includes:
  • a terminal subordinate to the base station and a terminal subordinate to a neighboring cell base station of the base station are determined as the target terminal.
  • the method before configuring corresponding configuration information for the target terminal, the method further includes:
  • the configuration information for configuring the corresponding positioning reference signal for the target terminal includes:
  • Corresponding configuration information is configured for the terminal that supports sending the positioning reference signal.
  • the selecting from the target terminals for terminals that support sending positioning reference signals includes:
  • the terminal that supports sending the positioning reference signal is selected from the target terminal.
  • the feedback message also carries parameter information of the positioning reference signal sent by the target terminal, and configuring corresponding configuration information for the terminal that supports sending the positioning reference signal includes:
  • corresponding configuration information is configured for the terminal that supports sending the positioning reference signal.
  • the parameter information includes at least one of the following items: bandwidth of the positioning reference signal sent by the target terminal, frequency point information, and duration.
  • the method further includes:
  • the identification ID of the terminal that supports sending positioning reference signals is sent to the located terminal, so that the located terminal receives the positioning reference signal sent by the terminal corresponding to the identification ID according to the configuration information.
  • the method further includes:
  • the measurement result includes: a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID;
  • the geographic location of the located terminal is determined according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp.
  • the obtaining of the geographic location information reported by the at least one target terminal and the timestamp corresponding to the geographic location information includes:
  • the geographical location information and the corresponding time stamp of the at least one target terminal are filtered out from the received geographical location information and the corresponding time stamp reported by the target terminal;
  • the geographic location information and the corresponding timestamp reported by the at least one target terminal are received.
  • the method further includes:
  • the configuration information includes at least one of the following:
  • the transmission mode includes: periodic, semi-persistent, aperiodic;
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending;
  • the indication information of the time domain resource of the periodic positioning reference signal which is used to indicate: the transmission period of the positioning reference signal;
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • a positioning method executed by a core network device, and the method includes:
  • the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal. Locate the terminal for positioning.
  • the method further includes:
  • the identification ID of the terminal that supports sending the positioning reference signal is sent to the located terminal.
  • the filtering out the terminals that support sending positioning reference signals from the target terminals includes:
  • the terminal that supports sending the positioning reference signal is selected from the target terminal.
  • a positioning method executed by a terminal to be positioned, and the method includes:
  • the multiple transmitters include a target terminal and a base station to which the target terminal belongs;
  • Positioning is performed according to the positioning reference signal.
  • the performing positioning according to the positioning reference signal includes:
  • the geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device.
  • the method further includes:
  • the determining the geographic location according to the arrival time difference and the corresponding timestamp, and the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device including:
  • the geographic location is determined according to the arrival time difference, the geographic location information, speed information and the corresponding timestamp of each transmitting end, and the timestamp corresponding to the arrival time difference after calibration processing.
  • the acquiring calibration parameters includes:
  • the calibration parameter is determined from the first time stamp, the second time stamp and the third time stamp.
  • determining the geographic location according to the arrival time difference and the corresponding timestamp, and the received geographic location information, speed information and corresponding timestamps from each transmitting end of the core network device location including:
  • the geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.
  • the method before receiving the positioning reference signals sent by multiple transmitters according to the configuration information, the method further includes:
  • the receiving, according to the configuration information, positioning reference signals sent by multiple transmitters includes:
  • the positioning reference signal sent by the terminal corresponding to the identification ID is received according to the configuration information.
  • the method further includes: reporting the geographic location to the core network device.
  • the performing positioning according to the positioning reference signal includes:
  • the measurement result and the corresponding time stamp reported to the core network device so that the core network device can determine the geographic location of the located terminal, wherein the measurement result includes: the time difference of arrival between the positioning reference signals and the corresponding time stamp The positioning reference signal ID.
  • the configuration information includes at least one of the following:
  • the transmission mode includes: periodic, semi-persistent, aperiodic;
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending;
  • the indication information of the time domain resource of the periodic positioning reference signal which is used to indicate: the transmission period of the positioning reference signal;
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • a core network device including:
  • a transceiver configured to receive a first request under the control of the processor, where the first request is used to request the location information of the located terminal; according to the first request, to the located terminal and the target terminal at the same time sending configuration information, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for Positioned by the positioned terminal;
  • a processor for reading a computer program in the memory and executing control of the transceiver.
  • the processor is specifically configured to: determine the target terminal for sending the positioning reference signal according to the identification information of the located terminal carried in the first request; configure the corresponding terminal for the target terminal configuration information;
  • the transceiver is specifically configured to send the configured configuration information to the located terminal and the target terminal simultaneously under the control of the processor.
  • the processor is specifically configured to: determine, according to the identification information of the located terminal, the base station to which the located terminal belongs; The terminal subordinate to the cell base station is determined as the target terminal.
  • the processor is specifically configured to: filter out a terminal that supports sending a positioning reference signal from the target terminal; and configure corresponding configuration information for the terminal that supports sending a positioning reference signal.
  • a core network device including:
  • a transceiver configured to send preset configuration information to a target terminal under the control of the processor, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information;
  • the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal.
  • a processor for reading a computer program in the memory and executing control of the transceiver.
  • a terminal including:
  • a transceiver configured to receive configuration information sent by a core network device under the control of the processor; and receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include a target terminal and the base station to which the target terminal belongs;
  • the processor is configured to read the computer program in the memory and execute the control of the transceiver, and perform positioning according to the positioning reference signal received by the transceiver.
  • the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitter;
  • the geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device.
  • the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitter;
  • the transceiver is further configured to report a measurement result and a corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: a positioning reference signal Arrival time difference and the corresponding positioning reference signal ID.
  • a core network device including:
  • a receiving unit configured to receive a first request, where the first request is used to request location information of the located terminal
  • a sending unit configured to send configuration information to the located terminal and the target terminal at the same time according to the first request, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and to instruct the target terminal to send a positioning reference signal.
  • the located terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal.
  • a core network device including:
  • a sending unit configured to send preset configuration information to a target terminal, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information
  • a receiving unit configured to receive a first request, where the first request is used to request location information of the located terminal
  • the sending unit is further configured to, according to the first request, send the configuration information to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information , for locating the located terminal.
  • a terminal including:
  • a receiving unit configured to receive configuration information sent by a core network device; receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include a target terminal and a base station to which the target terminal belongs;
  • a positioning unit configured to locate the located terminal according to the positioning reference signal.
  • a tenth aspect provides a processor-readable storage medium, where a computer program is stored in the processor-readable storage medium, and the computer program is configured to cause the processor to perform the positioning method shown in the first aspect corresponding to the operation, or, perform an operation corresponding to the positioning method shown in the second aspect, or perform an operation corresponding to the positioning method shown in the third aspect.
  • Fig. 1 is the positioning frame diagram of the related art
  • Fig. 2 is the schematic diagram of Sidelink communication process in the related art
  • FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a positioning method provided by another embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a positioning method according to another embodiment of the present application.
  • FIG. 6 is an interactive schematic diagram of a positioning method provided by an embodiment of the present application.
  • FIG. 7 is an interactive schematic diagram of a positioning method provided by another embodiment of the present application.
  • FIG. 8 is an interactive schematic diagram of a positioning method provided by another embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a core network device according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • applicable systems may be global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc.
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • WCDMA Wideband Code Division Multiple Access
  • general packet Wireless service general packet Radio service
  • GPRS general packet Wireless service
  • LTE long term evolution
  • LTE long term evolution
  • LTE frequency division duplex frequency division duplex
  • TDD time division duplex
  • LTE-A Long term evolution advanced
  • the terminal device involved in the embodiments of the present application may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing device connected to a wireless modem.
  • the name of the terminal device may be different.
  • the terminal device may be called user equipment (User Equipment, UE).
  • Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a radio access network (Radio Access Network, RAN).
  • RAN Radio Access Network
  • "telephone) and computers with mobile terminal equipment eg portable, pocket-sized, hand-held, computer-built or vehicle-mounted mobile devices, which exchange language and/or data with the radio access network.
  • Wireless terminal equipment may also be referred to as system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point , a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in the embodiments of the present application.
  • the network side device involved in the embodiments of the present application may be a base station, and the base station may include a plurality of cells providing services for the terminal.
  • the base station may also be called an access point, or may be a device in the access network that communicates with wireless terminal equipment through one or more sectors on the air interface, or other names.
  • the network-side equipment can be used to exchange received air frames with Internet Protocol (IP) packets, and act as a router between the wireless terminal equipment and the rest of the access network, where the rest of the access network can include Internet Protocol (IP) communication network.
  • IP Internet Protocol
  • the network side equipment can also coordinate the attribute management of the air interface.
  • the network-side device involved in the embodiments of the present application may be a network-side device (Base Transceiver Station) in a Global System for Mobile Communications (GSM) or a Code Division Multiple Access (Code Division Multiple Access, CDMA).
  • BTS Global System for Mobile Communications
  • BTS can also be a network side device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or it can be an evolution in a long term evolution (LTE) system type network side equipment (evolutional Node B, eNB or e-NodeB), 5G base station (gNB) in 5G network architecture (next generation system), or Home evolved Node B (HeNB), relay node (relay node), home base station (femto), pico base station (pico), etc., are not limited in the embodiments of this application.
  • the network-side device may include a centralized unit (centralized unit, CU) node and a distributed unit (distributed unit, DU) node, and the centralized unit and
  • One or more antennas can be used between the network side device and the terminal device to perform multiple input multiple output (Multi Input Multi Output, MIMO) transmission, and MIMO transmission can be single user MIMO (Single User MIMO, SU-MIMO) or multi-user MIMO MIMO (Multiple User MIMO, MU-MIMO).
  • MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or diversity transmission, precoding transmission, or beamforming transmission.
  • the core network device involved in the embodiments of the present application may be a location server (Location Management Function, LMF), which is a physical or logical entity that manages the location of a target device, that is, a wireless device to be located, and is located in an evolution service mobile location center (E -SMLC) control plane architecture, responsible for selecting the positioning method and triggering the corresponding positioning measurement, and can calculate the final result and accuracy of the positioning.
  • LMF Location Management Function
  • E -SMLC evolution service mobile location center
  • NG-RAN can send positioning reference signals, or perform positioning measurement based on assistance information
  • terminal equipment UE can send positioning reference signals, or based on assistance
  • the information can be used for positioning measurement, and the final result and accuracy of positioning can also be calculated based on the measurement results.
  • LTE Positioning Protocol includes the positioning methods supported by the target device, different aspects supported by a positioning method (such as supported assisted global navigation satellites) System A-GNSS assistance data type) and some common characteristics of positioning that are not limited to a certain positioning method (such as the ability to handle multiple LPP transactions).
  • the LPP location capability transfer transaction may be triggered by a server request, specifically: the server sends an LPP request capability message to request the relevant location capability of the target device; or, the target device "actively reports", specifically: the target device transmits the relevant location capability to the server. , to actively transmit capability information, which may include specific positioning methods and commonalities of some positioning methods.
  • the server can be an LMF in the 5G positioning architecture.
  • Direct communication refers to the way in which adjacent terminals can transmit data over a direct communication link (also known as Sidelink) within a short range.
  • the wireless interface corresponding to the Sidelink link is called the direct communication interface, also called the Sidelink interface, as shown in Figure 2.
  • the current 3GPP architecture does not consider a scenario in which a terminal accessing the base station under the coverage of the base station can also provide a positioning reference signal when data transmission is performed through a sidelink (direct communication link).
  • the positioning reference signals sent by the outdoor coverage base stations cannot meet the high-precision positioning requirements. If the rate is not high enough, etc., the accuracy of the outdoor positioning results based on the cellular network will be greatly reduced.
  • the Sidelink scenario higher requirements are placed on the positioning accuracy. If the existing positioning architecture is used, the positioning accuracy requirements of Sidelink cannot be fully met.
  • the positioning method, device and processor-readable storage medium provided by the present application aim to solve the above technical problems in the prior art.
  • the embodiment of the present application provides a positioning method: not only the base station can send a positioning reference signal, but also some terminals under the base station (some terminals that access the base station under the coverage of the base station) can also send the positioning reference signal through the PC5 interface, thereby The density of the positioning reference signals in the network and the irrelevance of the geometric distribution of the sent positioning signals are improved, thereby improving the positioning accuracy of the located terminal.
  • the base station reports the positioning reference signal resource pool to the LMF server, and the LMF sends the PC5PRS configuration to the located terminal and the target terminal, informing the target terminal that the PRS signal and the corresponding resource configuration can be broadcast on the PC5 interface, and informs that the located terminal can use the PC5 interface. Resource configuration for receiving PRS signals. In this way, the target terminal obtains the configuration of PC5PRS, and can send positioning reference signals as required, so that the positioned terminal can receive more positioning reference signals.
