WO2024051630A1 - 定位方法、装置、终端及网络侧设备 - Google Patents

定位方法、装置、终端及网络侧设备 Download PDF

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Publication number
WO2024051630A1
WO2024051630A1 PCT/CN2023/116669 CN2023116669W WO2024051630A1 WO 2024051630 A1 WO2024051630 A1 WO 2024051630A1 CN 2023116669 W CN2023116669 W CN 2023116669W WO 2024051630 A1 WO2024051630 A1 WO 2024051630A1
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WO
WIPO (PCT)
Prior art keywords
terminal
message
positioning
information
anchor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/116669
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English (en)
French (fr)
Inventor
张宏平
潘翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Priority to KR1020257011550A priority Critical patent/KR20250061760A/ko
Priority to EP23862324.3A priority patent/EP4586656A4/en
Priority to JP2025514630A priority patent/JP2025531107A/ja
Publication of WO2024051630A1 publication Critical patent/WO2024051630A1/zh
Priority to US19/073,035 priority patent/US20250203568A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H04B17/328—Reference signal received power [RSRP]; Reference signal received quality [RSRQ]
    • 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
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • 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
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
    • H04W48/10—Access restriction or access information delivery, e.g. discovery data delivery using broadcasted information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/25—Control channels or signalling for resource management between terminals via a wireless link, e.g. sidelink
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/18—Management of setup rejection or failure
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/005—Discovery of network devices, e.g. terminals
    • 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

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a positioning method, device, terminal and network side equipment.
  • LTE Long Term Evolution
  • UE User Equipment
  • the 5G New Radio (NR) system will support more advanced sidelink transmission designs, such as unicast, multicast or multicast, etc., thus supporting more comprehensive service types.
  • NR 5G New Radio
  • positioning technology based on mobile networks supports the following types of positioning:
  • the base station sends a downlink positioning reference signal (Positioning Reference Signal, PRS), and the UE performs measurements;
  • PRS Downlink positioning reference signal
  • the UE sends uplink positioning reference signals (such as channel sounding reference signals (Sounding Reference Signal, SRS)), and the base station performs measurements;
  • uplink positioning reference signals such as channel sounding reference signals (Sounding Reference Signal, SRS)
  • the UE measures the signals of navigation satellites.
  • the current positioning technology is based on the reference signal of the Uu (that is, the wireless interface between the UE and the base station) port for positioning.
  • Embodiments of the present application provide a positioning method, device, terminal and network side equipment to realize SL positioning based on PC5 port.
  • the first aspect provides a positioning method, including:
  • the positioning service terminal determines to perform side link positioning on the target terminal
  • the positioning service terminal obtains information about candidate anchor point terminals
  • the positioning service terminal determines at least one anchor point terminal participating in positioning from the candidate anchor point terminals
  • the positioning service terminal interacts with the target terminal and/or at least one of the anchor point terminals to position the target terminal.
  • the second aspect provides a positioning method, including:
  • the target terminal receives a first message sent by the positioning service terminal, where the first message is used to request information about the candidate anchor terminal;
  • the target terminal executes a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals
  • the target terminal sends a second message to the positioning service terminal, where the second message includes the first list.
  • the third aspect provides a positioning method, including:
  • the network side device interacts with the positioning service terminal and provides the positioning service terminal with information about candidate anchor point terminals.
  • a positioning device including:
  • the first determination module is used to determine to perform side link positioning on the target terminal
  • the first information acquisition module is used to acquire information about candidate anchor terminals
  • a second determination module configured to determine at least one anchor terminal participating in positioning from the candidate anchor terminals
  • a positioning interaction module is used to interact with the target terminal and/or at least one of the anchor point terminals, and position the target terminal.
  • a positioning device including:
  • the first receiving module is configured to receive the first message sent by the positioning service terminal, where the first message is used to request information about the candidate anchor terminal;
  • the first discovery module is used to perform the discovery process of candidate anchor terminals and obtain the first list of candidate anchor terminals
  • a first sending module configured to send a second message to the positioning service terminal, where the second message includes the first list.
  • a positioning device including:
  • An information providing module is configured to interact with the positioning service terminal and provide information about the candidate anchor point terminal to the positioning service terminal.
  • a terminal in a seventh aspect, includes a processor and a memory.
  • the memory stores programs or instructions that can be run on the processor.
  • the program or instructions are executed by the processor, the following implementations are implemented: The steps of the method described in the first aspect or the second aspect.
  • a network-side device including a processor and a memory.
  • the memory stores programs or instructions that can be run on the processor.
  • the program or instructions are executed by the processor, the following implementations are implemented: The steps of the method described in three aspects.
  • a positioning system including: a terminal and a network side device.
  • the terminal can be used to perform the steps of the positioning method as described in the first aspect or the second aspect.
  • the network side device can be used to perform The steps of the positioning method described in the third aspect above.
  • a readable storage medium is provided.
  • Programs or instructions are stored on the readable storage medium.
  • the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect.
  • a chip in an eleventh aspect, includes a processor and a communication interface, the communication interface and The processor is coupled, and the processor is used to run programs or instructions to implement the method as described in the first aspect, or implement the method as described in the second aspect, or implement the steps of the method as described in the third aspect.
  • a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the first aspect or the second aspect.
  • embodiments of the present application provide a positioning device, which is used to perform the steps of the positioning method described in the first aspect, the second aspect, or the third aspect.
  • the positioning service terminal after the positioning service terminal determines to perform side link positioning on the target terminal, it can obtain information about the candidate anchor terminals, thereby selecting at least one anchor terminal participating in the positioning from the candidate anchor terminals, and then Interact with the target terminal and/or at least one anchor terminal participating in positioning to perform a positioning process for the target terminal. Therefore, the embodiments of the present application realize the positioning process of the target terminal based on side links through the information interaction between the positioning service terminal, the target terminal and the anchor terminal, that is, the positioning process of a certain terminal is realized through the interaction between terminals.
  • the terminal performs positioning, that is, the embodiment of the present application implements side link positioning based on the PC5 port.
  • Figure 1 is a block diagram of a wireless communication system applicable to the embodiment of the present application.
  • FIG. 2 is a schematic diagram of the Uu port-based positioning architecture in related technologies
  • Figure 3 is a schematic diagram of the overall process of Uu port-based positioning in related technologies
  • FIG 4 is a schematic diagram of the protocol stack of the long term evolution positioning protocol (LPP);
  • Figure 5 is a schematic diagram of the NR positioning protocol (new radio positioning protocol a, NRPPa) protocol stack;
  • Figure 6 is a schematic diagram of the positioning architecture applicable to the positioning method according to the embodiment of the present application.
  • Figure 7 is a flow chart of a positioning method in an embodiment of the present application.
  • Figure 8 is a schematic diagram of the location of the new protocol layer (ie, SLPP layer) introduced for Sidelink positioning in the embodiment of the present application;
  • SLPP layer new protocol layer
  • Figure 9 is a flow chart of another positioning method in the embodiment of the present application.
  • Figure 10 is a flow chart of another positioning method in the embodiment of the present application.
  • FIG 11 is one of the flowcharts in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 12 is the second flow chart in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 13 is the third flowchart in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 14 is the fourth flowchart in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 15 is the fifth flowchart in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 16 is the sixth flowchart in the specific implementation of the positioning method according to the embodiment of the present application.
  • Figure 17 is a structural block diagram of a positioning device in an embodiment of the present application.
  • Figure 18 is a structural block diagram of another positioning device in the embodiment of the present application.
  • Figure 19 is a structural block diagram of another positioning device in the embodiment of the present application.
  • Figure 20 is a structural block diagram of a communication device in an embodiment of the present application.
  • Figure 21 is a structural block diagram of a terminal in an embodiment of the present application.
  • Figure 22 is a structural block diagram of a network side device in an embodiment of the present application.
  • Figure 23 is a structural block diagram of another network-side device in an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and “second” are distinguished objects It is usually one type, and the number of objects is not limited.
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR New Radio
  • FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12.
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • UMPC ultra-mobile personal computer
  • UMPC mobile Internet device
  • Mobile Internet Device MID
  • AR augmented reality
  • VR virtual reality
  • robots wearable devices
  • VUE vehicle-mounted equipment
  • PUE pedestrian terminal
  • smart home home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.
  • PC personal computers
  • teller machines or self-service Terminal devices such as mobile phones
  • wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), Smart wristbands, smart clothing, etc.
  • the network side device 12 may include an access network device or a core network device, where the access network device 12 may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or Wireless access network unit.
  • the access network device 12 may include a base station, a WLAN access point or a WiFi node, etc.
  • the base station may be called a Node B, an evolved Node B (eNB), an access point, a Base Transceiver Station (BTS), a radio Base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B, Home Evolved Node B, Transmitting Receiving Point (TRP) or all
  • eNB evolved Node B
  • BTS Base Transceiver Station
  • BSS Basic Service Set
  • ESS Extended Service Set
  • Home Node B Home Evolved Node B
  • TRP Transmitting Receiving Point
  • Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Services Discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data warehousing (Unified Data Repository, UDR), home subscriber server (Home Subscriber Server, HSS), centralized network configuration ( Centralized network configuration, CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc.
  • MME mobility management entities
  • AMF Access and Mobility Management Function
  • SMF Session Management Function
  • the first aspect based on the positioning of Uu interface:
  • the overall positioning process can be shown in Figure 3, that is: AMF receives a positioning service request for a certain terminal from a third party, a terminal or itself. If the terminal is in the connection management idle state (connection management-IDLE, CM-IDLE) at this time, the AMF pages the terminal to trigger the terminal to enter the connection management connection state (connection management-CONNECTED, CM-CONNECTED) (that is, the terminal is in The corresponding state of the air interface is Radio Resource Control (RRC) connected state). Then, the AMF sends a positioning service request to the LMF, and the LMF determines the positioning method based on the Uu interface. The positioning method is divided into uplink-based positioning and downlink-based positioning. Then, the LMF initiates a specific positioning process to obtain the location of the terminal.
  • connection management connection state connection management-CONNECTED, CM-CONNECTED
  • RRC Radio Resource Control
  • the LMF may need to interact with the terminal through the LPP protocol, and/or interact with the base station through the NRPPa protocol, such as interactive capabilities, interactive positioning assistance data, interactive positioning measurement results, etc., so that the LMF sends positioning services to the AMF
  • the response carries the location of the terminal.
  • LPP Long Term Evolution Positioning Protocol
  • NAS is the non-access layer
  • RRC is the radio resource control
  • PDCP is the packet data convergence protocol
  • RLC is the radio link control protocol
  • MAC is the media access Control
  • L1 is layer 1
  • L2 is layer 2
  • IP is the Internet Protocol
  • SCTP is the flow control transmission protocol
  • NGAP is the next generation application protocol
  • TLS is the secure transport layer protocol
  • TCP is the transport Control protocol
  • HTTP Hypertext Transfer Protocol
  • NRPPa is NR Positioning Protocol.
  • Figure 7 is a flow chart of a positioning method provided by an embodiment of the present application.
  • the method may include the following steps 701 to 704:
  • Step 701 The positioning service terminal determines to perform side link positioning on the target terminal.
  • the positioning method in the embodiment of the present application can be applied to the side link positioning architecture shown in Figure 6.
  • the Location Server UE is a UE that provides location service functions.
  • the Location Server UE can be considered a required role in a sidelink positioning.
  • Location Server UE receives a positioning request carrying positioning quality of service (QoS) or triggers a sidelink positioning requirement by itself, and then determines the positioning method used in sidelink positioning, positioning configuration information, and which UEs serve as anchor terminals based on positioning QoS ( That is, Anchor UE) participates in positioning, etc.
  • QoS positioning quality of service
  • Location Server UE can be a separate role (UE), or it can have the role of the target terminal (i.e. Target UE). Of course, it can also be said that the target UE has the role of Location Server UE.
  • the Location Server UE positions itself; the Location Server UE can also play the role of an anchor UE or a reference UE.
  • the Location Server UE assists in the transmission or measurement of SL PRS.
  • Reference UE is the location reference UE during relative positioning or range positioning.
  • Reference UE can be a separate UE, one of the Anchor UEs or a Location Server UE.
  • the above positioning request may be sent by a third-party UE or location management function (Location Management Function, LMF) or access and mobility management function (Access and Mobility Management Function, AMF)).
  • LMF Location Management Function
  • AMF Access and Mobility Management Function
  • a UE can serve as a Location Server UE.
  • the UE does not need to serve as a Location Server UE, such as only serving as an Anchor UE.
  • Location Server UE plays the role of controlling sidelink positioning execution during a positioning process. It can also be called by other names, such as controlling UE, which is not limited here.
  • the target terminal is the target UE for positioning, and positioning requires obtaining the absolute position, relative position or range of the UE.
  • the target terminal is the terminal indicated by the location request; when the Location Server UE autonomously triggers the location requirement, the target terminal is determined by the Location Server UE.
  • Step 702 The positioning service terminal obtains information about candidate anchor point terminals.
  • the anchor terminal may have a known location (or can obtain the location) and participate in sending side link positioning.
  • Reference signal terminal, or the anchor terminal may be a terminal whose position is known (or can obtain the position) and participates in measuring the side link positioning reference signal.
  • the anchor terminal i.e. Anchor UE
  • Anchor UE is a UE that provides positioning assistance, such as sending or measuring SL PRS.
  • Anchor UE is a UE whose location is known, or a UE whose location is known.
  • Anchor UE can also be called a located UE.
  • RSU RoadSide Unit
  • Anchor UE can serve as an Anchor UE.
  • Location Server UE can also play the role of Anchor UE, in the architecture shown in Figure 6, in some scenarios, there may not be a separate Anchor UE and/or a separate Reference UE.
  • the Location Server UE and the Target UE can be the same UE, or they can be different UEs.
  • Step 703 The positioning service terminal determines at least one anchor point terminal participating in positioning from the candidate anchor point terminals.
  • the positioning service terminal can use each candidate Anchor UE as an Anchor UE participating in positioning; or, determine the sidelink positioning method according to the positioning QoS, and select a UE that supports the positioning method from these candidate Anchor UEs as an Anchor UE participating in positioning. ; Or, after sorting according to the size of RSRP, select the UE with high RSRP (for example, greater than a certain threshold) as the Anchor UE participating in positioning; or, select from these candidate Anchor UEs that can establish a sidelink unicast connection with the Location Server UE Candidate Anchor UE serves as the Anchor UE participating in positioning.
  • Step 704 The positioning service terminal interacts with the target terminal and/or at least one of the anchor terminals to position the target terminal.
  • step 704 may include:
  • the positioning service terminal interacts with the Anchor UE participating in positioning and configures the Anchor UE to send SL PRS;
  • the positioning service terminal interacts with the target terminal and configures the target terminal to measure SL PRS;
  • the positioning service terminal receives the positioning measurement results sent by the target terminal;
  • the positioning service terminal determines the location information of the target terminal based on the positioning measurement results.
  • step 704 may include:
  • the positioning service terminal interacts with the target terminal and configures the target terminal to send SL PRS;
  • the positioning service terminal interacts with the Anchor UE participating in positioning and configures the Anchor UE to measure SL PRS;
  • the positioning service terminal receives the positioning measurement results sent by the Anchor UE;
  • the positioning service terminal determines the location information of the target terminal based on the positioning measurement results.
  • the positioning service terminal can also return the position information of the target terminal to the sender.
  • the requesting device for example, carries the location information of the target terminal in the positioning response and returns it to the device that sent the positioning request.
  • the positioning service terminal determines the target terminal After side link positioning is performed, the information of the candidate anchor terminals can be obtained, thereby selecting at least one anchor terminal participating in positioning from the candidate anchor terminals, and then conducting a communication with the target terminal and/or at least one anchor terminal participating in positioning. Interact and perform the positioning process of the target terminal. Therefore, the embodiments of the present application realize the positioning process of the target terminal based on side links through the information interaction between the positioning service terminal, the target terminal and the anchor terminal, that is, the positioning process of a certain terminal is realized through the interaction between terminals.
  • the terminal performs positioning, that is, the embodiment of the present application realizes side link positioning based on the PC5 port.
  • step 702 the positioning service terminal obtains the information of the candidate anchor terminal.
  • the positioning service terminal obtains the information of the candidate anchor terminal from the target terminal;
  • the positioning service terminal interacts with the network side device to obtain information about the candidate anchor point terminal.
  • the positioning service terminal can obtain the information of the candidate anchor terminal from the target terminal, and can also obtain the information of the candidate anchor terminal from the network side device, where the network side device can be a core network device (such as AMF, LMF), or it can be an access network device (such as a base station).
  • the network side device can be a core network device (such as AMF, LMF), or it can be an access network device (such as a base station).
  • the process by which the positioning service terminal obtains the information of the candidate anchor terminal from the target terminal or the network side device will be introduced in detail below.
  • the positioning service terminal obtains the information of the candidate anchor terminal from the target terminal. Specifically, it can be method 1-1 or method 1-2 as follows:
  • the positioning service terminal obtains the information of the candidate anchor terminal from the target terminal, including:
  • the positioning service terminal sends a first message to the target terminal, where the first message is used to request acquisition of information about the candidate anchor terminal;
  • the positioning service terminal receives a second message sent by the target terminal in response to the first message, wherein the second message includes a first list of candidate anchor terminals;
  • the positioning service terminal obtains the information of the candidate anchor point terminal according to the first list in the second message.
  • the positioning service terminal can send the above-mentioned first message to the target terminal to request information about the candidate anchor terminal.
  • the target terminal after the target terminal receives the first message, it can trigger the process of obtaining the candidate anchor terminal, thereby The obtained first list of candidate anchor point terminals is carried in a second message and returned to the positioning service terminal.
  • the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.
  • the method also includes:
  • Step H1 When a side-link unicast connection is not established between the positioning service terminal and the target terminal, the positioning service terminal performs a discovery process of the target terminal and/or communicates with the target terminal. Side-link unicast connection establishment process;
  • the positioning service terminal sends a first message to the target terminal, including:
  • the positioning service terminal sends the first message to the target terminal through a side link unicast connection between the positioning service terminal and the target terminal;
  • the positioning service terminal receives the second message sent by the target terminal in response to the first message, including:
  • the positioning The service terminal receives the second message.
  • the method also includes:
  • Step H2 In the case where the target terminal is not successfully discovered and/or the side-link unicast connection between the positioning service terminal and the target terminal is not successfully established, the positioning service terminal sends the positioning The requesting device sends a positioning response message or a positioning failure message, wherein the positioning response message or the positioning failure message carries first indication information, and the first indication information is used to indicate that the target terminal and the target terminal have not been successfully discovered. /Or the side link unicast connection between the positioning service terminal and the target terminal is not successfully established.
  • the positioning service terminal if the positioning service terminal does not establish a sidelink unicast connection with the target terminal (for example, in a third-party UE or location management function (LMF) or access and mobility
  • the positioning service terminal performs the target terminal discovery process and/or the sidelink unicast connection establishment process with the target terminal.
  • the positioning service terminal If the positioning service terminal does not find the target terminal or fails to successfully establish a sidelink unicast connection with the target terminal, the positioning service terminal replies with a positioning response message or a positioning failure message to the device that sent the positioning request, thus ending the process.
  • the positioning response message or the positioning failure message may include a failure reason (ie, the above-mentioned first indication information), and the failure reason may be one of: failure to execute, failure to discover the target terminal, and failure to establish a unicast connection.
  • the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the candidate anchor terminal in the first list satisfies the target condition;
  • the target conditions include at least one of the following items A-1 to A-12:
  • Item A-1 Location information is known
  • Item A-2 Location information can be obtained
  • Item A-3 In a specific moving state
  • Item A-4 The reference signal received power RSRP measurement result is greater than the first preset threshold
  • Item A-5 Belongs to a specific terminal type
  • Item A-6 Has specific side link positioning capabilities
  • Item A-7 Within network coverage
  • Item A-8 Within a specific area
  • Item A-9 In a specific radio resource control RRC state
  • PC5 port resources are greater than the second preset threshold
  • Item A-11 A side link unicast connection is established with the target terminal
  • Item A-12 In the specified terminal list.
  • the anchor terminal participating in positioning should be a terminal with a known position, or a terminal that can obtain the position.
  • the above-mentioned target terminal The conditions include the above A-1 (that is, the location information is known) or A-2 (the location information can be obtained);
  • the "specific movement state" in item A-3 above can be a stationary state
  • the RSRP measurement results in item A-4 above it can be the RSRP of the wireless signal of the Anchor UE measured by the Target UE, or it can be the RSRP of the wireless signal of the Target UE measured by the Anchor UE;
  • the specific terminal type can be a roadside unit (RoadSide Unit, RSU) or a positioning reference unit (Positioning Reference Unit, PRU);
  • RSU roadside unit
  • PRU Positioning Reference Unit
  • specific sidelink positioning capabilities can include supporting at least one of a certain sidelink positioning method, supporting a certain sidelink measurement quantity, supporting sending SL-PRS, and supporting measuring SL-PRS;
  • the "specific area” in the above item A-8 it can be the coverage area of a cell or a cell in the cell list;
  • the "specified RRC state” in A-9 above includes, for example, at least one of RRC connected state and RRC idle state;
  • the first request message can include a UE list.
  • the UEs in these UE lists can be fixed-position roadside units (Road Side Unit, RSU), then the candidates provided by the target terminal The terminals in the anchor terminal list need to be in this UE list.
  • RSU Road Side Unit
  • the target terminal can adopt the method 1-1.1 or 1-1.2 or the method 1-1.3 as described below to obtain the candidate Anchor UE that meets the above target conditions.
  • Target UE broadcasts a discovery request message. After one or more UEs receive the discovery request message, they reply a first response message to Target UE. Then Target UE selects from the UE corresponding to the received first response message. Select UEs that meet the above target conditions as candidate Anchor UEs.
  • Method 1-1.2 Target UE receives the announcement message broadcast by one or more UEs, in which the announcement message includes the parameter information of the UE. In this way, the Target UE can obtain the announcement message from the UE that sent the announcement message based on the parameter information in the announcement message. Select UEs that meet the above target conditions as candidate Anchor UEs.
