WO2024012201A1 - 一种定位参考信号发送方法、装置和终端设备 - Google Patents

一种定位参考信号发送方法、装置和终端设备 Download PDF

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Publication number
WO2024012201A1
WO2024012201A1 PCT/CN2023/103273 CN2023103273W WO2024012201A1 WO 2024012201 A1 WO2024012201 A1 WO 2024012201A1 CN 2023103273 W CN2023103273 W CN 2023103273W WO 2024012201 A1 WO2024012201 A1 WO 2024012201A1
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Prior art keywords
prs
priority
information
reference signal
pssch
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PCT/CN2023/103273
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English (en)
French (fr)
Inventor
郑石磊
赵锐
习一凡
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CICT Connected and Intelligent Technologies Co Ltd
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CICT Connected and Intelligent Technologies Co Ltd
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Priority to JP2025501896A priority Critical patent/JP7777259B2/ja
Priority to KR1020257003423A priority patent/KR20250027835A/ko
Priority to EP23838695.7A priority patent/EP4542908A4/en
Publication of WO2024012201A1 publication Critical patent/WO2024012201A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • 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
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/0051—Allocation of pilot signals, i.e. of signals known to the receiver of dedicated pilots, i.e. pilots destined for a single user or terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • 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
    • H04L5/0053—Allocation of signalling, i.e. of overhead other than pilot signals
    • 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
    • H04L5/0094—Indication of how sub-channels of the path are allocated

Definitions

  • the present disclosure relates to the field of communication technology, and in particular to a positioning reference signal sending method, device and terminal equipment.
  • the 3rd Generation Partnership Project (3GPP) version 16 (3GPP Release 16) has carried out research and standardization of downlink positioning (NR Positioning) on cellular networks.
  • the base station sends cell-specific ( Cell-specific downlink positioning reference signal (Positioning Reference Signal, PRS), the terminal sends uplink sounding reference signal (SRS) for positioning.
  • PRS Cell-specific downlink positioning reference signal
  • SRS uplink sounding reference signal
  • the terminal can measure the reference signal time difference (Reference signal time difference, RSTD), measure the Reference Signal Received Power (RSRP) of the Downlink (DL) PRS, or measure the time difference between the terminal receiving the DL PRS and sending out the SRS; the base station can measure the uplink reference signal arrival time (Relative Time).
  • RSTD Reference signal time difference
  • RSRP Reference Signal Received Power
  • the location of the terminal (UE) is calculated.
  • SL sidelink
  • NR New Radio
  • the main application scenarios include indoor and outdoor , tunnel areas, etc.
  • outdoor and tunnel area scenarios also need to support positioning services with moving speeds up to 250km/h. Therefore, the corresponding positioning measurement process and resource allocation method between UEs need to be redesigned based on their own resources and physical layer structure characteristics. , to adapt to sidelink Positioning technology.
  • the reference signal SL-PRS is not introduced, and there is no Process design of relevant positioning interactions. If some reference signals in related technologies are reused as SL-PRS, the first problem lies in accuracy and flexibility, and the Position Sensitive Detector (PSD) is also affected by the multiplexing of other signals.
  • PSD Position Sensitive Detector
  • Embodiments of the present disclosure provide a positioning reference signal sending method, device, and terminal equipment to solve the problem that in sidelink communication in related technologies, there is no relevant information of the direct link positioning reference signal SL-PRS.
  • embodiments of the present disclosure provide a method for transmitting a positioning reference signal, which is applied to a first device.
  • the method includes:
  • the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH are sent to the second device in the first resource pool; wherein the direct link control information SCI carried on the PSCCH or the PSSCH carries the third An indication information, the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • embodiments of the present disclosure also provide a method for transmitting a positioning reference signal, which is applied to a second device.
  • the method includes:
  • the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • embodiments of the present disclosure also provide a device for transmitting a positioning reference signal, which is applied to the first device.
  • the device includes:
  • a sending module configured to send the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH to the second device in the first resource pool; wherein, the direct link control information carried on the PSCCH or the PSSCH
  • the SCI carries first indication information, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • embodiments of the present disclosure also provide a device for transmitting a positioning reference signal, which is applied to the second device.
  • the device includes:
  • a receiving module configured to receive the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH sent by the first device in the first resource pool; wherein the direct link control channel carried on the PSCCH or the PSSCH
  • the information SCI carries first indication information, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • inventions of the present disclosure further provide a terminal device.
  • the terminal device is a first device, including: a processor, a memory, and a program stored on the memory and executable on the processor.
  • the program is executed by the processor, the steps of the positioning reference signal transmitting method according to any one of the first aspects are implemented.
  • embodiments of the present disclosure further provide a terminal device, which is a second device, including: a processor, a memory, and a program stored on the memory and executable on the processor, so When the above program is executed by the processor, the steps of the positioning reference signal sending method according to any one of the second aspects are implemented.
  • a terminal device which is a second device, including: a processor, a memory, and a program stored on the memory and executable on the processor, so When the above program is executed by the processor, the steps of the positioning reference signal sending method according to any one of the second aspects are implemented.
  • embodiments of the present disclosure further provide a readable storage medium having a program stored on the readable storage medium.
  • the program is executed by a processor, the positioning reference as described in any one of the first aspects is implemented.
  • the first device sends the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH to the second device in the first resource pool, and carries the direct link control channel on the PSCCH or the PSSCH.
  • Adding the first indication information for indicating the relevant information of the direct link positioning reference signal SL-PRS in the information SCI can realize the introduction of the relevant information of the direct link positioning reference signal SL-PRS in the sidelink communication in the related technology.
  • Figure 1 shows a schematic structural diagram of the Rel-16 sidelink channel provided by an embodiment of the present disclosure
  • Figure 2 shows one of the schematic structural diagrams of resource blocks provided by an embodiment of the present disclosure
  • Figure 3 shows the second structural schematic diagram of a resource block provided by an embodiment of the present disclosure
  • Figure 4 shows a resource selection sequence diagram provided by an embodiment of the present disclosure
  • Figure 5 shows a positioning reference signal sending method applied to the first device provided by an embodiment of the present disclosure.
  • Figure 6 shows the third structural schematic diagram of the resource block provided by the embodiment of the present disclosure.
  • Figure 7 shows a schematic structural mapping diagram of the SL-PRS provided by the embodiment of the present disclosure
  • Figure 8 shows a flow chart of a positioning reference signal sending method applied to a second device provided by an embodiment of the present disclosure
  • Figure 9 shows a schematic structural diagram of a positioning reference signal transmitting device applied to a first device provided by an embodiment of the present disclosure
  • Figure 10 shows a schematic structural diagram of a positioning reference signal sending device applied to a second device provided by an embodiment of the present disclosure
  • Figure 11 shows a schematic structural diagram of a terminal device provided by an embodiment of the present disclosure.
  • Rel-16sidelink also introduces the second-stage SCI (2nd-stage SCI), which and data are carried by PSSCH; the first-stage SCI (1st-stage SCI) is carried by PSCCH and is used to indicate the time-frequency resource location, priority, cycle and corresponding coding and modulation scheme (Modulation and coding scheme, MCS) occupied by the current transport block (TB).
  • MCS Modulation and coding scheme
  • the frequency domain pattern is the comb-shaped size used by PRS, and the starting position in each resource block (RB) on each time domain symbol, etc.
  • Information may include but is not limited to comb size, the starting mapping resource element (Resource Element, RE) position on each RB of the starting symbol, and the RE granular mapping offset (comb) on each symbol. offset).
  • RE resource Element
  • comb RE granular mapping offset
  • the PRS resource mapping position of each sending UE and the OCC (or CS) used can be combined with the user identification information of the sending or receiving UE. (source ID, etc.) is either associated with the mapping resource location of the PRS request signaling, etc., or is configured by the network.
  • the PRS sequence can use a Gold sequence (corresponding to Orthogonal Cover Code (OCC)) or a ZC (ZadOff-Chu) sequence (corresponding to cyclic shift (CS)).
  • OCC Orthogonal Cover Code
  • ZC Zero-Chu sequence
  • CS cyclic shift
  • two reference signals are mainly introduced for positioning: the downlink positioning reference signal PRS and the uplink detection reference signal SRS for positioning.
  • the downlink positioning reference signal PRS uses the Gold sequence, and introduces designs such as PRS resources, PRS resource sets, and PRS positioning frequency layers.
  • the PRS resource frequency domain can adopt a comb structure, and the time domain can occupy multiple consecutive OFDM symbols. Using a single port, the maximum bandwidth cannot exceed 272PRBs, and the minimum bandwidth cannot be less than 24PRBs.
  • the uplink sounding reference signal SRS for positioning uses the ZC sequence, which can continuously occupy multiple Orthogonal Frequency Division Multiplexing (OFDM) symbols in the time domain. It also uses a comb structure in the frequency domain, which is convenient for Supports frequency division multiplexing of multiple uplink positioning reference signals (SRS for positioning, SRS-POS) on the same OFDM symbol.
  • SRS for positioning SRS-POS
  • Using a single port, compared to two-port transmission, the advantage of a single port is that it can increase the power spectral density of the SRS-POS signal on the base station receiver side, thereby improving the coverage and quality of the SRS-POS signal.
  • the maximum bandwidth supported in the frequency domain is 272PRBs, and the minimum bandwidth is 4PRBs.
  • SRS-POS supports three resource type configurations: periodic, semi-persistent, and aperiodic.
  • NR positioning supports "RAT-independent" positioning technologies, including Global Navigation Satellite System (GNSS), atmospheric pressure sensor positioning, and Wireless Local Area Network (WLAN) Positioning, inertial navigation positioning, Bluetooth positioning, ground beacon system positioning.
  • GNSS Global Navigation Satellite System
  • WLAN Wireless Local Area Network
  • gNB periodically sends downlink PRS and supports downlink arrival time difference (Downlink Time Difference of Arrival, DL-TDOA), downlink angle-of-departure (DL-AoD) measurement, enhanced cell identity (Enhanced Cell Identification, E-CID) detection; the terminal sends Positioning-based uplink SRS supports uplink time difference of arrival (UL-TDOA) and uplink angle of arrival (UL-AoA) measurements; supports uplink and downlink combination for round trip time (Round Trip Time) ,RTT) measurement, or position positioning can be performed based on the multi-Round-trip time (Multi-RTT) method.
  • DL-TDOA Downlink Time Difference of Arrival
  • DL-AoD downlink angle-of-departure
  • E-CID enhanced cell identity
  • the terminal sends Positioning-based uplink SRS supports uplink time difference of arrival (UL-TDOA) and uplink angle of arrival (UL-AoA) measurements
  • UL-TDOA uplink angle of arrival
  • RTT
  • the overall positioning process of NR/LTE positioning is controlled and scheduled by the base station and the Location Management Function (LMF).
  • LMF Location Management Function
  • NR-V2X New Radio-Vehicle to everything
  • RSRP perception and reference signal receiving power
  • T proc,1 represents the transmission processing delay of the UE (including the resource selection time based on perception, the transmission preparation time of PSCCH and the transmission preparation time of SL-PRS), and the value can be ⁇ 3, 5, 9, 17 ⁇ physical slots, respectively corresponding to sub-carrier space (SCS) ⁇ 15, 30, 60, 120 ⁇ kHz, T 2min ⁇ T 2 ⁇ remaining PDB, T 2min is a high-level parameter The minimum value of T 2 configured by t2min_SelectionWindow, and the remaining PDB is the remaining delay budget of the data packet.