  • An embodiment of the present application provides a positioning method 10. As shown in FIG. 3, the method 10 is executed by a core network device, for example, executed by a positioning server LMF, and the method includes:
  • the terminal send configuration information to the located terminal and the target terminal at the same time, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and to indicate the located terminal
  • the terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal.
  • the first request received by the LMF may be a positioning service request from a positioning terminal
  • the configuration information may include but not be limited to at least one of the following:
  • the identification ID of each terminal that transmits the positioning reference signal is the identification ID of each terminal that transmits the positioning reference signal.
  • Transmission modes include: periodic, semi-persistent, and aperiodic.
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.
  • the indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • the LMF issues the PC5PRS configuration to the located terminal and the target terminal, informing the target terminal that the PRS signal and the corresponding resource configuration can be broadcast on the PC5 interface, and Notify the resource configuration that the located terminal can receive the PRS signal on the PC5 interface.
  • the target terminal obtains the configuration of PC5PRS, and can send positioning reference signals as required, so that the positioned terminal can receive more positioning reference signals.
  • the base station can send the positioning reference signal, but some terminals under the base station can also send the positioning reference signal through the PC5 interface, thereby improving the density of the positioning reference signal in the network and the geometry of sending the positioning signal The distribution is irrelevant, thereby improving the positioning accuracy of the located terminal, and thus meeting the positioning accuracy requirements in the Sidelink scenario.
  • the target terminal may send the positioning reference signal on the resource indicated by the configuration information through the PC5 interface.
  • the LMF can send the configuration information to the located terminal through the LPP message.
  • step 120 may include:
  • step 121 may include:
  • a terminal subordinate to the base station and a terminal subordinate to a neighboring cell base station of the base station are determined as the target terminal.
  • the core network device after the core network device receives the first request sent by the positioning terminal (the positioning terminal is the terminal that requests the geographic location of the terminal to be located), it can be based on the identification of the located terminal carried in the first request. information, obtain the base station to which the located terminal belongs by searching the database, determine the terminal subordinate to the base station and the terminal subordinate to the adjacent cell base station of the base station as the target terminal, and then configure the corresponding configuration information for the target terminal.
  • the configured configuration information is sent, the target terminal sends a positioning reference signal according to the received configuration information, and the positioned terminal receives the positioning reference signal sent by the target terminal according to the received configuration information, so as to locate the positioned terminal.
  • step 120 may further include:
  • step 123 includes: configuring corresponding configuration information for the terminal that supports sending the positioning reference signal.
  • step 124 may specifically include:
  • a terminal that supports sending a positioning reference signal is selected from the target terminal.
  • step 123 is specifically:
  • corresponding configuration information is configured for the terminal that supports sending the positioning reference signal.
  • the parameter information includes at least one of the following: bandwidth of the positioning reference signal sent by the target terminal, frequency point information, and duration.
  • the terminal capable of sending the PRS can be screened out, and then Corresponding PRS resources are configured for these terminals based on their specific capabilities.
  • the embodiment of the present application also provides a positioning method 100.
  • the method 100 is executed by a core network device, for example, executed by a positioning server LMF, and the method 100 may include:
  • the terminal to be located performs positioning.
  • the configuration information for sending PRS can be configured for the terminals of the whole network in advance, for example, the same PRS resources are configured for the terminals of the whole network, so that when the first request is received, the terminal can be motivated Send PRS in time.
  • the preset configuration information can be sent to the terminals of the whole network by means of a broadcast message.
  • the specific implementation method here may include: the LMF directly sends the configuration information to each terminal through an LPP message; or, the LMF sends the configuration information to the base station, The base station sends the broadcast message to each terminal.
  • the above positioning method 100 may further include:
  • step 104 may include:
  • a terminal that supports sending a positioning reference signal is selected from the target terminal.
  • the above-mentioned positioning method 10 and/or positioning method 100 may further include:
  • the 130 Receive a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID;
  • step 150 may include:
  • the identification information of the at least one target terminal from the received geographical location information and the corresponding time stamp reported by the target terminal, filter out the geographical location information and the corresponding time stamp of the at least one target terminal;
  • the LMF can determine the target terminal corresponding to the positioning reference signal ID according to the identification information of the target terminal and the positioning reference signal ID corresponding to the received measurement result, and then, according to the received positioning reference signal The arrival time difference and the corresponding time stamp, as well as the geographical location information of the determined target terminal and the corresponding time stamp, obtain the geographical location of the located terminal.
  • the LMF can obtain the geographic location of the located terminal by using an existing calculation method, which is not repeated here for the sake of brevity of description.
  • the above-mentioned positioning method 10 and/or positioning method 100 may further include:
  • the LMF can directly receive the geographic location reported by the terminal to be located, without performing positioning calculation to determine the geographic location of the terminal to be located.
  • an embodiment of the present application also provides a positioning method 20.
  • the method 20 may be executed by a terminal to be positioned during the positioning process, and the method includes:
  • the configuration information may include, but is not limited to, at least one of the following:
  • the identification ID of each terminal that transmits the positioning reference signal is the identification ID of each terminal that transmits the positioning reference signal.
  • Transmission modes include: periodic, semi-persistent, and aperiodic.
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.
  • the indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • the positioned terminal receives the PC5PRS configuration issued by the LMF, and learns the resource configuration for receiving the PRS signal on the PC5 interface. It can not only receive the positioning reference signal sent by the base station, but also receive some terminals under the base station according to the configuration.
  • the positioning reference signals sent through the PC5 interface can receive more positioning reference signals, thereby improving the density of positioning reference signals in the network and the irrelevance of the geometric distribution of the sent positioning signals, thereby improving the positioning of the located terminal. accuracy, which can meet the positioning accuracy requirements in Sidelink scenarios.
  • the located terminal may obtain the configuration information by receiving the LPP message sent by the LMF, so as to receive the corresponding positioning reference signal on the resource indicated by the configuration information.
  • step 230 may include:
  • the terminal to be positioned may obtain the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding time stamp based on the measurement, and the received geographic location of each transmitter from the core network device information, speed information and corresponding time stamps to determine their geographic location, without sending the relevant information to the LMF, and the LFM will perform the positioning calculation.
  • step 230 may further include:
  • step 232 may include:
  • the geographic location is determined according to the arrival time difference, the geographic location information, speed information and the corresponding timestamp of each transmitting end, and the timestamp corresponding to the arrival time difference after calibration processing.
  • step 240 may include:
  • the calibration parameter is determined from the first time stamp, the second time stamp and the third time stamp.
  • two types of time differences that may exist need to be calibrated, one is brought about by the positioned terminal itself, for example: the time point at which the positioning reference signal sent by each transmitter is received and the time of positioning If there is a time difference between the calculated time points, the time point for positioning calculation needs to be corrected; the other type is caused by the network. For example, the time when each transmitter sends the positioning reference signal is not synchronized, which will cause each transmitter to send the reference signal. There is an error in the arrival time difference between the transmitted positioning reference signals, which also needs to be corrected.
  • step 232 may include:
  • the geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.
  • the information corresponding to the mobile terminal (including: arrival time difference and corresponding timestamp, and geographic location information and corresponding timestamp) can be eliminated The way. Since the factors that will cause errors in the positioning results during the positioning calculation are removed, the positioning accuracy can be improved.
  • the obtained calibration can also be first determined. After the parameters are calibrated to the timestamps corresponding to the remaining arrival time differences, the location calculation is performed to obtain the geographic location of the located terminal. Doing so will make the final positioning result more accurate.
  • the positioning method 20 may further include:
  • step 220 is specifically: receiving, according to the configuration information, a positioning reference signal sent by the terminal corresponding to the identification ID.
  • the positioning method 20 may further include:
  • step 230 may include:
  • the measurement result and the corresponding timestamp reported to the core network device so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: a time difference of arrival between positioning reference signals and the corresponding positioning reference signal ID.
  • the positioning method 30 includes the following steps:
  • the LMF receives a first request (eg, a request for a positioning service).
  • the LMF receives a first request from the positioning terminal, where the first request carries the identification information of the located terminal, and is used to request the location information of the located terminal, which may indicate that the located terminal is performing a positioning service, or may not instruct.
  • the positioning terminal is a terminal that requests the geographic location of the positioned terminal.
  • the LMF can select and set corresponding QoS indicator requirements according to the service type of the first request, such as: positioning accuracy requirements and positioning integrity requirements, and so on.
  • the LMF determines the target terminal according to the first request.
  • the base station to which the located terminal belongs can be determined according to the identification information of the located terminal carried in the first request; for the target terminal.
  • the LMF configures corresponding configuration information for the target terminal.
  • the same configuration information may be configured for the determined target terminal, for example, the same PRS resources are given to the target terminal, that is, the time domain, frequency domain, and space domain resources for each target terminal to send PRS may be the same of.
  • the LMF may also screen the target terminals, for example, screening out terminals capable of sending PRS to send PRS. Specifically, the following steps may be included:
  • the LMF sends a first request to the core network device AMF, where the first request may carry the identification ID of the target terminal, so as to request the AMF to page the target terminal to enter the positioning process.
  • the AMF In response to the first request, the AMF sends a paging message to the target terminal to page the target terminal that can enter the positioning process.
  • the AMF receives the response message sent by the target terminal that can enter the positioning process, to indicate that the corresponding target terminal receives the paging.
  • the AMF feeds back the ID of the target terminal that receives the paging (denoted as: the first target terminal) to the LMF.
  • the LMF sends a second request to the first target terminal, where the second request is used to inquire whether the first target terminal supports sending a positioning reference signal, and the second request may be an assisted positioning request, which is used to inquire whether the first target terminal has an auxiliary positioning signal. positioning capability.
  • the LMF receives the feedback message sent by the first target terminal, and according to the identification information of the first target terminal carried in the feedback message, selects the terminal that supports sending the positioning reference signal from the first target terminal (marked as: the second target terminal). target terminal).
  • step 330 can be:
  • the LMF configures corresponding configuration information for the second target terminal according to the parameter information of the positioning reference signal sent by the target terminal carried in the feedback message.
  • the parameter information includes at least one of the following items: bandwidth of the positioning reference signal sent by the target terminal, frequency point information, and duration.
  • each second target terminal feeds back at least one parameter of the bandwidth, frequency point information, and duration of the positioning reference signal sent by itself, then according to the feedback from each second target terminal
  • the parameters for sending the positioning reference signal are configured with corresponding configuration information.
  • the LMF sends the configured configuration information to the located terminal and the target terminal.
  • the target terminal is not screened, the same configuration information configured for each target terminal is sent; if the target terminal is the second target terminal obtained after screening, the configuration information configured for each second target terminal and each target terminal are sent. Configuration information corresponding to the second target terminal.
  • the target terminal sends the PRS at the corresponding resource location indicated by the configuration information.
  • the located terminal receives the PRS sent by the target terminal at the corresponding resource position indicated by the configuration information, and measures the time difference of arrival and the corresponding time stamp between the positioning reference signals sent by each transmitter.
  • the transmitting end includes the target terminal and the base station to which the target terminal belongs.
  • the process of sending the positioning reference signal by the base station can be implemented by using the existing process, and for the sake of brevity of description, no corresponding description is made in this embodiment of the present application.
  • the located terminal sends a measurement result to the LMF through LPP signaling, where the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID.
  • the transmitting end includes target terminals 1, 2, 3, 4 and base station 5, wherein 1, 2, 3, 4, and 5 are the identifiers of the corresponding transmitting ends, respectively.
  • the arrival time difference between the positioning reference signals sent by the terminal and the corresponding positioning reference signal ID are shown in Table 1 below.
  • the LMF receives the geographic location information and the corresponding timestamp reported by the target terminal.
  • the LMF can determine the target terminal (referred to as the third target terminal) corresponding to the positioning reference signal ID according to the identification information of the target terminal and the positioning reference signal ID corresponding to the received measurement result.
  • the corresponding positioning reference signal IDs are 1 and 3, so that the corresponding target terminals 1 and 3 are determined.
  • the geographic location information and the corresponding timestamp of the third target terminal are screened out from the received geographic location information and the corresponding timestamp automatically reported by the target terminal. It should be noted that, in this case, the specific time when the LMF receives the geographic location information and the corresponding time stamp reported by the target terminal is not limited by whether the third target terminal is determined. Therefore, the execution of step 380 is not limited to the order of step numbering, which is merely an example.
  • a third request may be actively sent to the third target terminal to request geographic location information of the third target terminal, and then the geographic location information and the corresponding timestamp reported by the third target terminal are received. It should be noted that, in this case, in order to accurately obtain the required relevant information of the target terminal, it is necessary to actively request the third target terminal for the corresponding geographic location information and the corresponding time after the third target terminal is determined. stamp.
  • the LMF determines the geographic location of the located terminal based on the received measurement result and the reported information.