  • Target UE broadcasts a discovery request message.
  • the discovery request message carries the above target conditions.
  • the UE that meets the above target conditions replies to the Target UE with the first response message, then Target The UE regards the UE corresponding to the received first response message as the candidate Anchor UE.
  • the positioning service terminal determines to perform side link positioning on the target terminal, including:
  • the positioning service terminal receives a positioning request, and the positioning request is used to request positioning of the target terminal;
  • the positioning service terminal determines to perform side link positioning on the target terminal.
  • the positioning request is sent by the target terminal, and the positioning request includes the first list of candidate anchor terminals;
  • the positioning service terminal obtains the information of the candidate anchor terminal from the target terminal, including:
  • the positioning service terminal obtains the information of the candidate anchor terminal according to the first list in the positioning request.
  • the positioning request can carry the candidate anchor terminal obtained by the target terminal. That is, when the positioning request comes from the target terminal, the target terminal is the nearest If the anchor terminal discovery process is performed within a period of time and the candidate anchor terminal related information is obtained, and this information is still valid, the candidate anchor terminal information can be carried in the positioning request, thereby reducing the positioning delay.
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following items B-1 to B-13 One item:
  • Item B-1 Terminal identification
  • Item B-2 Terminal index
  • Item B-3 RRC status
  • Item B-4 Identification information of the serving cell
  • Item B-5 Registered access and mobility management function AMF information
  • Item B-6 Side link positioning capability information
  • Item B-7 Side link positioning reference signal PRS transmission configuration information
  • Item B-8 Side link resource configuration
  • Item B-9 Side link resource allocation method
  • Item B-10 Resource scheduling type when the side link resource allocation method is mode 1;
  • Item B-11 Geographical location information
  • Item B-12 Associated RSRP measurement results
  • Item B-13 Mobile status.
  • the terminal identification may include, for example, the temporary UE identification number (SAE-Temporary MobileSubscription Identifier, S-TMSI), the International Mobile Subscriber Identity (International Mobile Subscriber Identity, IMSI), the user permanent identifier (SU bscription Permanent Identifier (SUPI), Cell-Radio Network Temporary Identifier (C-RNTI), Side Link Layer 2 Identifier (SL layer2 ID), and Application Layer (Application Layer) UE ID.
  • SAE-Temporary MobileSubscription Identifier S-TMSI
  • IMSI International Mobile Subscriber Identity
  • SUPI User Permanent Identifier
  • C-RNTI Cell-Radio Network Temporary Identifier
  • SL layer2 ID Side Link Layer 2 Identifier
  • Application Layer Application Layer
  • each candidate anchor terminal is assigned a terminal index to facilitate subsequent interactions
  • the RRC state in the above item B-3 may include at least one of RRC connected state, RRC idle state, and RRC deactivated state;
  • the identification information of the serving cell may include at least one of the frequency point of the serving cell, physical cell identifier (Physical Cell Identifier, PCI), and global cell identifier (Cell Global Identifier, CGI));
  • PCI Physical Cell Identifier
  • CGI Cell Global Identifier
  • the registered AMF information may include at least one of the currently serving Public Land Mobile Network (PLMN) ID and the AMF ID of the registered AMF;
  • PLMN Public Land Mobile Network
  • sidelink positioning capability information can include whether it supports sending sidelink positioning reference signals (SL-PRS), whether it supports measuring SL-PRS, supported sidelink positioning methods, and whether it can Provide at least one of your positions;
  • SL-PRS sidelink positioning reference signals
  • the anchor terminal sends SL PRS on the resource indicated by the configuration information;
  • the sidelink resource configuration includes at least one of the currently used sidelink resources and the sidelink resources configured by the base station;
  • NR V2X defines two resource allocation modes (mode). One is mode1, which means the base station schedules resources; the other is mode2, which means the UE decides what resources to use for transmission.
  • the resource information may come from the broadcast of the base station. Message or preconfigured information. If the UE works within the range of the base station and has an RRC connection with the base station, the resource allocation mode can be mode1 and/or mode2; if the UE works within the range of the base station but does not have an RRC connection with the base station, the resource allocation mode can only be mode2; if the UE is outside the base station range, the resource allocation mode can only be mode2, for example, V2X transmission is performed based on preconfigured information.
  • Dynamic scheduling means that resources are dynamically scheduled by the base station
  • Configured grant type 1 (configured grant type 1), which is the periodic resource configured by the base station, can be used directly;
  • Configured grant type 2 (configured grant type 2), which is the periodic resource configured by the base station, can only be used after activating the base station).
  • the "geographical location information" in item B-11 above can be latitude and longitude information
  • the RSRP associated with the candidate anchor terminal may include: the wireless signal of the candidate anchor terminal measured by the target terminal.
  • the RSRP may also be the RSRP of the wireless signal of the target terminal measured by the candidate anchor terminal.
  • the candidate anchor terminal is identified by the target terminal executing the discovery process. That is, the candidate anchor terminal is located around the target terminal, and the positioning service terminal finally selects the participating anchor terminal.
  • the positioning anchor terminal is located around the target terminal, which may cause a problem: the positioning service terminal may be too far away from some anchor terminals participating in positioning, resulting in the positioning service terminal being unable to establish sidelink unicast connections with these anchor terminals for communication.
  • Method 1 Optionally, the method also includes:
  • the positioning service terminal performs a discovery process and/or a side-link unicast connection establishment process for the terminals in the first list respectively;
  • the positioning service terminal determines at least one anchor point terminal participating in positioning from the candidate anchor point terminals, including include:
  • the positioning service terminal determines at least one of the anchor point terminals participating in positioning from the first type of terminals in the first list, wherein the first type of terminal is successfully discovered by the positioning service terminal and/or A terminal that successfully establishes a side link unicast connection.
  • the positioning service terminal can perform a discovery process for the candidate anchor terminal carried in the second message (ie, the candidate anchor terminal in the first list), or ( If the positioning service terminal has not yet established sidelink unicast connections with candidate anchor terminals, it attempts to establish sidelink unicast connections with these candidate anchor terminals. In this way, when selecting an anchor terminal to participate in positioning, the anchor terminal to participate in positioning is selected from candidate anchor terminals that can successfully discover or successfully establish a sidelink unicast connection.
  • Method 2 Optionally, before the positioning service terminal sends the first message to the target terminal, the method further includes:
  • the positioning service terminal executes a discovery process of candidate anchor terminals and obtains a second list of candidate anchor terminals
  • the candidate anchor point terminals included in the second list are terminals successfully discovered by the positioning service terminal
  • the first message includes the second list
  • the candidate anchor point terminals included in the first list It is a terminal in the second list that is successfully discovered by the target terminal.
  • the positioning service terminal can first perform the discovery process of candidate anchor terminals to obtain the second list of candidate anchor terminals, thereby carrying the second list in the first message and sending it. to the target terminal.
  • the target terminal can further perform a discovery process to identify candidate anchor terminals in the UEs in the second list, thereby converting the list of candidate anchor terminals obtained at this time (i.e., the first list ) is placed in the second message and sent to the location service terminal, that is, the candidate anchor terminal included in the second message is a UE that can be discovered by both the target terminal and the location service terminal.
  • Method 3 Optionally, the positioning service terminal interacts with the anchor terminal, including:
  • the positioning service terminal interacts with the anchor terminal through the target terminal;
  • the The positioning service terminal interacts with the anchor point terminal.
  • the target terminal forwards the information that the positioning service terminal interacts with, and for other anchor terminals participating in positioning, a side-link unicast connection is established to realize the connection with the positioning service.
  • Terminal communication for example, after the positioning service terminal selects an anchor terminal to participate in positioning, it can first try to discover each anchor terminal to participate in positioning or establish a side-link unicast connection with each anchor terminal to participate in positioning.
  • the anchor terminal that fails to be discovered or fails to establish a unicast connection is forwarded through the target terminal. Otherwise, the interaction is directly performed through the side link unicast connection.
  • the positioning service terminal by forwarding the information about the interaction between the positioning service terminal and the anchor terminal through the target terminal, it can solve the problem of "the positioning service terminal is too far away from some anchor terminals participating in positioning, causing the positioning service terminal to be unable to establish sidelink singles with these anchor terminals". broadcast connection to communicate" problem.
  • the positioning service terminal interacts with the anchor terminal through the target terminal, including at least one of the following:
  • the positioning service terminal sends a third message to the target terminal, wherein the third message includes the identification information or index of the anchor terminal, and a first container, the first container includes the positioning service terminal A fourth message sent to the anchor terminal;
  • the positioning service terminal receives a sixth message sent by the target terminal, wherein the sixth message includes the identification information or index of the anchor point terminal, and a second container, the second container includes the anchor point
  • the fifth message sent by the terminal to the positioning service terminal is a sixth message sent by the target terminal, wherein the sixth message includes the identification information or index of the anchor point terminal, and a second container, the second container includes the anchor point
  • the fifth message sent by the terminal to the positioning service terminal receives a sixth message sent by the target terminal, wherein the sixth message includes the identification information or index of the anchor point terminal, and a second container, the second container includes the anchor point
  • the fifth message sent by the terminal to the positioning service terminal.
  • the positioning service terminal when the positioning service terminal needs to send the fourth message to the anchor terminal, the positioning service terminal first sends the third message carrying the fourth message to the target terminal, so that the target terminal sends the ninth message to the anchor terminal, where,
  • the ninth message includes a third container, and the third container includes the fourth message. That is, the target terminal carries the fourth message that the positioning service terminal needs to send to the anchor terminal in the ninth message and sends it to the anchor terminal.
  • the third message is one of: SLPP message, PC5 RRC message, and PC5 signaling (i.e., PC5-S) message;
  • the ninth message is: SLPP message, PC5 RRC message, PC5 signaling (i.e. PC5-S) message.
  • the anchor terminal when the anchor terminal needs to send the fifth message to the positioning service terminal, the anchor terminal first sends a tenth message to the target positioning terminal, wherein the tenth message includes a fourth container, and the fourth container includes the anchor
  • the point terminal needs to send the fifth message to the positioning service terminal, so that the target terminal sends a sixth message carrying the fifth message to the positioning service terminal.
  • the tenth message is: one of an SLPP message, a PC5 RRC message, and a PC5 signaling (PC5-S) message.
  • the target terminal is used to forward the message. If the message received by the target terminal includes a container, the target terminal may not decode the container.
  • SLPP message may be a message of the newly introduced sidelink positioning protocol or a message of the LPP protocol.
  • the newly introduced SLPP protocol layer is used for Sidelink positioning.
  • This protocol layer is used for positioning service terminals to interact with target terminals and anchor point terminals for positioning messages.
  • the SLPP layer is a newly introduced protocol layer used for sidelink positioning and is located above the PDCP layer. It is understood that SLPP can also be located on the upper layer of PC5 RRC or PC5-S.
  • PHY in Figure 8 represents the physical layer.
  • the third message may include a message sent to one or more anchor terminals.
  • the third message may include one or more messages sent to the anchor terminal to save positioning delay and signaling overhead.
  • the target terminal can determine the target terminal according to the identification or index of the anchor terminal in the above third message.
  • the corresponding anchor terminal If the sidelink unicast connection is not established between the target terminal and the anchor terminal, the target terminal establishes a sidelink unicast connection with the anchor terminal; if the unicast connection fails to be established, the target terminal can also send a failure message to the positioning service terminal. message.
  • the failure message can carry a cause value to indicate delivery failure or unicast connection establishment failure.
  • the anchor terminal that fails to establish a sidelink unicast connection with the target terminal cannot participate in the positioning process.
  • the positioning service terminal obtains the information of the candidate anchor terminal from the network side device. Specifically, it can be method 2-1 or method 2-2 as follows:
  • Method 2-1 the positioning service terminal interacts with the network side device to obtain information about the candidate anchor terminal, including:
  • the positioning service terminal sends a first request message to the network side device, where the first request message is used to request acquisition of information of the candidate anchor terminal;
  • the positioning service terminal receives a seventh message sent by the network side device in response to the first request message, wherein the seventh message includes a third list of the candidate anchor terminals;
  • the positioning service terminal obtains the information of the candidate anchor terminal according to the third list in the seventh message.
  • the positioning service terminal can send the above-mentioned first request message to the network side device to request information about the candidate anchor terminal.
  • the network side device After the network side device receives the first request message, it can send the third request message of the candidate anchor terminal to the network side device.
  • the three lists are carried in the seventh message and returned to the positioning service terminal.
  • the network side device may be, for example, an LMF or AMF or a base station. That is, the LMF or AMF or base station can store information about the candidate anchor terminal, such as obtained through the Operation Administration and Maintenance (OAM) system, and then the above-mentioned third positioning service terminal sent by the LMF or AMF or base station is received. After sending the request message, the third list of candidate anchor terminals can be obtained according to the information of the candidate anchor terminals stored therein, and then carried in the seventh message and returned to the positioning service terminal.
  • OAM Operation Administration and Maintenance
  • the network side device is a positioning management function LMF
  • the first request message is a positioning service LCS message or a Long Term Evolution Positioning Protocol LPP message
  • the network side device is an access mobility management function AMF
  • the first request message is a non-access layer NAS message.
  • the seventh message is one of an LPP message, an LCS message, a NAS message, and a dedicated RRC message.
  • the first request message includes location information of the positioning service terminal, and the candidate anchor terminals in the third list are determined based on the location information of the positioning service terminal.
  • the location information of the positioning service terminal may be latitude and longitude information, or may be the current serving cell ID of the positioning service terminal.
  • the positioning service terminal when it sends a first request message to the network side device to request acquisition of information about the candidate anchor terminal, it can also carry its own location information in the first request message and send it to the network side device.
  • the network side device can determine candidate anchor terminals based on the location information of the positioning service terminal (for example, select a candidate anchor terminal that is within a certain distance from the positioning service terminal, or is in the same serving cell or an adjacent serving cell as the positioning service terminal). candidate anchor terminals) to reduce unnecessary signaling overhead, thereby carrying the third list of candidate anchor terminals determined according to the location information of the positioning service terminal in the seventh message and sending it to the positioning service terminal.
  • Method 2-2 the positioning service terminal interacts with the network side device to obtain information about the candidate anchor terminal, including:
  • the positioning service terminal receives a system information message sent by the network side device, wherein the system information message includes a third list of candidate anchor point terminals;
  • the positioning service terminal obtains the information of the candidate anchor point terminal according to the third list in the system information message.
  • the network side device may be a base station, for example. That is, the base station may broadcast the third list of candidate anchor point terminals in the system message of the cell, so that the positioning service terminal can receive it.
  • system information message may be a positioning system information block (positioning System Information Block posSIB) or a conventional system information block (System Information Block, SIB) message.
  • positioning System Information Block posSIB positioning System Information Block posSIB
  • SIB System Information Block
  • the information of the anchor terminal included in the system information message is encrypted information
  • the positioning service terminal obtains the information of the candidate anchor terminal according to the third list in the system information message, including:
  • the positioning service terminal uses the predetermined key to decrypt the encrypted information in the system information message to obtain the third list;
  • the positioning service terminal obtains the information of the candidate anchor point terminal according to the third list.
  • the information of the candidate anchor terminals carried in the above-mentioned system information message (such as the above-mentioned third list) can be encrypted, so that only positioning service terminals with corresponding keys (such as those that have been authenticated) can be encrypted. Only the right positioning service terminal) can be decrypted correctly.
  • the seventh message or the system information message also includes second terminal information of the candidate anchor terminal, wherein the second terminal information includes at least one of the following:
  • Item C-1 Terminal identification
  • Item C-2 Geographical location information
  • Item C-3 Side link positioning capability information
  • Item C-4 Identification information of the serving cell
  • the terminal identification may include, for example, at least one of S-TMSI, IMSI, SUPI, C-RNTI, SL layer2 ID, and Application Layer UE ID.
  • the "geographical location information" in item C-2 above can be latitude and longitude information
  • the side link positioning capability information can include whether it supports sending SL-PRS, whether it supports testing Measure SL-PRS, the supported sidelink positioning method, and whether it can provide at least one of its own positions;
  • the identification information of the serving cell may include at least one of the frequency point, PCI, and CGI of the serving cell;
  • the anchor terminal sends SL PRS on the resource indicated by the configuration information.
  • the third list includes at least one terminal among the following:
  • the candidate anchor terminal under the serving cell of the positioning service terminal
  • the positioning service terminal is a candidate anchor terminal in a neighboring cell of a serving cell.
  • the third list fed back to the positioning service terminal by the network side device may include anchor terminals under the current serving cell of the positioning service terminal, or may also include the current serving cell of the positioning service terminal. and anchor terminals under the neighborhood.
  • Figure 9 is a flow chart of a positioning method provided by an embodiment of the present application.
  • the method may include the following steps 901 to 903:
  • Step 901 The target terminal receives the first message sent by the positioning service terminal.
  • the first message is used to request information about candidate anchor terminals.
  • the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.
  • the positioning method in the embodiment of the present application can be applied to the side link positioning architecture shown in Figure 6.
  • the Location Server UE is a UE that provides location service functions.
  • the Location Server UE can be considered a required role in a sidelink positioning.
  • Location Server UE receives a positioning request carrying positioning quality of service (QoS) or triggers a sidelink positioning requirement by itself, and then determines the positioning method used in sidelink positioning, positioning configuration information, and which UEs serve as anchor terminals based on positioning QoS ( That is, Anchor UE) participates in positioning, etc.
  • QoS positioning quality of service
  • Location Server UE can be a separate role (UE), or it can have the role of the target terminal (i.e. Target UE). Of course, it can also be said that the target UE has the role of Location Server UE.
  • the Location Server UE positions itself; the Location Server UE can also play the role of an anchor UE or a reference UE.
  • the Location Server UE assists in the transmission or measurement of SL PRS.
  • Reference UE is the location reference UE during relative positioning or range positioning.
  • Reference UE can be a separate UE, one of the Anchor UEs or a Location Server UE.
  • the target terminal is the target terminal for which the positioning service terminal performs side link positioning, that is, the target terminal (Target UE) is the target UE for positioning, and positioning requires obtaining the absolute position, relative position or range of the UE.
  • the target terminal is the terminal indicated by the location request; when the Location Server UE autonomously triggers the location requirement, the target terminal is determined by the Location Server UE.
  • the anchor terminal may be a terminal with a known position (or a position that can be learned) and participates in sending a side link positioning reference signal, or the anchor terminal may be a position with a known position (or a position that can be learned). ) and participate in the test Quantitative side link positioning reference signal terminal.
  • Step 902 The target terminal executes a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals.
  • Step 903 The target terminal sends a second message to the positioning service terminal.
  • the second message includes the first list.
  • the positioning service terminal can send the above-mentioned first message to the target terminal to request information about the candidate anchor terminal.
  • the target terminal after the target terminal receives the first message, it can trigger the acquisition of the candidate anchor terminal. process, thereby carrying the obtained first list of candidate anchor point terminals in the second message and returning it to the positioning service terminal.
  • step 902 the target terminal performs the discovery process of candidate anchor terminals and obtains the first list of candidate anchor terminals
  • step 902 the target terminal performs the discovery process of candidate anchor terminals and obtains the first list of candidate anchor terminals
  • Method 3-1 the target terminal executes a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, including:
  • the target terminal broadcasts a discovery request message, wherein the discovery request message is used to request discovery of candidate anchor terminals;
  • the target terminal receives the first response message of the discovery request message, and obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message;
  • the target terminal obtains the first list based on the information of the candidate anchor point terminal.
  • the first message includes target conditions that the candidate anchor terminal needs to satisfy
  • the target terminal obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message, including:
  • the target terminal determines, among the terminals corresponding to the received first response message, the information of the terminal that satisfies the target condition as the information of the candidate anchor terminal.
  • Target UE can broadcast a discovery request message.
  • the UE replies with a first response message to Target UE.
  • Target UE selects the UE that meets the requirements from the UE corresponding to the received first response message.
  • the UE with the above target conditions is used as the candidate Anchor UE.
  • the target terminal may also use some of the terminals that meet the target conditions among the terminals corresponding to the received first response message as candidate anchor point terminals.
  • Method 3-2 the target terminal executes a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, including:
  • the target terminal receives an announcement message broadcast by the terminal, wherein the announcement message includes parameter information of the terminal;
  • the target terminal obtains the information of the candidate anchor terminal according to the terminal corresponding to the received announcement message
  • the target terminal obtains the first list based on the information of the candidate anchor point terminal.
  • the first message includes target conditions that the candidate anchor terminal needs to satisfy
  • the target terminal obtains the information of the candidate anchor terminal according to the terminal corresponding to the received announcement message, including:
  • the target terminal determines, among the terminals corresponding to the received announcement message, the information of the terminal that satisfies the target condition as the information of the candidate anchor terminal.
  • the Target UE can receive the announcement message broadcast by the UE, where the announcement message includes the parameter information of the UE. In this way, the Target UE can select the UE that satisfies the above requirements from the UEs that sent the announcement message based on the parameter information in the announcement message.
  • the UE of the target condition serves as the candidate Anchor UE.
  • the target terminal may also use some of the terminals that meet the target conditions among the terminals corresponding to the received announcement message as candidate anchor terminals.
  • parameter information of the terminal included in the above announcement message may include at least one of the following items D-1 to D-8:
  • Item D-1 Having Anchor UE capability
  • Item D-2 Location information is known
  • Item D-3 Location information can be obtained
  • Item D-4 In a specific moving state
  • Item D-5 Belongs to a specific terminal type
  • Item D-6 Has specific side link positioning capabilities
  • Item D-7 Within network coverage
  • Item D-8 In a specific radio resource control RRC state.
  • Method 3-3 Optionally, the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition;
  • the target terminal receives the first response message of the discovery request message, and obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message, including:
  • the target terminal receives the first response message sent by a terminal that meets the target condition, and determines the information of the terminal corresponding to the received first response message as the information of the candidate anchor terminal.
  • Target UE can broadcast a discovery request message, and the discovery request message carries the above target conditions.