  • SCS sub-carrier space
  • the total number of candidate slot resources is M total .
  • the UE continuously monitors the slot within the sensing window [nT 0 ,nT proc,0 ), performs PSCCH, SL-PRS decoding and SL-PRS or physical direct link control channel reference signal received power (PSCCH Reference Signal Received Power, PSCCH-RSRP) measurement.
  • T 0 is the sensing window length configured by the high layer
  • T proc,0 is the time for the UE to process the sensing results before.
  • the value can be ⁇ 1, 1, 2, 4 ⁇ physical slots, corresponding to SCS ⁇ 15, 30, 60, 120 respectively. ⁇ kHz.
  • All periods (such as 20ms, 50ms, 100ms), exclude all candidate slots at the subsequent corresponding positions (i.e. y, y+20*2 ⁇ , y+40*2 ⁇ , y+50*2 ⁇ , y+60*2 ⁇ , y+80*2 ⁇ , y+100*2 ⁇ ...etc. slots falling within the selection window).
  • (6) Exclude candidate single slot resources that meet the following two conditions: a. The RSRP measurement value indicated by the sidelink control information (SCI) received is higher than Th(prio RX , prio TX ); b.
  • the reserved resources indicated by the SCI will partially or completely overlap with the TB sent on the candidate resource y or with the Transport Block (TB) sent on the subsequent candidate resource y+x*P step *2 ⁇
  • P step is the resource reservation period (converted into a logical time slot)
  • x is an integer, representing the number of subsequent periods
  • ⁇ is uniquely determined by the subcarrier spacing (SCS) of the resource pool.
  • SCS subcarrier spacing
  • a Re-evaluation (re-evaluation) mechanism and a Pre-emption (preemption) mechanism were added.
  • the re-evaluation mechanism is mainly aimed at resources that have not been reserved. Before the resources are sent, it is judged based on the latest sensing results whether the selected resources have collided.
  • the preemption mechanism is mainly aimed at For reserved resources, if it is found that the reserved resources are preempted by high-priority UEs, low-priority UEs will be triggered to perform resource reselection, thereby avoiding collisions between high- and low-priority services and ensuring the performance of high-priority services.
  • the time for initial transmission is m1
  • the time for reselection is m2
  • the start time of re-evaluation is n
  • the end time is m1-T3
  • the start time of preemption is m1
  • the end time is m2-T3 .
  • the present disclosure aims at the problem that there is no relevant information of the direct link positioning reference signal SL-PRS in sidelink communication in the related art, and provides a positioning reference signal sending method, device and terminal equipment.
  • an embodiment of the present disclosure provides a method for transmitting a positioning reference signal, which is applied to the A device, the method includes:
  • Step 501 Send the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH to the second device in the first resource pool; wherein, in the direct link control information SCI carried on the PSCCH or the PSSCH The first indication information is carried, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the first device is a 3GPP Release 18 (Release 18, R18) UE.
  • the first resource pool is a resource pool shared with 3GPP version 16 (Release 16, R16) and 3GPP version 17 (Release 17, R17) UEs. That is, in order to implement SL-Positioning technology, sending SL-PRS related information in the R16 and R17 resource pool is an achievable method, which can save sidelink resources and improve resource utilization.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the first resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the first indication information is carried in the reserved bits (reserved bits) of the first stage SCI (1st-stage SCI) carried by the PSCCH; or, a new one is introduced in the PSSCH.
  • the second stage SCI format (2nd-stage SCI format) carries the first instruction information.
  • the information used to indicate whether the SL-PRS is included in this transmission may be identification information, and the identification information is "1" or "0". "1" indicates that the SL-PRS is transmitted together with the PRS, and "0" Indicates that the PRS is not included in the current slot.
  • the identification information is carried by reserved bits in SCI-1A.
  • the first indication information is carried, which may be to use 1-bit information in the reserved bits in the 1st-stage SCI to indicate whether the transmission block carries SL-PRS; you can also use the 2-bit information in the reserved bits in the 1st-stage SCI to indicate the time domain pattern information and/or frequency domain pattern information of the SL-PRS in this transmission block. Specifically, it can indicate the pattern index information corresponding to the SL-PRS in the current transmission block.
  • the supported pattern information set should be configured or preconfigured by high-level parameters.
  • introducing a new 2nd-stage SCI format in the PSSCH to carry the first indication information may be to introduce a new 2nd-stage SCI format to indicate the time-frequency resource configuration information of SL-PRS, such as SCI format 2-D: SCI format 2-D is used for scheduling SL-PRS and/or PSSCH decoding.
  • the demodulation reference signal DMRS or the channel state information reference signal can be used as the SL-PRS for positioning measurement.
  • CSI-RS Channel-State Information Reference Signal
  • the overall channel structure should be the same as R16, and the information content in the 1st-stage SCI and 2nd-stage SCI formats in related technologies should not be changed.
  • the SCI also carries priority information, and the priority information includes at least one of the following:
  • the minimum value of the two priority values is taken as the priority information carried in the SCI;
  • the SCI carries the priority of PSSCH
  • the SCI carries the priority of SL-PRS.
  • the priority of the SL-PRS is determined based on at least one of the following:
  • the priority information of the corresponding positioning service is the priority information of the corresponding positioning service.
  • the method further includes at least one of the following:
  • priority is given to processing the transmission block with a higher priority
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the priority of the transport block carrying the SL-PRS is compared with the priority of the transport block not carrying the SL-PRS.
  • the priority of the PRS transmission block, high-priority transmission blocks are processed first. If the priorities of the two are the same, the first device randomly processes one of the transport block carrying the SL-PRS and the transport block not carrying the SL-PRS.
  • the comparison result between the first priority and the second priority includes one of the following:
  • the second priority is preconfigured to be higher than the first priority.
  • the first device needs to simultaneously process transport blocks carrying the SL-PRS and transport blocks not carrying the SL-PRS, including at least one of the following:
  • the first device needs to simultaneously receive transmission blocks carrying the SL-PRS and receive transmission blocks not carrying the SL-PRS;
  • the first device needs to simultaneously receive transmission blocks carrying the SL-PRS and send transmission blocks not carrying the SL-PRS;
  • the first device needs to simultaneously send transport blocks carrying the SL-PRS and send and receive transport blocks not carrying the SL-PRS;
  • the first device needs to simultaneously send transport blocks carrying the SL-PRS and receive transport blocks not carrying the SL-PRS.
  • the first device needs to simultaneously process the transport blocks carrying the SL-PRS and the transport blocks not carrying the SL-PRS, including the first device needs to simultaneously receive the transport blocks carrying the SL-PRS and receive the transport blocks not carrying the SL-PRS.
  • the method further includes at least one of the following:
  • the first priority is preconfigured to be higher than the second priority, and the transmission block carrying the SL-PRS is received first;
  • the first priority is pre-configured to be lower than the second priority, and transmission blocks that do not carry the SL-PRS are received preferentially;
  • first priority and the second priority are the same, randomly receive one of the transport block carrying the SL-PRS and the transport block not carrying the SL-PRS;
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the first device needs to simultaneously process the transport blocks carrying the SL-PRS and the transport blocks not carrying the SL-PRS, including the first device needs to simultaneously receive the transport blocks carrying the SL-PRS and send the transport blocks not carrying the SL-PRS.
  • the method further includes at least one of the following:
  • the first priority is preconfigured to be higher than the second priority, and transmission blocks carrying the SL-PRS are received first;
  • the preconfigured first priority is lower than the second priority, and transmission blocks that do not carry the SL-PRS are sent first;
  • first priority and the second priority are the same, randomly receive transport blocks carrying the SL-PRS or randomly send transport blocks that do not carry the SL-PRS;
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the first device needs to simultaneously process the transport block carrying the SL-PRS and the transport block not carrying the SL-PRS, including the first device needs to simultaneously send the transport block carrying the SL-PRS and send and receive the untransmitted SL-PRS.
  • the method further includes at least one of the following:
  • the first priority is pre-configured to be higher than the second priority, and the transmission block carrying the SL-PRS is sent first;
  • the preconfigured first priority is lower than the second priority, and transmission blocks that do not carry the SL-PRS are sent first;
  • first priority and the second priority are the same, randomly send one of the transport block carrying the SL-PRS and the transport block not carrying the SL-PRS;
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the first device needs to simultaneously process the transport blocks carrying the SL-PRS and the transport blocks not carrying the SL-PRS, including the first device needing to simultaneously send the transport blocks carrying the SL-PRS and receive the transport blocks not carrying the SL-PRS.
  • the method further includes at least the following: One item:
  • the first priority is pre-configured to be higher than the second priority, and the transmission block carrying the SL-PRS is sent first;
  • the first priority is pre-configured to be lower than the second priority, and transmission blocks that do not carry the SL-PRS are received preferentially;
  • first priority and the second priority are the same, randomly send a transport block carrying the SL-PRS or receive a transport block that does not carry the SL-PRS;
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the resource configuration information of the SL-PRS is configured by high-layer parameters or pre-configured;
  • the configuration method of the resource configuration information of the SL-PRS includes at least one of the following:
  • the resource configuration information of the SL-PRS is interactively configured or pre-configured through PC5-RRC signaling;
  • the resource configuration information of the SL-PRS is based on resource pool configuration or pre-configuration.
  • the resource configuration information of SL-PRS is configured or pre-configured by high-level parameters.
  • the configuration method of the resource configuration information of SL-PRS includes at least one of the following:
  • the first device and the second device can perform PC5-RRC signaling interaction through PC5-RRC interaction. , complete the SL-PRS related Radio Resource Control (RRC) reconfiguration or configuration, and determine the SL-PRS resource configuration of the link between the first device and the second device.
  • RRC Radio Resource Control
  • the SL-PRS The resource configuration information is only valid between the first device and the second device and will not affect other devices outside the link;
  • the resource configuration information of SL-PRS is configured based on the resource pool. At this time, the resource configuration information of SL-PRS is valid for all devices sending and receiving in the entire resource pool.
  • the resource configuration information of the SL-PRS includes at least one of the following:
  • the frequency domain resource configuration information of the SL-PRS
  • the SL-PRS occupies the mode information of the time domain symbol position
  • the frequency domain resource configuration information of the SL-PRS includes at least one of the following:
  • the starting physical resource block PRB of the SL-PRS The starting physical resource block PRB of the SL-PRS
  • the starting resource unit RE position of the SL-PRS The starting resource unit RE position of the SL-PRS
  • the comb teeth of the SL-PRS are offset
  • the frequency domain mode information of the SL-PRS is the frequency domain mode information of the SL-PRS.
  • the time domain resource configuration information of the SL-PRS includes at least one of the following:
  • the SL-PRS occupies the number of symbols in the time slot.