  • the LMF determines the geographic location of the located terminal according to the time difference of arrival between the received positioning reference signals and the corresponding timestamp, as well as the geographic location information of the third target terminal and the corresponding timestamp. .
  • the LMF can obtain the geographic location of the located terminal by using an existing calculation method, which is not repeated here for the sake of brevity of description.
  • FIG. 7 a data/signaling interaction process diagram of a positioning method provided by another embodiment of the present application is shown.
  • the positioning method 40 is different from the positioning method 30 in the embodiment shown in FIG. 6 in that:
  • the positioned terminal receives the PRS sent by the target terminal at the corresponding resource position indicated by the configuration information, and measures the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding time stamp. , instead of sending the measurement results to the LMF, and the LMF performs positioning calculation to determine the position of the positioned terminal, but receives the information from the LFM, and then performs positioning by itself in combination with the information measured by itself.
  • the specific implementation process of steps 410 to 460 included in the positioning method 40 shown in FIG. 7 is similar to the specific implementation process of steps 310 to 360 included in the positioning method 30 shown in FIG. 6 , for the sake of brevity of description , and will not be repeated here. The differences between the two embodiments will be described in detail below.
  • the method 40 includes:
  • the LMF receives the geographic location information, the speed information, and the corresponding timestamp reported by the target terminal, and sends the reported information to the located terminal.
  • step 470 is not limited to the sequence of step numbers, and this is just an example.
  • the information for determining the geographic location may be processed in the following two ways.
  • the first way is: according to the speed information of each transmitter and/or the geographical position information of each transmitter at the adjacent time, determine the mobile transmitter, and then remove the arrival time difference corresponding to the mobile transmitter from the arrival time difference , and then determine the geographic location according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.
  • the second method is to perform calibration processing on the timestamp corresponding to the arrival time difference according to the obtained calibration parameters, and then, according to the arrival time difference, the geographic location information, speed information and the corresponding timestamp of each transmitter, as well as the arrival time difference after calibration processing. Corresponding timestamp to determine geographic location.
  • the calibration parameter can be obtained by obtaining the first time stamp when each transmitter sends the positioning reference signal, the second time stamp when each transmitter sends the positioning reference signal, and the third time when the positioned terminal performs positioning calculation. Stamp; according to the first time stamp, the second time stamp and the third time stamp, the calibration parameter is determined.
  • two types of time differences that may exist need to be calibrated, one is brought by the terminal being located itself, for example: the time point when the positioning reference signal sent by each transmitter is received and the positioning If there is a time difference between the calculated time points, the time point for positioning calculation needs to be corrected; the other type is caused by the network.
  • the time when each transmitter sends the positioning reference signal is not synchronized, which will cause each transmitter to send the reference signal. There is an error in the arrival time difference between the transmitted positioning reference signals, which also needs to be corrected.
  • the above-mentioned first method may be used to eliminate the information corresponding to the moving terminal, and then the positioning calculation is performed.
  • the located terminal sends the obtained geographic location to the LMF.
  • the positioning method 50 includes the following steps:
  • the LMF sends preset configuration information to terminals in the entire network by means of a broadcast message.
  • the specific implementation may include: the LMF directly sends the configuration information to each terminal through an LPP message; or the LMF sends the configuration information to the base station, and the base station sends the configuration information to each terminal through a broadcast message.
  • Step 500 may be included before step 510, where the LMF pre-configures the configuration information for sending the positioning reference information for the terminals of the entire network. Since it is not certain which terminals have the ability to send PRS and which terminals do not have the ability to send PRS, and it is also uncertain which terminals have the ability to send PRS, the same PRS resources can be configured for the terminals of the whole network, namely: The time domain, frequency domain, and space domain resources used by each terminal to transmit the PRS may be the same.
  • the specific configuration of the PRS resources needs to be performed according to the resources in the positioning reference signal resource pool reported by the base station.
  • the LMF receives a first request (eg, a request for a positioning service).
  • the LMF receives a first request from the positioning terminal, where the first request carries the identification information of the located terminal, and is used to request the location information of the located terminal, which may indicate that the located terminal is performing a positioning service, or may not instruct.
  • the LMF after the LMF receives the first request, it can select and set corresponding QoS indicator requirements according to the service type of the request, such as: positioning accuracy requirements and positioning integrity requirements, and so on.
  • the LMF determines, according to the first request, a target terminal that supports sending the positioning reference signal PRS.
  • step 530 the following steps may be included:
  • the LMF sends a first request to the core network device AMF, where the first request may carry the identification ID of the target terminal, so as to request the AMF to page the target terminal to enter the positioning process.
  • the AMF In response to the first request, the AMF sends a paging message to the target terminal to page the target terminal that can enter the positioning process.
  • the AMF receives the response message sent by the target terminal that can enter the positioning process, to indicate that the corresponding target terminal receives the paging.
  • the AMF feeds back the ID of the target terminal that receives the paging (denoted as: the first target terminal) to the LMF.
  • the LMF sends a second request to the first target terminal, where the second request is used to inquire whether the first target terminal supports sending a positioning reference signal, and the second request may be an assisted positioning request, which is used to inquire whether the first target terminal has an auxiliary positioning signal. positioning capability.
  • the LMF receives a feedback message sent by the first target terminal, where the feedback message carries the identification information of the first target terminal.
  • step 530 can be:
  • the LMF selects a target terminal (referred to as the second target terminal) that supports sending the positioning reference signal from the first target terminal.
  • the LMF sends the identification ID of the second target terminal to the located terminal.
  • the second target terminal sends the PRS at the corresponding resource location indicated by the configuration information.
  • the located terminal receives the PRS sent by the second target terminal at the corresponding resource position indicated by the configuration information, and measures the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding timestamp.
  • the transmitting end includes the target terminal and the base station to which the target terminal belongs.
  • the located terminal receives the PRS sent by the target terminal at the corresponding resource position indicated by the configuration information according to the received configuration information, and measures the difference between the positioning reference signals sent by each transmitter. After the arrival time difference and the corresponding time stamp, to determine the location of the terminal to be located, two ways can be used.
  • One way is to send the measurement result to the LMF, and the LMF performs positioning calculation to determine the position of the positioned terminal.
  • the LMF performs positioning calculation to determine the position of the positioned terminal.
  • the terminal to be positioned receives the information from the LFM, and performs positioning by itself in combination with the information measured by itself.
  • the terminal to be positioned receives the information from the LFM, and performs positioning by itself in combination with the information measured by itself.
  • steps 470 to 490 included in the positioning method 40 shown in FIG. 7 which will not be repeated here for the sake of brevity of description.
  • the core network device 60 includes: a memory 601 , a transceiver 602 and a processor 603 .
  • the memory 601 is used to store computer programs.
  • the transceiver 602 is configured to: receive a first request under the control of the processor 603, where the first request is used to request the location information of the located terminal; according to the first request, send a request to the located terminal and the target
  • the terminal simultaneously sends configuration information, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for The positioned terminal performs positioning.
  • the processor 603 is used to read the computer program in the memory 601 and execute the control of the transceiver.
  • the processor is specifically configured to: determine the target terminal for sending the positioning reference signal according to the identification information of the located terminal carried in the first request; configure the corresponding configuration for the target terminal information.
  • the transceiver is specifically configured to send the configured configuration information to the located terminal and the target terminal at the same time under the control of the processor.
  • the processor is specifically configured to: determine, according to the identification information of the located terminal, the base station to which the located terminal belongs; The subordinate terminal is determined as the target terminal.
  • the processor is specifically configured to: select a terminal that supports sending a positioning reference signal from the target terminals; and configure corresponding configuration information for the terminal that supports sending a positioning reference signal.
  • the bus architecture in FIG. 9 may include any number of interconnected buses and bridges, specifically various circuit links of one or more processors represented by processor 603 and memory represented by memory 601 together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 602 may be a number of elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 603 is responsible for managing the bus architecture and general processing, and the memory 601 may store data used by the processor 603 in performing operations.
  • the processor 603 may be a central processor (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or a complex programmable logic device (Complex Programmable Logic Device). , CPLD), the processor can also use a multi-core architecture.
  • CPU central processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • FPGA field programmable gate array
  • CPLD Complex Programmable Logic Device
  • an embodiment of the present application provides a core network device, where the core network device includes: a memory, a transceiver, and a processor.
  • Memory is used to store computer programs.
  • the transceiver is configured to: send preset configuration information to the target terminal under the control of the processor, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information; receive a first request, the first A request is used to request the location information of the located terminal; according to the first request, the configuration information is sent to the located terminal, and the configuration information is used to instruct the located terminal to receive the location information according to the configuration information.
  • the positioning reference signal is used for positioning the located terminal.
  • a processor is used to read a computer program in the memory and perform control of the transceiver.
  • the terminal 70 includes a memory 701 , a transceiver 702 and a processor 703 .
  • the memory 701 is used to store computer programs.
  • the transceiver 702 is configured to: receive configuration information sent by the core network device under the control of the processor 703; and receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include The target terminal and the base station to which the target terminal belongs.
  • the processor 703 is configured to read the computer program in the memory 701 and control the transceiver, and perform positioning according to the positioning reference signal received by the transceiver.
  • the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end; The geographic location information, speed information and corresponding time stamps of each transmitter of the device are used to determine the geographic location.
  • the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end.
  • the transceiver is further configured to: report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal.
  • the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID.
  • the bus architecture in FIG. 10 may include any number of interconnected buses and bridges, specifically various circuit links of one or more processors represented by processor 703 and memory represented by memory 701 together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 702 may be multiple elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the user interface 704 may also be an interface capable of externally connecting the required equipment, and the connected equipment includes but is not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.
  • the processor 703 is responsible for managing the bus architecture and general processing.
  • Memory 702 may store data used by processor 703 in performing operations.
  • the processor 703 may be a CPU (central processor), an ASIC (Application Specific Integrated Circuit, an application-specific integrated circuit), an FPGA (Field-Programmable Gate Array, a field programmable gate array) or a CPLD (Complex Programmable Logic Device) , complex programmable logic devices), the processor can also use a multi-core architecture.
  • CPU central processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • complex programmable logic devices complex programmable logic devices
  • the processor is configured to execute any one of the methods provided in the embodiments of the present application according to the obtained executable instructions by invoking the computer program stored in the memory.
  • the processor and memory may also be physically separated.
  • an embodiment of the present application further provides a core network device, where the core network device includes: a receiving unit and a sending unit.
  • the receiving unit is configured to receive a first request, where the first request is used to request location information of the located terminal.
  • the sending unit is configured to send configuration information to the located terminal and the target terminal at the same time according to the first request, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information, and to indicate the The located terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal.
  • the core network device further includes a processing unit, configured to determine the target terminal for sending the positioning reference signal according to the identification information of the located terminal carried in the first request; configure the corresponding terminal for the target terminal configuration information.
  • the sending unit is configured to send the configured configuration information to the located terminal and the target terminal at the same time.
  • the processing unit is specifically configured to: determine the base station to which the located terminal belongs according to the identification information of the located terminal; The subordinate terminal is determined as the target terminal.
  • the processing unit is further configured to: filter out terminals that support sending positioning reference signals from the target terminals; and configure corresponding configuration information for the terminals that support sending positioning reference signals.
  • the sending unit is specifically configured to: send a second request to the target terminal, where the second request is used to inquire whether the target terminal supports sending a positioning reference signal.
  • the processing unit is specifically configured to, according to the identification information of the target terminal carried in the received feedback message of the target terminal, screen out the terminal that supports sending the positioning reference signal from the target terminal.
  • corresponding configuration information is configured for the terminal that supports sending the positioning reference signal.
  • the parameter information includes at least one of the following items: bandwidth of the positioning reference signal sent by the target terminal, frequency point information, and duration.
  • the core network device further includes a receiving unit configured to receive a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: a time difference of arrival between positioning reference signals and a corresponding positioning Reference Signal ID.
  • the processing unit is configured to: determine at least one corresponding target terminal according to the positioning reference signal ID corresponding to the measurement result and the identification information of the target terminal; obtain the geographic location information and the corresponding timestamp reported by the at least one target terminal ; Determine the geographic location of the located terminal according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp.
  • the processing unit is specifically configured to, according to the identification information of the at least one target terminal, filter out the at least one target terminal from the received geographic location information and the corresponding timestamp reported by the target terminal. geographic location information of a target terminal and a corresponding timestamp; or, the sending unit is specifically configured to send a third request to the at least one target terminal to request the geographic location information of the at least one target terminal.
  • the receiving unit is specifically configured to receive the geographic location information and the corresponding timestamp reported by the at least one target terminal.
  • the receiving unit is further configured to receive a geographic location reported by the located terminal, where the reported geographic location is obtained by performing positioning by the located terminal according to the received positioning reference signal.