  • the UE that meets the above target conditions replies to the Target UE with the first response message, then Target The UE regards the UE corresponding to the received first response message as the candidate Anchor UE.
  • the target conditions include at least one of the following items A-1 to A-12:
  • Item A-1 Location information is known
  • Item A-2 Location information can be obtained
  • Item A-3 In a specific moving state
  • Item A-4 The reference signal received power RSRP measurement result is greater than the first preset threshold
  • Item A-5 Belongs to a specific terminal type
  • Item A-6 Has specific side link positioning capabilities
  • Item A-7 Within network coverage
  • Item A-8 Within a specific area
  • Item A-9 In a specific radio resource control RRC state
  • PC5 port resources are greater than the second preset threshold
  • Item A-11 A side link unicast connection is established with the target terminal
  • Item A-12 In the specified terminal list.
  • the method also includes:
  • the target terminal sends a positioning request to the positioning service terminal, where the positioning request includes the first list.
  • the positioning request can carry the candidate anchor terminal obtained by the target terminal. That is, when the positioning request comes from the target terminal, the target terminal is the nearest If the anchor terminal discovery process is performed within a period of time and the candidate anchor terminal related information is obtained, and this information is still valid, the candidate anchor terminal information can be carried in the positioning request, thereby reducing the positioning delay.
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following items B-1 to B-13 One item:
  • Item B-1 Terminal identification
  • Item B-2 Terminal index
  • Item B-3 RRC status
  • Item B-4 Identification information of the serving cell
  • Item B-5 Registered access and mobility management function AMF information
  • Item B-6 Side link positioning capability information
  • Item B-7 Side link positioning reference signal PRS transmission configuration information
  • Item B-8 Side link resource configuration
  • Item B-9 Side link resource allocation method
  • Item B-10 Resource scheduling type when the side link resource allocation method is mode 1;
  • Item B-11 Geographical location information
  • Item B-12 Associated RSRP measurement results
  • Item B-13 Mobile status.
  • the candidate anchor terminal is identified by the target terminal executing the discovery process. That is, the candidate anchor terminal is located around the target terminal, and the positioning service terminal finally selects the participating anchor terminal.
  • the positioning anchor terminal is located around the target terminal. This may cause a problem: the positioning service terminal may be too far away from some of the anchor terminals participating in positioning, resulting in the positioning service terminal being unable to establish a connection with these anchor terminals. sidelink unicast connection for communication.
  • Method 4-1 Optionally, the first message includes a second list, and the candidate anchor terminals included in the second list are terminals successfully discovered by the positioning service terminal;
  • the target terminal executes a discovery process of candidate anchor terminals and obtains a first list of candidate anchor terminals, including:
  • the target terminal performs a discovery process of candidate anchor terminals on the terminals in the second list to obtain the first list of candidate anchor terminals.
  • the positioning service terminal can first perform the discovery process of candidate anchor terminals to obtain the second list of candidate anchor terminals, thereby carrying the second list in the first message and sending it. to the target terminal.
  • the target terminal can further perform a discovery process to identify candidate anchor terminals in the UEs in the second list, thereby converting the list of candidate anchor terminals obtained at this time (i.e., the first list ) is placed in the second message and sent to the location service terminal, that is, the candidate anchor terminal included in the second message is a UE that can be discovered by both the target terminal and the location service terminal.
  • Method 4-2 Optionally, the method also includes:
  • the target terminal forwards a message for interaction between the positioning service terminal and at least one anchor terminal participating in positioning.
  • the positioning service terminal by forwarding the information about the interaction between the positioning service terminal and the anchor terminal through the target terminal, it can solve the problem of "the positioning service terminal is too far away from some anchor terminals participating in positioning, causing the positioning service terminal to be unable to establish sidelink singles with these anchor terminals". broadcast connection to communicate" problem.
  • the target terminal forwards messages for interaction between the positioning service terminal and the anchor terminal, including:
  • the target terminal receives a third message sent by the positioning service terminal, wherein the third message includes the identification information or index of the anchor terminal, and a first container, the first container includes the positioning service
  • the target terminal determines the anchor terminal according to the identification information or index of the anchor terminal, and sends a ninth message to the anchor terminal, wherein the ninth message includes a third container, and the third The container includes the fourth message.
  • the positioning service terminal when the positioning service terminal needs to send the fourth message to the anchor terminal, the positioning service terminal first sends the third message carrying the fourth message to the target terminal, so that the target terminal sends the ninth message to the anchor terminal, where,
  • the ninth message includes a third container, and the third container includes the fourth message. That is, the target terminal carries the fourth message that the positioning service terminal needs to send to the anchor terminal in the ninth message and sends it to the anchor terminal.
  • the third message is one of: SLPP message, PC5 RRC message, and PC5 signaling (i.e., PC5-S) message;
  • the ninth message is: SLPP message, PC5 RRC message, PC5 signaling (i.e. PC5-S) message.
  • the third message may include a message sent to one or more anchor terminals.
  • the third message may include one or more messages sent to the anchor terminal. information to save positioning delay and signaling overhead.
  • the target terminal may determine the corresponding anchor terminal according to the identifier or index of the anchor terminal in the third message. If the sidelink unicast connection is not established between the target terminal and the anchor terminal, the target terminal establishes a sidelink unicast connection with the anchor terminal; if the unicast connection fails to be established, the target terminal can also send a failure message to the positioning service terminal. message.
  • the failure message can carry a cause value to indicate delivery failure or unicast connection establishment failure. Among them, the anchor terminal that fails to establish a sidelink unicast connection with the target terminal cannot participate in the positioning process.
  • the target terminal forwards a message for interaction between the positioning service terminal and the anchor terminal, which further includes:
  • the target terminal receives a tenth message sent by the anchor terminal, wherein the tenth message includes a fourth container, and the fourth container includes a fifth message sent by the anchor terminal to the positioning service terminal. ;
  • the target terminal sends a sixth message to the positioning service terminal, wherein the sixth message includes the identification information or index of the anchor terminal, and a second container, the second container includes the fifth message .
  • the anchor terminal when the anchor terminal needs to send the fifth message to the positioning service terminal, the anchor terminal first sends the tenth message to the target positioning terminal, wherein the tenth message includes a fourth container, and the fourth container includes the The anchor point terminal needs to send a fifth message to the positioning service terminal, so that the target terminal sends a sixth message carrying the fifth message to the positioning service terminal.
  • the tenth message is: one of an SLPP message, a PC5 RRC message, and a PC5 signaling (PC5-S) message.
  • the target terminal is used to forward the message. If the message received by the target terminal includes a container, the target terminal may not decode the container.
  • the above SLPP message may be a message of the newly introduced sidelink positioning protocol or a message of the LPP protocol.
  • the newly introduced SLPP protocol layer is used for Sidelink positioning. This protocol layer is used for positioning service terminals to interact with target terminals and anchor point terminals for positioning messages.
  • the SLPP layer is a newly introduced protocol layer used for sidelink positioning and is located above the PDCP layer. It is understood that SLPP can also be located on the upper layer of PC5 RRC or PC5-S.
  • Figure 10 is a flow chart of a positioning method provided by an embodiment of the present application.
  • the method may include the following steps 1001:
  • Step 1001 The network side device interacts with the positioning service terminal and provides the positioning service terminal with information about candidate anchor terminals.
  • the network side device can provide the information of the candidate anchor terminals to the positioning service terminal, so that the positioning service terminal can select at least one anchor terminal to participate in positioning from the candidate anchor terminals, and then Interact with the target terminal and/or at least one anchor terminal participating in positioning to perform a positioning process for the target terminal.
  • Method 5-1 optionally, the network side device interacts with the positioning service terminal to provide the positioning service terminal with information about candidate anchor terminals, including:
  • the network side device receives a first request message sent by a positioning service terminal, where the first request message is used to request acquisition of the candidate anchor terminal;
  • the network side device In response to the first request message, the network side device sends a seventh message to the positioning service terminal, where the seventh message includes a third list of the candidate anchor terminals.
  • the positioning service terminal can send the above-mentioned first request message to the network side device to request information about the candidate anchor terminal.
  • the network side device After the network side device receives the first request message, it can send the third request message of the candidate anchor terminal to the network side device.
  • the three lists are carried in the seventh message and returned to the positioning service terminal.
  • the network side device may be, for example, an LMF or AMF or a base station. That is, the LMF or AMF or the base station may store the information of the candidate anchor terminal, such as obtained through the OAM system. After the LMF or AMF or the base station receives the above-mentioned first request message sent by the positioning service terminal, it can store the information according to the first request message sent by the positioning service terminal. The information of the candidate anchor terminals is obtained to obtain a third list of candidate anchor terminals, which is carried in the seventh message and returned to the positioning service terminal.
  • the network side device is a positioning management function LMF
  • the first request message is a positioning service LCS message or a Long Term Evolution Positioning Protocol LPP message
  • the network side device is an access mobility management function AMF
  • the first request message is a non-access layer NAS message.
  • the seventh message is one of an LPP message, an LCS message, a NAS message, and a dedicated RRC message.
  • the first request message includes location information of the positioning service terminal, and the candidate anchor terminals in the third list are determined based on the location information of the positioning service terminal.
  • the location information of the positioning service terminal may be latitude and longitude information, or may be the current serving cell ID of the positioning service terminal.
  • the positioning service terminal when the positioning service terminal sends the first request message to the network side device to request to obtain the information of the candidate anchor terminal, it can also carry its own location information in the first request message and send it to the network side device.
  • the network The side device can determine candidate anchor point terminals based on the location information of the positioning service terminal (for example, select a candidate anchor point terminal that is within a certain distance from the positioning service terminal, or is in the same serving cell or adjacent serving cell as the positioning service terminal). candidate anchor terminals) to reduce unnecessary signaling overhead, thereby carrying the third list of candidate anchor terminals determined according to the location information of the positioning service terminal in the seventh message and sending it to the positioning service terminal.
  • Method 5-2 the network side device interacts with the positioning service terminal and provides the positioning service terminal with information about candidate anchor terminals, including:
  • the network side device sends a system information message, where the system information message includes a third list of candidate anchor terminals.
  • the network side device may be a base station, for example. That is, the base station may broadcast the third list of candidate anchor point terminals in the system message of the cell, so that the positioning service terminal can receive it.
  • the above system information message may be posSIB or a regular SIB message.
  • the method before the network side device sends the system information message, the method further includes:
  • the network side device uses a predetermined key to encrypt the information of the anchor terminal included in the system information message.
  • the information of the candidate anchor terminals carried in the above-mentioned system information message (such as the above-mentioned third list) can be encrypted, so that only positioning service terminals with corresponding keys (such as those that have been authenticated) can be encrypted. Only the right positioning service terminal) can be decrypted correctly.
  • the seventh message or the system information message also includes second terminal information of the candidate anchor terminal, wherein the second terminal information includes at least one of the following:
  • Item C-1 Terminal identification
  • Item C-2 Geographical location information
  • Item C-3 Side link positioning capability information
  • Item C-4 Identification information of the serving cell
  • the third list includes at least one terminal among the following:
  • the candidate anchor terminal under the serving cell of the positioning service terminal
  • the positioning service terminal is a candidate anchor terminal in a neighboring cell of a serving cell.
  • the third list fed back to the positioning service terminal by the network side device may include anchor terminals under the current serving cell of the positioning service terminal, or may also include the current serving cell of the positioning service terminal. and anchor terminals under the neighborhood.
  • Location Server UE obtains candidate Anchor UE information from Target UE. For example, Location Server UE requests Target UE to provide candidate Anchor UE information, and Target UE performs the Anchor UE discovery process and sends candidate Anchor UE information to Location Server UE, or Target UE takes the initiative Send candidate Anchor UE information to Location Server UE. In this way, the Location Server UE can determine one or more Anchor UEs participating in sidelink positioning based on the obtained information of the candidate Anchor UEs. Based on this method, all Anchor UEs participating in positioning can measure the SL PRS sent by the Target UE, or all Target UEs can measure the SL PRS sent by the Anchor UE participating in positioning, thereby reducing unnecessary wireless resource overhead or signaling. overhead.
  • Step 111 The Location Server UE receives the positioning request or the Location Server UE itself triggers it. Locate the Target UE or itself (that is, the Location Server UE is also the Target UE).
  • the positioning request carries positioning QoS and target UE ID.
  • Positioning QoS can include positioning accuracy and positioning delay.
  • the positioning request can be one of the following messages:
  • SLPP Sidelink Positioning Protocol
  • PC5 signaling i.e. PC5-S
  • PC5-S PC5-S
  • LCS Location Service
  • the positioning request may further include a first list of candidate Anchor UEs.
  • the positioning request may also include first terminal information of one or more candidate Anchor UEs (the specific content of the first terminal information will be introduced in subsequent step 115), thereby reducing positioning delay. That is, when the positioning request comes from Target UE, Target UE has performed the Anchor UE discovery process in the recent period and obtained candidate Anchor UE related information. If this information is still valid, the candidate Anchor UE information can be carried in the positioning request.
  • Step 112 (optional step): If the Location Server UE does not establish a sidelink unicast connection with the Target UE (for example, in a third-party UE or Location Management Function (LMF) or Access and Mobility Management Function (Access and Mobility Management Function (AMF) initiates a request to locate the Target UE), the Location Server UE executes the Target UE discovery process and/or the sidelink unicast connection establishment process with the Target UE.
  • LMF Location Management Function
  • AMF Access and Mobility Management Function
  • the Location Server UE If the Location Server UE does not find the Target UE or does not successfully establish a sidelink unicast connection with the Target UE, the Location Server UE replies with a location response message or a location failure message to the device that sent the location request, thus ending the process.
  • the positioning response message or the positioning failure message may include a failure reason, and the failure reason may be one of: failure to execute, failure to discover the Target UE, and failure to establish a unicast connection.
  • Step 113 (optional step): The Location Server UE sends the first message to the Target UE through the sidelink unicast connection. The first message is used to request the candidate Anchor UE.
  • the first message may be one of an SLPP message, an LPP message, and a PC5 RRC message.
  • the above-mentioned first message carries a target condition, which is used to indicate the conditions that the candidate Anchor UE meets.
  • the Location Server UE can obtain the Anchor UE suitable for this sidelink positioning.
  • the target conditions can include at least one of the following:
  • the reference signal received power RSRP measurement result is greater than the first preset threshold; (wherein, the RSRP measurement result can be the RSRP of the wireless signal of the Anchor UE measured by the Target UE, or it can be the RSRP of the wireless signal of the Target UE measured by the Anchor UE) )
  • the specific terminal type can be a roadside unit (RoadSide Unit, RSU) or a positioning reference unit (Positioning Reference Unit, PRU)
  • RSU roadside unit
  • PRU Positioning Reference Unit
  • the specific sidelink positioning capabilities may include supporting a certain sidelink positioning method, supporting a certain sidelink measurement quantity, supporting sending SL-PRS, and supporting measuring at least one of the SL-PRS one item)
  • the specific area can be a cell or a list of cells
  • the RRC state includes, for example, at least one of RRC connected state and RRC idle state
  • PC5 port resources are greater than the preset threshold
  • the specified terminal list that is, a UE list is included in the first message.
  • the UEs in these UE lists can be RSUs with fixed locations or candidate Anchor UEs identified by the Location Server UE performing the discovery process).
  • Step 114 Target UE performs Anchor UE discovery process to find candidate Anchor UEs that meet the above target conditions.
  • Target UE can use method one, method two, or method three as described below to obtain candidate Anchor UEs that meet the above target conditions.
  • Target UE broadcasts a discovery request message. After one or more UEs receive the discovery request message, they reply to the Target UE with a first response message. Then the Target UE selects the UE that meets the requirements from the UE corresponding to the received first response message. The UE with the above target conditions is used as the candidate Anchor UE.
  • Target UE receives announcement messages broadcast by one or more UEs.
  • the announcement messages include parameter information of the UE.
  • Target UE can select from the UEs that sent the announcement messages based on the parameter information in the announcement message.
  • UEs that meet the above target conditions are used as candidate Anchor UEs.
  • Method 3 Target UE broadcasts a discovery request message.
  • the discovery request message carries the above target conditions.
  • the Target UE if the UE that meets the above target conditions replies to the Target UE with a first response message, the Target UE will The UE corresponding to the received first response message is used as the candidate Anchor UE.
  • the above-mentioned discovery request message may be a PC5-D message, such as a direct discovery request (direct discovery solicitation), and the above-mentioned first response message may also be a direct discovery response (direct discovery response); or the above-mentioned discovery request message may also be A message introduced in the sidelink positioning protocol, which is broadcast and used to discover candidate Anchor UEs.
  • Step 115 Target UE sends a second message to Location Server UE, the second message carries candidates Anchor UE's first list.
  • the second message is a response message to the first message, and the second message may be one of an SLPP message, an LPP message, and a PC5 RRC message.
  • the second message also carries first terminal information of one or more candidate Anchor UEs.
  • the first terminal information of the candidate Anchor UE includes at least one of the following:
  • UE ID may include at least one of S-TMS, IMSI, SUPI, C-RNTI, SL layer2 ID, and Application Layer UE ID;
  • Each candidate Anchor UE is assigned a UE index to facilitate subsequent interactions
  • RRC state (can include at least one of RRC connected state, RRC idle state, and RRC deactivated state);
  • Serving cell ID (can include at least one of the frequency point, PCI, and CGI of the serving cell);
  • Registered AMF information can include at least one of the PLMN ID of the current service and the AMF ID of the registered AMF
  • Sidelink positioning capabilities can include at least one of: whether it supports sending SL-PRS, whether it supports measuring SL-PRS, supported sidelink positioning methods, and whether it can provide its own location);
  • the side link determines PRS to send configuration information, where the Anchor UE sends SL PRS on the resource indicated by the configuration information;
  • Sidelink resource configuration which includes the sidelink resources currently used by the Anchor UE and/or the sidelink resources configured by the base station for the Anchor UE;
  • the resource allocation method includes: mode1 and mode 2;
  • the resource scheduling type when the sidelink resource allocation mode of the candidate Anchor UE is mode1, that is, if the sidelink resource allocation mode of the candidate Anchor UE is mode1, the above-mentioned first terminal information may also include specifically which of the following resource scheduling types: dynamic scheduling ( dynamic scheduling), that is, resources are dynamically scheduled by the base station; configured grant type 1 (configured grant type 1), which is the periodic resource configured by the base station, can be used directly; configured grant type 2 (configured grant type 2), which is the period configured by the base station Resources, can only be used after activation);
  • dynamic scheduling dynamic scheduling
  • Geographical location information such as latitude and longitude information
  • the RSRP measurement result associated with the candidate Anchor UE may include: the RSRP of the wireless signal of the candidate Anchor UE measured by the Target UE, or the RSRP of the wireless signal of the Target UE measured by the candidate Anchor UE);
  • Step 116 The Location Server UE can determine the Anchor UE participating in positioning based on the above-mentioned first terminal information of the candidate Anchor UE and positioning QoS and other information.
  • each candidate Anchor UE serves as an Anchor UE participating in positioning
  • the Anchor UE participating in positioning select the UE with high RSRP (for example, greater than a certain threshold) as the Anchor UE participating in positioning;
  • Step 117 Location Server UE performs the sidelink positioning process.
  • the sidelink positioning process may include: Location Server UE interacts with Target UE and Anchor UE participating in positioning respectively, for example: configuring Anchor UE to send SL PRS, configuring Target UE to measure SL PRS, or configuring Target UE to send SL PRS, configuring Anchor UE measures SL PRS; and Location Server UE receives positioning measurement results sent by Anchor UE or Target UE, etc.
  • Step 118 Location Server UE obtains the location result of Target UE, such as calculating the location of Target UE based on the positioning measurement results. Location Server UE sends a positioning response message carrying the location result of Target UE.
  • the candidate Anchor UE is identified by the Target UE executing the discovery process, that is, the candidate Anchor UE is located around the Target UE, then the Anchor UE finally selected by the Location Server UE to participate in positioning is located around the Target UE. This may occur
  • Location Server UE may be too far away from some Anchor UEs participating in positioning, resulting in Location Server UE being unable to establish sidelink unicast connections with these Anchor UEs for communication in step 117.
  • Method 1 Location Server UE selects candidate Anchor UEs that can establish sidelink unicast connections with Location Server UE from these candidate Anchor UEs obtained from Target UE, and then further selects Anchor UEs that participate in positioning from these UEs, and then Avoid the above problems.
  • the Location Server UE performs a discovery process for the candidate Anchor UEs carried in the above-mentioned second message, or attempts to establish a sidelink unicast connection with these candidate Anchor UEs.
  • the Anchor UE participating in positioning is selected from the candidate Anchor UEs that can successfully discover or successfully establish the sidelink unicast connection;
  • the Location Server UE first performs the candidate Anchor UE discovery process to obtain the second list of candidate Anchor UEs, and then carries the second list in the first message and sends it to the Target UE when performing the aforementioned step 113.
  • the Target UE when performing the aforementioned step 114, the Target UE further performs the discovery process to identify candidate Anchor UEs among the UEs in the second list, so that when performing the aforementioned step 115, the list of candidate Anchor UEs obtained in step 114 will be (i.e., the first list) is placed in the second message and sent to the Location Server UE, that is, the candidate Anchor UE included in the second message is a UE that can be discovered by both the Target UE and the Location Server UE.
  • the Anchor UE participating in positioning is selected from the candidate Anchor UE included in the second message.
  • Method 2 Location Server UE can interact with Anchor UE participating in positioning through Target UE, that is, the information about the interaction between Location Server UE and Anchor UE participating in positioning is forwarded through Target UE, that is: Location Server UE first sends the message to Target UE, and indicates that the message is sent to the Anchor UE and which Anchor UE it is sent to, and the Target UE then sends the message to the corresponding Anchor UE.