  • the code domain configuration information of the SL-PRS includes at least one of the following:
  • Orthogonal cover code OCC of the SL-PRS Orthogonal cover code
  • the time-frequency resource configuration information of SL-PRS includes at least one of the following:
  • Hybrid automatic repeat reply (HARQ feedback) switch indication
  • Time domain resource configuration information of SL-PRS
  • the first resource pool supports non-continuous mapping of SL-PRS in the time domain, it also needs to include pattern information of the time-domain symbol positions occupied by the SL-PRS supported by the first resource pool;
  • the frequency domain resource configuration information of SL-PRS includes at least one of the following: SL-PRS starting PRB; SL-PRS starting sub-channel position; SL-PRS bandwidth (number of PRBs or number of sub-channels); SL- PRS comb tooth size (comb-size); SL-PRS starting resource element (Resource element, RE) position; SL-PRS comb tooth offset (comb offset); SL-PRS cyclic shift (Cyclic shift) ; Orthogonal Cover Code (OCC) of SL-PRS; Frequency domain pattern indicator (pattern index) of SL-PRS.
  • SL-PRS starting PRB includes at least one of the following: SL-PRS starting PRB; SL-PRS starting sub-channel position; SL-PRS bandwidth (number of PRBs or number of sub-channels); SL- PRS comb tooth size (comb-size); SL-PRS starting resource element (Resource element, RE) position; SL-PRS comb
  • the SL-PRS time domain resource configuration information includes at least one of the following: the slot position occupied by the SL-PRS (subframe number (subframe Num) + slot number (slot Num)); the position of the SL-PRS in the slot Starting symbol position; SL-PRS occupies the number of symbols in the slot.
  • the positioning scheduling information and the time domain interval information of the associated positioning channel are only required when cross-slot scheduling is supported.
  • the Offset slot number parameter is required.
  • SL-PRS time domain pattern information For SL-PRS time domain pattern information, it is similar to PSSCH DMRS pattern information. It is configured or pre-configured by high-level parameters. The number of SL-PRS time domain symbols and the position of each symbol are shown in Table 1 below:
  • the PRS frequency domain pattern is the comb-shaped size used by the PRS, as well as information such as the starting position in each RB on each time domain symbol.
  • the SL-PRS mapping rules include at least one of the following:
  • the method also includes:
  • mapping is performed in at least one of the following ways:
  • the PSSCH bypasses the RE occupied by the SL-PRS or is occupied by the SL- The entire symbol occupied by PRS is mapped on the corresponding RE;
  • the SL-PRS is mapped on the PSSCH;
  • the first priority value is the value corresponding to the priority of the PSSCH, and the second priority value is The priority value is the value corresponding to the priority of SL-PRS;
  • the first priority value is greater than the preset threshold value and the first priority value is greater than the second priority value, map the SL-PRS on the PSSCH;
  • the first The priority value is a value corresponding to the priority of PSSCH, and the second priority value is a value corresponding to the priority of SL-PRS.
  • the mapping method of mapping the PSSCH to the corresponding REs is the same as R16 and R17. Better compatibility;
  • the demodulation reference signal DMRS or the channel state information reference signal CSI-RS is reused as the SL-PRS for positioning measurement, it is necessary to restrict the mapping of data on the DMRS or CSI-RS symbols at this time, and the PSSCH is mapped through rate matching.
  • the method bypasses the RE occupied by the SL-PRS or the entire symbol occupied by the SL-PRS and maps it to the corresponding RE. This mapping method will not affect the demodulation performance of R18 UE;
  • SL-PRS When the priority value of SL-PRS is smaller than the priority value of PSSCH, SL-PRS can be mapped to PSSCH;
  • a priority threshold P (preset threshold value) is configured or pre-configured by high-level parameters. When the priority value of PSSCH is greater than P and the priority value of SL-PRS is less than the priority value of PSSCH, SL-PRS can mapped onto the PSSCH.
  • the method also includes:
  • the overhead information of the SL-PRS is determined based on at least one of the following:
  • the overhead information of SL-PRS can be determined based on at least one of the following:
  • the overhead of SL-PRS is configured by high-level parameters
  • the overhead of SL-PRS is indicated by SCI (indicated by the SL-PRS overhead indication information in SCI Show).
  • the method also includes:
  • Cyclic redundancy check bits of the first stage SCI (1st-stage SCI);
  • the sequence ID (SL-PRS ID) of the SL-PRS configured by high-level parameters.
  • the method also includes:
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • the first device before the first device (R18 UE) sends PSCCH and PSSCH to the second device, the first device first receives the second indication information sent by the second device, and the second indication information is used to indicate the third Whether the second device has the ability to perform SL-positioning in the shared resource pool (first resource pool), the first device then feeds back the first indication information based on the second indication information.
  • R18 sidelink positioning UE does not affect the sensing process of R16 and R17 UE and the process of decoding PSSCH, and does not need to change the resource allocation mechanism of R16 and R17 to ensure that R18 can function normally. Work.
  • an embodiment of the present disclosure also provides a method for transmitting a positioning reference signal, which is applied to the second device.
  • the method includes:
  • Step 801 Receive the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH sent by the first device in the first resource pool; wherein, the direct link control information SCI carried on the PSCCH or the PSSCH carries first indication information, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the first device sends a physical direct link to the second device in the first resource pool.
  • the control channel PSCCH and the physical direct link shared channel PSSCH are added to the PSCCH or the direct link control information SCI carried on the PSSCH to indicate the first related information of the direct link positioning reference signal SL-PRS.
  • the indication information can be implemented in sidelink communication in related technologies by introducing relevant information of the direct link positioning reference signal SL-PRS.
  • the first resource pool is a resource pool shared with 3GPP version 16 (Release 16, R16) and 3GPP version 17 (Release 17, R17) UEs. That is, in order to implement SL-Positioning technology, sending SL-PRS related information in the R16 and R17 resource pool is an achievable method, which can save sidelink resources and improve resource utilization.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the shared resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the method further includes at least one of the following:
  • the method for determining the resource configuration information of the SL-PRS includes at least one of the following:
  • the method before receiving the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH sent by the first device in the first resource pool, the method further includes:
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • the first device when the first device (R18 UE) sends the PSCCH to the second device Before PSSCH, the first device first receives the second indication information sent by the second device.
  • the second indication information is used to indicate whether the second device has the ability to perform SL-positioning in the shared resource pool (first resource pool). , the first device then feeds back the first indication information based on the second indication information.
  • an embodiment of the present disclosure also provides a device for transmitting a positioning reference signal, which is applied to the first device.
  • the device includes:
  • the sending module 901 is configured to send the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH to the second device in the first resource pool; wherein, the direct link control channel carried on the PSCCH or the PSSCH
  • the information SCI carries first indication information, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the first resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the SCI also carries priority information, and the priority information includes at least one of the following:
  • the priority of the SL-PRS is determined based on at least one of the following:
  • the priority information of the corresponding positioning service is the priority information of the corresponding positioning service.
  • the device further includes: a first processing module;
  • the first processing module is used for at least one of the following:
  • priority is given to processing the transmission block with a higher priority
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the comparison result between the first priority and the second priority includes one of the following:
  • the second priority is preconfigured to be higher than the first priority.
  • the resource configuration information of the SL-PRS is configured by high-layer parameters or pre-configured;
  • the configuration method of the resource configuration information of the SL-PRS includes at least one of the following:
  • the resource configuration information of the SL-PRS is interactively configured or pre-configured through PC5-RRC signaling;
  • the resource configuration information of the SL-PRS is based on resource pool configuration or pre-configuration.
  • the resource configuration information of the SL-PRS includes at least one of the following:
  • the frequency domain resource configuration information of the SL-PRS
  • the SL-PRS occupies the mode information of the time domain symbol position
  • the frequency domain resource configuration information of the SL-PRS includes at least one of the following:
  • the starting physical resource block PRB of the SL-PRS The starting physical resource block PRB of the SL-PRS
  • the starting resource unit RE position of the SL-PRS The starting resource unit RE position of the SL-PRS
  • the comb teeth of the SL-PRS are offset
  • the frequency domain mode information of the SL-PRS is the frequency domain mode information of the SL-PRS.
  • the time domain resource configuration information of the SL-PRS includes at least one of the following:
  • the SL-PRS occupies the number of symbols in the time slot.
  • the code domain configuration information of the SL-PRS includes at least one of the following:
  • Orthogonal cover code OCC of the SL-PRS Orthogonal cover code
  • the SL-PRS mapping rules include at least one of the following:
  • the device also includes:
  • a mapping module configured to perform mapping in at least one of the following ways when the resource element RE of the PSSCH is occupied by the SL-PRS:
  • the PSSCH bypasses the RE occupied by the SL-PRS or is occupied by the SL- The entire symbol occupied by PRS is mapped on the corresponding RE;
  • the SL-PRS is mapped on the PSSCH;
  • the first priority value is the value corresponding to the priority of the PSSCH, and the second priority value is The level value is the value corresponding to the priority of SL-PRS;
  • the first priority value is greater than the preset threshold value and the first priority value is greater than the second priority value, map the SL-PRS on the PSSCH; the first priority value is the value corresponding to the priority of PSSCH, and the second priority value is the value corresponding to the priority of SL-PRS.
  • the device also includes:
  • a first determination module configured to determine the transport block size of the PSSCH according to the overhead information of the SL-PRS
  • the overhead information of the SL-PRS is determined based on at least one of the following:
  • the device also includes:
  • the second processing module is configured to generate the initialization sequence of the SL-PRS according to at least one of the following:
  • the sequence ID of the SL-PRS configured by higher layer parameters.
  • the device also includes:
  • An information receiving module configured to receive the second instruction information sent by the second device
  • a third processing module configured to add the first indication information to the SCI carried on the PSSCH or the PSCCH based on the second indication information
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • the positioning reference signal sending device applied to the first device is a device capable of executing the above-mentioned positioning reference signal sending method applied to the first device, then the above-mentioned positioning reference signal sending method applied to the first device All embodiments of the positioning reference signal sending method are applicable to this device and can achieve the same or similar technical effects.
  • an embodiment of the present disclosure also provides a device for transmitting a positioning reference signal, which is applied to the second device.
  • the device includes:
  • the receiving module 1001 is configured to receive the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH sent by the first device in the first resource pool; wherein, the direct link carried on the PSCCH or the PSSCH
  • the control information SCI carries first indication information, and the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the shared resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the device when the relevant information of the SL-PRS indicates that this transmission includes the SL-PRS, the device further includes: a second determination module;
  • the second determination module is used for at least one of the following:
  • the device also includes:
  • An information sending module configured to send second indication information to the first device, so that the first device adds the first to the SCI carried on the PSCCH or the PSSCH based on the second indication information.
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • the positioning reference signal sending device applied to the second device is a device capable of executing the above-mentioned positioning reference signal sending method applied to the second device, then the above-mentioned positioning reference signal sending method applied to the second device All embodiments of the positioning reference signal sending method are applicable to this device and can achieve the same or similar technical effects.
  • an embodiment of the present disclosure also provides a terminal device.
  • the terminal device is a first device and includes: a processor 1100; and a memory 1110 connected to the processor 1100 through a bus interface.
  • the memory 1110 is used to store programs and data used by the processor 1100 when performing operations.
  • the processor 1100 calls and executes the programs and data stored in the memory 1110 .