  • the configuration information may include, but is not limited to, at least one of the following:
  • the identification ID of each terminal that transmits the positioning reference signal is the identification ID of each terminal that transmits the positioning reference signal.
  • Transmission modes include: periodic, semi-persistent, and aperiodic.
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.
  • the indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • an embodiment of the present application further provides a core network device, where the core network device includes: a sending unit and a receiving unit.
  • the sending unit is configured to send preset configuration information to the target terminal, where the configuration information is used to instruct the target terminal to send a positioning reference signal according to the configuration information.
  • the receiving unit is configured to receive a first request, where the first request is used to request location information of the located terminal.
  • the sending unit is further configured to send the configuration information to the located terminal according to the first request, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, for locating the located terminal.
  • the core network device further includes a processing unit, configured to screen out the terminals that support sending positioning reference signals from the target terminals.
  • the sending unit is further configured to send an identification ID of a terminal that supports sending positioning reference signals to the located terminal, so that the located terminal receives a positioning reference signal sent by a terminal corresponding to the identification ID according to the configuration information.
  • the sending unit is specifically configured to send a second request to the target terminal, where the second request is used to inquire whether the target terminal supports sending a positioning reference signal.
  • the processing unit is specifically configured to, according to the identification information of the target terminal carried in the received feedback message of the target terminal, screen out the terminal that supports sending the positioning reference signal from the target terminal.
  • an embodiment of the present application also provides a terminal, where the terminal includes: a receiving unit and a positioning unit.
  • the receiving unit is configured to receive configuration information sent by a core network device; and receive positioning reference signals sent by multiple transmitters according to the configuration information, where the multiple transmitters include a target terminal and a base station to which the target terminal belongs.
  • the positioning unit is configured to locate the located terminal according to the positioning reference signal.
  • the positioning unit is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end; The geographic location information, speed information and corresponding time stamp of each transmitter determine the geographic location.
  • the positioning unit is specifically configured to perform calibration processing on the timestamp corresponding to the time difference of arrival according to the obtained calibration parameter; according to the time difference of arrival, the geographic location information and speed information of each transmitter and the corresponding time stamp, and the time stamp corresponding to the time-of-arrival difference after calibration processing, to determine the geographic location.
  • the calibration parameter may be determined based on the first time stamp when each transmitter sends the positioning reference signal, the second time stamp when each transmitter sends the positioning reference signal, and the third time stamp when the positioned terminal performs positioning calculation. get.
  • the positioning unit is specifically used for:
  • the geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.
  • the receiving unit is further configured to:
  • the positioning reference signal sent by the terminal corresponding to the identification ID is received according to the configuration information.
  • a sending unit is further included, configured to report the geographic location to the core network device.
  • the positioning unit is specifically configured to measure the time difference of arrival between the positioning reference signals sent by each transmitting end.
  • the sending unit is further configured to report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: a positioning reference The arrival time difference between the signals and the corresponding positioning reference signal ID.
  • the configuration information may include, but is not limited to, at least one of the following:
  • the identification ID of each terminal that transmits the positioning reference signal is the identification ID of each terminal that transmits the positioning reference signal.
  • Transmission modes include: periodic, semi-persistent, and aperiodic.
  • the indication information of the time domain resources of the semi-persistent positioning reference signal which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.
  • the indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.
  • the indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.
  • an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when it runs on a computer, the computer can execute the foregoing positioning method 10, or, the positioning method 100, or, the corresponding content in the embodiment corresponding to the positioning method 20.
  • the positioning method not only the base station can send the positioning reference signal, but some terminals under the base station can also send the positioning reference signal through the PC5 interface, thereby improving the density and the density of the positioning reference signal in the network.
  • the geometric distribution of the transmitted positioning signal is irrelevant, thereby improving the positioning accuracy of the located terminal, which in turn can meet the positioning accuracy requirements in the Sidelink scenario.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.
  • processor-executable instructions may also be stored in a processor-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the processor-readable memory result in the manufacture of means including the instructions product, the instruction means implements the functions specified in the flow or flow of the flowchart and/or the block or blocks of the block diagram.
  • processor-executable instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process that Execution of the instructions provides steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

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Abstract

本申请实施例提供了一种定位方法、设备及计算机可读存储介质，涉及通信技术领域。该方法包括：接收第一请求，第一请求用于请求被定位终端的位置信息；根据第一请求，向被定位终端和目标终端同时发送配置信息，配置信息用于指示目标终端根据配置信息发送定位参考信号，以及指示被定位终端根据配置信息接收定位参考信号，以用于对被定位终端进行定位。

Description

定位方法、设备及计算机可读存储介质
相关申请的交叉引用
本申请要求于2020年12月31日在国家知识产权局提交的申请号为202011620018.3的中国专利申请的优先权，通过引用将上述申请的公开内容整体并入本文。
技术领域
本申请涉及通信技术领域，具体而言，本申请涉及一种定位方法、设备及计算机可读存储介质。
背景技术
目前3GPP架构下没有考虑针对通过Sidelink(直接通信链路)进行数据传输的时候，基站覆盖下接入基站的终端也能提供定位参考信号的场景。目前的定位技术，室外覆盖基站发送的定位参考信号并不能满足高精度定位要求，比如：发送定位参考信号的室外基站站点数太少，室外基站分布呈几何相关性排列，发送定位参考信号的分辨率不够高等等，都会导致基于蜂窝网的室外定位结果的精确度大幅降低。而在Sidelink场景下，对定位精度提出了更高的要求，如果利用现有的定位架构，并不能完全满足Sidelink的定位精度需求。
发明内容
本申请提供了一种定位的方法、设备及计算机可读存储介质，可以解决现有定位框架下，无法满足Sidelink场景下的定位精度需求的问题。所述技术方案如下：
第一方面，提供了一种定位方法，由核心网设备执行，该方法包括：
接收第一请求，所述第一请求用于请求被定位终端的位置信息；
根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
在一个可能的实现方式中，所述根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，包括：
根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；
为所述目标终端配置相应的配置信息；
向所述被定位终端和所述目标终端同时发送配置的配置信息。
在另一个可能的实现方式中，所述根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号目标终端，包括：
根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；
将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
在又一个可能的实现方式中，在为所述目标终端配置相应的配置信息之前，所述方法还包括：
从所述目标终端中筛选出支持发送定位参考信号的终端；
所述为所述目标终端配置相应的定位参考信号的配置信息，包括：
为所述支持发送定位参考信号的终端配置相应的配置信息。