  • the information that the Location Server UE interacts with each Anchor UE participating in positioning can be forwarded through the Target UE;
  • the Target UE forwards the information that the Location Server UE interacts with them, and for another part of the Anchor UEs participating in positioning, communication with the Location Server UE is achieved by establishing a sidelink unicast connection; For example, after the Location Server UE selects an Anchor UE that participates in positioning, it can first try to discover each Anchor UE that participates in positioning or establish a sidelink unicast connection with each Anchor UE that participates in positioning. If the discovery fails or the establishment of a unicast connection fails, Anchor UE is forwarded through Target UE, otherwise the interaction is directly through sidelink unicast connection.
  • Step 121 When the Location Server UE needs to send a fourth message (such as an SLPP message) to the Anchor UE, the Location Server UE sends a third message to the Target UE, and the third message is used to deliver the fourth message sent to the Anchor UE.
  • a fourth message such as an SLPP message
  • the third message includes the UE ID or UE index of the Anchor UE and a Container (that is, the container, the Target UE does not decode the contents of the container).
  • the Container corresponds to the fourth message sent to the Anchor UE; the third message may be SLPP message or PC5 RRC or PC5-S message.
  • each Anchor UE there is a UE ID or UE index corresponding to the Anchor UE.
  • the third message may include a message sent to one or more Anchor UEs.
  • the third message may include one or more messages sent to the Anchor UE to save positioning delay and signaling overhead.
  • Step 122 Target UE determines the corresponding Anchor UE according to the UE ID or UE index of (each) Anchor UE in the third message.
  • Step 123 If no sidelink unicast connection is established between the Target UE and the Anchor UE, the Target UE establishes a sidelink unicast connection with the Anchor UE. If the unicast connection establishment fails, the Target UE sends a failure message to the Location Server UE. The failure message can carry a cause value to indicate delivery failure or unicast connection establishment failure.
  • Step 124 The Target UE sends the ninth message to the Anchor UE through the sidelink unicast connection between the Target UE and the Anchor UE.
  • the ninth message is used to send the fourth message from the Location Server UE to the Anchor UE.
  • the ninth message may be an SLPP message or a PC5 RRC or PC5-S message.
  • the ninth message includes a Container, which corresponds to the SLPP message in step 1, that is, the Location Server UE sends a message to the Anchor UE. The fourth message sent.
  • Step 125 When the Anchor UE needs to send the fifth message (such as an SLPP message) to the Location Server UE, the Anchor UE sends the tenth message to the Target UE, and the tenth message is used to deliver the fifth message sent to the Location Server UE.
  • the fifth message such as an SLPP message
  • the tenth message includes a Container, and the Container corresponds to the above-mentioned fifth message; the tenth message can be an SLPP message or a PC5 RRC or PC5-S message.
  • Step 126 Target UE sends the sixth message to Location Server UE.
  • the sixth message is used to send the fifth message from Anchor UE to Location Server UE.
  • the sixth message includes the UE ID or UE index of the Anchor UE and a Container, which corresponds to the fifth message sent to the Location Server UE.
  • the Location Server UE learns which Anchor UE sent the message based on the UE ID or UE index of the Anchor UE.
  • Location Server UE obtains the information of one or more candidate Anchor UEs from network side equipment (such as LMF or AMF or base station), and then Location Server UE selects the Anchor UE to participate in positioning from these candidate Anchor UEs. For example, a candidate Anchor UE near the Location Server UE can be selected as an Anchor UE to participate in positioning, or an Anchor UE to participate in positioning can be selected based on the capabilities of the Target UE.
  • network side equipment such as LMF or AMF or base station
  • the Anchor UE (such as RSU) always sends SL PRS for positioning, and its SL PRS sending configuration may not be controlled by the Location Server UE.
  • the Anchor UE does not need to perform measurements; the Target UE always Make SL PRS measurements without sending SL PRS. Therefore, the Location Server UE does not need to perform sidelink communication with the Anchor UE, but only needs to obtain the relevant information of the candidate Anchor UE from the network side device.
  • Step 131 Before or after receiving the positioning request, the Location Server UE obtains the third list of candidate Anchor UEs from the LMF or base station or AMF.
  • the Location Server UE can also obtain the second terminal information of the candidate Anchor UE from the LMF or base station or AMF.
  • the second terminal information of each candidate Anchor UE may include at least one of the following:
  • the ID of the UE may include at least one of SL layer2 ID, Application Layer UE ID, S-TMSI, IMSI, SUPI, and C-RNTI;
  • Location information such as latitude and longitude information
  • SL PRS transmission configuration may include at least one of SL PRS transmission resource pool configuration, SL PRS cycle/resource location, and SL PRS resource repetition factor.
  • the Location Server UE obtains one or more candidate Anchor UEs from the LMF or AMF base station.
  • the information method will be introduced in detail later.
  • Step 132 The Location Server UE determines one or more Anchor UEs participating in positioning based on the information of one or more candidate Anchor UEs obtained in step 131.
  • Location Server UE can also serve as an Anchor UE by itself.
  • the Location Server UE selects an Anchor UE that may be within a certain distance of the Location Server UE to participate in positioning. For example, assuming that the maximum distance of SL PRS transmission is 200 meters, the Location Server UE can choose to communicate with the Location Server UE. The Anchor UE that is within 400 meters of itself participates in positioning. Because the Location Server UE and the Target UE are within 200 meters, the Anchor UE that participates in positioning needs to be within 200 meters of the Target UE. Therefore, the distance between the Location Server UE and the Anchor UE that participates in positioning cannot exceed 400 meters. , otherwise the Target UE cannot receive the SL PRS of the Anchor UE;
  • candidate Anchor UEs whose positioning capabilities support a certain positioning method can be selected to participate in positioning.
  • Step 133 Location Server UE sends the SL PRS measurement configuration corresponding to each Anchor UE to Target UE.
  • Target UE it is the SL PRS measurement configuration
  • Anchor UE it is the SL PRS transmission configuration
  • Step 134 Based on the received SL PRS measurement configuration, the Target UE measures the SL PRS to obtain the SL PRS measurement result.
  • Step 135 Target UE sends the SL PRS measurement result to Location Server UE.
  • Step 136 The Location Server UE calculates the Target UE location based on the SL PRS measurement results.
  • the following describes in detail the method in which the Location Server UE obtains the information of one or more candidate Anchor UEs from the LMF or AMF base station in this implementation.
  • Method 1 As shown in Figure 14, the process of the Location Server UE obtaining the information of one or more candidate Anchor UEs from the LMF or AMF includes steps 141 to 142 as described below.
  • Step 141 Location Server UE sends a first request message to LMF or AMF to request to obtain Anchor UE information.
  • the above-mentioned first request message may be an LCS message, such as a terminal-initiated positioning request (Mobile Originated Location Request, MO-LR) message; the first request message carries indication information used to indicate a request to obtain candidate Anchor UE information;
  • a request message can also be an LPP message or a NAS message.
  • the first request message carries the location information of the Location Server UE, which may be the latitude and longitude information, or the current serving cell ID of the Location Server UE.
  • Step 142 The LMF or AMF saves the information of the candidate Anchor UE (for example, obtained through the Operation Administration and Maintenance (OAM) system), then the LMF or AMF sends the seventh message to the Location Server UE. In the seventh message Carrying a third list of candidate Anchor UEs.
  • OAM Operation Administration and Maintenance
  • the seventh message may be an LPP message, an LCS message or a NAS message.
  • the seventh message may also carry the above-mentioned second terminal information of the candidate Anchor UE.
  • the specific content included in the second terminal information can be found in the foregoing description, and will not be described again here.
  • the LMF or AMF can also determine which candidate Anchor UE information is carried in the seventh message based on the location information of the Location Server UE, such as selecting a candidate Anchor UE within a certain distance from the Location Server UE, or selecting a candidate Anchor UE that is within a certain distance from the Location Server UE.
  • Method 2 As shown in Figure 15, the process of the Location Server UE obtaining the information of one or more candidate Anchor UEs from the base station includes steps 151 to 153 as described below.
  • Step 151 Location Server UE enters the connected state.
  • Step 152 Location Server UE sends a second request message to the base station.
  • the second request message may be an RRC message, such as a sidelink communication terminal information (Sidelink UE Information) message, and the second request message carries instruction information for instructing to request acquisition of candidate Anchor UE information.
  • RRC Radio Resource Control
  • Step 153 The base station stores the candidate Anchor UE information (for example, obtained through the OAM system), and then the base station sends the eighth message to the Location Server UE, and the eighth message carries the third list of candidate Anchor UEs.
  • the candidate Anchor UE information for example, obtained through the OAM system
  • the eighth message may also carry the above-mentioned second terminal information of the candidate Anchor UE.
  • the specific content included in the second terminal information can be found in the foregoing description, and will not be described again here.
  • the eighth message may be a dedicated RRC message.
  • the third list carried in the eighth message may include Anchor UEs under the current serving cell, or may include Anchor UEs under the current serving cell and neighboring cells.
  • Method 3 As shown in Figure 16, the process of the Location Server UE obtaining the information of one or more candidate Anchor UEs from the base station includes steps 161 to 162 as follows:
  • Step 161 The base station broadcasts the third list of candidate Anchor UEs in the system information message of the cell;
  • the third list may include Anchor UEs under the current serving cell, or may include Anchor UEs under the current serving cell and neighboring cells.
  • the above system information message may also carry the above second terminal information of the candidate Anchor UE.
  • the specific content included in the second terminal information can be found in the foregoing description, and will not be described again here.
  • the above system information message can be posSIB or regular SIB.
  • Step 162 The Location Server UE obtains the candidate Anchor UE by reading the system information of the serving cell.
  • the information of candidate Anchor UEs (including the above-mentioned third list and/or second terminal information) carried in the above system information message can be encrypted, so that only UEs with corresponding keys (such as authenticated Location Server UE) can decrypt correctly.
  • Figures 11 to 16 only list the important information transmitted or the important actions performed in each step.
  • For the specific content of each step in Figures 11 to 16 please refer to the above content.
  • the execution subject may be a positioning device.
  • the positioning device performing the positioning method is taken as an example to illustrate the positioning device provided by the embodiment of the present application.
  • embodiments of the present application provide a positioning device, which is applied to a positioning service terminal.
  • the positioning device includes:
  • the first determination module 171 is used to determine to perform side link positioning on the target terminal
  • the first information acquisition module 172 is used to acquire information about candidate anchor terminals
  • the second determination module 173 is configured to determine at least one anchor terminal participating in positioning from the candidate anchor terminals;
  • the positioning interaction module 174 is used to interact with the target terminal and/or at least one of the anchor point terminals to position the target terminal.
  • the first information acquisition module 172 includes:
  • the first acquisition sub-module is used to acquire the information of the candidate anchor terminal from the target terminal;
  • the second acquisition sub-module is used to interact with the network side device to acquire information about the candidate anchor terminal.
  • the first acquisition sub-module is specifically used to:
  • the device also includes:
  • a first processing module configured to perform a discovery process of the target terminal and/or a side link communication with the target terminal when a side link unicast connection is not established between the positioning service terminal and the target terminal.
  • Link unicast connection establishment process
  • the first acquisition sub-module sends a first message to the target terminal, specifically for:
  • the The target terminal sends the first message
  • the first acquisition sub-module receives the second message sent by the target terminal in response to the first message, and is specifically used for:
  • the device also includes:
  • the second sending module is configured to send the positioning request to the target terminal if the target terminal is not successfully discovered and/or the side link unicast connection between the positioning service terminal and the target terminal is not successfully established.
  • the device sends a positioning response message or a positioning failure message, wherein the positioning response message or the positioning failure message carries the first Indication information, the first indication information is used to indicate that the target terminal was not successfully discovered and/or the side link unicast connection between the positioning service terminal and the target terminal was not successfully established.
  • the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the candidate anchor terminal in the first list satisfies the target condition;
  • the target conditions include at least one of the following:
  • the reference signal received power RSRP measurement result is greater than the first preset threshold
  • PC5 port resources are greater than the second preset threshold
  • a side-link unicast connection is established with the target terminal
  • the first determination module 171 is specifically used to:
  • the positioning request is sent by the target terminal, and the positioning request includes the first list of candidate anchor terminals;
  • the first acquisition sub-module is specifically used for:
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following:
  • the side link positioning reference signal PRS sends configuration information
  • the resource scheduling type when the side link resource allocation method is mode 1;
  • the device also includes:
  • a second processing module configured to perform a discovery process and/or a side-link unicast connection establishment process for the terminals in the first list respectively;
  • the second determination module 173 is specifically used to:
  • At least one anchor point terminal participating in positioning is determined, wherein the first type terminal successfully discovers and/or establishes a side link single for the positioning service terminal. Terminal with successful broadcast connection.
  • the device also includes:
  • a third processing module configured to perform a discovery process of candidate anchor terminals before the first acquisition sub-module sends the first message to the target terminal, and obtain a second list of candidate anchor terminals;
  • the candidate anchor point terminals included in the second list are terminals successfully discovered by the positioning service terminal
  • the first message includes the second list
  • the candidate anchor point terminals included in the first list It is a terminal in the second list that is successfully discovered by the target terminal.
  • the positioning interaction module 174 includes:
  • the first interaction sub-module is used to interact with the anchor terminal through the target terminal;
  • the second interaction submodule is configured to, when a side link unicast connection is successfully established between the positioning service terminal and the anchor point terminal, through the side link between the positioning service terminal and the anchor point terminal. Link unicast connection to interact with the anchor terminal.
  • the first interaction sub-module is used to perform at least one of the following:
  • the second acquisition sub-module is specifically used to:
  • the information of the candidate anchor terminal is obtained.
  • the first request message includes location information of the positioning service terminal, and the candidate anchor terminals in the third list are determined based on the location information of the positioning service terminal.
  • the network side device is a positioning management function LMF
  • the first request message is a positioning service LCS message or a Long Term Evolution Positioning Protocol LPP message
  • the network side device is an access mobility management function AMF
  • the first request message is a non-access layer NAS message.
  • the seventh message is one of an LPP message, an LCS message, a NAS message, and a dedicated RRC message.
  • the second acquisition sub-module is specifically used to:
  • the information of the anchor terminal included in the system information message is encrypted information
  • the second acquisition sub-module acquires the information of the candidate anchor terminal according to the third list in the system information message, specifically for:
  • the information of the candidate anchor point terminal is obtained.
  • the seventh message or the system information message also includes second terminal information of the candidate anchor terminal, wherein the second terminal information includes at least one of the following:
  • the side link PRS sends configuration information.
  • the third list includes at least one terminal among the following:
  • the candidate anchor terminal under the serving cell of the positioning service terminal
  • the positioning service terminal is a candidate anchor terminal in a neighboring cell of a serving cell.
  • the positioning device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal.
  • terminals may include but are not limited to the types of terminals 11 listed above, which are not specifically limited in the embodiments of this application.
  • the positioning device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 7 and achieve the same technical effect. To avoid duplication, details will not be described here.
  • embodiments of the present application provide a positioning device, which is applied to a target terminal.
  • the positioning device includes:
  • the first receiving module 181 is configured to receive the first message sent by the positioning service terminal, where the first message is used to request information about the candidate anchor terminal;
  • the first discovery module 182 is configured to perform a discovery process of candidate anchor terminals and obtain a first list of candidate anchor terminals;
  • the first sending module 183 is configured to send a second message to the positioning service terminal, where the second message includes the first list.
  • the first discovery module 182 is specifically used to:
  • the first list is obtained according to the information of the candidate anchor point terminal.
  • the first message includes target conditions that the candidate anchor terminal needs to satisfy
  • the first discovery module 182 obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message or the announcement message, specifically for:
  • the information of the terminal that satisfies the target condition is determined as the information of the candidate anchor terminal.
  • the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition;
  • the first discovery module 182 receives the first response message of the discovery request message, and obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message, specifically for:
  • the target conditions include at least one of the following:
  • the reference signal received power RSRP measurement result is greater than the first preset threshold
  • PC5 port resources are greater than the second preset threshold
  • a side-link unicast connection is established with the target terminal
  • the device also includes:
  • the third sending module is configured to send a positioning request to the positioning service terminal, where the positioning request includes the first list.
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following:
  • the side link positioning reference signal PRS sends configuration information
  • the resource scheduling type when the side link resource allocation method is mode 1;
  • the first message includes a second list, and the candidate anchor terminals included in the second list are terminals successfully discovered by the positioning service terminal;
  • the first discovery module 182 is specifically used to:
  • a discovery process of candidate anchor terminals is performed to obtain the first list of candidate anchor terminals.
  • the device also includes:
  • a forwarding module configured to forward messages for interaction between the positioning service terminal and at least one anchor point terminal participating in positioning.
  • the forwarding module is specifically used to:
  • the ninth message includes a third container, and the third container includes the fourth message.
  • the forwarding module is also used to:
  • a sixth message is sent to the positioning service terminal, where the sixth message includes identification information or an index of the anchor terminal, and a second container, where the second container includes the fifth message.
  • the positioning device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal.
  • terminals may include but are not limited to the types of terminals 11 listed above, which are not specifically limited in the embodiments of this application.
  • the positioning device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 9 and achieve the same technical effect. To avoid duplication, details will not be described here.
  • embodiments of the present application provide a positioning device, which is applied to network-side equipment.
  • the positioning device includes:
  • the information providing module 191 is configured to interact with the positioning service terminal and provide the information of the candidate anchor terminal to the positioning service terminal.
  • the information providing module 191 is specifically used to:
  • a seventh message is sent to the positioning service terminal, wherein the seventh message includes a third list of the candidate anchor terminals.
  • the network side device is a positioning management function LMF
  • the first request message is a positioning service LCS message or a Long Term Evolution Positioning Protocol LPP message
  • the network side device is an access mobility management function AMF
  • the first request message is a non-access layer NAS message.
  • the seventh message is one of an LPP, an LCS message, a NAS message, and a dedicated RRC message.
  • the information providing module 191 is specifically used to:
  • a system information message is sent, wherein the system information message includes a third list of candidate anchor terminals.
  • the device also includes:
  • An encryption module configured to use a predetermined key to encrypt the anchor terminal information included in the system information message before the information providing module sends the system information message.
  • the seventh message or the system information message also includes second terminal information of the candidate anchor terminal, wherein the second terminal information includes at least one of the following:
  • the side link positioning reference signal PRS sends configuration information.
  • the third list includes at least one terminal among the following:
  • the candidate anchor terminal under the serving cell of the positioning service terminal
  • the positioning service terminal is a candidate anchor terminal in a neighboring cell of a serving cell.
  • the positioning device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a network side device.
  • network-side devices may include but are not limited to the types of network-side devices 12 listed above, which are not specifically limited in the embodiments of this application.
  • the positioning device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figure 10 and achieve the same technical effect. To avoid duplication, details will not be described here.
  • this embodiment of the present application also provides a communication device 2000, which includes a processor 2001 and a memory 2002.
  • the memory 2002 stores programs or instructions that can be run on the processor 2001, such as , when the communication device 2000 is a terminal, when the program or instruction is executed by the processor 2001, each step of the positioning method embodiment described in the first aspect or the second aspect is implemented, and the same technical effect can be achieved.
  • the communication device 2000 is a network-side device, when the program or instruction is executed by the processor 2001, each step of the positioning method embodiment described in the third aspect is implemented, and the same technical effect can be achieved. To avoid duplication, it is not discussed here. Again.
  • This embodiment of the present application also provides a terminal, as shown in Figure 21, which is a schematic diagram of the hardware structure of a terminal that implements the embodiment of the present application.
  • the terminal 2100 includes but is not limited to: a radio frequency unit 2101, a network module 2102, an audio output unit 2103, an input unit 2104, a sensor 2105, a display unit 2106, a user input unit 2107, an interface unit 2108, a memory 2109, a processor 2110, etc. At least some parts.
  • the terminal 2100 may also include a power supply (such as a battery) that supplies power to various components.
  • the power supply may be logically connected to the processor 2110 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 21 does not limit the terminal.
  • the terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.
  • the input unit 2104 may include a graphics processing unit (GPU) 21041 and a microphone 21042.
  • the graphics processor 21041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras).
  • the display unit 2106 may include a display panel 21061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 2107 includes at least one of a touch panel 21071 and other input devices 21072. Touch panel 21 071, also known as touch screen.
  • the touch panel 21071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 21072 may include but are not limited to physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackball, mouse, and joystick, which will not be described in detail here.
  • the radio frequency unit 2101 after receiving downlink data from the network side device, the radio frequency unit 2101 can transmit it to the processor 2110 for processing; in addition, the radio frequency unit 2101 can send uplink data to the network side device.
  • the radio frequency unit 2101 includes, but is not limited to, an antenna, amplifier, transceiver, coupler, low noise amplifier, duplexer, etc.
  • Memory 2109 may be used to store software programs or instructions and various data.
  • the memory 2109 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc.
  • memory 2109 may include volatile memory or nonvolatile memory, or memory 2109 may include both volatile and nonvolatile memory.
  • non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory.
  • Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM).
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • synchronous dynamic random access memory Synchronous DRAM, SDRAM
  • Double data rate synchronous dynamic random access memory Double Data Rate SDRAM, DDRSDRAM
  • enhanced SDRAM synchronous dynamic random access memory
  • Synch link DRAM synchronous link dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • the processor 2110 may include one or more processing units; optionally, the processor 2110 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 2110.
  • the processor 2110 is configured to determine to perform side link positioning on the target terminal; obtain information about candidate anchor terminals; and determine at least one anchor terminal participating in positioning from the candidate anchor terminals. ;
  • the radio frequency unit 2101 is configured to interact with the target terminal and/or at least one of the anchor point terminals, and locate the target terminal.
  • the processor 2110 obtains the information of the candidate anchor terminal, specifically for:
  • the radio frequency unit 2101 is controlled to interact with the network side device to obtain the information of the candidate anchor terminal.
  • the processor 2110 obtains the information of the candidate anchor terminal from the target terminal, specifically for:
  • the radio frequency unit 2101 is controlled to receive the second message sent by the target terminal in response to the first message, wherein, The second message includes the first list of candidate anchor terminals;
  • processor 2110 is also used to:
  • a discovery process of the target terminal and/or a side-link unicast connection establishment process with the target terminal is performed.