  • the terminal device also includes a transceiver 1120, which is connected to a bus interface and used to receive and send data under the control of the processor 1100;
  • the transceiver 1120 performs the following processes:
  • the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH are sent to the second device in the first resource pool; wherein the direct link control information SCI carried on the PSCCH or the PSSCH carries the third An indication information, the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the first resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the SCI also carries priority information, and the priority information includes at least one of the following:
  • the priority of the SL-PRS is determined based on at least one of the following:
  • the processor 1100 is configured to at least one of the following:
  • priority is given to processing the transmission block with a higher priority
  • the first priority is the priority corresponding to the transport block carrying the SL-PRS
  • the second priority is the priority corresponding to the transport block that does not carry the SL-PRS.
  • the comparison result between the first priority and the second priority includes one of the following:
  • the second priority is preconfigured to be higher than the first priority.
  • the resource configuration information of the SL-PRS is configured by high-layer parameters or pre-configured;
  • the configuration method of the resource configuration information of the SL-PRS includes at least one of the following:
  • the resource configuration information of the SL-PRS is interactively configured or pre-configured through PC5-RRC signaling;
  • the resource configuration information of the SL-PRS is based on resource pool configuration or pre-configuration.
  • the resource configuration information of the SL-PRS includes at least one of the following:
  • the frequency domain resource configuration information of the SL-PRS
  • the SL-PRS occupies the mode information of the time domain symbol position
  • the frequency domain resource configuration information of the SL-PRS includes at least one of the following:
  • the starting physical resource block PRB of the SL-PRS The starting physical resource block PRB of the SL-PRS
  • the starting resource unit RE position of the SL-PRS The starting resource unit RE position of the SL-PRS
  • the comb teeth of the SL-PRS are offset
  • the frequency domain mode information of the SL-PRS is the frequency domain mode information of the SL-PRS.
  • the time domain resource configuration information of the SL-PRS includes at least one of the following:
  • the SL-PRS occupies the number of symbols in the time slot.
  • the code domain configuration information of the SL-PRS includes at least one of the following:
  • Orthogonal cover code OCC of the SL-PRS Orthogonal cover code
  • the SL-PRS mapping rules include at least one of the following:
  • processor 1100 is also used to:
  • mapping is performed in at least one of the following ways:
  • the PSSCH bypasses the RE occupied by the SL-PRS or is occupied by the SL- The entire symbol occupied by PRS is mapped on the corresponding RE;
  • the SL-PRS is mapped on the PSSCH;
  • the first priority value is the value corresponding to the priority of the PSSCH, and the second priority value is The level value is the value corresponding to the priority of SL-PRS;
  • the first priority value is greater than the preset threshold value and the first priority value is greater than the second priority value, map the SL-PRS on the PSSCH;
  • the first The priority value is a value corresponding to the priority of PSSCH, and the second priority value is a value corresponding to the priority of SL-PRS.
  • processor 1100 is also used to:
  • the overhead information of the SL-PRS is determined based on at least one of the following:
  • processor 1100 is also used to:
  • the sequence ID of the SL-PRS configured by higher layer parameters.
  • the transceiver 1120 is also used to:
  • the processor 1100 is also used to:
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1100 and various circuits of the memory represented by memory 1110 are linked together.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein.
  • the bus interface provides a user interface 1130.
  • Transceiver 1120 may be a plurality of elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium.
  • the processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1110 can store data used by the processor 1100 when performing operations.
  • An embodiment of the present disclosure also provides a terminal device.
  • the terminal device is a second device, including: a processor; and a memory connected to the processor through a bus interface, where the memory is used to store information generated by the processor. Programs and data used to perform operations that the processor calls and executes Programs and data stored in the memory.
  • the terminal device also includes a transceiver, the transceiver is connected to the bus interface and is used to receive and send data under the control of the processor;
  • the structure of the terminal device (second device) provided by the present disclosure is similar to the structure of the terminal device (first device) shown in FIG. 11 .
  • the transceiver performs the following processes:
  • the first indication information is used to indicate relevant information of the direct link positioning reference signal SL-PRS.
  • the SL-PRS related information includes at least one of the following:
  • the first device has the ability to perform direct link positioning in the shared resource pool
  • the resource configuration information of the SL-PRS is the resource configuration information of the SL-PRS.
  • the processor is also used for at least one of the following:
  • the transceiver before receiving the physical direct link control channel PSCCH and the physical direct link shared channel PSSCH sent by the first device in the first resource pool, the transceiver is further configured to:
  • the second indication information is used to indicate whether the second device has the ability to perform direct link positioning in the first resource pool.
  • specific embodiments of the present disclosure also provide a readable storage medium on which a computer program is stored, wherein when the program is executed by the processor, the positioning reference signal applied to the first device as described in any one of the above is implemented.
  • the disclosed methods and devices can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, each unit may be physically included separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the sending and receiving methods described in various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