在又一个可能的实现方式中，所述从所述目标终端中筛选出支持发送定位参考信号的终端，包括：
向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
根据接收到的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出所述支持发送定位参考信号的终端。
在又一个可能的实现方式中，所述反馈消息中还携带所述目标终端所发送定位参考信号的参数信息，所述为支持发送定位参考信号的终端配置相应的配置信息，包括：
根据所述参数信息，为支持发送定位参考信号的终端配置相应的配置信息。
在又一个可能的实现方式中，所述参数信息包括以下至少一项：所述目标终端所发送定位参考信号的带宽，频点信息，持续时长。
在又一个可能的实现方式中，所述方法还包括：
从所述目标终端中筛选出支持发送定位参考信号的终端；
向所述被定位终端发送支持发送定位参考信号的终端的标识ID，以便所述被定位终端根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
在又一个可能的实现方式中，所述方法还包括：
接收所述被定位终端上报的测量结果和对应的时间戳，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID；
根据所述测量结果对应的定位参考信号ID和所述目标终端的标识信息，确定对应的至少一个目标终端；
获取所述至少一个目标终端上报的地理位置信息和对应的时间戳；
根据所述测量结果和对应的时间戳，以及所述地理位置信息和对应的时间戳，确定所述被定位终端的地理位置。
在又一个可能的实现方式中，所述获取所述至少一个目标终端上报的地理位置 信息和所述地理位置信息对应的时间戳，包括；
根据所述至少一个目标终端的标识信息，从接收的所述目标终端上报的地理位置信息和对应的时间戳中，筛选出所述至少一个目标终端的地理位置信息和对应的时间戳；
或者，
向所述至少一个目标终端发送第三请求，所述第三请求用于请求所述至少一个目标终端的地理位置信息；
接收所述至少一个目标终端上报的地理位置信息和对应的时间戳。
在又一个可能的实现方式中，所述方法还包括：
接收所述被定位终端上报的地理位置，所述上报的地理位置为所述被定位终端根据接收的定位参考信号进行定位得到的。
在又一个可能的实现方式中，所述配置信息包括以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID；
其中，发送模式包括：周期性、半持续性、非周期性；
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期；
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期；
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
第二方面，提供了一种定位方法，由核心网设备执行，该方法包括：
向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据相应的配置信息发送定位参考信号；
接收第一请求，所述第一请求用于请求被定位终端的位置信息；
根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
在一个可能的实现方式中，所述方法还包括：
从所述目标终端中筛选出支持发送定位参考信号的终端；
向所述被定位终端发送支持发送定位参考信号的终端的标识ID。
在另一个可能的实现方式中，所述从所述目标终端中筛选出支持发送定位参考信号的终端，包括：
向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
根据接收到的目标终端的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出所述支持发送定位参考信号的终端。
第三方面，提供了一种定位方法，由被定位终端执行，该方法包括：
接收核心网设备发送的配置信息；
根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
根据所述定位参考信号进行定位。
在一个可能的实现方式中，所述根据所述定位参考信号进行定位，包括：
测量各个发射端所发送的定位参考信号之间的到达时间差；
根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
在另一个可能的实现方式中，在所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置之前，所述方法还包括：
获取校准参数；
所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置，包括：
根据所述校准参数对所述到达时间差对应的时间戳进行校准处理；
根据所述到达时间差，所述各个发射端的地理位置信息、速度信息和对应的时间戳，以及校准处理后的所述到达时间差对应的时间戳，确定地理位置。
在又一个可能的实现方式中，所述获取校准参数，包括：
获取接收到各个发射端发送定位参考信号的第一时间戳、各个发射端发送定位参考信号时的第二时间戳，以及所述被定位终端进行定位计算时的第三时间戳；
根据所述第一时间戳、第二时间戳和第三时间戳，确定所述校准参数。
在又一个可能的实现方式中，所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置，包括：
根据所述各个发射端的速度信息，和/或，所述各个发射端相邻时刻的地理位置信息，确定移动的发射端；
从所述到达时间差中剔除移动的发射端所对应的达到时间差；
根据剩余的所述到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置。
在又一个可能的实现方式中，在根据所述配置信息接收多个发射端发送的定位参 考信号之前，所述方法还包括：
接收所述核心网设备发送的支持发送定位参考信号的终端的标识ID；
则，所述根据所述配置信息接收多个发射端发送的定位参考信号，包括：
根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
在又一个可能的实现方式中，所述方法还包括：向所述核心网设备上报所述地理位置。
在又一个可能的实现方式中，所述根据所述定位参考信号进行定位，包括：
测量各个发射端所发送的定位参考信号之间的到达时间差；
向所述核心网设备上报的测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置，其中，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
在又一个可能的实现方式中，所述配置信息包括以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID；
其中，发送模式包括：周期性、半持续性、非周期性；
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期；
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期；
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
第四方面，提供了一种核心网设备，包括：
存储器，用于存储计算机程序；
收发机，用于在所述处理器的控制下接收第一请求，所述第一请求用于请求被定位终端的位置信息；根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位；
处理器，用于读取所述存储器中的计算机程序并执行对所述收发机的控制。
在一个可能的实现方式中，所述处理器具体用于：根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；为所述目标终端配置相应的配置信息；
所述收发器具体用于：在所述处理器的控制下向所述被定位终端和所述目标终端 同时发送配置的配置信息。
在另一个可能的实现方式中，所述处理器具体用于：根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
在又一个可能的实现方式中，所述处理器具体用于：从所述目标终端中筛选出支持发送定位参考信号的终端；为所述支持发送定位参考信号的终端配置相应的配置信息。
第五方面，提供一种核心网设备，包括：
存储器，用于存储计算机程序；
收发机，用于在所述处理器的控制下向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；
接收第一请求，所述第一请求用于请求被定位终端的位置信息；
根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位；
处理器，用于读取所述存储器中的计算机程序并执行对所述收发机的控制。
第六方面，提供一种终端，包括：
存储器，用于存储计算机程序；
收发机，用于在所述处理器的控制下接收核心网设备发送的配置信息；并根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
处理器，用于读取所述存储器中的计算机程序并执行对所述收发机的控制，以及根据所述收发机接收的所述定位参考信号进行定位。
在一个可能的实现方式中，所述处理器具体用于：测量各个发射端所发送的定位参考信号之间的到达时间差；
根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
在另一个可能的实现方式中，所述处理器具体用于：测量各个发射端所发送的定位参考信号之间的到达时间差；
所述收发器还用于，向所述核心网设备上报测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置，其中，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
第七方面，提供一种核心网设备，包括：
接收单元，用于接收第一请求，所述第一请求用于请求被定位终端的位置信息；
发送单元，用于根据所述第一请求，向所述被定位终端和目标终端同时发送配置 信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
第八方面，提供一种核心网设备，包括：
发送单元，用于向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；
接收单元，用于接收第一请求，所述第一请求用于请求被定位终端的位置信息；
所述发送单元还用于，根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
第九方面，提供一种终端，包括：
接收单元，用于接收核心网设备发送的配置信息；根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
定位单元，用于根据所述定位参考信号对所述被定位终端进行定位。
第十方面，提供一种处理器可读存储介质，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行第一方面所示的定位的方法对应的操作，或者，执行第二方面所示的定位的方法对应的操作，或者，执行第三方面所示的定位的方法对应的操作。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对本申请实施例描述中所需要使用的附图作简单地介绍。
图1为相关技术的定位框架图；
图2为相关技术中Sidelink通信过程的示意图；
图3为本申请实施例提供的一种定位方法的流程示意图；
图4为本申请另一实施例提供的一种定位方法的流程示意图；
图5为本申请又一实施例提供的一种定位方法的流程示意图；
图6为本申请实施例提供的一种定位方法的交互示意图；
图7为本申请另一实施例提供的一种定位方法的交互示意图；
图8为本申请另一实施例提供的一种定位方法的交互示意图；
图9为本申请实施例提供的一种核心网设备的结构示意图；
图10为本申请实施例提供的一种终端设备的结构示意图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能解释为对本发明的限制。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本申请的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或无线耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
为使本申请的目的、技术方案和优端更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
本申请实施例提供的技术方案可以适用于多种系统，尤其是5G系统。例如适用的系统可以是全球移动通讯(global system of mobile communication，GSM)系统、码分多址(code division multiple access，CDMA)系统、宽带码分多址(Wideband Code Division Multiple Access，WCDMA)通用分组无线业务(general packet radio service，GPRS)系统、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)系统、高级长期演进(long term evolution advanced，LTE-A)系统、通用移动系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)系统、5G新空口(New Radio,NR)系统等。这多种系统中均包括终端设备和网络侧设备。系统中还可以包括核心网部分，例如演进的分组系统(Evloved Packet System,EPS)、5G系统(5GS)等。
首先对本申请涉及的几个名词进行介绍和解释：
本申请实施例涉及的终端设备，可以是指向用户提供语音和/或数据连通性的设备，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等。在不同的系统中，终端设备的名称可能也不相同，例如在5G系统中，终端设备可以称为用户设备(User Equipment，UE)。无线终端设备可以经无线接入网(Radio Access Network,RAN)与一个或多个核心网(Core Network,CN)进行通信，无线终端设备可以是移动终端设备，如移动电话(或称为“蜂窝”电话)和具有移动终端设备的计算机，例如，可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与无线接入网交换语言和/或数据。例如，个人通信业务(Personal Communication Service，PCS)电话、无绳电话、会话发起协议(Session Initiated Protocol，SIP)话机、无线本地环路(Wireless Local Loop，WLL)站、个人数字助理(Personal Digital  Assistant，PDA)等设备。无线终端设备也可以称为系统、订户单元(subscriber unit)、订户站(subscriber station)，移动站(mobile station)、移动台(mobile)、远程站(remote station)、接入点(access point)、远程终端设备(remote terminal)、接入终端设备(access terminal)、用户终端设备(user terminal)、用户代理(user agent)、用户装置(user device)，本申请实施例中并不限定。
本申请实施例涉及的网络侧设备，可以是基站，该基站可以包括多个为终端提供服务的小区。根据具体应用场合不同，基站又可以称为接入点，或者可以是接入网中在空中接口上通过一个或多个扇区与无线终端设备通信的设备，或者其它名称。网络侧设备可用于将收到的空中帧与网际协议(Internet Protocol，IP)分组进行相互更换，作为无线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网际协议(IP)通信网络。网络侧设备还可协调对空中接口的属性管理。例如，本申请实施例涉及的网络侧设备可以是全球移动通信系统(Global System for Mobile communications，GSM)或码分多址接入(Code Division Multiple Access，CDMA)中的网络侧设备(Base Transceiver Station，BTS)，也可以是带宽码分多址接入(Wide-band Code Division Multiple Access，WCDMA)中的网络侧设备(NodeB)，还可以是长期演进(long term evolution，LTE)系统中的演进型网络侧设备(evolutional Node B，eNB或e-NodeB)、5G网络架构(next generation system)中的5G基站(gNB)，也可以是家庭演进基站(Home evolved Node B，HeNB)、中继节点(relay node)、家庭基站(femto)、微微基站(pico)等，本申请实施例中并不限定。在一些网络结构中，网络侧设备可以包括集中单元(centralized unit，CU)节点和分布单元(distributed unit，DU)节点，集中单元和分布单元也可以地理上分开布置。
网络侧设备与终端设备之间可以各自使用一或多根天线进行多输入多输出(Multi Input Multi Output,MIMO)传输，MIMO传输可以是单用户MIMO(Single User MIMO,SU-MIMO)或多用户MIMO(Multiple User MIMO,MU-MIMO)。根据根天线组合的形态和数量，MIMO传输可以是2D-MIMO、3D-MIMO、FD-MIMO或massive-MIMO，也可以是分集传输或预编码传输或波束赋形传输等。
本申请实施例涉及的核心网设备，可以为定位服务器(Location Management Function，LMF)是管理目标设备、即被定位的无线设备的定位的物理或逻辑实体，处于称作演进服务移动位置中心(E-SMLC)的控制平面架构中，负责选择定位方法及触发相应的定位测量，并可以计算定位最终结果和精度。
目前适用于5G接入网NG-RAN的定位架构如图1所示，其中，NG-RAN可以发送定位参考信号，或者基于辅助信息进行定位测量；终端设备UE可以发送定位参考信号，或者基于辅助信息进行定位测量，也可以基于测量结果计算定位最终结果和精度。