  • the radio frequency unit 2110 sends the first message to the target terminal, specifically for:
  • the The target terminal sends the first message
  • the radio frequency unit 2101 receives the second message sent by the target terminal in response to the first message, specifically for:
  • the radio frequency unit 2101 is also used for:
  • the processor 2110 fails to successfully discover the target terminal and/or fails to successfully establish a side-link unicast connection between the positioning service terminal and the target terminal, the processor 2110 sends a positioning request to the device that sent the positioning request.
  • a response message or a positioning failure message wherein the positioning response message or the positioning failure message carries first indication information, and the first indication information is used to indicate that the target terminal has not been successfully discovered and/or has not been successfully established.
  • the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the candidate anchor terminal in the first list satisfies the target condition;
  • the target conditions include at least one of the following:
  • the reference signal received power RSRP measurement result is greater than the first preset threshold
  • PC5 port resources are greater than the second preset threshold
  • a side-link unicast connection is established with the target terminal
  • the processor 2110 determines to perform side link positioning on the target terminal, specifically for:
  • the positioning request is sent by the target terminal, and the positioning request includes the first list of candidate anchor terminals;
  • the processor 2110 obtains the information of the candidate anchor terminal from the target terminal, specifically for:
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following:
  • the side link positioning reference signal PRS sends configuration information
  • the resource scheduling type when the side link resource allocation method is mode 1;
  • processor 2110 is also used to:
  • the processor 2110 determines at least one anchor terminal participating in positioning from the candidate anchor terminals, specifically for:
  • At least one anchor point terminal participating in positioning is determined, wherein the first type terminal successfully discovers and/or establishes a side link single for the positioning service terminal. Terminal with successful broadcast connection.
  • the processor 2110 is also configured to:
  • the candidate anchor point terminals included in the second list are terminals successfully discovered by the positioning service terminal
  • the first message includes the second list
  • the candidate anchor point terminals included in the first list It is a terminal in the second list that is successfully discovered by the target terminal.
  • the radio frequency unit 2101 interacts with the anchor terminal, specifically for:
  • the radio frequency unit 2101 interacts with the anchor terminal through the target terminal, including at least one of the following:
  • the processor 2110 controls the radio frequency unit 2101 to interact with the network side device to obtain the information of the candidate anchor terminal, specifically for:
  • Control the radio frequency unit 2101 to receive a seventh message sent by the network side device in response to the first request message, wherein the seventh message includes a third list of the candidate anchor terminals;
  • the information of the candidate anchor terminal is obtained.
  • the first request message includes location information of the positioning service terminal, and the candidate anchor terminals in the third list are determined based on the location information of the positioning service terminal.
  • the network side device is a positioning management function LMF
  • the first request message is a positioning service LCS message or a Long Term Evolution Positioning Protocol LPP message
  • the network side device is an access mobility management function AMF
  • the first request message is a non-access layer NAS message.
  • the seventh message is one of an LPP message, an LCS message, a NAS message, and a dedicated RRC message.
  • the processor 2110 controls the radio frequency unit 2101 to interact with the network side device to obtain the information of the candidate anchor terminal, specifically for:
  • the information of the anchor terminal included in the system information message is encrypted information
  • the processor 2110 obtains the information of the candidate anchor terminal according to the third list in the system information message, specifically for:
  • the information of the candidate anchor point terminal is obtained.
  • the seventh message or the system information message further includes the second terminal information of the candidate anchor terminal.
  • the second terminal information includes at least one of the following:
  • the side link PRS sends configuration information.
  • the third list includes at least one terminal among the following:
  • the candidate anchor terminal under the serving cell of the positioning service terminal
  • the positioning service terminal is a candidate anchor terminal in a neighboring cell of a serving cell.
  • the radio frequency unit 2101 is used to receive a first message sent by the positioning service terminal, where the first message is used to request information about the candidate anchor terminal;
  • the processor 2110 is configured to perform a discovery process of candidate anchor terminals and obtain a first list of candidate anchor terminals
  • the radio frequency unit 2101 is configured to send a second message to the positioning service terminal, where the second message includes the first list.
  • the processor 2110 performs a discovery process of candidate anchor terminals to obtain a first list of candidate anchor terminals, specifically for:
  • Control the radio frequency unit 2101 to receive the first response message of the discovery request message, and obtain the information of the candidate anchor terminal according to the terminal corresponding to the received first response message;
  • Control the radio frequency unit 2101 to receive an announcement message broadcast by the terminal, where the announcement message includes parameter information of the terminal;
  • the first list is obtained according to the information of the candidate anchor point terminal.
  • the first message includes target conditions that the candidate anchor terminal needs to satisfy
  • the processor 2110 obtains the information of the candidate anchor terminal according to the terminal corresponding to the received first response message or the announcement message, specifically for:
  • the information of the terminal that satisfies the target condition is determined as the information of the candidate anchor terminal.
  • the first message includes a target condition that the candidate anchor terminal needs to satisfy, and the discovery request message includes the target condition;
  • the processor 2110 controls the radio frequency unit 2101 to receive the first response message of the discovery request message, and obtain the information of the candidate anchor terminal according to the terminal corresponding to the received first response message, specifically for:
  • the control radio frequency unit 2101 receives the first response message sent by the terminal that meets the target condition, and determines the information of the terminal corresponding to the received first response message as the information of the candidate anchor terminal.
  • the target conditions include at least one of the following:
  • the reference signal received power RSRP measurement result is greater than the first preset threshold
  • PC5 port resources are greater than the second preset threshold
  • a side-link unicast connection is established with the target terminal
  • the radio frequency unit 2101 is also used for:
  • the second message or the positioning request also includes first terminal information of the candidate anchor terminal, wherein the first terminal information includes at least one of the following:
  • the side link positioning reference signal PRS sends configuration information
  • the resource scheduling type when the side link resource allocation method is mode 1;
  • the first message includes a second list, and the candidate anchor terminals included in the second list are terminals successfully discovered by the positioning service terminal;
  • the processor 2110 executes the discovery process of candidate anchor terminals and obtains the first list of candidate anchor terminals. Specifically, use At:
  • a discovery process of candidate anchor terminals is performed to obtain the first list of candidate anchor terminals.
  • the radio frequency unit 2101 is also used for:
  • the radio frequency unit 2101 forwards messages for interaction between the positioning service terminal and the anchor terminal, specifically for:
  • the anchor terminal is determined according to the identification information or index of the anchor terminal, and a ninth message is sent to the anchor terminal, wherein the ninth message includes a third container, and the third container includes the Fourth news.
  • the radio frequency unit 2101 forwards messages for interaction between the positioning service terminal and the anchor point terminal, and is also used to:
  • a sixth message is sent to the positioning service terminal, where the sixth message includes identification information or an index of the anchor terminal, and a second container, where the second container includes the fifth message.
  • the network side device 2200 includes: an antenna 221, a radio frequency device 222, a baseband device 223, a processor 224, and a memory 225.
  • the antenna 221 is connected to the radio frequency device 222.
  • the radio frequency device 222 receives information through the antenna 221 and sends the received information to the baseband device 223 for processing.
  • the baseband device 223 processes the information to be sent and sends it to the radio frequency device 222.
  • the radio frequency device 222 processes the received information and then sends it out through the antenna 221.
  • the method performed by the network side device in the above embodiment can be implemented in the baseband device 223, which includes a baseband processor.
  • the baseband device 223 may include, for example, at least one baseband board on which multiple chips are disposed, as shown in FIG. 22 .
  • One of the chips is, for example, a baseband processor, which is connected to the memory 225 through a bus interface to call the memory 225 .
  • the network side device may also include a network interface 226, which is, for example, a common public radio interface (CPRI).
  • a network interface 226, which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • the network side device 2200 in this embodiment of the present invention also includes: instructions or programs stored in the memory 225 and executable on the processor 224.
  • the processor 224 calls the instructions or programs in the memory 225 to execute the instructions shown in Figure 10 method and achieve the same technical effect. To avoid repetition, we will not repeat it here.
  • the embodiment of the present application also provides a network side device.
  • the network side device 2300 includes: a processor 2301, a network interface 2302, and a memory 2303.
  • the network interface 2302 is, for example, a general public Common public radio interface (CPRI).
  • CPRI Common public radio interface
  • the network side device 2300 in this embodiment of the present invention also includes: instructions or programs stored in the memory 2303 and executable on the processor 2301.
  • the processor 2301 calls the instructions or programs in the memory 2303 to execute the instructions shown in Figure 10 method and achieve the same technical effect. To avoid repetition, we will not repeat it here.
  • Embodiments of the present application also provide a readable storage medium, with programs or instructions stored on the readable storage medium.
  • the program or instructions are executed by a processor, each process of the above positioning method embodiment is implemented, and the same can be achieved. To avoid repetition, the technical effects will not be repeated here.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement each of the above positioning method embodiments. The process can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.
  • Embodiments of the present application further provide a computer program/program product.
  • the computer program/program product is stored in a storage medium.
  • the computer program/program product is executed by at least one processor to implement the above positioning method embodiment.
  • Each process can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • Embodiments of the present application also provide a positioning system, including: a terminal and a network side device.
  • the terminal can be used to perform the steps of the positioning method described in the first aspect or the second aspect.
  • the network side device can be used to Perform the steps of the positioning method described in the third aspect above.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to related technologies.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to make a terminal (which can be Mobile phones, computers, servers, air conditioners, or network equipment, etc.) execute the methods described in various embodiments of this application.

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Abstract