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Abstract

本公开提供了一种定位参考信号发送方法、装置和终端设备，应用于通信技术领域，所述定位参考信号发送方法，包括：在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。

Description

一种定位参考信号发送方法、装置和终端设备
相关申请的交叉引用
本公开主张在2022年7月15日在中国提交的中国专利申请号No.202210836614.8的优先权，其全部内容通过引用包含于此。
技术领域
本公开涉及通信技术领域，特别涉及一种定位参考信号发送方法、装置和终端设备。
背景技术
第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)版本16(3GPP Release 16)开展了蜂窝网上下行链路定位(NR Positioning)的研究和标准化，在蜂窝网覆盖内，基站发送小区特定(cell-specific)的下行定位参考信号(Positioning Reference Signal，PRS)，终端发送上行用于定位的上行探测信号(sounding reference signal，SRS)，相应的，终端可以测量参考信号时间差(Reference signal time difference，RSTD)、测量下行(Downlink，DL)PRS的参考信号接收功率(Reference Signal Received Power，RSRP)或者测量终端接收到DL PRS和发送出SRS的时间差；基站可以测量上行的参考信号到达时间(Relative Time of Arrival，RTOA)、SRS的RSRP、基站(gNB)收到SRS和gNB发送DL PRS的时间差以及角度测量值等，通过对测量值进行处理，计算出终端(UE)的位置。
对于直通链路(sidelink，SL)定位(Positioning)的研究和标准化的相关工作正在积极展开，但sidelink不同于新空口(New Radio，NR)Downlink以及上行(Uplink)，主要应用场景包括室内、室外、隧道区域等，同时室外和隧道区域场景还需支持移动速度高达250km/h的定位服务等，因此需要根据自身资源和物理层结构特点等来重新设计UE间相应的定位测量流程和资源分配方法，以适应于sidelink Positioning技术。
相关技术中的sidelink通信中，并未引入SL-PRS这一参考信号，也没有 相关定位交互的流程设计。如果重用相关技术中的一些参考信号作为SL-PRS，首先问题在于精度以及灵活性，并且位置敏感探测器(Position Sensitive Detector，PSD)也受到其他信号复用的影响。
发明内容
本公开实施例提供一种定位参考信号发送方法、装置和终端设备，用以解决相关技术中的sidelink通信中，不存在直通链路定位参考信号SL-PRS的相关信息的问题。
为了解决上述技术问题，本公开实施例提供如下技术方案：
第一方面，本公开实施例提供一种定位参考信号发送方法，应用于第一设备，所述方法包括：
在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
第二方面，本公开实施例还提供一种定位参考信号发送方法，应用于第二设备，所述方法包括：
在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
第三方面，本公开实施例还提供一种定位参考信号发送装置，应用于第一设备，所述装置包括：
发送模块，用于在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
第四方面，本公开实施例还提供一种定位参考信号发送装置，应用于第二设备，所述装置包括：
接收模块，用于在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
第五方面，本公开实施例还提供一种终端设备，所述终端设备为第一设备，包括：处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序，所述程序被所述处理器执行时实现如第一方面中任一项所述的定位参考信号发送方法的步骤。
第六方面，本公开实施例还提供一种终端设备，所述终端设备为第二设备，包括：处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序，所述程序被所述处理器执行时实现如第二方面中任一项所述的定位参考信号发送方法的步骤。
第七方面，本公开实施例还提供一种可读存储介质，所述可读存储介质上存储有程序，所述程序被处理器执行时实现如第一方面中任一项所述的定位参考信号发送方法中的步骤，或，实现如第二方面中任一项所述的定位参考信号发送方法的步骤。
本公开的有益效果是：
本公开方案，第一设备在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH，并在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中增加用于指示直通链路定位参考信号SL-PRS的相关信息的第一指示信息，可以实现在相关技术中的sidelink通信中，引入直通链路定位参考信号SL-PRS的相关信息。
附图说明
图1表示本公开实施例提供的Rel-16sidelink信道的结构示意图；
图2表示本公开实施例提供的资源块的结构示意图之一；
图3表示本公开实施例提供的资源块的结构示意图之二；
图4表示本公开实施例提供的资源选择时序图；
图5表示本公开实施例提供的应用于第一设备的定位参考信号发送方法 的流程图；
图6表示本公开实施例提供的资源块的结构示意图之三；
图7表示本公开实施例提供的实施例提供的SL-PRS的结构映射示意图；
图8表示本公开实施例提供的应用于第二设备的定位参考信号发送方法的流程图；
图9表示本公开实施例提供的应用于第一设备的定位参考信号发送装置的结构示意图；
图10表示本公开实施例提供的应用于第二设备的定位参考信号发送装置的结构示意图；
图11表示本公开实施例提供的终端设备的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合附图及具体实施例对本公开进行详细描述。
在进行具体实施例的说明之前，首先进行说明如下：
Rel-16阶段的NR sidelink，物理直通链路控制信道(Physical sidelink control channel，PSCCH)与物理直通链路共享信道(Physical sidelink shared channel，PSSCH)采用时分复用(time division multiplexing，TDM)+频分复用(frequency division multiplexing，FDM)的方式，如图1所示，Rel-16sidelink还引入了第二阶段SCI(2nd-stage SCI)，其与数据(data)由PSSCH承载；第一阶段SCI(1st-stage SCI)由PSCCH承载，用于指示当前传输块(Transport Block，TB)占用的时频资源位置，优先级，周期以及对应的编码调制方案(Modulation and coding scheme，MCS)等信息，并没有引入相应的sidelink PRS。
对于PRS频域模式(pattern)的说明，所述频域pattern为PRS采用的梳齿状尺寸，以及在每个时域符号上的每个资源块(Resource Block，RB)中的起始位置等信息；具体可以包括但不限于梳齿尺寸(comb size)，起始符号的每个RB上的起始映射资源元素(Resource Element，RE)位置，每个符号上RE粒度的映射偏移(comb offset)。对于每个符号上均是重复映射的情况， 则只需要频域中每个RB内的RE映射位置即可。如图2和图3所示，对于UE1来说，comb size＝4，起始符号的每个RB上起始映射RE位置为索引(index)＝0，每个符号上的RE comb offset＝{0,2,1,3}。
当多个UE共享相同的PRS专用资源，为了保证不同UE之间发送的PRS正交性，各个发送UE的PRS资源映射位置以及使用的OCC(或CS)可以与发送或者接收UE的用户标识信息(source ID等)或者与PRS请求信令的映射资源位置等相关联，或者由网络配置。
PRS序列可以采用Gold序列(对应正交覆盖码(Orthogonal Cover Code，OCC))或者ZC(ZadOff-Chu)序列(对应循环移位(cyclic shift，CS))。
对于Rel-16 NR positioning，主要引入两种用于定位的参考信号：下行定位参考信号PRS与用于定位的上行探测参考信号SRS for positioning。
下行定位参考信号PRS采用Gold序列，引入了PRS资源，PRS资源集，PRS定位频率层等设计。PRS资源频域可以采用梳齿结构，时域可以占用连续多个OFDM符号。采用单端口，最大带宽不能超过272PRBs，最小带宽不能低于24PRBs。
用于定位的上行探测参考信号SRS for positioning采用ZC序列，在时域上可以连续占用多个正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)符号，频域上也是采用梳齿结构，便于支持多个上行定位参考信号(SRS for positioning，SRS-POS)在同一个OFDM符号上频分复用。采用单端口，相比两端口发送，单端口的优势在于可以提高SRS-POS信号在基站接收机侧的功率谱密度，从而可以提高SRS-POS信号的覆盖范围和质量。频域上支持的最大带宽为272PRBs，最小带宽为4PRBs。SRS-POS支持周期性、半持续、非周期三种资源类型配置。
Release 16 NR定位支持“无线接入技术无关(RAT-independent)”的定位技术，包括全球导航卫星系统(Global Navigation Satellite System，GNSS)、大气压力传感器定位、无线局域网(Wireless Local Area Network，WLAN)定位、惯导定位、蓝牙定位、地面信标系统定位。
Release 16 NR定位研究了“RAT-dependent”以及混合定位技术以提高定位精度。主要方案为：gNB周期性发送下行PRS，支持下行到达时间差 (Downlink Time Difference of Arrival，DL-TDOA)、下行链路离开角(Downlink Angle-of-Departure，DL-AoD)测量、增强的小区身份标识(Enhanced Cell Identification，E-CID)检测；终端发送用于定位的上行SRS，支持上行到达时间差(Uplink Time Difference of Arrival，UL-TDOA)、上行链路到达角(Uplink Angle of Arrival，UL-AoA)测量；支持上下行组合进行往返时间(Round Trip Time，RTT)测量，或可基于多次往返时间(multi-Round-trip time，Multi-RTT)方法进行位置定位。
NR/LTE positioning的整体定位流程均受到基站和定位管理功能(Location Management Function，LMF)的管控和调度。
新空口车联网的信息交换(New Radio-Vehicle to everything，NR-V2X)采用了基于感知和参考信号接收功率(Reference signal receiving power，RSRP)的资源排除技术。如图4所示，在感知(sensing)窗口中，UE持续进行接收解码并测量RSRP。当业务包在n时刻到达后，高层信令触发UE资源选择过程如下：
(1)候选单时隙(slot)资源Rx,y为[n+T1，n+T2]时间内ty slot上的连续x+j个子信道，如图4所示。其中0≤T1≤Tproc,1，Tproc,1表示UE的发送处理时延(包括基于感知的资源选择时间、PSCCH的发送准备时间以及SL-PRS的发送准备时间)，取值可为{3，5，9，17}物理slots，分别对应子载波间隔(sub-carrier space，SCS){15，30，60，120}kHz，T2min≤T2≤remaining PDB，T2min为高层参数t2min_SelectionWindow配置的T2最小取值，remaining PDB为数据包剩余延迟预算。候选单slot资源总数为Mtotal。(2)UE持续监测感知窗口[n-T0,n-Tproc,0)内的slot，进行PSCCH、SL-PRS解码和SL-PRS或物理直通链路控制信道参考信号接收功率(PSCCH Reference Signal Received Power，PSCCH-RSRP)测量。T0为高层配置的感知窗口长度，Tproc,0为UE处理之前感知结果的时间，取值可为{1，1，2，4}物理slots，分别对应SCS{15，30，60，120}kHz。(3)Th(pi,pj)指示sl-ThresSL-PRS-RSRP-List-r16中的第i个RSRP域，i＝pi+(pj-1)*8，pi表示接收到SCI中指示的优先级，pj表示发送UE传输的优先级，pj＝prioTX。(4)初始化SA为所有候选单slot资源的集合。(5)排除跳转时隙(skip slots)对应的候选slots，而上述排除跳转时隙(skip  slots)对应的候选slots，也可以理解为：排除未监听时隙(not monitored slots)对应的候选slots，not monitored slots为由于半双工影响而无法进行sensing的slots(如y)，对于系统配置的所有周期(如20ms，50ms，100ms)，排除后续相应位置的所有候选slots(即y，y+20*2μ，y+40*2μ，y+50*2μ，y+60*2μ，y+80*2μ，y+100*2μ…等中落在选择窗口内的slots)。(6)排除满足如下两个条件的候选单slot资源：a、接收到直通链路控制信息(Sidelink Control Information，SCI)指示的RSRP测量值高于Th(prioRX,prioTX)；b、接收到SCI指示的预留资源会与在候选资源y上发送的TB或与后续的y+x*Pstep*2μ上的候选资源发送的传输块(Transport Block，TB)部分重叠或全部重叠，Pstep是资源预约周期(转化为逻辑时隙)，x取整数，代表后续的周期数，μ是由资源池的子载波间隔(SCS)唯一确定的。(7)如果SA中剩余的资源小于X*Mtotal，则将Th(pi,pj)均提升3dB并返回step4)；对于给定的prioTX，X由高层参数sl-xPercentage(prioTX)配置。(8)UE上报SA给高层。(9)高层在满足满足混合自动重传请求(Hybrid automatic repeat request，HARQ)RTT的约束条件下，在SA中为当前TB随机选择初传和重传资源。
在此基础上，为了解决非周期性突发业务导致的资源碰撞以及为了保证高优先级业务的可靠性，分别增加了Re-evaluation(重评估)机制和Pre-emption(抢占)机制。其中，重评估机制主要针对未被预约的资源，在资源发送前，根据最新的sensing结果判断已选资源是否发生碰撞，如果发生碰撞，可以进行重选，从而降低资源碰撞概率；抢占机制主要针对已被预约的资源，如果发现已被预约的资源被高优先级UE抢占，触发低优先级UE进行资源重选，从而避免高低优先级之间发生碰撞，从而保证高优先级业务的性能。如图4所示，进行初传的时间为m1，进行重选的时间为m2，重评估的开始时间为n、终止时间为m1-T3，抢占的开始时间为m1、终止时间为m2-T3。