长期演进技术(Long Term Evolution，LTE)定位协议(LTE Positioning Protocol， LPP)中的定位能力包括目标设备所支持的定位方法、对某一定位方法所支持的不同方面(如支持的辅助全球导航卫星系统A-GNSS辅助数据类型)以及并不限定于某一定位方法的一些定位的共同特性(如处理多个LPP事务的能力)。
LPP定位能力传递事务可能由服务器请求触发，具体是：服务器发送LPP请求能力消息，请求目标设备的相关定位能力；或者，由目标设备“主动上报”，具体是：目标设备向服务器传输相关定位能力，以主动传输能力信息，该能力信息中可能包含特定的定位方法以及一些定位方法的共性等。服务器可以是5G定位架构中的LMF。
直接通信是指邻近的终端可以在近距离范围内通过直接通信链路(也称为Sidelink)进行数据传输的方式。Sidelink链路对应的无线接口称为直接通信接口，也称为Sidelink接口，如图2所示。
因此，目前3GPP架构下没有考虑针对通过Sidelink(直接通信链路)进行数据传输的时候，基站覆盖下接入基站的终端也能提供定位参考信号的场景。目前的定位技术，室外覆盖基站发送的定位参考信号并不能满足高精度定位要求，比如：发送定位参考信号的室外基站站点数太少，室外基站分布呈几何相关性排列，发送定位参考信号的分辨率不够高等等，都会导致基于蜂窝网的室外定位结果的精确度大幅降低。而在Sidelink场景下，对定位精度提出了更高的要求，如果利用现有的定位架构，并不能完全满足Sidelink的定位精度需求。
有鉴于此，本申请提供的定位方法、设备和处理器可读存储介质，旨在解决现有技术的如上技术问题。
具体而言，本申请实施例提供一种定位方法：不仅基站能够发送定位参考信号，基站下属的一些终端(基站覆盖下接入基站的一些终端)也可以通过PC5接口发送定位参考信号，由此提升网络中定位参考信号的密度和发送定位信号的几何分布的不相关性，从而提高了被定位终端的定位精度。基站将定位参考信号资源池上报给LMF服务器，LMF下发PC5PRS配置给被定位终端和目标终端，告知目标终端可以在PC5接口播发PRS信号及对应的资源配置，并告知被定位终端可以在PC5接口接收PRS信号的资源配置。这样目标终端获得了PC5PRS的配置，即可按照要求发送定位参考信号，使得被定位的终端能够接收到更多的定位参考信号。
下面以具体的实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
本申请实施例中提供了一种定位方法10，如图3所示，该方法10由核心网设备执行，例如：由定位服务器LMF执行，该方法包括：
110、接收第一请求，所述第一请求用于请求被定位终端的位置信息；
120、根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所 述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
具体的，在该实施例中，LMF接收的第一请求可以为来自定位终端的定位业务请求，所述配置信息可以包括但不限于以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID。
发送模式包括：周期性、半持续性、非周期性。
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期。
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期。
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
在上述实施例中，LMF接收请求被定位终端的位置信息的第一请求后，下发PC5PRS配置给被定位终端和目标终端，告知目标终端可以在PC5接口播发PRS信号及对应的资源配置，并告知被定位终端可以在PC5接口接收PRS信号的资源配置。这样目标终端获得了PC5PRS的配置，即可按照要求发送定位参考信号，使得被定位终端能够接收到更多的定位参考信号。
因此，本申请实施例提供的定位方法，不仅基站能够发送定位参考信号，基站下属的一些终端也可以通过PC5接口发送定位参考信号，由此提升网络中定位参考信号的密度和发送定位信号的几何分布的不相关性，从而提高了被定位终端的定位精度，进而可以满足Sidelink场景下的定位精度需求。
应理解，在该实施例中，目标终端可以通过PC5接口在配置信息所指示的资源上发送定位参考信号。LMF可以通过LPP消息将配置信息发送给被定位终端。
在一些实施例中，步骤120可以包括：
121、根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；
122、为所述目标终端配置相应的配置信息；
123、向所述被定位终端和所述目标终端同时发送配置的配置信息。
具体的，在该实施例中，步骤121可以包括：
根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；
将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
也就是说，在该实施例中，核心网设备接收到定位终端(定位终端为请求被定位终端地理位置的终端)发送的第一请求后，可以基于第一请求中携带的被定位终端的标识信息，通过查找数据库得到被定位终端所属的基站，将基站下属的终端和基站的邻区基站下属的终端确定为目标终端，然后为目标终端配置相应的配置信息后，向被定位终端和目标终端发送配置好的配置信息，目标终端根据接收的配置信息发送定位参考信号，被定位终端根据接收到的配置信息接收目标终端发送的定位参考信号，从而对被定位终端进行定位。
在一些实施例中，在步骤122之前，步骤120还可以包括：
124、从所述目标终端中筛选出支持发送定位参考信号的终端。
则步骤123包括：为支持发送定位参考信号的终端配置相应的配置信息。
具体的，在该实施例中，步骤124具体可以包括：
向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
根据接收到的目标终端的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出支持发送定位参考信号的终端。
所述反馈消息中还携带所述目标终端所发送定位参考信号的参数信息，则步骤123具体为：
根据所述参数信息，为支持发送定位参考信号的终端配置相应的配置信息。
在该实施例中，所述参数信息包括以下至少一项：所述目标终端所发送定位参考信号的带宽，频点信息，持续时长。
也就是说，为了提高发送定位参考信号PRS的效率以及避免资源的浪费，在基于请求中携带的被定位终端的标识信息，确定出目标终端之后，可以从中筛选出具备发送PRS能力的终端，然后基于这些终端的具体能力为其配置相应的PRS资源。
本申请实施例中还提供了一种定位方法100，如图4所示，该方法100由核心网设备执行，例如：由定位服务器LMF执行，该方法100可以包括：
101、向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；
102、接收第一请求，所述第一请求用于请求被定位终端的位置信息；
103、根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
也就是说，在接收到第一请求之前，可以事先为全网终端配置发送PRS的配置信息，例如：为全网终端配置相同的PRS资源，从而可以在接收到第一请求时，能够激励终端及时发送PRS。并且，可以通过广播消息的方式向全网终端发送预设的配置信息，这里具体的实现方式可以包括：LMF将配置信息通过LPP消息直接发给各个终 端；或者，LMF将配置信息发给基站，基站通过广播消息发给各个终端。
在一些实施例中，上述定位方法100还可以包括：
104、从所述目标终端中筛选出支持发送定位参考信号的终端；
105、向所述被定位终端发送支持发送定位参考信号的终端的标识ID，以便所述被定位终端根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
具体的，在该实施例中，步骤104可以包括：
向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
根据接收到的目标终端的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出支持发送定位参考信号的终端。
也就是说，在该实施例中，由于并不确定哪些终端具备发送PRS的能力，哪些终端不具备发送PRS的能力，也不确定具备发送PRS能力的终端具体具备哪些能力，因此，需要通过询问目标终端是否具备辅助定位能力，从中筛选出支持发送定位参考信号的终端，并将这部分终端的标识ID发送给被定位终端，以便被定位终端根据配置信息接收标识ID对应的终端发送的定位参考信号，由此避免资源浪费。
在一些实施例中，上述定位方法10和/或定位方法100还可以包括：
130、接收所述被定位终端上报的测量结果和对应的时间戳，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID；
140、根据所述测量结果对应的定位参考信号ID和所述目标终端的标识信息，确定对应的至少一个目标终端；
150、获取所述至少一个目标终端上报的地理位置信息和对应的时间戳；
160、根据所述测量结果和对应的时间戳，以及所述地理位置信息和对应的时间戳，确定所述被定位终端的地理位置。
具体的，在该实施例中，步骤150可以包括：
151、根据所述至少一个目标终端的标识信息，从接收的所述目标终端上报的地理位置信息和对应的时间戳中，筛选出所述至少一个目标终端的地理位置信息和对应的时间戳；
或者，
152、向所述至少一个目标终端发送第三请求，所述第三请求用于请求所述至少一个目标终端的地理位置信息；
153、接收所述至少一个目标终端上报的地理位置信息和对应的时间戳。
具体的，在该实施例中，LMF可以根据目标终端的标识信息和接收的测量结果对应的定位参考信号ID，确定与定位参考信号ID对应的目标终端，然后，根据接收到的定位参考信号之间的到达时间差和对应的时间戳，以及所确定目标终端的地理位置信息和对应的时间戳，得到被定位终端的地理位置。
需要说明的是，在该实施例中，LMF在获取到上述信息后，可以采用现有的计算方法得到被定位终端的地理位置，为了描述的简洁，在此不再赘述。
在另一些实施例中，上述定位方法10和/或定位方法100还可以包括：
170、接收所述被定位终端上报的地理位置，所述上报的地理位置为所述被定位终端根据接收的定位参考信号进行定位得到的。
具体的，在该实施例中，LMF可以直接接收被定位终端上报的地理位置，无需进行定位计算确定被定位终端的地理位置。
基于相同的发明构思，本申请实施例中还提供了一种定位方法20，如图5所示，该方法20可以由定位过程中的被定位终端执行，该方法包括：
210、接收核心网设备发送的配置信息；
220、根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
230、根据所述定位参考信号进行定位。
具体的，在该实施例中，所述配置信息可以包括但不限于以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID。
发送模式包括：周期性、半持续性、非周期性。
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期。
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期。
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
在上述实施例中，被定位终端接收LMF下发的PC5PRS配置，获知在PC5接口接收PRS信号的资源配置，不仅可以接收到基站发送的定位参考信号，而且可以根据配置接收到基站下属的一些终端通过PC5接口发送的定位参考信号，因此可以接收到更多的定位参考信号，由此提升网络中定位参考信号的密度和发送定位信号的几何分布的不相关性，从而提高了被定位终端的定位精度，进而可以满足Sidelink场景下的定位精度需求。
应理解，在该实施例中，被定位终端可以通过接收LMF发送的LPP消息来得到配置信息，从而在配置信息所指示的资源上接收相应的定位参考信号。
在一些实施例中，步骤230可以包括：
231、测量各个发射端所发送的定位参考信号之间的到达时间差；
232、根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
具体的，在该实施例中，被定位终端可以基于测量得到的各个发射端所发送的定位参考信号之间到达时间差和对应的时间戳，以及接收到的来自核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定自己的地理位置，无需将相关信息发送至LMF，由LFM进行定位计算。
在一些实施例中，在步骤232之前，步骤230还可以包括：
240、获取校准参数。
则步骤232可以包括：
根据所述校准参数对所述到达时间差对应的时间戳进行校准处理；
根据所述到达时间差，所述各个发射端的地理位置信息、速度信息和对应的时间戳，以及校准处理后的所述到达时间差对应的时间戳，确定地理位置。
也就是说，在该实施例中，为了使得得到的地理位置更加准确，可以采用校准定位过程中可能存在的时差的方式。
具体的，在该实施例中，步骤240可以包括：
获取接收到各个发射端发送定位参考信号的第一时间戳、各个发射端发送定位参考信号时的第二时间戳，以及所述被定位终端进行定位计算时的第三时间戳；
根据所述第一时间戳、第二时间戳和第三时间戳，确定所述校准参数。
具体的，在该实施例中，需要对可能存在的两类时差进行校准，一类是由被定位终端自身带来的，例如：接收到各个发射端发送的定位参考信号的时间点与进行定位计算的时间点之间存在时差，则需要对进行定位计算的时间点进行校正；另一类是由网络引起的，例如：各个发射端发送定位参考信号的时间不同步，那么将导致各个发射端所发送的定位参考信号之间的到达时间差存在误差，也需要进行校正。
在另一些实施例中，步骤232可以包括：
根据所述各个发射端的速度信息，和/或，所述各个发射端相邻时刻的地理位置信息，确定移动的发射端；
从所述到达时间差中剔除移动的发射端所对应的达到时间差；
根据剩余的所述到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置。
也就是说，在该实施例中，为了使得得到的地理位置更加准确，可以采用剔除移动的终端所对应的信息(包括：到达时间差和对应的时间戳，以及地理位置信息和对应的时间戳)的方式。由于，在进行定位计算时将会导致定位结果存在误差的因素去除了，因此，可以提高定位的准确性。
需要说明的是，在该实施例中，在根据剩余的所述到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置时，也可以先根据获 取的校准参数对剩余的到达时间差对应的时间戳进行校准处理后，再进行定位计算得到被定位终端的地理位置。如此处理，会使得最终的定位结果更加准确。
在一些实施例中，在步骤220之前，定位方法20还可以包括：
250、接收所述核心网设备发送的支持发送定位参考信号的终端的标识ID。
则步骤220具体为：根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
在一些实施例中，定位方法20还可以包括：
260、向所述核心网设备上报所述地理位置。
在另一实施例中，步骤230可以包括：
233、测量各个发射端所发送的定位参考信号之间的到达时间差；
234、向所述核心网设备上报的测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置，其中，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
上文中结合图3～5分别从核心网设备和被定位终端的角度描述了本申请实施例提供的一种定位方法的技术方案，下面结合图6～图8，详细描述本申请实施例提供的一种定位方法的实现过程。
如图6所示，为本申请实施例提供的一种定位方法的数据/信令的交互过程图。该定位方法30包括以下步骤：
310、LMF接收第一请求(例如：定位业务请求)。
具体的，LMF接收来自定位终端的第一请求，该第一请求中携带有被定位终端的标识信息，用于请求被定位终端的位置信息，可以指示被定位终端正在进行定位业务，也可以不指示。定位终端为请求被定位终端地理位置的终端。
另外，需要说明的是，在LMF接收到第一请求后，可以根据该第一请求的业务类型选择设置对应的QoS指标要求，例如：定位精度要求和定位完好性要求等等。
320、LMF根据第一请求，确定目标终端。
具体的，在该实施例中，可以根据该第一请求中携带的被定位终端的标识信息，确定该被定位终端所属的基站；再将基站下属的终端和基站的邻区基站下属的终端确定为目标终端。
330、LMF为目标终端配置相应的配置信息。
具体的，在该实施例中，可以为确定的目标终端配置相同的配置信息，例如：给目标终端相同的PRS资源，即：各个目标终端发送PRS的时域、频域、空域资源可以是相同的。
需要说明的是，在配置发送定位参考信号PRS的资源时需要依据基站上报的定位参考信号资源池中的资源进行。
在一些情况下，在步骤330之前，LMF还可以对目标终端进行筛选，例如：筛选 出具备发送PRS能力的终端进行PRS的发送。具体的，可以包括以下步骤：
301、LMF向核心网设备AMF发送第一请求，该第一请求中可以携带目标终端的标识ID，以请求AMF寻呼目标终端进入定位流程。
302、AMF响应于第一请求，向目标终端发送寻呼消息，以寻呼能进入定位流程的目标终端。
303、AMF接收能进入定位流程的目标终端发送的应答消息，以表明相应的目标终端接收寻呼。
304、AMF向LMF反馈接收寻呼的目标终端的ID(记为：第一目标终端)。
305、LMF向第一目标终端发送第二请求，该第二请求用于询问第一目标终端是否支持发送定位参考信号，该第二请求可以为辅助定位请求用于询问第一目标终端是否具备辅助定位能力。
306、LMF接收第一目标终端发送的反馈消息，并根据该反馈消息中携带的第一目标终端的标识信息，从第一目标终端中筛选出支持发送定位参考信号的终端(记为：第二目标终端)。
则，步骤330可以为：
LMF根据反馈消息中携带的目标终端所发送定位参考信号的参数信息，为第二目标终端配置相应的配置信息。
参数信息包括以下至少一项：所述目标终端所发送定位参考信号的带宽，频点信息，持续时长。
例如：第二目标终端有3个，每个第二目标终端反馈的自己所发送定位参考信号的带宽，频点信息，持续时长中的至少一项参数，则根据每个第二目标终端反馈所发送定位参考信号的参数为其配置相应的配置信息。
由此可以基于目标终端的能力实现精准配置，提高PRS的发送效率。
340、LMF向被定位终端和目标终端发送配置好的配置信息。