本申请公开了一种定位方法、装置、终端及网络侧设备，属于通信技术领域，本申请实施例的定位方法包括定位服务终端确定对目标终端执行旁链路定位；所述定位服务终端获取候选锚点终端的信息；所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端；所述定位服务终端与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。

Description

定位方法、装置、终端及网络侧设备
相关申请的交叉引用
本申请要求在2022年9月9日提交的申请号为202211105835.4、名称为“定位方法、装置、终端及网络侧设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于通信技术领域，具体涉及一种定位方法、装置、终端及网络侧设备。
背景技术
长期演进(Long Term Evolution，LTE)系统支持旁链路(或译为副链路，侧链路，边链路等)(sidelink)传输，即终端(User Equipment，UE)之间直接在物理层上进行数据传输。即LTE sidelink是基于广播进行通讯的，虽然可用于支持车联网(vehicle to everything，V2X)的基本安全类通信，但不适用于其他更高级的V2X业务。
而5G新空口(New Radio，NR)系统将支持更加先进的sidelink传输设计，例如，单播、多播或组播等，从而可以支持更全面的业务类型。目前，对于基于移动网络的定位技术，支持如下多种类型的定位：
基站发送下行定位参考信号(Positioning Reference Signal，PRS)，UE进行测量；
UE发送上行定位参考信号(比如信道探测参考信号(Sounding Reference Signal，SRS))，基站进行测量；
UE测量导航卫星的信号。
由此可知，目前的定位技术，是基于Uu(即UE与基站之间的无线接口)口的参考信号进行定位。
然而，除了基于Uu口的参考信号进行定位外，在V2X等场景也存在基于PC5口(即UE与UE之间的无线接口)进行定位的需求，比如当车辆不在移动网络的覆盖范围内时，可能需要进行sidelink定位。但是，目前并未提供基于PC5口的SL定位方法。
发明内容
本申请实施例提供一种定位方法、装置、终端及网络侧设备，以实现基于PC5口的SL定位。
第一方面，提供了一种定位方法，包括：
定位服务终端确定对目标终端执行旁链路定位；
所述定位服务终端获取候选锚点终端的信息；
所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
所述定位服务终端与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
第二方面，提供了一种定位方法，包括：
目标终端接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
所述目标终端向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
第三方面，提供了一种定位方法，包括：
网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
第四方面，提供了一种定位装置，包括：
第一确定模块，用于确定对目标终端执行旁链路定位；
第一信息获取模块，用于获取候选锚点终端的信息；
第二确定模块，用于从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
定位交互模块，用于与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
第五方面，提供了一种定位装置，包括：
第一接收模块，用于接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
第一发现模块，用于执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
第一发送模块，用于向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
第六方面，提供了一种定位装置，包括：
信息提供模块，用于与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
第七方面，提供了一种终端，该终端包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面或第二方面所述的方法的步骤。
第八方面，提供了一种网络侧设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第三方面所述的方法的步骤。
第九方面，提供了一种定位系统，包括：终端和网络侧设备，所述终端可用于执行如上述第一方面或第二方面所述的定位方法的步骤，所述网络侧设备可用于执行如上述第三方面所述的定位方法的步骤。
第十方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤，或者实现如第三方面所述的方法的步骤。
第十一方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和 所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第二方面所述的方法，或者实现如第三方面所述的方法的步骤。
第十二方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面或者第二方面或第三方面所述的方法的步骤。
第十三方面，本申请实施例提供了一种定位装置，所述装置用于执行如第一方面或第二方面或第三方面所述的定位方法的步骤。
在本申请实施例中，在定位服务终端确定对目标终端执行旁链路定位之后，可以获取候选锚点终端的信息，从而从候选锚点终端中选出至少一个参与定位的锚点终端，进而与目标终端和/或参与定位的至少一个锚点终端进行交互，执行对目标终端的定位过程。因此，本申请的实施例，通过定位服务终端、目标终端与锚点终端之间的信息交互，实现了基于旁链路对目标终端的定位过程，即实现了通过终端之间的交互对某个终端进行定位，亦即本申请的实施例实现了基于PC5口的旁链路定位。
附图说明
图1是本申请实施例可应用的一种无线通信系统的框图；
图2是相关技术中基于Uu口的定位架构示意图；
图3是相关技术中基于Uu口的定位的整体流程示意图；
图4是长期演进定位协议(long term evolution positioning protocol，LPP)的协议栈示意图；
图5是NR定位协议(new radio positioning protocol a,NRPPa)协议栈示意图；
图6是本申请实施例的定位方法适用的定位架构示意图；
图7是本申请实施例中的一种定位方法的流程图；
图8是本申请实施例中引入的用于Sidelink定位的新的协议层(即SLPP层)的位置示意图；
图9是本申请实施例中的另一种定位方法的流程图；
图10是本申请实施例中的另一种定位方法的流程图；
图11是本申请实施例的定位方法的具体实施方式中的流程图之一；
图12是本申请实施例的定位方法的具体实施方式中的流程图之二；
图13是本申请实施例的定位方法的具体实施方式中的流程图之三；
图14是本申请实施例的定位方法的具体实施方式中的流程图之四；
图15是本申请实施例的定位方法的具体实施方式中的流程图之五；
图16是本申请实施例的定位方法的具体实施方式中的流程图之六；
图17是本申请实施例中的一种定位装置的结构框图；
图18是本申请实施例中的另一种定位装置的结构框图；
图19是本申请实施例中的另一种定位装置的结构框图；
图20是本申请实施例中的一种通信设备的结构框图；
图21是本申请实施例中的一种终端的结构框图；
图22是本申请实施例中的一种网络侧设备的结构框图；
图23是本申请实施例中的另一种网络侧设备的结构框图。
具体实施例
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统应用以外的应用，如第6代(6th Generation，6G)通信系统。
图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端11和网络侧设备12。其中，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(VUE)、行人终端(PUE)、智能家居(具有无线通信功能的家居设备，如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer，PC)、柜员机或者自助机等终端侧设备，可穿戴式设备包括：智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是，在本申请实施例并不限定终端11的具体类型。 网络侧设备12可以包括接入网设备或核心网设备，其中，接入网设备12也可以称为无线接入网设备、无线接入网(Radio Access Network,RAN)、无线接入网功能或无线接入网单元。接入网设备12可以包括基站、WLAN接入点或WiFi节点等，基站可被称为节点B、演进节点B(eNB)、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、家用B节点、家用演进型B节点、发送接收点(Transmitting Receiving Point，TRP)或所述领域中其他某个合适的术语，只要达到相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR系统中的基站为例进行介绍，并不限定基站的具体类型。
核心网设备可以包含但不限于如下至少一项：核心网节点、核心网功能、移动管理实体(Mobility Management Entity，MME)、接入移动管理功能(Access and Mobility Management Function，AMF)、会话管理功能(Session Management Function，SMF)、用户平面功能(User Plane Function，UPF)、策略控制功能(Policy Control Function，PCF)、策略与计费规则功能单元(Policy and Charging Rules Function，PCRF)、边缘应用服务发现功能(Edge Application Server Discovery Function，EASDF)、统一数据管理(Unified Data Management，UDM)，统一数据仓储(Unified Data Repository，UDR)、归属用户服务器(Home Subscriber Server，HSS)、集中式网络配置(Centralized network configuration，CNC)、网络存储功能(Network Repository Function，NRF)，网络开放功能(Network Exposure Function，NEF)、本地NEF(Local NEF，或L-NEF)、绑定支持功能(Binding Support Function，BSF)、应用功能(Application Function，AF)等。需要说明的是，在本申请实施例中仅以NR系统中的核心网设备为例进行介绍，并不限定核心网设备的具体类型。
为了便于理解本申请实施例的定位方法，现对如下相关技术进行介绍：
第一方面，基于Uu接口的定位：
基于图2所示的定位架构，整体的定位流程可如图3所示，即：AMF从第三方、终端或自身接收到针对某个终端的定位业务请求。如果终端此时处于连接管理空闲态(connection management-IDLE，CM-IDLE)，则AMF寻呼该终端，以触发该终端进入连接管理连接态(connection management-CONNECTED，CM-CONNECTED)(即终端在空口对应的状态是无线资源控制(Radio Resource Control，RRC)连接态)，然后，AMF向LMF发送定位业务请求，LMF确定基于Uu接口的定位方法。该定位方法分为基于上行的定位和基于下行的定位，然后，LMF发起具体的定位过程，以获取到该终端的位置。
在定位过程中，LMF可能需要通过LPP协议与终端进行交互，和/或通过NRPPa协议与基站进行交互，比如交互能力，交互定位辅助数据，交互定位测量结果等，以使得LMF向AMF发送定位业务响应，携带该终端的位置。
其中，LPP的协议栈如图4所示，NR定位协议A(NRPPa)协议栈如图5所示。具 体地，在图4和图5中，LPP为长期演进定位协议，NAS为非接入层，RRC为无线资源控制，PDCP为分组数据汇聚协议，RLC为无线链路控制协议，MAC为媒体访问控制，L1为层1，L2为层2，IP为网际互连协议，SCTP为流控制传输协议，NGAP为下一代应用协议，N2接口的应用层协议，TLS为安全传输层协议，TCP为传输控制协议，HTTP为超文本传输协议，NRPPa为NR定位协议。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的定位方法进行详细地说明。
第一方面，参见图7所示，为本申请实施例所提供的一种定位方法的流程图，该方法可以包括以下步骤701至704：
步骤701：定位服务终端确定对目标终端执行旁链路定位。
本申请实施例的定位方法可适用于图6所示的旁链路定位架构。
在图6所示的定位架构中，定位服务终端(Location Server UE)是提供定位服务功能的UE，Location Server UE在一次sidelink定位中可以认为是一个必选的角色。Location Server UE接收携带定位服务质量(quality of service，QoS)的定位请求或自身触发sidelink定位需求，然后基于定位QoS确定在sidelink定位中采用的定位方法、定位配置信息、哪些UE作为锚点终端(即Anchor UE)参与定位等。
在一次sidelink定位过程中，Location Server UE可以是一个单独的角色(UE)，也可以是兼具目标终端(即Target UE)的角色，当然也可以说，target UE兼具Location Server UE的角色，此时，Location Server UE定位自己；Location Server UE也可以兼具锚点(Anchor)UE或参考(Reference)UE的角色，比如，Location Server UE辅助进行SL PRS的发送或测量。其中，Reference UE是在相对定位或范围定位时的位置参考UE。Reference UE可以是一个单独的UE，也可以是Anchor UE中的一个或Location Server UE。
其中，上述定位请求可以是第三方UE或位置管理功能(Location Management Function，LMF)或接入和移动性管理功能(Access and Mobility Management Function，AMF))发送的。
另外，在一次sidelink定位过程中，一个UE可以作为Location Server UE，在另一次sidelink定位过程中，这个UE可以不作为Location Server UE，比如只作为Anchor UE。
需要说明的是，Location Server UE在一次定位过程中起到控制sidelink定位执行的作用，也可以有其他称呼，比如控制(controlling)UE，这里不做限定。
此外，目标终端(Target UE)是定位的目标UE，定位需要获取该UE的绝对位置、相对位置或范围(ranging)。当Location Server UE接收到其他设备发送的请求时，该目标终端即为定位请求指示的终端；当Location Server UE自主触发定位需求时，该目标终端由Location Server UE决定。
步骤702：所述定位服务终端获取候选锚点终端的信息。
其中，所述锚点终端可以是位置已知的(或能获知位置的)，且参与发送旁链路定位 参考信号的终端，或者，所述锚点终端可以是位置已知的(或能获知位置的)且参与测量旁链路定位参考信号的终端。
即锚点终端(即Anchor UE)是提供定位辅助的UE，比如，发送或测量SL PRS。对于绝对定位，Anchor UE是位置已知的UE，或能获知位置的UE。Anchor UE可以有一个或多个，也可以不设置单独的Anchor UE，比如Location Server UE兼具Anchor UE的角色。Anchor UE也可以称之为位置已知的(located)UE。通常，路侧单元(RoadSide Unit，RSU)可以作为Anchor UE。
需要说明的是，由于Location Server UE也可以兼具Anchor UE的角色，因此在图6所示的架构中，在某些场景下，也可以没有单独的Anchor UE和/或单独的Reference UE。另外，Location Server UE可以与Target UE是同一个UE，也可以是不同的UE。
步骤703：所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端。
其中，定位服务终端可以将每一个候选Anchor UE均作为参与定位的Anchor UE；或者，根据定位QoS确定sidelink定位方法，从这些候选Anchor UE中选择支持该定位方法的UE，作为参与定位的Anchor UE；或者，按照RSRP的大小排序后，选择RSRP高的(例如大于一定阈值的)UE，作为参与定位的Anchor UE；或者，从这些候选Anchor UE中选择可以与Location Server UE建立sidelink单播连接的候选Anchor UE，作为参与定位的Anchor UE。
步骤704：所述定位服务终端与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
其中，步骤704的过程可以包括：
定位服务终端与参与定位的Anchor UE交互，配置Anchor UE发送SL PRS；
定位服务终端与目标终端交互，配置目标终端测量SL PRS；
定位服务终端接收目标终端发送的定位测量结果；
定位服务终端根据定位测量结果，确定目标终端的位置信息。
或者，步骤704可以包括：
定位服务终端与目标终端交互，配置目标终端发送SL PRS；
定位服务终端与参与定位的Anchor UE交互，配置Anchor UE测量SL PRS；
定位服务终端接收Anchor UE发送的定位测量结果；
定位服务终端根据定位测量结果，确定目标终端的位置信息。
另外，若定位服务终端在接收到其他设备发送的定位请求后，执行前述步骤701至704，则在得到目标终端的位置信息之后，定位服务终端还可以将目标终端的位置信息返回给发送上述定位请求的设备，例如将目标终端的位置信息携带在定位响应中返回给发送上述定位请求的设备。
由上述步骤701至704可知，在本申请实施例中，在定位服务终端确定对目标终端 执行旁链路定位之后，可以获取候选锚点终端的信息，从而从候选锚点终端中选出至少一个参与定位的锚点终端，进而与目标终端和/或参与定位的至少一个锚点终端进行交互，执行对目标终端的定位过程。因此，本申请的实施例，通过定位服务终端、目标终端与锚点终端之间的信息交互，实现了基于旁链路对目标终端的定位过程，即实现了通过终端之间的交互对某个终端进行定位，亦即本申请的实施例实现了基于PC5口的旁链路定位。
可选地，上述步骤702“所述定位服务终端获取候选锚点终端的信息”，包括：
所述定位服务终端从所述目标终端获取所述候选锚点终端的信息；
或者，
所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息。
由此可知，定位服务终端可以从目标终端中获取候选锚点终端的信息，也可以从网络侧设备中获取候选锚点终端的信息，其中，该网络侧设备可以为核心网设备(例如AMF、LMF)，也可以为接入网设备(例如基站)。
下面将分别具体介绍定位服务终端从目标终端或网络侧设备中获取候选锚点终端的信息过程。
情况一：定位服务终端从目标终端获取候选锚点终端的信息，具体可为如下所述的方式1-1或方式1-2：
方式1-1：可选地，所述定位服务终端从所述目标终端获取所述候选锚点终端的信息，包括：
所述定位服务终端向所述目标终端发送第一消息，所述第一消息用于请求获取所述候选锚点终端的信息；
所述定位服务终端接收所述目标终端响应于所述第一消息发送的第二消息，其中，所述第二消息包括所述候选锚点终端的第一列表；
所述定位服务终端根据所述第二消息中的所述第一列表，获取所述候选锚点终端的信息。
由此可知，定位服务终端可以向目标终端发送上述第一消息，来请求候选锚点终端的信息，这样，目标终端接收到第一消息后，则可以触发获取候选锚点终端的流程，从而将获取到的候选锚点终端的第一列表携带在第二消息中返回给定位服务终端。
其中，第一消息可以为SLPP消息、LPP消息、PC5 RRC消息中的其中一种。
可选地，所述方法还包括：
步骤H1：在所述定位服务终端与所述目标终端之间未建立旁链路单播连接的情况下，所述定位服务终端执行所述目标终端的发现过程和/或与所述目标终端的旁链路单播连接建立过程；
所述定位服务终端向所述目标终端发送第一消息，包括：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通 过所述定位服务终端与所述目标终端之间的旁链路单播连接，所述定位服务终端向所述目标终端发送所述第一消息；
所述定位服务终端接收所述目标终端响应于所述第一消息发送的第二消息，包括：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，所述定位服务终端接收所述第二消息。
可选地，所述方法还包括：
步骤H2：在未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接的情况下，所述定位服务终端向发送所述定位请求的设备发送定位响应消息或定位失败消息，其中，所述定位响应消息或所述定位失败消息中携带有第一指示信息，所述第一指示信息用于指示未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接。
由上述步骤H1至H2可知，在本申请实施例中，如果定位服务终端未与目标终端建立sidelink单播连接(例如在第三方UE或位置管理功能(Location Management Function，LMF)或接入和移动性管理功能(Access and Mobility Management Function，AMF)发起的定位Target UE的请求的场景下)，则定位服务终端执行目标终端发现过程和/或与目标终端的sidelink单播连接建立过程。
如果定位服务终端没有发现目标终端或没有成功与目标终端建立sidelink单播连接，则定位服务终端向发送定位请求的设备，回复定位响应消息或定位失败消息，从而结束流程。其中，该定位响应消息或定位失败消息中可以包括失败原因(即上述第一指示信息)，该失败原因可以是：无法执行、目标终端发现失败、单播连接建立失败中的其中一种。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述第一列表中的所述候选锚点终端满足所述目标条件；
其中，所述目标条件包括如下中A-1项至A-12项中至少一项：
A-1项：位置信息已知；
A-2项：能获取到位置信息；
A-3项：处于特定移动状态；
A-4项：参考信号接收功率RSRP测量结果大于第一预设阈值；
A-5项：属于特定终端类型；
A-6项：具有特定的旁链路定位能力；
A-7项：在网络覆盖范围内；
A-8项：在特定区域内；
A-9项：处于特定的无线资源控制RRC状态；
A-10项：PC5口资源大于第二预设阈值；
A-11项：与所述目标终端建立了旁链路单播连接；
A-12项：处于指定的终端列表中。
对于上述A-1至A-2项，例如在需要获取目标终端的绝对位置时，参与定位的锚点终端应该是位置已知的终端，或能获知位置的终端，此种情况下，上述目标条件则包括上述A-1(即位置信息已知)或A-2项(能获取到位置信息)；
对于上述A-3项中的“特定移动状态”例如可以为静止状态；
对于上述A-4项中的RSRP测量结果，可以是Target UE测量的Anchor UE的无线信号的RSRP，也可以是Anchor UE测量的Target UE的无线信号的RSRP；
对于上述A-5项，特定终端类型可以为路侧单元(RoadSide Unit，RSU)或定位参考单元(Positioning Reference Unit，PRU)；
对于上述A-6项，特定的旁链路定位能力，可以包括支持某种sidelink定位方法、支持某种sidelink测量量、支持发送SL-PRS、支持测量SL-PRS中的至少一项；
对于上述A-8项中“特定区域”，可以是一个小区或小区列表中的小区的覆盖区域；
对于上述A-9中“指定的RRC状态”，例如包括RRC连接态、RRC空闲态中的至少一种；
对于上述A-12项，即为在第一请求消息中可以包括一个UE列表，比如这些UE列表中的UE可以是位置固定的路侧单元(Road Side Unit，RSU)，则目标终端提供的候选锚点终端列表中的终端需要处于这个UE列表中。
另外，目标终端可以采用如下所述的方式1-1.1或1-1.2或方式1-1.3获取满足上述目标条件的候选Anchor UE。
方式1-1.1：Target UE广播发现请求消息，一个或多个UE接收到发现请求消息后，给Target UE回复第一响应消息，则Target UE从接收到的第一响应消息对应的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
方式1-1.2：Target UE接收一个或多个UE广播的宣告消息，其中宣告消息中包括UE的参数信息，这样，Target UE则可以根据宣告消息中的参数信息，从发送宣告消息的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
方式1-1.3：Target UE广播发现请求消息，该发现请求消息中携带有上述目标条件，接收到上述发现请求消息的UE中，满足上述目标条件的UE向Target UE回复第一响应消息，则Target UE将接收到的第一响应消息对应的UE作为候选Anchor UE。
方式1-2：可选地，所述定位服务终端确定对目标终端执行旁链路定位，包括：
所述定位服务终端接收定位请求，所述定位请求用于请求对所述目标终端进行定位；
所述定位服务终端响应于所述定位请求，确定对所述目标终端执行旁链路定位。
可选地，所述定位请求是所述目标终端发送的，所述定位请求中包括所述候选锚点终端的第一列表；
所述定位服务终端从所述目标终端获取所述候选锚点终端的信息，包括：
所述定位服务终端根据所述定位请求中的所述第一列表，获取所述候选锚点终端的信息。
由此可知，若定位服务终端接收到的定位请求是目标终端发送的，则该定位请求中可以携带目标终端获取的候选锚点终端，即当定位请求来自于目标终端时，目标终端在最近的一段时间内执行了锚点终端发现过程并获取到了候选锚点终端相关信息，这些信息仍然有效，则可以在定位请求里携带候选锚点终端的信息，从而减少了定位时延。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中B-1项至B-13项中至少一项：
B-1项：终端标识；
B-2项：终端索引；
B-3项：RRC状态；
B-4项：服务小区的标识信息；
B-5项：注册的接入和移动性管理功能AMF信息；
B-6项：旁链路定位能力信息；
B-7项：旁链路定位参考信号PRS发送配置信息；
B-8项：旁链路资源配置；
B-9项：旁链路资源分配方式；
B-10项：旁链路资源分配方式为模式1时的资源调度类型；
B-11项：地理位置信息；
B-12项：关联的RSRP测量结果；
B-13项：移动状态。
对于上述B-1项，终端标识例如可以包括临时UE识别号(SAE-Temporary MobileSubscription Identifier，S-TMSI)、国际移动用户识别码(International Mobile Subscriber Identity，IMSI)、用户永久标识符(SU bscription Permanent Identifier，SUPI)、小区无线网络临时标识(Cell-Radio Network Temporary Identifier，C-RNTI)、旁链路层2标识(SL layer2 ID)，应用层(Application Layer)UE ID中的至少一项。
对于上述B-2项中终端索引，每个候选锚点终端被分配一个终端索引，便于后续交互；
对于上述B-3项中RRC状态可以包括RRC连接态，RRC空闲态，RRC去激活态中的至少一项；
对于上述B-4项，服务小区的标识信息可以包括服务小区的频点、物理小区标识(Physical Cell Identifier，PCI)、全球小区识别码(Cell Global Identifier，CGI))中的至少一项；
对于上述B-5项，注册的AMF信息可以包括当前服务的公用陆地移动网(Public Land Mobile Network，PLMN)ID、注册的AMF的AMF ID中的至少一项；
对于上述B-6项，旁链路定位能力信息可以包括是否支持发送旁链路定位参考信号(Sidelink Positioning Reference Signals，SL-PRS),是否支持测量SL-PRS，支持的sidelink定位方法，是否能提供自己的位置中的至少一项；
对于上述B-7项中“旁链路定PRS发送配置信息”，锚点终端在该配置信息指示的资源上发送SL PRS；
对于上述B-8项，旁链路资源配置包括当前使用的sidelink资源、基站配置的sidelink资源中的至少一项；
对于上述B-9项，用于指示终端的旁链路资源分配方式为模式1(mode1)还是模式2(mode2)。
其中，NR V2X定义了两种资源分配模式(mode)，一种是mode1，即基站调度资源；另一种是mode2，即UE自己决定使用什么资源进行传输，此时资源信息可能来自基站的广播消息或者预配置的信息。UE如果工作在基站范围内并且与基站之间存在RRC连接，资源分配模式可以是mode1和/或mode2；UE如果工作在基站范围内但与基站之间不存在RRC连接，资源分配模式只能是mode2；如果UE在基站范围外，那么资源分配模式只能是mode2，例如根据预配置的信息来进行V2X传输。
对于上述B-10项，用于指示终端的旁链路资源分配方式为模式1时的资源调度类型具体为如下中的哪一种类型：
动态调度(dynamic scheduling)，即资源由基站动态进行调度；
配置授权类型1(configured grant type 1)，即基站配置的周期资源，可以直接使用；
配置授权类型2(configured grant type 2)，即基站配置的周期资源，激活基站后才可以使用)。
对于上述B-11项中的“地理位置信息”例如可以为经纬度信息；
对于上述B-12项中的“关联的RSRP测量结果”，即为与候选锚点终端关联的RSRP其中，与候选锚点终端关联的RSRP可以包括：目标终端测量的候选锚点终端的无线信号的RSRP，也可以是候选锚点终端测量的目标终端的无线信号的RSRP。
在定位服务终端从目标终端中获取候选锚点终端的情况下，候选锚点终端是目标终端执行发现过程从而识别的，即候选锚点终端处于目标终端周边，则定位服务终端最终选出的参与定位的锚点终端处于目标终端周边，这样可能存在一个问题：定位服务终端可能与部分参与定位的锚点终端相距过远，导致定位服务终端无法与这些锚点终端建立sidelink单播连接进行通信。
为了解决上述问题，可以采用如下方法一或方法二或方法三来解决：
方法一：可选地，所述方法还包括：
所述定位服务终端分别对所述第一列表中的终端，执行发现过程和/或旁链路单播连接建立过程；
所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端，包 括：
所述定位服务终端从所述第一列表中的第一类终端中，确定参与定位的至少一个所述锚点终端，其中，所述第一类终端为所述定位服务终端发现成功和/或建立旁链路单播连接成功的终端。
由此可知，定位服务终端可以在接收到目标终端发送的第二消息之后，对第二消息中携带的候选锚点终端(即第一列表中的候选锚点终端)，执行发现过程，或者(如果定位服务终端还没有与候选锚点终端建立sidelink单播连接)尝试与这些候选锚点终端建立sidelink单播连接。这样，选择参与定位的锚点终端时，则从能成功发现或成功建立sidelink单播连接的候选锚点终端中，来选择参与定位的锚点终端。