本公开针对相关技术中的sidelink通信中，不存在直通链路定位参考信号SL-PRS的相关信息的问题，提供一种定位参考信号发送方法、装置和终端设备。
如图5所示，本公开实施例提供一种定位参考信号发送方法，应用于第 一设备，所述方法包括：
步骤501：在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
需要说明的是，所述第一设备为3GPP版本18(Release 18，R18)UE。
第一资源池为与3GPP版本16(Release 16，R16)、3GPP版本17(Release 17，R17)UE共享的资源池(resource pool)。即为了实现SL-Positioning技术，在R16、R17 resource pool中发送SL-PRS的相关信息是一种可实现的方法，可以节约sidelink资源，提升资源利用率。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在所述第一资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
在本实施例中，在所述PSCCH承载的第一阶段SCI(1st-stage SCI)的预留比特(reserved bits)中，携带所述第一指示信息；或，在所述PSSCH中引入新的第二阶段SCI格式(2nd-stage SCI format)，携带所述第一指示信息。
其中，用于指示本次传输中是否包括所述SL-PRS的信息可以为标识信息，该标识信息为“1”或“0”，“1”表示SL-PRS与PRS一起传输，“0”表示PRS不包括在当前slot内，优选地，标识信息用SCI-1A中的预留比特承载。
示例性地，在所述PSCCH承载的1st-stage SCI的reserved bits中，携带所述第一指示信息，可以为利用1st-stage SCI中的reserved bits中1bit信息指示本次传输块中是否携带了SL-PRS；还可以为利用1st-stage SCI中reserved bits中的2bit信息指示本次传输块中SL-PRS的时域pattern信息和/或频域pattern信息。具体可以指示当前传输块中SL-PRS对应的pattern index信息，可支持的pattern信息集合应该是由高层参数配置或预配置的。
再例如，在所述PSSCH中引入新的2nd-stage SCI format，携带所述第一指示信息，可以为引入新的2nd-stage SCI format用于指示SL-PRS的时频资源配置信息，如SCI format 2-D：SCI format 2-D用于调度SL-PRS和/或PSSCH 的译码。
还需要说明的是，本公开实施例中，可以使用解调参考信号DMRS或信道状态信息参考信号(Channel-State Information reference Signal，CSI-RS)作为SL-PRS用于定位测量。
在本实施例中，R18UE在发送SL-PRS时，整体信道结构应与R16相同，并且不改变相关技术中的1st-stage SCI以及2nd-stage SCI formats中的信息内容。
可选地，所述SCI中还携带有优先级信息，所述优先级信息包括以下至少一项：
第一优先级值和第二优先级值中的最小值；所述第一优先级值为所述PSSCH的优先级对应的值，所述第二优先级值为所述SL-PRS的优先级对应的值；
所述PSSCH的优先级；
所述SL-PRS的优先级。
SCI中携带的优先级信息的确定方法，包括以下至少一项：
由PSSCH的优先级和SL-PRS的优先级共同决定，取二者优先级值中的最小值，作为SCI中携带的优先级信息；
SCI中携带PSSCH的优先级；
SCI中携带SL-PRS的优先级。
其中，所述SL-PRS的优先级是根据以下至少一项确定的：
高层参数配置；
预配置；
定位发起信令携带的优先级信息；
对应的定位业务的优先级信息。
可选地，在所述第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少一项：
根据第一优先级和第二优先级的比较结果，优先处理优先级高的传输块；
在第一优先级与第二优先级相同的情况下，随机选择传输块进行处理；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
即在所述第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块的情况下，比较携带SL-PRS的传输块的优先级与未携带SL-PRS的传输块的优先级，优先处理高优先级的传输块。如果二者的优先级相同，则第一设备随机处理携带SL-PRS的传输块和未携带SL-PRS的传输块的二者之一。
可选地，所述第一优先级和第二优先级的比较结果，包括以下之一：
预配置所述第一优先级高于所述第二优先级；
预配置所述第二优先级高于所述第一优先级。
具体地，第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块，包括以下至少一项：
所述第一设备需要同时接收携带所述SL-PRS的传输块和接收未携带所述SL-PRS的传输块；
所述第一设备需要同时接收携带所述SL-PRS的传输块和发送未携带所述SL-PRS的传输块；
所述第一设备需要同时发送携带所述SL-PRS的传输块和发送接收未携带所述SL-PRS的传输块；
所述第一设备需要同时发送携带所述SL-PRS的传输块和接收未携带所述SL-PRS的传输块。
在第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块，包括所述第一设备需要同时接收携带所述SL-PRS的传输块和接收未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少一项：
预配置第一优先级高于第二优先级，优先接收携带所述SL-PRS的传输块；
预配置第一优先级低于第二优先级，优先接收未携带所述SL-PRS的传输块；
若第一优先级与第二优先级相同，随机接收携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块其中之一；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
在第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块，包括所述第一设备需要同时接收携带所述SL-PRS的传输块和发送未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少一项：
预配置第一优先级高于第二优先级，优先接收携带所述SL-PRS的传输块；
预配置第一优先级低于第二优先级，优先发送未携带所述SL-PRS的传输块；
若第一优先级与第二优先级相同，随机接收携带所述SL-PRS的传输块或随机发送未携带所述SL-PRS的传输块；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
在第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块，包括所述第一设备需要同时发送携带所述SL-PRS的传输块和发送接收未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少一项：
预配置第一优先级高于第二优先级，优先发送携带所述SL-PRS的传输块；
预配置第一优先级低于第二优先级，优先发送未携带所述SL-PRS的传输块；
若第一优先级与第二优先级相同，随机发送携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块其中之一；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
在第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块，包括所述第一设备需要同时发送携带所述SL-PRS的传输块和接收未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少 一项：
预配置第一优先级高于第二优先级，优先发送携带所述SL-PRS的传输块；
预配置第一优先级低于第二优先级，优先接收未携带所述SL-PRS的传输块；
若第一优先级与第二优先级相同，随机发送携带所述SL-PRS的传输块或接收未携带所述SL-PRS的传输块；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
可选地，所述SL-PRS的资源配置信息是由高层参数配置的或预配置的；
其中，所述SL-PRS的资源配置信息的配置方法包括以下至少一项：
在所述第一设备和所述第二设备为单播通信的情况下，所述SL-PRS的资源配置信息是通过PC5-RRC信令交互配置或预配置的；
所述SL-PRS的资源配置信息是基于资源池配置或预配置的。
具体地，SL-PRS的资源配置信息是由高层参数配置或预配置的，SL-PRS的资源配置信息的配置方法包括以下至少一项：
当第一设备与第二设备之间为单播通信时，并且二者需要进行定位相关交互流程时，第一设备与第二设备之间可以进行PC5-RRC信令交互，通过PC5-RRC交互，完成SL-PRS相关的无线电资源控制(Radio Resource Control，RRC)重配或配置，确定第一设备与第二设备之间链接(link)的SL-PRS资源配置情况，此时SL-PRS的资源配置信息仅在第一设备与第二设备间有效，不会影响该link以外的其他设备；
SL-PRS的资源配置信息是基于资源池配置的，此时，SL-PRS的资源配置信息对在整个资源池中收发的设备均有效。
可选地，所述SL-PRS的资源配置信息，包括以下至少一项：
所述SL-PRS的优先级信息；
所述SL-PRS的频域资源配置信息；
所述SL-PRS的时域资源配置信息；
所述SL-PRS的码域配置信息；
所述SL-PRS占用时域符号位置的模式信息；
所述SL-PRS的资源预约周期；
所述SL-PRS的资源预约周期个数；
所述SL-PRS的端口数；
偏移时隙数量。
其中，所述SL-PRS的频域资源配置信息包括以下至少一项：
所述SL-PRS的起始物理资源块PRB；
所述SL-PRS的起始子信道位置；
所述SL-PRS的带宽；
所述SL-PRS的梳齿尺寸；
所述SL-PRS的起始资源单元RE位置；
所述SL-PRS的梳齿偏移；
所述SL-PRS的频域模式信息。
所述SL-PRS的时域资源配置信息包括以下至少一项：
所述SL-PRS占用的时隙位置；
所述SL-PRS在时隙中的起始符号位置；
所述SL-PRS在时隙中占用符号的个数。
所述SL-PRS的码域配置信息包括以下至少一项：
所述SL-PRS的循环移位；
所述SL-PRS的正交覆盖码OCC。
也就是，SL-PRS的时频资源配置信息包括以下至少一项：
HARQ进程号；
新数据指示；
冗余版本；
源身份标识(Source ID)；
目的身份标识(Destination ID)；
混合自动重传回复(HARQ feedback)开关指示；
区身份标识(Zone ID)；
通信范围要求；
SL-PRS的优先级信息；
SL-PRS的频域资源配置信息；
SL-PRS的时域资源配置信息；
如果第一资源池支持时域上SL-PRS非连续映射，则还需要包括该第一资源池支持的SL-PRS占用时域符号位置的pattern信息；
SL-PRS的资源预约周期；
SL-PRS的资源预约周期个数；
SL-PRS的端口数；
偏移时隙数量(Offset slot number)。
其中，SL-PRS的频域资源配置信息包括以下至少一项：SL-PRS起始PRB；SL-PRS起始子信道位置；SL-PRS带宽(PRB个数或子信道个数)；SL-PRS的梳齿尺寸(comb-size)；SL-PRS的起始资源元素(Resource element，RE)位置；SL-PRS的梳齿偏移(comb offset)；SL-PRS的循环位移(Cyclic shift)；SL-PRS的正交覆盖码(Orthogonal Cover Code，OCC)；SL-PRS的频域模式指示(pattern index)。
SL-PRS时域资源配置信息包括以下至少一项：SL-PRS占用的时隙(slot)位置(子帧数(subframe Num)+时隙数(slot Num))；SL-PRS在slot中的起始符号位置；SL-PRS在slot中占用符号的个数。
定位调度信息与其关联的定位信道的时域间隔信息，仅支持跨slot调度时，才需要Offset slot number这一参数。
下面对于SL-PRS时域pattern和SL-PRS频域pattern进行说明；
对于SL-PRS时域pattern信息，比较类似于PSSCH DMRS pattern信息，由高层参数配置或预配置好，SL-PRS的时域符号个数，以及每个符号的位置，如下表1所示：
表1 SL-PRS时域pattern表

对于SL-PRS频域pattern信息：
对于PRS频域pattern的说明，所述PRS频域pattern为PRS采用的梳齿状尺寸，以及在每个时域符号上的每个RB中的起始位置等信息。
PRS频域pattern具体可以包括但不限于：comb size，起始符号的每个RB上的起始映射RE位置，每个符号上RE粒度的映射偏移comb offset。对于每个符号上均是重复映射的情况，则只需要频域中每个RB内的RE映射位置即可。请参阅图3和图6，如图6中的UE2所示，对于如图3中的UE1来说，comb size＝4，起始符号的每个RB上起始映射RE位置为index＝0，每个符号上的RE offset＝{0,2,1,3}。
可选地，请参阅图7，所述SL-PRS的映射规则包括以下至少一项：
不可以映射到包含第一阶段SCI的符号上；
不可以映射到包含第二阶段SCI的符号上；
不可以映射到包含解调参考信号DMRS的符号上；
不可以映射到自动增益控制AGC符号上；
不可以映射到保护时隙GP符号上；
不可以映射到直通链路反馈信道PSFCH符号上；
可以映射到任意符号上。
可选地，所述方法还包括：
当所述PSSCH的资源元素RE被所述SL-PRS占用时，按照以下至少一项方式进行映射：
通过对所述PSSCH中被所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号进行打孔，将所述PSSCH映射在相应的RE上；
在所述SL-PRS为解调参考信号DMRS或信道状态信息参考信号CSI-RS的情况下，所述PSSCH通过速率匹配的映射方式绕开所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号，映射在相应的RE上；
在第一优先级值大于第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优 先级值为SL-PRS的优先级对应的值；
在第一优先级值大于预设门限值，且所述第一优先级值大于所述第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值。
具体地，通过对所述PSSCH中被所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号进行打孔，将所述PSSCH映射在相应的RE上的映射方式与R16、R17的兼容性更好；
在重用解调参考信号DMRS或信道状态信息参考信号CSI-RS作为SL-PRS用于定位测量的情况下，需要限制此时DMRS或CSI-RS符号上不再映射数据，PSSCH通过速率匹配的映射方式绕开所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号，映射在相应的RE上，这样的映射方式不会影响R18UE的解调性能；