需要说明的是，如果目标终端未经过筛选，则发送为各个目标终端配置的相同的配置信息；如果目标终端为经过筛选得到的第二目标终端，则发送为各个第二目标终端配置的与各个第二目标终端相对应的配置信息。
350、目标终端根据接收的配置信息，在该配置信息所指示的相应资源位置上发送PRS。
360、被定位终端根据接收的配置信息，在该配置信息所指示的相应资源位置上接收目标终端发送的PRS，并测量各个发射端所发送的定位参考信号之间的到达时间差和对应的时间戳。发射端包括目标终端和目标终端所属的基站。
需要说明的是，关于基站发送定位参考信号的过程可以采用现有流程实现，为了描述的简洁，本申请实施例中不做相应的描述。
370、被定位终端通过LPP信令向LMF发送测量结果，测量结果包括：定位参考 信号之间的到达时间差和对应的定位参考信号ID。
需要说明的是，在该实施例中，例如：发射端包括目标终端1、2、3、4和基站5，其中，1、2、3、4、5分别为对应发射端的标识，则各个发射端所发送的定位参考信号之间的到达时间差和对应的定位参考信号ID，如下表1所示。
表1
Figure PCTCN2021136892-appb-000001
380、LMF接收目标终端上报的地理位置信息和对应的时间戳。
具体的，在该实施例中，LMF可以根据目标终端的标识信息和接收的测量结果对应的定位参考信号ID，确定与定位参考信号ID对应的目标终端(记为：第三目标终端)。
例如：测量结果为t1-t3，则对应的定位参考信号ID为1、3，从而确定对应的目标终端1、3。
一种情况是，从接收的目标终端自动上报的地理位置信息和对应的时间戳中筛选出第三目标终端的地理位置信息和对应的时间戳。需要说明的是，在这种情况下，LMF具体什么时间接收目标终端上报的地理位置信息和对应的时间戳，是不受限于是否确定了第三目标终端的。因此，步骤380的执行并不受限于步骤编号的顺序，这里仅仅是一个示例。
还有一种情况是，可以主动向第三目标终端发送第三请求，用以请求第三目标终端的地理位置信息，然后，接收第三目标终端上报的地理位置信息和对应的时间戳。需要说明的是，在这种情况下，为了准确获取需要的目标终端的相关信息，因此，需要在确定了第三目标终端之后，主动向第三目标终端请求相应的地理位置信息和对应的时间戳。
390、LMF基于接收的测量结果和上报的信息，确定被定位终端的地理位置。
具体的，在该实施例中，LMF根据接收到的定位参考信号之间的到达时间差和对应的时间戳，以及第三目标终端的地理位置信息和对应的时间戳，确定被定位终端的地理位置。
需要说明的是，LMF在获取到上述信息后，可以采用现有的计算方法得到被定位终端的地理位置，为了描述的简洁，在此不再赘述。
如图7所示，为本申请另一实施例提供的一种定位方法的数据/信令的交互过程图。该定位方法40与图6所示实施例中定位方法30的不同在于：
被定位终端根据接收的配置信息，在该配置信息所指示的相应资源位置上接收目标终端发送的PRS，并测量得到各个发射端所发送的定位参考信号之间的到达时间差和对应的时间戳之后，并不是将测量结果发送给LMF，由LMF进行定位计算确定被定位终端位置，而是接收来自LFM信息，再结合自己测量的信息自己进行定位。
也就是说，图7所示的定位方法40所包括的步骤410～460的具体实现过程，与图6所示的定位方法30所包括的步骤310～360的具体实现过程类似，为了描述的简洁，在此不再赘述。下面对两个实施例的不同之处进行详细的描述。
具体的，在步骤460之后，方法40包括：
470、LMF接收目标终端上报的地理位置信息、速度信息和对应的时间戳，并将上报的信息发送给被定位终端。
需要说明的是，在该实施例中，步骤470的执行并不受限于步骤编号的顺序，这里仅仅是一个示例。
480、被定位终端根据测量得到的各个发射端所发送的定位参考信号之间到达时间差和对应的时间戳，以及接收到的来自LFM的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
具体的，在该实施例中，为了使得得到的地理位置更加准确，可以通过以下两种方式对用于确定地理位置的信息进行处理。
第一种方式是：根据各个发射端的速度信息，和/或，各个发射端相邻时刻的地理位置信息，确定移动的发射端，然后，从到达时间差中剔除移动的发射端所对应的达到时间差，再根据剩余的到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置。
也就是说，在进行定位时，如果不将移动的终端对应的信息(包括：到达时间差和对应的时间戳，以及地理位置信息和对应的时间戳)剔除，会导致定位结果存在较大误差。
第二种方式是：根据获取的校准参数对到达时间差对应的时间戳进行校准处理，然后，根据到达时间差，各个发射端的地理位置信息、速度信息和对应的时间戳，以及校准处理后的到达时间差对应的时间戳，确定地理位置。
校准参数可以通过以下方式得到：获取接收到各个发射端发送定位参考信号的 第一时间戳、各个发射端发送定位参考信号时的第二时间戳，以及被定位终端进行定位计算时的第三时间戳；根据第一时间戳、第二时间戳和第三时间戳，确定校准参数。
也就是说，在定位过程中，需要对可能存在的两类时差进行校准，一类是由被定位终端自身带来的，例如：接收到各个发射端发送的定位参考信号的时间点与进行定位计算的时间点之间存在时差，则需要对进行定位计算的时间点进行校正；另一类是由网络引起的，例如：各个发射端发送定位参考信号的时间不同步，那么将导致各个发射端所发送的定位参考信号之间的到达时间差存在误差，也需要进行校正。
需要说明的是，在利用校准参数处理相关信息之后，还可以再采用上述第一种方式剔除移动的终端所对应的信息，然后再进行定位计算。
490、被定位终端将得到的地理位置发送给LMF。
如图8所示，为本申请又一实施例提供的一种定位方法的数据/信令的交互过程图。该定位方法50包括以下步骤：
510、LMF通过广播消息的方式向全网终端发送预设的配置信息。
具体的，在该实施例中，具体的实现方式可以包括：LMF将配置信息通过LPP消息直接发给各个终端；或者，LMF将配置信息发给基站，基站通过广播消息发给各个终端。
在步骤510之前可以包括步骤500，LMF预先为全网终端配置发送定位参考信息的配置信息。由于并不确定哪些终端具备发送PRS的能力，哪些终端不具备发送PRS的能力，也不确定具备发送PRS能力的终端具体具备哪些能力，因此，可以为全网终端配置相同的PRS资源，即：各个终端发送PRS的时域、频域、空域资源可以是相同的。
需要说明的是，具体在配置PRS资源时需要依据基站上报的定位参考信号资源池中的资源进行。
520、LMF接收第一请求(例如：定位业务请求)。
具体的，LMF接收来自定位终端的第一请求，该第一请求中携带有被定位终端的标识信息，用于请求被定位终端的位置信息，可以指示被定位终端正在进行定位业务，也可以不指示。
另外，需要说明的是，在LMF接收到第一请求后，可以根据该请求的业务类型选择设置对应的QoS指标要求，例如：定位精度要求和定位完好性要求等等。
530、LMF根据第一请求，确定支持发送定位参考信号PRS的目标终端。
在一些情况下，在步骤530之前，可以包括以下步骤：
501、LMF向核心网设备AMF发送第一请求，该第一请求中可以携带目标终端的标识ID，以请求AMF寻呼目标终端进入定位流程。
502、AMF响应于第一请求，向目标终端发送寻呼消息，以寻呼能进入定位流程的目标终端。
503、AMF接收能进入定位流程的目标终端发送的应答消息，以表明相应的目标终端接收寻呼。
504、AMF向LMF反馈接收寻呼的目标终端的ID(记为：第一目标终端)。
505、LMF向第一目标终端发送第二请求，该第二请求用于询问第一目标终端是否支持发送定位参考信号，该第二请求可以为辅助定位请求用于询问第一目标终端是否具备辅助定位能力。
506、LMF接收第一目标终端发送的反馈消息，该反馈消息中携带第一目标终端的标识信息。
则步骤530可以为：
LMF根据该反馈消息中携带的第一目标终端的标识信息，从第一目标终端中筛选出支持发送定位参考信号的目标终端(记为：第二目标终端)。
540、LMF向被定位终端发送第二目标终端的标识ID。
550、第二目标终端根据接收的配置信息，在该配置信息所指示的相应资源位置上发送PRS。
560、被定位终端根据接收的配置信息，在该配置信息所指示的相应资源位置上接收第二目标终端发送的PRS，并测量各个发射端所发送的定位参考信号之间的到达时间差和对应的时间戳。发射端包括目标终端和目标终端所属的基站。
应理解，在该实施例中，被定位终端根据接收的配置信息，在该配置信息所指示的相应资源位置上接收目标终端发送的PRS，并测量得到各个发射端所发送的定位参考信号之间的到达时间差和对应的时间戳之后，要确定被定位终端的位置，可以采用两种方式实现。
一种方式是将测量结果发送给LMF，由LMF进行定位计算确定被定位终端位置。这种方式的具体实现过程可以参考图6所示的定位方法30中包括的步骤370～390的实现过程，为了描述的简洁，在此不再赘述。
另一种方式是被定位终端接收来自LFM信息，并结合自己测量的信息自己进行定位。这种方式的具体实现过程可以参考图7所示的定位方法40中包括的步骤470～490的实现过程，为了描述的简洁，在此不再赘述。
基于相同的发明构思，本申请实施例提供了一种核心网设备，如图9所示，该核心网设备60包括：存储器601、收发机602和处理器603。
存储器601用于存储计算机程序。
收发机602用于：在所述处理器603的控制下接收第一请求，所述第一请求用于请求被定位终端的位置信息；根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
处理器603用于读取所述存储器601中的计算机程序并执行对所述收发机的控制。
在一些实施例中，所述处理器具体用于：根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；为所述目标终端配置相应的配置信息。
所述收发器具体用于：在所述处理器的控制下向所述被定位终端和所述目标终端同时发送配置的配置信息。
在另一些实施例中，所述处理器具体用于：根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
在另一实施例中，所述处理器具体用于：从所述目标终端中筛选出支持发送定位参考信号的终端；为所述支持发送定位参考信号的终端配置相应的配置信息。
本申请实施例提供的核心网设备60中未详述的内容，可参照上述实施例中提供的定位方法10，本申请实施例提供的核心网设备60能够达到的有益效果与上述实施例中提供的定位方法10相同，在此不再赘述。
应理解，在上述实施例中，图9中的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603代表的一个或多个处理器和存储器601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。收发机602可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器603负责管理总线架构和通常的处理，存储器601可以存储处理器603在执行操作时所使用的数据。
处理器603可以是中央处埋器(CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)，处理器也可以采用多核架构。
基于相同的发明构思，本申请实施例提供了一种核心网设备，该核心网设备包括：存储器、收发机和处理器。
存储器用于存储计算机程序。
收发机用于：在所述处理器的控制下向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；接收第一请求，所述第一请求用于请求被定位终端的位置信息；根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
处理器用于读取所述存储器中的计算机程序并执行对所述收发机的控制。
本申请实施例提供的核心网设备中未详述的内容，可参照上述实施例中提供的定位方法100，本申请实施例提供的核心网设备能够达到的有益效果与上述实施例中提供的定位方法100相同，在此不再赘述。
另外，本实施例中的核心网设备的结构可以参考图9所示的结构。
基于相同的发明构思，本申请实施例提供了一种终端，如图10所示，该终端70包括存储器701、收发机702和处理器703。
存储器701用于存储计算机程序。
收发机702用于：在所述处理器703的控制下接收核心网设备发送的配置信息；并根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站。
处理器703用于读取所述存储器701中的计算机程序并执行对所述收发机的控制，以及根据所述收发机接收的所述定位参考信号进行定位。
在一些实施例中，所述处理器具体用于：测量各个发射端所发送的定位参考信号之间的到达时间差；根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
在另一些实施例中，所述处理器具体用于：测量各个发射端所发送的定位参考信号之间的到达时间差。
所述收发器还用于：向所述核心网设备上报测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置。所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
本申请实施例提供的终端70中未详述的内容，可参照上述实施例中提供的定位方法20，本申请实施例提供的终端70能够达到的有益效果与上述实施例中提供的定位方法20相同，在此不再赘述。
应理解，在上述实施例中，图10中的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703代表的一个或多个处理器和存储器701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。收发机702可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。针对不同的用户设备，用户接口704还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。
处理器703负责管理总线架构和通常的处理。存储器702可以存储处理器703在执行操作时所使用的数据。
可选的，处理器703可以是CPU(中央处埋器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或CPLD(Complex Programmable Logic Device，复杂可编程逻辑器件)，处理器也可以采用多核架构。
处理器通过调用存储器存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的任一所述方法。处理器与存储器也可以物理上分开布置。
基于相同的发明构思，本申请实施例还提供了一种核心网设备，该核心网设备包括：接收单元和发送单元。
接收单元用于接收第一请求，所述第一请求用于请求被定位终端的位置信息。
发送单元用于根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
在一些实施例中，核心网设备还包括处理单元，用于根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；为所述目标终端配置相应的配置信息。
那么，所述发送单元用于向所述被定位终端和所述目标终端同时发送配置的配置信息。
具体的，在该实施例中，处理单元具体用于：根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
在一些实施例中，处理单元还用于：从所述目标终端中筛选出支持发送定位参考信号的终端；为支持发送定位参考信号的终端配置相应的配置信息。
具体的，在该实施例中，发送单元具体用于：向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号。
处理单元具体用于，根据接收到的目标终端的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出支持发送定位参考信号的终端。
具体的，在该实施例中，根据反馈消息中携带的所述目标终端所发送定位参考信号的参数信息，为支持发送定位参考信号的终端配置相应的配置信息。
参数信息包括以下至少一项：所述目标终端所发送定位参考信号的带宽，频点信息，持续时长。
在一些实施例中，核心网设备还包括接收单元，用于接收所述被定位终端上报的测量结果和对应的时间戳，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
处理单元用于：根据所述测量结果对应的定位参考信号ID和所述目标终端的标 识信息，确定对应的至少一个目标终端；获取所述至少一个目标终端上报的地理位置信息和对应的时间戳；根据所述测量结果和对应的时间戳，以及所述地理位置信息和对应的时间戳，确定所述被定位终端的地理位置。
具体的，在该实施例中，处理单元具体用于，根据所述至少一个目标终端的标识信息，从接收的所述目标终端上报的地理位置信息和对应的时间戳中，筛选出所述至少一个目标终端的地理位置信息和对应的时间戳；或者，发送单元具体用于，向所述至少一个目标终端发送第三请求，以请求所述至少一个目标终端的地理位置信息。
接收单元具体用于，接收所述至少一个目标终端上报的地理位置信息和对应的时间戳。
在一些实施例中，接收单元还用于，接收所述被定位终端上报的地理位置，所述上报的地理位置为所述被定位终端根据接收的定位参考信号进行定位得到的。
在上述各实施例中，配置信息可以包括但不限于以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID。
发送模式包括：周期性、半持续性、非周期性。
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期。
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期。
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
基于相同的发明构思，本申请实施例还提供了一种核心网设备，该核心网设备包括：发送单元和接收单元。
发送单元用于向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号。
接收单元用于接收第一请求，所述第一请求用于请求被定位终端的位置信息。
所述发送单元还用于根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
在一些实施例中，核心网设备还包括处理单元，用于从所述目标终端中筛选出支持发送定位参考信号的终端。
发送单元还用于，向所述被定位终端发送支持发送定位参考信号的终端的标识ID，以便所述被定位终端根据所述配置信息接收所述标识ID对应的终端发送的定位 参考信号。