方法二：可选地，所述定位服务终端向所述目标终端发送第一消息之前，所述方法还包括：
所述定位服务终端执行候选锚点终端的发现过程，得到候选锚点终端的第二列表；
其中，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端，所述第一消息包括所述第二列表，所述第一列表中包括的候选锚点终端是所述第二列表中被所述目标终端成功发现的终端。
由此可知，定位服务终端可以在给目标终端发送第一消息之前，先执行候选锚点终端的发现过程，得到候选锚点终端的第二列表，从而将第二列表携带在第一消息中发送给目标终端。这样，目标终端接收到第二消息之后，则可以在第二列表中的UE里面，进一步执行发现过程识别出候选锚点终端，从而将此时得到的候选锚点终端的列表(即第一列表)放在第二消息中，发送给定位服务终端，即第二消息中包括的候选锚点终端是目标终端和位置服务终端均能发现的UE。
方法三：可选地，所述定位服务终端与所述锚点终端进行交互，包括：
所述定位服务终端通过所述目标终端与所述锚点终端进行交互；
或者，
在所述定位服务终端与所述锚点终端之间成功建立旁链路单播连接的情况下，通过所述定位服务终端与所述锚点终端之间的旁链路单播连接，所述定位服务终端与所述锚点终端进行交互。
由此可知，当参与定位的锚点终端存在多个时，可以通过目标终端转发定位服务终端与每个参与定位的锚点终端进行交互的信息；
也可以是针对部分参与定位的锚点终端，通过目标终端转发定位服务终端与其进行交互的信息，针对另一部分参与定位的锚点终端，则通过建立旁链路单播连接来实现其与定位服务终端的通信；例如，定位服务终端选出参与定位的锚点终端之后，可以先尝试发现每个参与定位的锚点终端或者与每个参与定位的锚点终端建立旁链路单播连接，对于发现失败或建立单播连接失败的锚点终端，才通过目标终端进行转发，否则直接通过旁链路单播连接进行交互。
其中，通过目标终端转发定位服务终端与锚点终端进行交互的信息，则可以解决“定位服务终端与部分参与定位的锚点终端相距过远，导致定位服务终端无法与这些锚点终端建立sidelink单播连接进行通信”的问题。
可选地，所述定位服务终端通过所述目标终端与所述锚点终端进行交互，包括如下中至少一项：
所述定位服务终端向所述目标终端发送第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
所述定位服务终端接收所述目标终端发送的第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述锚点终端发送给所述定位服务终端的第五消息。
由此可知，定位服务终端需要向锚点终端发送第四消息时，定位服务终端先向目标终端发送携带第四消息的第三消息，从而使得目标终端向锚点终端发送第九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。即目标终端将定位服务终端需要发送给锚点终端的第四消息携带在第九消息中发送给锚点终端。在这里，所述第三消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者；所述第九消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者。
另外，锚点终端需要向定位服务终端发送第五消息时，锚点终端先向目标定位终端发送第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端需要发送给所述定位服务终端的第五消息，从而使得目标终端向定位服务终端发送携带有第五消息的第六消息。在这里，所述第十消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者。
此外，在定位服务终端通过目标终端与锚点终端进行交互的过程中，目标终端用于转发消息，则在目标终端接收到的消息中包括容器的情况下，目标终端可以不解码该容器。
需要说明的是，上述SLPP消息可以是一个新引入的sidelink定位协议的消息，也可以是LPP协议的消息。
其中，对于新引入的该SLPP协议层，用于Sidelink定位，该协议层用于定位服务终端与目标终端和锚点终端进行定位消息交互。例如图8所示，SLPP层是新引入的用于sidelink定位的协议层，位于PDCP层的上一层。可以理解的是，SLPP也可以位于PC5 RRC或PC5-S的上一层。其中，图8中的PHY表示物理层。
可选地，第三消息可以包括发送给1个或多个锚点终端的消息。
可选地，针对每个锚点终端，第三消息可以包括发送给该锚点终端的1个或多个消息，以节省定位时延和信令开销。
需要说明的是，目标终端可以根据上述第三消息中锚点终端的标识或索引，确定对 应的锚点终端。如果目标终端与该锚点终端之间没有建立sidelink单播连接，则目标终端建立与该锚点终端的sidelink单播连接；如果单播连接建立失败，则目标终端还可以向定位服务终端发送失败消息，该失败消息中可以携带一个原因值，用于指示递送失败或单播连接建立失败。其中，与目标终端建立sidelink单播连接失败的锚点终端，则无法参与定位过程。
情况二：定位服务终端从网络侧设备获取候选锚点终端的信息，具体可为如下所述的方式2-1或方式2-2：
方式2-1：可选地，所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息，包括：
所述定位服务终端向所述网络侧设备发送第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端的信息；
所述定位服务终端接收所述网络侧设备响应于所述第一请求消息发送的第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表；
所述定位服务终端根据所述第七消息中的所述第三列表，获取所述候选锚点终端的信息。
由此可知，定位服务终端可以向网络侧设备发送上述第一请求消息，来请求候选锚点终端的信息，这样，网络侧设备接收到第一请求消息后，则可以将候选锚点终端的第三列表携带在第七消息中返回给定位服务终端。
这里，网络侧设备例如可以为LMF或AMF或基站。即LMF或AMF或基站中可以保存有候选锚点终端的信息，比如通过操作管理维护(Operation Administration and Maintenance，OAM)系统得到的，则在LMF或AMF或基站接收到定位服务终端发送的上述第一请求消息后，则可以根据其中存储的候选锚点终端的信息，得到候选锚点终端的第三列表，从而携带在第七消息中返回给定位服务终端。
可选地，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
可选地，所述第七消息为LPP消息、LCS消息、NAS消息、专用RRC消息中的其中一者。
可选地，所述第一请求消息包括所述定位服务终端的位置信息，所述第三列表中的候选锚点终端是根据所述定位服务终端的位置信息确定的。
其中，定位服务终端的位置信息可以是经纬度信息，也可以是定位服务终端当前的服务小区ID。
由此可知，定位服务终端向网络侧设备发送第一请求消息，以请求获取候选锚点终端的信息时，还可以将自身的位置信息携带在第一请求消息发送给网络侧设备，这样， 网络侧设备则可以根据定位服务终端的位置信息，确定候选锚点终端(比如选择与定位服务终端在一定距离范围内的候选锚点终端，或者与定位服务终端在同一个服务小区以及邻接服务小区下的候选锚点终端)，以减少不必要的信令开销，从而将根据定位服务终端的位置信息确定的候选锚点终端的第三列表携带在上述第七消息中发送给定位服务终端。
方式2-2：可选地，所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息，包括：
所述定位服务终端接收所述网络侧设备发送的系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表；
所述定位服务终端根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息。
这里，网络侧设备例如可以为基站。即基站可以在小区的系统消息中广播候选锚点终端的第三列表，以使得定位服务终端可以接收。
另外，上述系统信息消息可以为定位系统信息块(positioning System Information Block posSIB)，也可以为常规的系统信息块(System Information Block，SIB)消息。
可选地，所述系统信息消息包括的所述锚点终端的信息为加密后的信息；
所述定位服务终端根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息，包括：
在所述定位服务终端中存储有预定密钥的情况下，所述定位服务终端采用所述预定密钥，对所述系统信息消息中加密后的信息进行解密，得到所述第三列表；
所述定位服务终端根据所述第三列表，获取所述候选锚点终端的信息。
由此可知，在本申请实施例中，上述系统信息消息中携带的候选锚点终端的信息(例如上述第三列表)可以进行加密，使得只有拥有对应的密钥的定位服务终端(比如经过鉴权的定位服务终端)才能正确解密。
可选地，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
C-1项：终端标识；
C-2项：地理位置信息；
C-3项：旁链路定位能力信息；
C-4项：服务小区的标识信息；
C-5项：旁链路PRS发送配置信息。
对于上述C-1项，终端标识例如可以包括S-TMSI、IMSI、SUPI、C-RNTI、SL layer2 ID、Application Layer UE ID中的至少一项。
对于上述C-2项中的“地理位置信息”例如可以为经纬度信息；
对于上述C-3项，旁链路定位能力信息可以包括是否支持发送SL-PRS,是否支持测 量SL-PRS，支持的sidelink定位方法，是否能提供自己的位置中的至少一项；
对于上述C-4项，服务小区的标识信息可以包括服务小区的频点、PCI、CGI中的至少一项；
对于上述C-5项中“旁链路定PRS发送配置信息”，锚点终端在该配置信息指示的资源上发送SL PRS。
可选地，所述第三列表包括如下中至少一个终端：
所述定位服务终端的服务小区下的候选锚点终端；
所述定位服务终端的服务小区的邻区下的候选锚点终端。
由此可知，网络侧设备(例如LMF或AMF或基站)反馈给定位服务终端的第三列表中，可以包括定位服务终端的当前服务小区下的锚点终端，也可以包括定位服务终端当前服务小区以及邻区下的锚点终端。
第二方面，参见图9所示，为本申请实施例所提供的一种定位方法的流程图，该方法可以包括以下步骤901至903：
步骤901：目标终端接收定位服务终端发送的第一消息。
其中，所述第一消息用于请求候选锚点终端的信息。第一消息可以为SLPP消息、LPP消息、PC5 RRC消息中的其中一种。
本申请实施例的定位方法可适用于图6所示的旁链路定位架构。
在图6所示的定位架构中，定位服务终端(Location Server UE)是提供定位服务功能的UE，Location Server UE在一次sidelink定位中可以认为是一个必选的角色。Location Server UE接收携带定位服务质量(quality of service，QoS)的定位请求或自身触发sidelink定位需求，然后基于定位QoS确定在sidelink定位中采用的定位方法、定位配置信息、哪些UE作为锚点终端(即Anchor UE)参与定位等。
在一次sidelink定位过程中，Location Server UE可以是一个单独的角色(UE)，也可以是兼具目标终端(即Target UE)的角色，当然也可以说，target UE兼具Location Server UE的角色，此时，Location Server UE定位自己；Location Server UE也可以兼具锚点(Anchor)UE或参考(Reference)UE的角色，比如，Location Server UE辅助进行SL PRS的发送或测量。其中，Reference UE是在相对定位或范围定位时的位置参考UE。Reference UE可以是一个单独的UE，也可以是Anchor UE中的一个或Location Server UE。
其中，所述目标终端是所述定位服务终端执行旁链路定位的目标终端，即目标终端(Target UE)是定位的目标UE，定位需要获取该UE的绝对位置、相对位置或范围(ranging)。当Location Server UE接收到其他设备发送的请求时，该目标终端即为定位请求指示的终端；当Location Server UE自主触发定位需求时，该目标终端由Location Server UE决定。
另外，所述锚点终端可以是位置已知的(或能获知位置的)，且参与发送旁链路定位参考信号的终端，或者，所述锚点终端可以是位置已知(或能获知位置的)的且参与测 量旁链路定位参考信号的终端。
步骤902：所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表。
步骤903：所述目标终端向所述定位服务终端发送第二消息。
其中，所述第二消息包括所述第一列表。
由上述步骤901至903可知，定位服务终端可以向目标终端发送上述第一消息，来请求候选锚点终端的信息，这样，目标终端接收到第一消息后，则可以触发获取候选锚点终端的流程，从而将获取到的候选锚点终端的第一列表携带在第二消息中返回给定位服务终端。
下面将分别具体介绍上述步骤902“所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表”的实现过程，例如下面的方式3-1或方式3-2或方式3-3所述：
方式3-1：可选地，所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，包括：
所述目标终端广播发现请求消息，其中，所述发现请求消息用于请求发现候选锚点终端；
所述目标终端接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息；
所述目标终端根据所述候选锚点终端的信息，得到所述第一列表。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件；
所述目标终端根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息，包括：
所述目标终端将接收到的所述第一响应消息对应的终端中，满足所述目标条件的终端的信息，确定为所述候选锚点终端的信息。
由此可知，Target UE可以广播发现请求消息，这样，UE接收到发现请求消息后，给Target UE回复第一响应消息，则Target UE从接收到的第一响应消息对应的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
可以理解的是，目标终端还可以将接收到的第一响应消息对应的终端中满足目标条件的终端的部分终端，作为候选锚点终端。
方式3-2：可选地，所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，包括：
所述目标终端接收终端广播的宣告消息，其中，所述宣告消息包括终端的参数信息；
所述目标终端根据接收到的所述宣告消息对应的终端，获取所述候选锚点终端的信息；
所述目标终端根据所述候选锚点终端的信息，得到所述第一列表。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件；
所述目标终端根据接收到的所述宣告消息对应的终端，获取所述候选锚点终端的信息，包括：
所述目标终端将接收到的所述宣告消息对应的终端中，满足所述目标条件的终端的信息，确定为所述候选锚点终端的信息。
由此可知，Target UE可以接收UE广播的宣告消息，其中宣告消息中包括UE的参数信息，这样，Target UE则可以根据宣告消息中的参数信息，从发送宣告消息的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
可以理解的是，目标终端还可以将接收到的宣告消息对应的终端中满足目标条件的终端的部分终端，作为候选锚点终端。
此处需要说明的是，上述宣告消息中包括的终端的参数信息可以包括如下D-1至D-8项中的至少一项：
D-1项：具有Anchor UE能力；
D-2项：位置信息已知；
D-3项：能获取到位置信息；
D-4项：处于特定移动状态；
D-5项：属于特定终端类型；
D-6项：具有特定的旁链路定位能力；
D-7项：在网络覆盖范围内；
D-8项：处于特定的无线资源控制RRC状态。
方式3-3：可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述发现请求消息中包括所述目标条件；
所述目标终端接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息，包括：
所述目标终端接收满足所述目标条件的终端发送的所述第一响应消息，并将接收到的所述第一响应消息对应的终端的信息，确定为所述候选锚点终端的信息。
由此可知，Target UE可以广播发现请求消息，该发现请求消息中携带有上述目标条件，接收到上述发现请求消息的UE中，满足上述目标条件的UE向Target UE回复第一响应消息，则Target UE将接收到的第一响应消息对应的UE作为候选Anchor UE。
可选地，所述目标条件包括如下中A-1项至A-12项中至少一项：
A-1项：位置信息已知；
A-2项：能获取到位置信息；
A-3项：处于特定移动状态；
A-4项：参考信号接收功率RSRP测量结果大于第一预设阈值；
A-5项：属于特定终端类型；
A-6项：具有特定的旁链路定位能力；
A-7项：在网络覆盖范围内；
A-8项：在特定区域内；
A-9项：处于特定的无线资源控制RRC状态；
A-10项：PC5口资源大于第二预设阈值；
A-11项：与所述目标终端建立了旁链路单播连接；
A-12项：处于指定的终端列表中。
其中，对于上述A-1至A-12项中各项的相关解释，可参见前文所述，此处不再赘述。
可选地，所述方法还包括：
所述目标终端向所述定位服务终端发送定位请求，其中，所述定位请求中包括所述第一列表。
由此可知，若定位服务终端接收到的定位请求是目标终端发送的，则该定位请求中可以携带目标终端获取的候选锚点终端，即当定位请求来自于目标终端时，目标终端在最近的一段时间内执行了锚点终端发现过程并获取到了候选锚点终端相关信息，这些信息仍然有效，则可以在定位请求里携带候选锚点终端的信息，从而减少了定位时延。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中B-1项至B-13项中至少一项：
B-1项：终端标识；
B-2项：终端索引；
B-3项：RRC状态；
B-4项：服务小区的标识信息；
B-5项：注册的接入和移动性管理功能AMF信息；
B-6项：旁链路定位能力信息；
B-7项：旁链路定位参考信号PRS发送配置信息；
B-8项：旁链路资源配置；
B-9项：旁链路资源分配方式；
B-10项：旁链路资源分配方式为模式1时的资源调度类型；
B-11项：地理位置信息；
B-12项：关联的RSRP测量结果；
B-13项：移动状态。
其中，对于上述B-1至B-13项中各项的相关解释，可参见前文所述，此处不再赘述。
在定位服务终端从目标终端中获取候选锚点终端的情况下，候选锚点终端是目标终端执行发现过程从而识别的，即候选锚点终端处于目标终端周边，则定位服务终端最终选出的参与定位的锚点终端处于目标终端周边，这样可能存在一个问题：定位服务终端可能与部分参与定位的锚点终端相距过远，导致定位服务终端无法与这些锚点终端建立 sidelink单播连接进行通信。
为了解决上述问题，可以采用如下方式4-1或方式4-2来解决：
方式4-1：可选地，所述第一消息包括第二列表，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端；
所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，包括：
所述目标终端对所述第二列表中的终端，执行候选锚点终端的发现过程，得到所述候选锚点终端的所述第一列表。
由此可知，定位服务终端可以在给目标终端发送第一消息之前，先执行候选锚点终端的发现过程，得到候选锚点终端的第二列表，从而将第二列表携带在第一消息中发送给目标终端。这样，目标终端接收到第二消息之后，则可以在第二列表中的UE里面，进一步执行发现过程识别出候选锚点终端，从而将此时得到的候选锚点终端的列表(即第一列表)放在第二消息中，发送给定位服务终端，即第二消息中包括的候选锚点终端是目标终端和位置服务终端均能发现的UE。
方式4-2：可选地，所述方法还包括：
所述目标终端转发所述定位服务终端与参与定位的至少一个锚点终端之间进行交互的消息。
其中，通过目标终端转发定位服务终端与锚点终端进行交互的信息，则可以解决“定位服务终端与部分参与定位的锚点终端相距过远，导致定位服务终端无法与这些锚点终端建立sidelink单播连接进行通信”的问题。
可选地，所述目标终端转发所述定位服务终端与所述锚点终端之间进行交互的消息，包括：
所述目标终端接收所述定位服务终端发送的第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
所述目标终端根据所述锚点终端的标识信息或索引确定所述锚点终端，并向所述锚点终端发送第九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。
由此可知，定位服务终端需要向锚点终端发送第四消息时，定位服务终端先向目标终端发送携带第四消息的第三消息，从而使得目标终端向锚点终端发送第九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。即目标终端将定位服务终端需要发送给锚点终端的第四消息携带在第九消息中发送给锚点终端。在这里，所述第三消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者；所述第九消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者。
可选地，第三消息可以包括发送给1个或多个锚点终端的消息。
可选地，针对每个锚点终端，第三消息可以包括发送给该锚点终端的1个或多个消 息，以节省定位时延和信令开销。
需要说明的是，目标终端可以根据上述第三消息中锚点终端的标识或索引，确定对应的锚点终端。如果目标终端与该锚点终端之间没有建立sidelink单播连接，则目标终端建立与该锚点终端的sidelink单播连接；如果单播连接建立失败，则目标终端还可以向定位服务终端发送失败消息，该失败消息中可以携带一个原因值，用于指示递送失败或单播连接建立失败。其中，与目标终端建立sidelink单播连接失败的锚点终端，则无法参与定位过程。
可选地，所述目标终端转发所述定位服务终端与所述锚点终端之间进行交互的消息，还包括：
所述目标终端接收所述锚点终端发送的第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端发送给所述定位服务终端的第五消息；
所述目标终端向所述定位服务终端发送第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述第五消息。
由此可知，锚点终端需要向定位服务终端发送第五消息时，锚点终端先向目标定位终端发送第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端需要发送给所述定位服务终端的第五消息，从而使得目标终端向定位服务终端发送携带有第五消息的第六消息。在这里，所述第十消息为：SLPP消息、PC5 RRC消息、PC5信令(即PC5-S)消息中的其中一者。
此外，在定位服务终端通过目标终端与锚点终端进行交互的过程中，目标终端用于转发消息，则在目标终端接收到的消息中包括容器的情况下，目标终端可以不解码该容器。
需要说明的是，上述SLPP消息可以是一个新引入的sidelink定位协议的消息，也可以是LPP协议的消息。其中，对于新引入的该SLPP协议层，用于Sidelink定位，该协议层用于定位服务终端与目标终端和锚点终端进行定位消息交互。例如图8所示，SLPP层是新引入的用于sidelink定位的协议层，位于PDCP层的上一层。可以理解的是，SLPP也可以位于PC5 RRC或PC5-S的上一层。
第三方面，参见图10所示，为本申请实施例所提供的一种定位方法的流程图，该方法可以包括以下步骤1001：
步骤1001：网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
由此可知，本申请实施例中，网络侧设备可以向定位服务终端提供候选锚点终端的信息，以使得定位服务终端可以从候选锚点终端中选出至少一个参与定位的锚点终端，进而与目标终端和/或参与定位的至少一个锚点终端进行交互，执行对目标终端的定位过程。
下面将分别具体介绍网络侧设备向定位服务终端提供候选锚点终端的信息过程，如 下所述的方式5-1或方式5-2。
方式5-1，可选地，所述网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息，包括：
所述网络侧设备接收定位服务终端发送的第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端；
所述网络侧设备响应于所述第一请求消息，向所述定位服务终端发送第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表。
由此可知，定位服务终端可以向网络侧设备发送上述第一请求消息，来请求候选锚点终端的信息，这样，网络侧设备接收到第一请求消息后，则可以将候选锚点终端的第三列表携带在第七消息中返回给定位服务终端。
这里，网络侧设备例如可以为LMF或AMF或基站。即LMF或AMF或基站中可以保存有候选锚点终端的信息，比如通过OAM系统得到的，则在LMF或AMF或基站接收到定位服务终端发送的上述第一请求消息后，则可以根据其中存储的候选锚点终端的信息，得到候选锚点终端的第三列表，从而携带在第七消息中返回给定位服务终端。
可选地，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
可选地，所述第七消息为LPP消息、LCS消息、NAS消息、专用RRC消息中的其中一者。
可选地，所述第一请求消息包括所述定位服务终端的位置信息，所述第三列表中的候选锚点终端是根据所述定位服务终端的位置信息确定的。
其中，定位服务终端的位置信息可以是经纬度信息，也可以是定位服务终端当前的服务小区ID。
由此可知，定位服务终端向网络侧设备发送第一请求消息，以请求获取候选锚点终端的信息时，还可以将自身的位置信息携带在第一请求消息发送给网络侧设备，这样，网络侧设备则可以根据定位服务终端的位置信息，确定候选锚点终端(比如选择与定位服务终端在一定距离范围内的候选锚点终端，或者与定位服务终端在同一个服务小区以及邻接服务小区下的候选锚点终端)，以减少不必要的信令开销，从而将根据定位服务终端的位置信息确定的候选锚点终端的第三列表携带在上述第七消息中发送给定位服务终端。
方式5-2：可选地，所述网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息，包括：
所述网络侧设备发送系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表。
这里，网络侧设备例如可以为基站。即基站可以在小区的系统消息中广播候选锚点终端的第三列表，以使得定位服务终端可以接收。
另外，上述系统信息消息可以为posSIB，也可以为常规的SIB消息。
可选地，所述网络侧设备发送所述系统信息消息之前，所述方法还包括：
所述网络侧设备采用预定密钥，对所述系统信息消息中包括的所述锚点终端的信息进行加密。
由此可知，在本申请实施例中，上述系统信息消息中携带的候选锚点终端的信息(例如上述第三列表)可以进行加密，使得只有拥有对应的密钥的定位服务终端(比如经过鉴权的定位服务终端)才能正确解密。
可选地，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
C-1项：终端标识；
C-2项：地理位置信息；
C-3项：旁链路定位能力信息；
C-4项：服务小区的标识信息；
C-5项：旁链路PRS发送配置信息。
其中，上述C-1项至C-5项的相关解释，可参见前文所述，此处不再赘述。
可选地，所述第三列表包括如下中至少一个终端：
所述定位服务终端的服务小区下的候选锚点终端；
所述定位服务终端的服务小区的邻区下的候选锚点终端。
由此可知，网络侧设备(例如LMF或AMF或基站)反馈给定位服务终端的第三列表中，可以包括定位服务终端的当前服务小区下的锚点终端，也可以包括定位服务终端当前服务小区以及邻区下的锚点终端。
综上所述，本申请实施例的定位方法的具体实施方式可如下实施方式一至实施方式二所述。
实施方式一：
Location Server UE从Target UE获取候选Anchor UE信息，例如，Location Server UE请求Target UE提供候选Anchor UE信息，Target UE执行Anchor UE发现过程，并将候选Anchor UE信息发送给Location Server UE，或者Target UE主动将候选Anchor UE信息发送给Location Server UE。这样，Location Server UE则可以基于得到的候选Anchor UE的信息，确定参与sidelink定位的一个或多个Anchor UE。基于该方法，参与定位的Anchor UE都能测量到Target UE发送的SL PRS，或者Target UE都能测量到参与定位的Anchor UE发送的SL PRS，从而减少了不必要的无线资源的开销或信令开销。
具体流程如图11所示，包括如下所述的步骤111至118：
步骤111：Location Server UE接收到定位请求或Location Server UE自身触发，需要 定位Target UE或自己(即Location Server UE同时是Target UE)。
其中，定位请求中携带定位QoS和目标UE ID。定位QoS可以包括定位精度和定位时延。
另外，定位请求可以是如下中的其中一种消息：
Sidelink定位协议(即SLPP)消息；
PC5信令(即PC5-S)消息；
PC5 RRC消息；
定位业务(Location Service，LCS)消息；
LPP消息；
NAS消息。
可选地，定位请求可以还包括候选Anchor UE的第一列表。进一步，可选地，定位请求还可以包括一个或多个候选Anchor UE的第一终端信息(其中，第一终端信息包括的具体内容会在后续步骤115中进行介绍)，从而减少定位时延。即当定位请求来自于Target UE时，Target UE在最近的一段时间内执行了Anchor UE发现过程并获取到了候选Anchor UE相关信息，这些信息仍然有效，则可以在定位请求里携带候选Anchor UE信息。
步骤112(为可选步骤)：如果Location Server UE未与Target UE建立sidelink单播连接(例如在第三方UE或定位管理功能(Location Management Function，LMF)或接入和移动性管理功能(Access and Mobility Management Function，AMF)发起的定位Target UE的请求的场景下)，则Location Server UE执行Target UE发现过程和/或与Target UE的sidelink单播连接建立过程。
如果Location Server UE没有发现Target UE或没有成功与Target UE建立sidelink单播连接，则Location Server UE向发送定位请求的设备，回复定位响应消息或定位失败消息，从而结束流程。其中，该定位响应消息或定位失败消息中可以包括失败原因，该失败原因可以是：无法执行、Target UE发现失败、单播连接建立失败中的其中一种。
步骤113(为可选步骤)：Location Server UE通过sidelink单播连接向Target UE发送第一消息，该第一消息用于请求候选Anchor UE。