当SL-PRS的优先级值小于PSSCH的优先级值时，则SL-PRS可以映射到PSSCH上；
由高层参数配置或预配置一个优先级门限P(预设门限值)，当PSSCH的优先级值大于P，并且SL-PRS的优先级值小于PSSCH的优先级值时，SL-PRS才可以映射到所述PSSCH上。
可选地，所述方法还包括：
根据SL-PRS的开销信息，确定所述PSSCH的传输块尺寸；
其中，所述SL-PRS的开销信息是根据以下至少一项确定的：
高层参数配置；
预配置；
所述SCI中的SL-PRS开销指示信息。
即在确定PSSCH的传输块尺寸(Transport block size)时，SL-PRS的开销(overhead)信息可以根据以下至少一项确定：
SL-PRS的overhead由高层参数配置；
SL-PRS的overhead由预配置；
SL-PRS的overhead由SCI指示(通过SCI中的SL-PRS开销指示信息指 示)。
可选地，所述方法还包括：
根据以下至少一项，生成所述SL-PRS的初始化序列：
第一阶段SCI(1st-stage SCI)的循环冗余校验比特(CRC bits)；
第二阶段SCI中的源ID(source ID)；
第二阶段SCI中的目标ID(destination ID)；
所述SL-PRS所在时隙(slot)的编号(number)；
高层参数配置的所述SL-PRS的序列ID(SL-PRS ID)。
可选地，所述方法还包括：
接收所述第二设备发送的第二指示信息；
基于所述第二指示信息，在向所述PSSCH或所述PSCCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在所述第一资源池中进行直通链路定位的能力。
作为另一优选实施例，在第一设备(R18UE)在向第二设备发送PSCCH和PSSCH之前，第一设备先接收到了第二设备发送的第二指示信息，该第二指示信息用于指示第二设备是否具备在shared resource pool(第一资源池)中进行SL-positioning的能力，第一设备基于该第二指示信息再反馈第一指示信息。
本公开实施例提供的定位参考信号发送方法，充分考虑向前兼容性，R18sidelink positioning UE不影响R16、R17UE的sensing过程以及解码PSSCH的过程，且无需改变R16、R17资源分配机制，保证R18能够正常工作。
如图8所示，本公开实施例还提供一种定位参考信号发送方法，应用于第二设备，所述方法包括：
步骤801：在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
本公开实施例，第一设备在第一资源池中向第二设备发送物理直通链路 控制信道PSCCH和物理直通链路共享信道PSSCH，并在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中增加用于指示直通链路定位参考信号SL-PRS的相关信息的第一指示信息，可以实现在相关技术中的sidelink通信中，引入直通链路定位参考信号SL-PRS的相关信息。
第一资源池为与3GPP版本16(Release 16，R16)、3GPP版本17(Release 17，R17)UE共享的资源池(resource pool)。即为了实现SL-Positioning技术，在R16、R17 resource pool中发送SL-PRS的相关信息是一种可实现的方法，可以节约sidelink资源，提升资源利用率。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在共享资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
可选地，在所述SL-PRS的相关信息指示本次传输包括所述SL-PRS的情况下，所述方法还包括以下至少一项：
根据所述SCI，确定所述SL-PRS的资源配置信息；
根据高层参数，确定所述SL-PRS的资源配置信息；
根据预配置参数，确定所述SL-PRS的资源配置信息。
即在SCI中携带了SL-PRS，则确定SL-PRS的资源配置信息的方法包括以下至少一项：
根据SCI，确定SL-PRS的资源配置信息；
根据高层参数，确定SL-PRS的资源配置信息；
根据预配置参数，确定SL-PRS的资源配置信息。
可选地，所述在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH之前，所述方法还包括：
向所述第一设备发送第二指示信息，以使所述第一设备基于所述第二指示信息在所述PSCCH或所述PSSCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在第一资源池中进行直通链路定位的能力。
作为另一优选实施例，在第一设备(R18UE)在向第二设备发送PSCCH 和PSSCH之前，第一设备先接收到了第二设备发送的第二指示信息，该第二指示信息用于指示第二设备是否具备在shared resource pool(第一资源池)中进行SL-positioning的能力，第一设备基于该第二指示信息再反馈第一指示信息。
如图9所示，本公开实施例还提供一种定位参考信号发送装置，应用于第一设备，所述装置包括：
发送模块901，用于在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在所述第一资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
可选地，所述SCI中还携带有优先级信息，所述优先级信息包括以下至少一项：
第一优先级值和第二优先级值中的最小值；所述第一优先级值为所述PSSCH的优先级对应的值，所述第二优先级值为所述SL-PRS的优先级对应的值；
所述PSSCH的优先级；
所述SL-PRS的优先级。
可选地，所述SL-PRS的优先级是根据以下至少一项确定的：
高层参数配置；
预配置；
定位发起信令携带的优先级信息；
对应的定位业务的优先级信息。
可选地，在所述第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块的情况下，所述装置还包括：第一处理模块；
所述第一处理模块，用于以下至少一项：
根据第一优先级和第二优先级的比较结果，优先处理优先级高的传输块；
在第一优先级与第二优先级相同的情况下，随机选择传输块进行处理；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
可选地，所述第一优先级和第二优先级的比较结果，包括以下之一：
预配置所述第一优先级高于所述第二优先级；
预配置所述第二优先级高于所述第一优先级。
可选地，所述SL-PRS的资源配置信息是由高层参数配置的或预配置的；
其中，所述SL-PRS的资源配置信息的配置方法包括以下至少一项：
在所述第一设备和所述第二设备为单播通信的情况下，所述SL-PRS的资源配置信息是通过PC5-RRC信令交互配置或预配置的；
所述SL-PRS的资源配置信息是基于资源池配置或预配置的。
可选地，所述SL-PRS的资源配置信息，包括以下至少一项：
所述SL-PRS的优先级信息；
所述SL-PRS的频域资源配置信息；
所述SL-PRS的时域资源配置信息；
所述SL-PRS的码域配置信息；
所述SL-PRS占用时域符号位置的模式信息；
所述SL-PRS的资源预约周期；
所述SL-PRS的资源预约周期个数；
所述SL-PRS的端口数；
偏移时隙数量。
可选地，所述SL-PRS的频域资源配置信息包括以下至少一项：
所述SL-PRS的起始物理资源块PRB；
所述SL-PRS的起始子信道位置；
所述SL-PRS的带宽；
所述SL-PRS的梳齿尺寸；
所述SL-PRS的起始资源单元RE位置；
所述SL-PRS的梳齿偏移；
所述SL-PRS的频域模式信息。
可选地，所述SL-PRS的时域资源配置信息包括以下至少一项：
所述SL-PRS占用的时隙位置；
所述SL-PRS在时隙中的起始符号位置；
所述SL-PRS在时隙中占用符号的个数。
可选地，所述SL-PRS的码域配置信息包括以下至少一项：
所述SL-PRS的循环移位；
所述SL-PRS的正交覆盖码OCC。
可选地，所述SL-PRS的映射规则包括以下至少一项：
不可以映射到包含第一阶段SCI的符号上；
不可以映射到包含第二阶段SCI的符号上；
不可以映射到包含解调参考信号DMRS的符号上；
不可以映射到自动增益控制AGC符号上；
不可以映射到保护时隙GP符号上；
不可以映射到直通链路反馈信道PSFCH符号上；
可以映射到任意符号上。
可选地，所述装置还包括：
映射模块，用于当所述PSSCH的资源元素RE被所述SL-PRS占用时，按照以下至少一项方式进行映射：
通过对所述PSSCH中被所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号进行打孔，将所述PSSCH映射在相应的RE上；
在所述SL-PRS为解调参考信号DMRS或信道状态信息参考信号CSI-RS的情况下，所述PSSCH通过速率匹配的映射方式绕开所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号，映射在相应的RE上；
在第一优先级值大于第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值；
在第一优先级值大于预设门限值，且所述第一优先级值大于所述第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值 为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值。
可选地，所述装置还包括：
第一确定模块，用于根据SL-PRS的开销信息，确定所述PSSCH的传输块尺寸；
其中，所述SL-PRS的开销信息是根据以下至少一项确定的：
高层参数配置；
预配置；
所述SCI中的SL-PRS开销指示信息。
可选地，所述装置还包括：
第二处理模块，用于根据以下至少一项，生成所述SL-PRS的初始化序列：
第一阶段SCI的循环冗余校验比特；
第二阶段SCI中的源ID；
第二阶段SCI中的目标ID；
所述SL-PRS所在时隙的编号；
高层参数配置的所述SL-PRS的序列ID。
可选地，所述装置还包括：
信息接收模块，用于接收所述第二设备发送的第二指示信息；
第三处理模块，用于基于所述第二指示信息，在向所述PSSCH或所述PSCCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在所述第一资源池中进行直通链路定位的能力。
需要说明的是，本公开实施例提供的应用于第一设备的定位参考信号发送装置是能够执行上述的应用于第一设备的定位参考信号发送方法的装置，则上述的应用于第一设备的定位参考信号发送方法的所有实施例均适用于该装置，且能够达到相同或者相似的技术效果。
如图10所示，本公开实施例还提供一种定位参考信号发送装置，应用于第二设备，所述装置包括：
接收模块1001，用于在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在共享资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
可选地，在所述SL-PRS的相关信息指示本次传输包括所述SL-PRS的情况下，所述装置还包括：第二确定模块；
所述第二确定模块，用于以下至少一项：
根据所述SCI，确定所述SL-PRS的资源配置信息；
根据高层参数，确定所述SL-PRS的资源配置信息；
根据预配置参数，确定所述SL-PRS的资源配置信息。
可选地，所述装置还包括：
信息发送模块，用于向所述第一设备发送第二指示信息，以使所述第一设备基于所述第二指示信息在所述PSCCH或所述PSSCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在第一资源池中进行直通链路定位的能力。
需要说明的是，本公开实施例提供的应用于第二设备的定位参考信号发送装置是能够执行上述的应用于第二设备的定位参考信号发送方法的装置，则上述的应用于第二设备的定位参考信号发送方法的所有实施例均适用于该装置，且能够达到相同或者相似的技术效果。
如图11所示，本公开实施例还提供一种终端设备，所述终端设备为第一设备，包括：处理器1100；以及通过总线接口与所述处理器1100相连接的存储器1110，所述存储器1110用于存储所述处理器1100在执行操作时所使用的程序和数据，所述处理器1100调用并执行所述存储器1110中所存储的程序和数据。
其中，所述终端设备还包括收发机1120，所述收发机1120与总线接口连接，用于在所述处理器1100的控制下接收和发送数据；
具体地，所述收发机1120执行下列过程：
在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在所述第一资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
可选地，所述SCI中还携带有优先级信息，所述优先级信息包括以下至少一项：
第一优先级值和第二优先级值中的最小值；所述第一优先级值为所述PSSCH的优先级对应的值，所述第二优先级值为所述SL-PRS的优先级对应的值；
所述PSSCH的优先级；
所述SL-PRS的优先级。
可选地，所述SL-PRS的优先级是根据以下至少一项确定的：
高层参数配置；
预配置；
定位发起信令携带的优先级信息；
对应的定位业务的优先级信息。
可选地，在所述第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块的情况下，所述处理器1100，用于以下至少一项：
根据第一优先级和第二优先级的比较结果，优先处理优先级高的传输块；
在第一优先级与第二优先级相同的情况下，随机选择传输块进行处理；
其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
可选地，所述第一优先级和第二优先级的比较结果，包括以下之一：
预配置所述第一优先级高于所述第二优先级；
预配置所述第二优先级高于所述第一优先级。
可选地，所述SL-PRS的资源配置信息是由高层参数配置的或预配置的；
其中，所述SL-PRS的资源配置信息的配置方法包括以下至少一项：
在所述第一设备和所述第二设备为单播通信的情况下，所述SL-PRS的资源配置信息是通过PC5-RRC信令交互配置或预配置的；
所述SL-PRS的资源配置信息是基于资源池配置或预配置的。
可选地，所述SL-PRS的资源配置信息，包括以下至少一项：
所述SL-PRS的优先级信息；
所述SL-PRS的频域资源配置信息；
所述SL-PRS的时域资源配置信息；
所述SL-PRS的码域配置信息；
所述SL-PRS占用时域符号位置的模式信息；
所述SL-PRS的资源预约周期；
所述SL-PRS的资源预约周期个数；
所述SL-PRS的端口数；
偏移时隙数量。
可选地，所述SL-PRS的频域资源配置信息包括以下至少一项：
所述SL-PRS的起始物理资源块PRB；
所述SL-PRS的起始子信道位置；
所述SL-PRS的带宽；
所述SL-PRS的梳齿尺寸；
所述SL-PRS的起始资源单元RE位置；
所述SL-PRS的梳齿偏移；
所述SL-PRS的频域模式信息。
可选地，所述SL-PRS的时域资源配置信息包括以下至少一项：
所述SL-PRS占用的时隙位置；
所述SL-PRS在时隙中的起始符号位置；
所述SL-PRS在时隙中占用符号的个数。
可选地，所述SL-PRS的码域配置信息包括以下至少一项：
所述SL-PRS的循环移位；
所述SL-PRS的正交覆盖码OCC。
可选地，所述SL-PRS的映射规则包括以下至少一项：
不可以映射到包含第一阶段SCI的符号上；