具体的，在该实施例中，发送单元具体用于，向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号。
处理单元具体用于，根据接收到的目标终端的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出支持发送定位参考信号的终端。
基于相同的发明构思，本申请实施例还提供了一种终端，该终端包括：接收单元和定位单元。
接收单元用于接收核心网设备发送的配置信息；根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站。
定位单元用于根据所述定位参考信号对所述被定位终端进行定位。
在一些实施例中，定位单元具体用于：测量各个发射端所发送的定位参考信号之间的到达时间差；根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
具体的，在该实施例中，定位单元具体用于，根据获取的校准参数对所述到达时间差对应的时间戳进行校准处理；根据所述到达时间差，所述各个发射端的地理位置信息、速度信息和对应的时间戳，以及校准处理后的所述到达时间差对应的时间戳，确定地理位置。
校准参数可以基于接收到各个发射端发送定位参考信号的第一时间戳、各个发射端发送定位参考信号时的第二时间戳，以及所述被定位终端进行定位计算时的第三时间戳，确定得到。
在一些实施例中，所述定位单元具体用于：
根据所述各个发射端的速度信息，和/或，所述各个发射端相邻时刻的地理位置信息，确定移动的发射端；
从所述到达时间差中剔除移动的发射端所对应的达到时间差；
根据剩余的所述到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置。
在一些实施例中，所述接收单元还用于：
接收所述核心网设备发送的支持发送定位参考信号的终端的标识ID；
根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
在一些实施例中，还包括发送单元，用于向所述核心网设备上报所述地理位置。
在一些实施例中，所述定位单元具体用于，测量各个发射端所发送的定位参考信号之间的到达时间差。
所述发送单元还用于，向所述核心网设备上报的测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置，其中，所述测量结果包括：定位参 考信号之间的到达时间差和对应的定位参考信号ID。
在上述各实施例中，配置信息可以包括但不限于以下至少一项：
定位参考信号的发送模式；
定位参考信号的时域资源、频域资源和空域资源的指示信息；
每个发送定位参考信号的终端的标识ID。
发送模式包括：周期性、半持续性、非周期性。
半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期。
周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期。
非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
另外，本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，当其在计算机上运行时，使得计算机可以执行前述定位方法10，或者，定位方法100，或者，定位方法20所对应实施例中相应内容。与现有技术相比，本申请实施例提供的定位方法，不仅基站能够发送定位参考信号，基站下属的一些终端也可以通过PC5接口发送定位参考信号，由此提升网络中定位参考信号的密度和发送定位信号的几何分布的不相关性，从而提高了被定位终端的定位精度，进而可以满足Sidelink场景下的定位精度需求。
需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件 方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机可执行指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机可执行指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些处理器可执行指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的处理器可读存储器中，使得存储在该处理器可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些处理器可执行指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅是本发明的部分实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (35)

  1. 一种定位方法，由核心网设备执行，所述方法包括：
    接收第一请求，所述第一请求用于请求被定位终端的位置信息；
    根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
  2. 根据权利要求1所述的定位方法，其中，所述根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，包括：
    根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；
    为所述目标终端配置相应的配置信息；
    向所述被定位终端和所述目标终端同时发送配置的配置信息。
  3. 根据权利要求2所述的定位方法，其中，所述根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号目标终端，包括：
    根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；
    将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
  4. 根据权利要求2所述的定位方法，其中，在为所述目标终端配置相应的配置信息之前，所述方法还包括：
    从所述目标终端中筛选出支持发送定位参考信号的终端；
    所述为所述目标终端配置相应的配置信息，包括：
    为所述支持发送定位参考信号的终端配置相应的配置信息。
  5. 根据权利要求4所述的定位方法，其中，所述从所述目标终端中筛选出支持发送定位参考信号的终端，包括：
    向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
    根据接收到的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出所述支持发送定位参考信号的终端。
  6. 根据权利要求5所述的定位方法，其中，所述反馈消息中还携带所述目标终端所发送定位参考信号的参数信息，所述为所述支持发送定位参考信号的终端配置相应的配置信息，包括：
    根据所述参数信息，为所述支持发送定位参考信号的终端配置相应的配置信息。
  7. 根据权利要求6所述的定位方法，其中，所述参数信息包括以下至少一项： 所述目标终端所发送定位参考信号的带宽，频点信息，持续时长。
  8. 根据权利要求1-7中任一项所述的定位方法，其中，所述方法还包括：
    接收所述被定位终端上报的测量结果和对应的时间戳，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID；
    根据所述测量结果对应的定位参考信号ID和所述目标终端的标识信息，确定对应的至少一个目标终端；
    获取所述至少一个目标终端上报的地理位置信息和对应的时间戳；
    根据所述测量结果和对应的时间戳，以及所述地理位置信息和对应的时间戳，确定所述被定位终端的地理位置。
  9. 根据权利要求8所述的定位方法，其中，所述获取所述至少一个目标终端上报的地理位置信息和所述地理位置信息对应的时间戳，包括；
    根据所述至少一个目标终端的标识信息，从接收的所述目标终端上报的地理位置信息和对应的时间戳中，筛选出所述至少一个目标终端的地理位置信息和对应的时间戳；
    或者，
    向所述至少一个目标终端发送第三请求，所述第三请求用于请求所述至少一个目标终端的地理位置信息；
    接收所述至少一个目标终端上报的地理位置信息和对应的时间戳。
  10. 根据权利要求1-7中任一项所述的定位方法，其中，所述方法还包括：
    接收所述被定位终端上报的地理位置，所述上报的地理位置为所述被定位终端根据接收的定位参考信号进行定位得到。
  11. 根据权利要求1-7中任一项所述的定位方法，其中，所述配置信息包括以下至少一项：
    定位参考信号的发送模式；
    定位参考信号的时域资源、频域资源和空域资源的指示信息；
    每个发送定位参考信号的终端的标识ID；
    其中，发送模式包括：周期性、半持续性、非周期性；
    半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期；
    周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期；
    非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
  12. 一种定位方法，由核心网设备执行，所述方法包括：
    向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；
    接收第一请求，所述第一请求用于请求被定位终端的位置信息；
    根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
  13. 根据权利要求12所述的方法，其中，所述方法还包括：
    从所述目标终端中筛选出支持发送定位参考信号的终端；
    向所述被定位终端发送所述支持发送定位参考信号的终端的标识ID。
  14. 根据权利要求13所述的定位方法，其中，所述从所述目标终端中筛选出支持发送定位参考信号的终端，包括：
    向所述目标终端发送第二请求，所述第二请求用于询问所述目标终端是否支持发送定位参考信号；
    根据接收到的反馈消息中携带的所述目标终端的标识信息，从所述目标终端中筛选出所述支持发送定位参考信号的终端。
  15. 一种定位方法，由被定位终端执行，所述方法包括：
    接收核心网设备发送的配置信息；
    根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
    根据所述定位参考信号进行定位。
  16. 根据权利要求15所述的方法，其中，所述根据所述定位参考信号进行定位，包括：
    测量各个发射端所发送的定位参考信号之间的到达时间差；
    根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
  17. 根据权利要求16所述的方法，其中，在所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置之前，所述方法还包括：
    获取校准参数；
    所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置，包括：
    根据所述校准参数对所述到达时间差对应的时间戳进行校准处理；
    根据所述到达时间差，所述各个发射端的地理位置信息、速度信息和对应的时间戳，以及校准处理后的所述到达时间差对应的时间戳，确定地理位置。
  18. 根据权利要求17所述的方法，其中，所述获取校准参数，包括：
    获取接收到各个发射端发送定位参考信号的第一时间戳、各个发射端发送定位参考信号时的第二时间戳，以及所述被定位终端进行定位计算时的第三时间戳；
    根据所述第一时间戳、第二时间戳和第三时间戳，确定所述校准参数。
  19. 根据权利要求16所述的方法，其中，所述根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置，包括：
    根据所述各个发射端的速度信息，和/或，所述各个发射端相邻时刻的地理位置信息，确定移动的发射端；
    从所述到达时间差中剔除移动的发射端所对应的达到时间差；
    根据剩余的所述到达时间差和对应的时间戳，以及对应发射端的地理位置信息和相应的时间戳，确定地理位置。
  20. 根据权利要求16-19中任一项所述的方法，其中，在根据所述配置信息接收多个发射端发送的定位参考信号之前，所述方法还包括：
    接收所述核心网设备发送的支持发送定位参考信号的终端的标识ID；
    则，所述根据所述配置信息接收多个发射端发送的定位参考信号，包括：
    根据所述配置信息接收所述标识ID对应的终端发送的定位参考信号。
  21. 根据权利要求16-19中任一项所述的方法，其中，所述方法还包括：
    向所述核心网设备上报所述地理位置。
  22. 根据权利要求15所述的方法，其中，所述根据所述定位参考信号进行定位，包括：
    测量各个发射端所发送的定位参考信号之间的到达时间差；
    向所述核心网设备上报测量结果和对应的时间戳，以便所述核心网设备确定所述被定位终端的地理位置，其中，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
  23. 根据权利要求15-19中任一项所述的定位方法，其中，所述配置信息包括以下至少一项：
    定位参考信号的发送模式；
    定位参考信号的时域资源、频域资源和空域资源的指示信息；
    每个发送定位参考信号的终端的标识ID；
    其中，发送模式包括：周期性、半持续性、非周期性；
    半持续性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、发送的间隔周期，或者，开始发送的时间点、结束发送的时间点、发送的间隔周期；
    周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号的发送周期；
    非周期性的定位参考信号的时域资源的指示信息，用于指示：定位参考信号开始发送的时间点、持续时间、结束发送的时间点。
  24. 一种核心网设备，包括：
    存储器，被配置为存储计算机程序；
    收发机，被配置为：在所述处理器的控制下接收第一请求，所述第一请求用于请求被定位终端的位置信息；根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位；
    处理器，被配置为读取所述存储器中的计算机程序并执行对所述收发机的控制。
  25. 根据权利要求24所述的核心网设备，其中，所述处理器具体被配置为：根据所述第一请求中携带的所述被定位终端的标识信息，确定发送定位参考信号的目标终端；为所述目标终端配置相应的配置信息；
    所述收发器具体被配置为：在所述处理器的控制下向所述被定位终端和所述目标终端同时发送配置的配置信息。
  26. 根据权利要求25所述的核心网设备，其中，所述处理器具体被配置为：根据所述被定位终端的标识信息，确定所述被定位终端所属的基站；将所述基站下属的终端和所述基站的邻区基站下属的终端确定为所述目标终端。
  27. 根据权利要求25所述的核心网设备，其中，所述处理器具体被配置为：从所述目标终端中筛选出支持发送定位参考信号的终端；为所述支持发送定位参考信号的终端配置相应的配置信息。
  28. 一种核心网设备，包括：
    存储器，被配置为存储计算机程序；
    收发机，被配置为：在所述处理器的控制下向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；接收第一请求，所述第一请求用于请求被定位终端的位置信息；根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位；
    处理器，被配置为读取所述存储器中的计算机程序并执行对所述收发机的控制。
  29. 一种终端，包括：
    存储器，被配置为存储计算机程序；
    收发机，被配置为在所述处理器的控制下接收核心网设备发送的配置信息；并根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
    处理器，被配置为读取所述存储器中的计算机程序并执行对所述收发机的控制， 以及根据所述收发机接收的所述定位参考信号进行定位。
  30. 根据权利要求29所述的终端，其中，所述处理器具体被配置为：测量各个发射端所发送的定位参考信号之间的到达时间差；
    根据所述到达时间差和对应的时间戳，以及接收到的来自所述核心网设备的各个发射端的地理位置信息、速度信息和对应的时间戳，确定地理位置。
  31. 根据权利要求29所述的终端，其中，所述处理器具体被配置为：测量各个发射端所发送的定位参考信号之间的到达时间差；
    所述收发器还被配置为，向所述核心网设备上报测量结果和对应的时间戳，以便所述核心网设备确定被定位终端的地理位置，其中，所述测量结果包括：定位参考信号之间的到达时间差和对应的定位参考信号ID。
  32. 一种核心网设备，包括：
    接收单元，被配置为接收第一请求，所述第一请求用于请求被定位终端的位置信息；
    发送单元，被配置为：根据所述第一请求，向所述被定位终端和目标终端同时发送配置信息，所述配置信息用于指示所述目标终端根据所述配置信息发送定位参考信号，以及指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
  33. 一种核心网设备，包括：
    发送单元，被配置为向目标终端发送预设的配置信息，所述配置信息用于指示所述目标终端根据配置信息发送定位参考信号；
    接收单元，被配置为接收第一请求，所述第一请求用于请求被定位终端的位置信息；
    所述发送单元还被配置为，根据所述第一请求，向所述被定位终端发送所述配置信息，所述配置信息用于指示所述被定位终端根据所述配置信息接收所述定位参考信号，以用于对所述被定位终端进行定位。
  34. 一种终端，包括：
    接收单元，被配置为接收核心网设备发送的配置信息；根据所述配置信息接收多个发射端发送的定位参考信号，其中，所述多个发射端包括目标终端和所述目标终端所属的基站；
    定位单元，被配置为根据所述定位参考信号对被定位终端进行定位。
  35. 一种处理器可读存储介质，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行权利要求1至14中任一项所述的定位方法，或者使所述处理器执行权利要求15至23中任一项所述的定位方法。
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