不可以映射到包含第二阶段SCI的符号上；
不可以映射到包含解调参考信号DMRS的符号上；
不可以映射到自动增益控制AGC符号上；
不可以映射到保护时隙GP符号上；
不可以映射到直通链路反馈信道PSFCH符号上；
可以映射到任意符号上。
可选地，所述处理器1100，还用于：
当所述PSSCH的资源元素RE被所述SL-PRS占用时，按照以下至少一项方式进行映射：
通过对所述PSSCH中被所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号进行打孔，将所述PSSCH映射在相应的RE上；
在所述SL-PRS为解调参考信号DMRS或信道状态信息参考信号CSI-RS的情况下，所述PSSCH通过速率匹配的映射方式绕开所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号，映射在相应的RE上；
在第一优先级值大于第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值；
在第一优先级值大于预设门限值，且所述第一优先级值大于所述第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值。
可选地，所述处理器1100，还用于：
根据SL-PRS的开销信息，确定所述PSSCH的传输块尺寸；
其中，所述SL-PRS的开销信息是根据以下至少一项确定的：
高层参数配置；
预配置；
所述SCI中的SL-PRS开销指示信息。
可选地，所述处理器1100，还用于：
根据以下至少一项，生成所述SL-PRS的初始化序列：
第一阶段SCI的循环冗余校验比特；
第二阶段SCI中的源ID；
第二阶段SCI中的目标ID；
所述SL-PRS所在时隙的编号；
高层参数配置的所述SL-PRS的序列ID。
可选地，所述收发机1120，还用于：
接收所述第二设备发送的第二指示信息；
所述处理器1100，还用于：
基于所述第二指示信息，在向所述PSSCH或所述PSCCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在所述第一资源池中进行直通链路定位的能力。
其中，在图11中，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1100代表的一个或多个处理器和存储器1110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。总线接口提供用户接口1130。收发机1120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。处理器1100负责管理总线架构和通常的处理，存储器1110可以存储处理器1100在执行操作时所使用的数据。
本公开实施例还提供一种终端设备，所述终端设备为第二设备，包括：处理器；以及通过总线接口与所述处理器相连接的存储器，所述存储器用于存储所述处理器在执行操作时所使用的程序和数据，所述处理器调用并执行 所述存储器中所存储的程序和数据。
其中，所述终端设备还包括收发机，所述收发机与总线接口连接，用于在所述处理器的控制下接收和发送数据；
需要说明的是，本公开提供的终端设备(第二设备)的结构与图11所示的终端设备(第一设备)的结构类似。
具体地，所述收发机执行下列过程：
在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
可选地，所述SL-PRS的相关信息包括以下至少一项：
用于指示本次传输中是否包括所述SL-PRS的信息；
所述第一设备是否具备在共享资源池中进行直通链路定位的能力；
所述SL-PRS的资源配置信息。
可选地，在所述SL-PRS的相关信息指示本次传输包括所述SL-PRS的情况下，所述处理器还用于以下至少一项：
根据所述SCI，确定所述SL-PRS的资源配置信息；
根据高层参数，确定所述SL-PRS的资源配置信息；
根据预配置参数，确定所述SL-PRS的资源配置信息。
可选地，所述在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH之前，所述收发机还用于：
向所述第一设备发送第二指示信息，以使所述第一设备基于所述第二指示信息在所述PSCCH或所述PSSCH上承载的SCI中增加所述第一指示信息；
其中，所述第二指示信息用于指示所述第二设备是否具备在第一资源池中进行直通链路定位的能力。
另外，本公开具体实施例还提供一种可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如上中任一项所述的应用于第一设备的定位参考信号发送方法中的步骤，或，实现如上中任一项所述的应用于第二设备的定位参考信号发送方法中的步骤。
在本申请所提供的几个实施例中，应该理解到，所揭露方法和装置，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
另外，在本公开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包括，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，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用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)执行本公开各个实施例所述收发方法的部分步骤。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。
以上所述的是本公开的优选实施方式，应当指出对于本技术领域的普通人员来说，在不脱离本公开所述的原理前提下还可以作出若干改进和润饰，这些改进和润饰也在本公开的保护范围内。

Claims (25)

  1. 一种定位参考信号发送方法，应用于第一设备，所述方法包括：
    在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
  2. 根据权利要求1所述的定位参考信号发送方法，其中，所述SL-PRS的相关信息包括以下至少一项：
    用于指示本次传输中是否包括所述SL-PRS的信息；
    所述第一设备是否具备在所述第一资源池中进行直通链路定位的能力；
    所述SL-PRS的资源配置信息。
  3. 根据权利要求1所述的定位参考信号发送方法，其中，所述SCI中还携带有优先级信息，所述优先级信息包括以下至少一项：
    第一优先级值和第二优先级值中的最小值；所述第一优先级值为所述PSSCH的优先级对应的值，所述第二优先级值为所述SL-PRS的优先级对应的值；
    所述PSSCH的优先级；
    所述SL-PRS的优先级。
  4. 根据权利要求3所述的定位参考信号发送方法，其中，所述SL-PRS的优先级是根据以下至少一项确定的：
    高层参数配置；
    预配置；
    定位发起信令携带的优先级信息；
    对应的定位业务的优先级信息。
  5. 根据权利要求1所述的定位参考信号发送方法，其中，在所述第一设备需要同时处理携带所述SL-PRS的传输块和未携带所述SL-PRS的传输块的情况下，所述方法还包括以下至少一项：
    根据第一优先级和第二优先级的比较结果，优先处理优先级高的传输块；
    在第一优先级与第二优先级相同的情况下，随机选择传输块进行处理；
    其中，所述第一优先级为携带所述SL-PRS的传输块对应的优先级；
    所述第二优先级为未携带所述SL-PRS的传输块对应的优先级。
  6. 根据权利要求5所述的定位参考信号发送方法，其中，所述第一优先级和第二优先级的比较结果，包括以下之一：
    预配置所述第一优先级高于所述第二优先级；
    预配置所述第二优先级高于所述第一优先级。
  7. 根据权利要求2所述的定位参考信号发送方法，其中，所述SL-PRS的资源配置信息是由高层参数配置的或预配置的；
    其中，所述SL-PRS的资源配置信息的配置方法包括以下至少一项：
    在所述第一设备和所述第二设备为单播通信的情况下，所述SL-PRS的资源配置信息是通过PC5-RRC信令交互配置或预配置的；
    所述SL-PRS的资源配置信息是基于资源池配置或预配置的。
  8. 根据权利要求2所述的定位参考信号发送方法，其中，所述SL-PRS的资源配置信息，包括以下至少一项：
    所述SL-PRS的优先级信息；
    所述SL-PRS的频域资源配置信息；
    所述SL-PRS的时域资源配置信息；
    所述SL-PRS的码域配置信息；
    所述SL-PRS占用时域符号位置的模式信息；
    所述SL-PRS的资源预约周期；
    所述SL-PRS的资源预约周期个数；
    所述SL-PRS的端口数；
    偏移时隙数量。
  9. 根据权利要求8所述的定位参考信号发送方法，其中，所述SL-PRS的频域资源配置信息包括以下至少一项：
    所述SL-PRS的起始物理资源块PRB；
    所述SL-PRS的起始子信道位置；
    所述SL-PRS的带宽；
    所述SL-PRS的梳齿尺寸；
    所述SL-PRS的起始资源单元RE位置；
    所述SL-PRS的梳齿偏移；
    所述SL-PRS的频域模式信息。
  10. 根据权利要求8所述的定位参考信号发送方法，其中，所述SL-PRS的时域资源配置信息包括以下至少一项：
    所述SL-PRS占用的时隙位置；
    所述SL-PRS在时隙中的起始符号位置；
    所述SL-PRS在时隙中占用符号的个数。
  11. 根据权利要求8所述的定位参考信号发送方法，其中，所述SL-PRS的码域配置信息包括以下至少一项：
    所述SL-PRS的循环移位；
    所述SL-PRS的正交覆盖码OCC。
  12. 根据权利要求8所述的定位参考信号发送方法，其中，所述SL-PRS的映射规则包括以下至少一项：
    不可以映射到包含第一阶段SCI的符号上；
    不可以映射到包含第二阶段SCI的符号上；
    不可以映射到包含解调参考信号DMRS的符号上；
    不可以映射到自动增益控制AGC符号上；
    不可以映射到保护时隙GP符号上；
    不可以映射到直通链路反馈信道PSFCH符号上；
    可以映射到任意符号上。
  13. 根据权利要求1所述的定位参考信号发送方法，其中，所述方法还包括：
    当所述PSSCH的资源元素RE被所述SL-PRS占用时，按照以下至少一项方式进行映射：
    通过对所述PSSCH中被所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号进行打孔，将所述PSSCH映射在相应的RE上；
    在所述SL-PRS为解调参考信号DMRS或信道状态信息参考信号CSI-RS 的情况下，所述PSSCH通过速率匹配的映射方式绕开所述SL-PRS占用的RE或被所述SL-PRS占用的整个符号，映射在相应的RE上；
    在第一优先级值大于第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值；
    在第一优先级值大于预设门限值，且所述第一优先级值大于所述第二优先级值的情况下，将所述SL-PRS映射在所述PSSCH上；所述第一优先级值为PSSCH的优先级对应的值，所述第二优先级值为SL-PRS的优先级对应的值。
  14. 根据权利要求1所述的定位参考信号发送方法，其中，所述方法还包括：
    根据SL-PRS的开销信息，确定所述PSSCH的传输块尺寸；
    其中，所述SL-PRS的开销信息是根据以下至少一项确定的：
    高层参数配置；
    预配置；
    所述SCI中的SL-PRS开销指示信息。
  15. 根据权利要求1所述的定位参考信号发送方法，其中，所述方法还包括：
    根据以下至少一项，生成所述SL-PRS的初始化序列：
    第一阶段SCI的循环冗余校验比特；
    第二阶段SCI中的源ID；
    第二阶段SCI中的目标ID；
    所述SL-PRS所在时隙的编号；
    高层参数配置的所述SL-PRS的序列ID。
  16. 根据权利要求1所述的定位参考信号发送方法，其中，所述方法还包括：
    接收所述第二设备发送的第二指示信息；
    基于所述第二指示信息，在向所述PSSCH或所述PSCCH上承载的SCI中增加所述第一指示信息；
    其中，所述第二指示信息用于指示所述第二设备是否具备在所述第一资源池中进行直通链路定位的能力。
  17. 一种定位参考信号发送方法，应用于第二设备，所述方法包括：
    在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
  18. 根据权利要求17所述的定位参考信号发送方法，其中，所述SL-PRS的相关信息包括以下至少一项：
    用于指示本次传输中是否包括所述SL-PRS的信息；
    所述第一设备是否具备在共享资源池中进行直通链路定位的能力；
    所述SL-PRS的资源配置信息。
  19. 根据权利要求17所述的定位参考信号发送方法，其中，在所述SL-PRS的相关信息指示本次传输包括所述SL-PRS的情况下，所述方法还包括以下至少一项：
    根据所述SCI，确定所述SL-PRS的资源配置信息；
    根据高层参数，确定所述SL-PRS的资源配置信息；
    根据预配置参数，确定所述SL-PRS的资源配置信息。
  20. 根据权利要求17所述的定位参考信号发送方法，其中，所述在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH之前，所述方法还包括：
    向所述第一设备发送第二指示信息，以使所述第一设备基于所述第二指示信息在所述PSCCH或所述PSSCH上承载的SCI中增加所述第一指示信息；
    其中，所述第二指示信息用于指示所述第二设备是否具备在第一资源池中进行直通链路定位的能力。
  21. 一种定位参考信号发送装置，应用于第一设备，所述装置包括：
    发送模块，用于在第一资源池中向第二设备发送物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息 用于指示直通链路定位参考信号SL-PRS的相关信息。
  22. 一种定位参考信号发送装置，应用于第二设备，所述装置包括：
    接收模块，用于在第一资源池中接收第一设备发送的物理直通链路控制信道PSCCH和物理直通链路共享信道PSSCH；其中，在所述PSCCH或所述PSSCH上承载的直通链路控制信息SCI中携带有第一指示信息，所述第一指示信息用于指示直通链路定位参考信号SL-PRS的相关信息。
  23. 一种终端设备，所述终端设备为第一设备，包括：处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序，所述程序被所述处理器执行时实现如权利要求1至16中任一项所述的定位参考信号发送方法的步骤。
  24. 一种终端设备，所述终端设备为第二设备，包括：处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序，所述程序被所述处理器执行时实现如权利要求17至20中任一项所述的定位参考信号发送方法的步骤。
  25. 一种可读存储介质，所述可读存储介质上存储有程序，所述程序被处理器执行时实现如权利要求1至16中任一项所述的定位参考信号发送方法中的步骤，或，实现如权利要求17至20中任一项所述的定位参考信号发送方法的步骤。
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