其中，第一消息可以为SLPP消息、LPP消息、PC5 RRC消息中的其中一种。
可选地，上述第一消息中携带目标条件，用于指示候选Anchor UE满足的条件。这样，通过提供目标条件，可以使得Location Server UE能获取到适合该次sidelink定位的Anchor UE。
其中，目标条件可以包括以下至少一项：
位置信息已知；
能获取到位置信息；
处于特定移动状态(例如静止状态)；
参考信号接收功率RSRP测量结果大于第一预设阈值；(其中，该RSRP测量结果可以是Target UE测量到的Anchor UE的无线信号的RSRP，也可以是Anchor UE测量的Target UE的无线信号的RSRP)
属于特定终端类型；(其中，该特定终端类型可以为路侧单元(RoadSide Unit，RSU)或定位参考单元(Positioning Reference Unit，PRU)
具有特定的旁链路定位能力；(其中，该特定的旁链路定位能力可以包括支持某种sidelink定位方法、支持某种sidelink测量量、支持发送SL-PRS、支持测量SL-PRS中的至少一项)
在网络覆盖范围内；
在特定区域内；(该特定区域可以是一个小区或小区列表)
处于指定的RRC状态；(该RRC状态例如包括RRC连接态、RRC空闲态中的至少一项)
PC5口资源大于预设阈值；
与Target UE建立了sidelink单播连接；
处于指定的终端列表中(即在第一消息中包括一个UE列表，比如这些UE列表中的UE可以是位置固定的RSU，也可以是Location Server UE执行发现过程识别的候选Anchor UE)。
步骤114：Target UE执行Anchor UE发现过程，以找到满足上述目标条件的候选Anchor UE。
其中，Target UE可以采用如下所述的方式一或方式二或方式三获取满足上述目标条件的候选Anchor UE。
方式一：Target UE广播发现请求消息，一个或多个UE接收到发现请求消息后，给Target UE回复第一响应消息，则Target UE从接收到的第一响应消息对应的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
方式二：Target UE接收一个或多个UE广播的宣告消息，其中宣告消息中包括UE的参数信息，这样，Target UE则可以根据宣告消息中的参数信息，从发送宣告消息的UE中，选出满足上述目标条件的UE，以作为候选Anchor UE。
方式三：Target UE广播发现请求消息，该发现请求消息中携带有上述目标条件，接收到上述发现请求消息的UE中，满足上述目标条件的UE向Target UE回复第一响应消息，则Target UE将接收到的第一响应消息对应的UE作为候选Anchor UE。
其中，上述发现请求消息可以为PC5-D消息，例如直接发现请求(direct discovery solicitation)，则上述第一响应消息也可以为直接发现响应(direct discovery response)；或者，上述发现请求消息也可以为在sidelink定位协议中引入的一个消息，该消息被广播发送，用于发现候选Anchor UE。
步骤115：Target UE向Location Server UE发送第二消息，该第二消息中携带候选 Anchor UE的第一列表。
可选地，第二消息是第一消息的响应消息，第二消息可以为SLPP消息、LPP消息、PC5 RRC消息中的其中一种。
可选地，上述第二消息中还携带有一个或多个候选Anchor UE的第一终端信息。
其中，对于每个候选Anchor UE，候选Anchor UE的第一终端信息包括如下中至少一项：
UE ID，比如可以包括S-TMS、IMSI、SUPI、C-RNTI、SL layer2 ID、Application Layer UE ID中的至少一项；
UE索引(每个候选Anchor UE被分配一个UE索引，便于后续交互)；
RRC状态(可以包括RRC连接态，RRC空闲态，RRC去激活态中的至少一项)；
服务小区ID(可以包括服务小区的频点、PCI、CGI中的至少一项)；
注册的AMF信息(可以包括当前服务的PLMN ID、注册的AMF的AMF ID中的至少一项)；
sidelink定位能力(可以包括是否支持发送SL-PRS、是否支持测量SL-PRS、支持的sidelink定位方法，是否能提供自己的位置中的至少一项)；
旁链路定PRS发送配置信息，其中，Anchor UE在该配置信息指示的资源上发送SL PRS；
sidelink资源配置，该资源配置包括Anchor UE当前使用的sidelink资源和/或基站给Anchor UE配置的sidelink资源；
sidelink资源分配方式，该资源分配方式包括：mode1和mode 2；
候选Anchor UE的sidelink资源分配方式为mode1时的资源调度类型，即若候选Anchor UE的sidelink资源分配方式是mode1，则上述第一终端信息还可以包括具体是以下哪种资源调度类型：动态调度(dynamic scheduling)，即资源由基站动态进行调度；配置授权类型1(configured grant type 1)，即基站配置的周期资源，可以直接使用；配置授权类型2(configured grant type 2)，即基站配置的周期资源，激活后才可以使用)；
地理位置信息，比如经纬度信息；
与候选Anchor UE关联的RSRP测量结果(候选Anchor UE关联的RSRP可以包括：Target UE测量的候选Anchor UE的无线信号的RSRP，也可以是候选Anchor UE测量的Target UE的无线信号的RSRP)；
移动状态。
步骤116:Location Server UE可以根据候选Anchor UE的上述第一终端信息、以及定位QoS等信息，确定参与定位的Anchor UE。
例如，每一个候选Anchor UE作为参与定位的Anchor UE；
或者，根据定位QoS确定sidelink定位方法，从这些候选Anchor UE中选择支持该定位方法的UE，作为参与定位的Anchor UE；
或者，按照RSRP的大小排序后，选择RSRP高的(例如大于一定阈值的)UE，作为参与定位的Anchor UE；
或者，从这些候选Anchor UE中选择可以与Location Server UE建立sidelink单播连接的候选Anchor UE，作为参与定位的Anchor UE。
步骤117：Location Server UE执行sidelink定位过程。
其中，该sidelink定位过程可以包括：Location Server UE分别与Target UE和参与定位的Anchor UE进行交互，例如：配置Anchor UE发送SL PRS，配置Target UE测量SL PRS，或者配置Target UE发送SL PRS，配置Anchor UE测量SL PRS；以及Location Server UE接收Anchor UE或Target UE发送的定位测量结果等。
步骤118：Location Server UE获得Target UE的位置结果，比如基于定位测量结果计算得出Target UE的位置。Location Server UE发送携带Target UE的位置结果的定位响应消息。
在该实施方式一中，候选Anchor UE是Target UE执行发现过程从而识别的，即候选Anchor UE处于Target UE周边，则Location Server UE最终选出的参与定位的Anchor UE处于Target UE周边，这样可能存在一个问题：Location Server UE可能与部分参与定位的Anchor UE相距过远，导致Location Server UE在步骤117中无法与这些Anchor UE建立sidelink单播连接进行通信。
为了解决上述问题，可以采用如下方法一或方法二来解决：
方法一：Location Server UE从在Target UE中获取的这些候选Anchor UE中，选择可以与Location Server UE建立sidelink单播连接的候选Anchor UE，从而再从这些UE中进一步选择参与定位的Anchor UE，进而规避掉上述问题。
具体地，例如Location Server UE在上述步骤115之后，且在上述步骤116之前，对上述第二消息中携带的候选Anchor UE，执行发现过程，或者尝试与这些候选Anchor UE建立sidelink单播连接。这样，在执行上述步骤116时，则从能成功发现或成功建立sidelink单播连接的候选Anchor UE中，来选择参与定位的Anchor UE；
或者，
例如在前述步骤113之前，Location Server UE先执行候选Anchor UE发现过程，得到候选Anchor UE的第二列表，从而在执行前述步骤113时，将第二列表携带在第一消息中发送给Target UE。这样，在执行前述步骤114时，Target UE在第二列表中的UE里面，进一步执行发现过程识别出候选Anchor UE，从而在执行前述步骤115时，将在步骤114中得到的候选Anchor UE的列表(即第一列表)放在第二消息中，发送给Location Server UE，即第二消息中包括的候选Anchor UE是Target UE和Location Server UE均能发现的UE。这样，在执行上述步骤116时，则从第二消息中包括的候选Anchor UE中，来选择参与定位的Anchor UE。
此处需要说明的是，上述方法一可能导致Anchor UE过少从而降低定位精度，甚至 无法进行定位。
方法二：Location Server UE可以通过Target UE与参与定位的Anchor UE进行交互，即通过Target UE转发Location Server UE与参与定位的Anchor UE交互的信息，亦即：即Location Server UE先将消息发送给Target UE，并指示该消息是发给Anchor UE的以及发送给哪个Anchor UE的，Target UE再将该消息发送给对应的Anchor UE。
其中，当参与定位的Anchor UE存在多个时，可以通过Target UE转发Location Server UE与每个参与定位的Anchor UE进行交互的信息；
也可以是针对部分参与定位的Anchor UE，通过Target UE转发Location Server UE与其进行交互的信息，针对另一部分参与定位的Anchor UE，则通过建立sidelink单播连接来实现其与Location Server UE的通信；例如，Location Server UE选出参与定位的Anchor UE之后，可以先尝试发现每个参与定位的Anchor UE或者与每个参与定位的Anchor UE建立sidelink单播连接，对于发现失败或建立单播连接失败的Anchor UE，才通过Target UE进行转发，否则直接通过sidelink单播连接进行交互。
另外，通过Target UE转发Location Server UE与其中一个参与定位的Anchor UE交互的信息的过程可以如图12所述，具体包括如下步骤121至126:
步骤121：当Location Server UE需要向Anchor UE发送第四消息(例如SLPP消息)时，Location Server UE向Target UE发送第三消息，第三消息用于传递发送给Anchor UE的第四消息。
其中，第三消息包括Anchor UE的UE ID或UE索引和一个Container(也就是容器，Target UE不解码该容器的内容)，该Container对应发送给该Anchor UE的第四消息；第三消息可以是SLPP消息或PC5 RRC或PC5-S消息。
另外，针对每个Anchor UE，对应一个该Anchor UE的UE ID或UE索引。
可选地，第三消息可以包括发送给1个或多个Anchor UE的消息。
可选地，针对每个Anchor UE，第三消息可以包括发送给该Anchor UE的1个或多个消息，以节省定位时延和信令开销。
步骤122：Target UE根据第三消息中(每个)Anchor UE的UE ID或UE索引确定对应的Anchor UE。
步骤123：如果Target UE与该Anchor UE之间没有建立sidelink单播连接，则Target UE建立与该Anchor UE的sidelink单播连接。如果单播连接建立失败，则Target UE向Location Server UE发送失败消息，该失败消息中可以携带一个原因值，用于指示递送失败或单播连接建立失败。
步骤124：Target UE通过Target UE与该Anchor UE之间的sidelink单播连接向该Anchor UE发送第九消息，第九消息用于向Anchor UE发送来自于Location Server UE的第四消息。第九消息可以是SLPP消息或PC5 RRC或PC5-S消息。第九消息包括一个Container，该Container对应步骤1中的SLPP消息，即Location Server UE向Anchor UE 发送的第四消息。
步骤125：当Anchor UE需要向Location Server UE发送第五消息(例如SLPP消息)时，Anchor UE向Target UE发送第十消息，第十消息用于传递发送给Location Server UE的第五消息。
其中，第十消息包括一个Container，该Container对应上述第五消息；第十消息可以是SLPP消息或PC5 RRC或PC5-S消息。
步骤126：Target UE向Location Server UE发送第六消息，第六消息用于向Location Server UE发送来自于Anchor UE的第五消息。第六消息包括该Anchor UE的UE ID或UE索引和一个Container，该Container对应发送给Location Server UE的第五消息。
其中，Location Server UE根据Anchor UE的UE ID或UE索引获知是哪个Anchor UE发来的消息。
实施方式二：
Location Server UE从网络侧设备(例如LMF或AMF或基站)，获取到一个或多个候选Anchor UE的信息，然后Location Server UE从这些候选Anchor UE中选择参与定位的Anchor UE。例如可以选择在Location Server UE附近的候选Anchor UE作为参与定位的Anchor UE，或者根据Target UE的能力选择参与定位的Anchor UE。
在该实施例中，可以假定Anchor UE(比如RSU)总是发送SL PRS以用于进行定位，其SL PRS发送配置可以不受Location Server UE进行控制，Anchor UE不需要进行测量；Target UE总是进行SL PRS测量，而不需要发送SL PRS。因此，Location Server UE可以不与Anchor UE进行sidelink通信，而只需要从网络侧设备获取到候选Anchor UE的相关信息。
具体流程如图13所示，包括如下所述的步骤131至136：
步骤131：在收到定位请求之前或之后，Location Server UE从LMF或基站或AMF获取到候选Anchor UE的第三列表。
可选地，Location Server UE还可以从LMF或基站或AMF中获取候选Anchor UE的第二终端信息。
其中，每个候选Anchor UE的第二终端信息可以包括如下中至少一项：
UE的ID，比如可以包括SL layer2 ID、Application Layer UE ID、S-TMSI、IMSI、SUPI、C-RNTI中的至少一项；
位置信息，比如经纬度信息；
定位能力信息；
服务小区ID；
SL PRS发送配置，比如可以包括SL PRS的发送资源池配置、SL PRS周期/资源位置、SL PRS资源重复因子中的至少一项。
具体地，Location Server UE从LMF或AMF基站获取到一个或多个候选Anchor UE 的信息的方法，会在后文详细介绍。
步骤132：Location Server UE基于步骤131中获取的一个或多个候选Anchor UE的信息，确定参与定位的1个或多个Anchor UE。
其中，Location Server UE也可以自己作为一个Anchor UE。
另外，例如可以确定所有的候选Anchor UE都参与定位；
或者，考虑到Target UE在Location Server UE附近，Location Server UE选择可能在Location Server UE一定距离内的Anchor UE参与定位，例如，假定SL PRS传输的最大距离是200米，则Location Server UE可以选择与自己距离在400米内的Anchor UE参与定位，因为Location Server UE与Target UE在200米内，参与定位的Anchor UE需要与Target UE在200米内，则Location Server UE与参与定位的Anchor UE距离不能超过400米，否则Target UE接收不到Anchor UE的SL PRS；
或者，考虑到Anchor UE的定位能力，可以选择定位能力支持某种定位方法的候选Anchor UE参与定位。
步骤133：Location Server UE向Target UE发送对应每个Anchor UE的SL PRS测量配置。
此处需要说明的是，对Target UE来说是SL PRS测量配置，对Anchor UE来说，是SL PRS发送配置。
步骤134：Target UE基于接收到的SL PRS测量配置，测量SL PRS得到SL PRS测量结果。
步骤135：Target UE向Location Server UE发送SL PRS测量结果。
步骤136：Location Server UE基于SL PRS测量结果计算出Target UE位置。
下面具体介绍在本实施方式中，Location Server UE从LMF或AMF基站获取到一个或多个候选Anchor UE的信息的方法。
方法一：如图14所示，Location Server UE从LMF或AMF中获取一个或多个候选Anchor UE的信息的过程包括如下所述的步骤141至142。
步骤141：Location Server UE向LMF或AMF发送第一请求消息，用于请求获取Anchor UE信息。
其中，上述第一请求消息可以是LCS消息，比如终端发起的定位请求(Mobile Originated Location Request，MO-LR)消息；第一请求消息中携带用于指示请求获取候选Anchor UE信息的指示信息；第一请求消息也可以是LPP消息或NAS消息。
可选地，第一请求消息携带Location Server UE的位置信息，该位置信息可以是经纬度信息，也可以是Location Server UE当前的服务小区ID。
步骤142：LMF或AMF保存有候选Anchor UE的信息(比如通过操作管理维护(Operation Administration and Maintenance，OAM)系统得到的)，则LMF或AMF向Location Server UE发送第七消息，该第七消息中携带有候选Anchor UE的第三列表。
其中，该第七消息可以是LPP消息，也可以是LCS消息或NAS消息。
可选地，该第七消息中还可以携带有候选Anchor UE的上述第二终端信息。其中，第二终端信息包括的具体内容可参见前文所述，此处不再赘述。
可选地，LMF或AMF还可以根据Location Server UE的位置信息确定第七消息中携带哪些候选Anchor UE的信息，比如选择与Location Server UE在一定距离范围内的候选Anchor UE，或者与Location Server UE在同一个服务小区以及邻接服务小区下的候选Anchor UE，以减少不必要的信令开销。
方法二：如图15所示，Location Server UE从基站中获取一个或多个候选Anchor UE的信息的过程包括如下所述的步骤151至153。
步骤151：Location Server UE进入连接态。
步骤152(可选步骤)：Location Server UE向基站发送第二请求消息。
其中，第二请求消息可以是RRC消息，比如旁链路通信终端信息(Sidelink UE Information)消息，该第二请求消息中携带有用于指示请求获取候选Anchor UE信息的指示信息。
步骤153：基站保存有候选Anchor UE信息(比如通过OAM系统得到的)，则基站向Location Server UE发送第八消息，该第八消息中携带有候选Anchor UE的第三列表。
可选地，该第八消息中还可以携带有候选Anchor UE的上述第二终端信息。其中，第二终端信息包括的具体内容可参见前文所述，此处不再赘述。
可选地，第八消息可以是专用RRC消息。
可选地，第八消息中携带的第三列表中，可以包括当前服务小区下的Anchor UE，也可以包括当前服务小区以及邻区下的Anchor UE。
方法三：如图16所示，Location Server UE从基站中获取一个或多个候选Anchor UE的信息的过程包括如下所述的步骤161至162：
步骤161：基站在小区的系统信息消息里广播候选Anchor UE的第三列表；
其中，该第三列表中可以包括当前服务小区下的Anchor UE，也可以包括当前服务小区以及邻区下的Anchor UE。
另外，上述系统信息消息还可以携带有候选Anchor UE的上述第二终端信息。其中，第二终端信息包括的具体内容可参见前文所述，此处不再赘述。
此外，上述系统信息消息可以为posSIB，也可以为常规的SIB。
步骤162：Location Server UE通过读取服务小区的系统信息获得候选Anchor UE。
可选地，上述系统信息消息中携带的候选Anchor UE的信息(包括上述第三列表和/或第二终端信息)可以进行加密，使得只有拥有对应的密钥的UE(比如经过鉴权的Location Server UE)才能正确解密。
需要说明的是，图11至图16只列出了各个步骤传输的重要信息或执行的重要动作，其中，对于图11至图16中的各个步骤的具体内容可参见上述内容所述。
本申请实施例提供的定位方法，执行主体可以为定位装置。本申请实施例中以定位装置执行定位方法为例，说明本申请实施例提供的定位装置。
第四方面，本申请实施例提供了一种定位装置，应用于定位服务终端，如图17所示，该定位装置包括：
第一确定模块171，用于确定对目标终端执行旁链路定位；
第一信息获取模块172，用于获取候选锚点终端的信息；
第二确定模块173，用于从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
定位交互模块174，用于与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
可选地，所述第一信息获取模块172包括：
第一获取子模块，用于从所述目标终端获取所述候选锚点终端的信息；
或者，
第二获取子模块，用于与网络侧设备交互，获取所述候选锚点终端的信息。
可选地，所述第一获取子模块具体用于：
向所述目标终端发送第一消息，所述第一消息用于请求获取所述候选锚点终端的信息；
接收所述目标终端响应于所述第一消息发送的第二消息，其中，所述第二消息包括所述候选锚点终端的第一列表；
根据所述第二消息中的所述第一列表，获取所述候选锚点终端的信息。
可选地，所述装置还包括：
第一处理模块，用于在所述定位服务终端与所述目标终端之间未建立旁链路单播连接的情况下，执行所述目标终端的发现过程和/或与所述目标终端的旁链路单播连接建立过程；
所述第一获取子模块向所述目标终端发送第一消息，具体用于：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，向所述目标终端发送所述第一消息；
所述第一获取子模块接收所述目标终端响应于所述第一消息发送的第二消息，具体用于：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，接收所述第二消息。
可选地，所述装置还包括：
第二发送模块，用于在未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接的情况下，向发送所述定位请求的设备发送定位响应消息或定位失败消息，其中，所述定位响应消息或所述定位失败消息中携带有第一 指示信息，所述第一指示信息用于指示未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述第一列表中的所述候选锚点终端满足所述目标条件；
其中，所述目标条件包括如下中至少一项：
位置信息已知；
能获取到位置信息；
处于特定移动状态；
参考信号接收功率RSRP测量结果大于第一预设阈值；
属于特定终端类型；
具有特定的旁链路定位能力；
在网络覆盖范围内；
在特定区域内；
处于特定的无线资源控制RRC状态；
PC5口资源大于第二预设阈值；
与所述目标终端建立了旁链路单播连接；
处于指定的终端列表中。
可选地，所述第一确定模块171具体用于：
接收定位请求，所述定位请求用于请求对所述目标终端进行定位；
响应于所述定位请求，确定对所述目标终端执行旁链路定位。
可选地，所述定位请求是所述目标终端发送的，所述定位请求中包括所述候选锚点终端的第一列表；
所述第一获取子模块具体用于：
根据所述定位请求中的所述第一列表，获取所述候选锚点终端的信息。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
终端标识；
终端索引；
RRC状态；
服务小区的标识信息；
注册的接入和移动性管理功能AMF信息；
旁链路定位能力信息；
旁链路定位参考信号PRS发送配置信息；
旁链路资源配置；
旁链路资源分配方式；
旁链路资源分配方式为模式1时的资源调度类型；
地理位置信息；
关联的RSRP测量结果；
移动状态。
可选地，所述装置还包括：
第二处理模块，用于分别对所述第一列表中的终端，执行发现过程和/或旁链路单播连接建立过程；
所述第二确定模块173具体用于：
从所述第一列表中的第一类终端中，确定参与定位的至少一个所述锚点终端，其中，所述第一类终端为所述定位服务终端发现成功和/或建立旁链路单播连接成功的终端。
可选地，所述装置还包括：
第三处理模块，用于在所述第一获取子模块向所述目标终端发送第一消息之前，执行候选锚点终端的发现过程，得到候选锚点终端的第二列表；
其中，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端，所述第一消息包括所述第二列表，所述第一列表中包括的候选锚点终端是所述第二列表中被所述目标终端成功发现的终端。
可选地，所述定位交互模块174包括：
第一交互子模块，用于通过所述目标终端与所述锚点终端进行交互；
或者，
第二交互子模块，用于在所述定位服务终端与所述锚点终端之间成功建立旁链路单播连接的情况下，通过所述定位服务终端与所述锚点终端之间的旁链路单播连接，与所述锚点终端进行交互。
可选地，所述第一交互子模块用于执行如下中至少一项：
向所述目标终端发送第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
接收所述目标终端发送的第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述锚点终端发送给所述定位服务终端的第五消息。
可选地，所述第二获取子模块具体用于：
向所述网络侧设备发送第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端的信息；
接收所述网络侧设备响应于所述第一请求消息发送的第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表；
根据所述第七消息中的所述第三列表，获取所述候选锚点终端的信息。
可选地，所述第一请求消息包括所述定位服务终端的位置信息，所述第三列表中的候选锚点终端是根据所述定位服务终端的位置信息确定的。
可选地，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
可选地，所述第七消息为LPP消息、LCS消息、NAS消息、专用RRC消息中的其中一者。
可选地，所述第二获取子模块具体用于：
接收所述网络侧设备发送的系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表；
根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息。
可选地，所述系统信息消息包括的所述锚点终端的信息为加密后的信息；
所述第二获取子模块根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息，具体用于：
在存储有预定密钥的情况下，采用所述预定密钥，对所述系统信息消息中加密后的信息进行解密，得到所述第三列表；
根据所述第三列表，获取所述候选锚点终端的信息。
可选地，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
终端标识；
地理位置信息；
旁链路定位能力信息；
服务小区的标识信息；
旁链路PRS发送配置信息。
可选地，所述第三列表包括如下中至少一个终端：
所述定位服务终端的服务小区下的候选锚点终端；
所述定位服务终端的服务小区的邻区下的候选锚点终端。
本申请实施例中的定位装置可以是电子设备，例如具有操作系统的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端。示例性的，终端可以包括但不限于上述所列举的终端11的类型，本申请实施例不作具体限定。
本申请实施例提供的定位装置能够实现图7的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
第五方面，本申请实施例提供了一种定位装置，应用于目标终端，如图18所示，该定位装置包括：
第一接收模块181，用于接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
第一发现模块182，用于执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
第一发送模块183，用于向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
可选地，所述第一发现模块182具体用于：
广播发现请求消息，其中，所述发现请求消息用于请求发现候选锚点终端；
接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息；
根据所述候选锚点终端的信息，得到所述第一列表；
或者，
接收终端广播的宣告消息，其中，所述宣告消息包括终端的参数信息；
根据接收到的所述宣告消息对应的终端，获取所述候选锚点终端的信息；
根据所述候选锚点终端的信息，得到所述第一列表。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件；
所述第一发现模块182根据接收到的所述第一响应消息或所述宣告消息对应的终端，获取所述候选锚点终端的信息，具体用于：
将接收到的所述第一响应消息或所述宣告消息对应的终端中，满足所述目标条件的终端的信息，确定为所述候选锚点终端的信息。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述发现请求消息中包括所述目标条件；
所述第一发现模块182接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息，具体用于：
接收满足所述目标条件的终端发送的所述第一响应消息，并将接收到的所述第一响应消息对应的终端的信息，确定为所述候选锚点终端的信息。
可选地，所述目标条件包括如下中至少一项：
位置信息已知；
能获取到位置信息；
处于特定移动状态；
参考信号接收功率RSRP测量结果大于第一预设阈值；
属于特定终端类型；
具有特定的旁链路定位能力；
在网络覆盖范围内；
在特定区域内；
处于特定的无线资源控制RRC状态；
PC5口资源大于第二预设阈值；
与所述目标终端建立了旁链路单播连接；
处于指定的终端列表中。
可选地，所述装置还包括：
第三发送模块，用于向所述定位服务终端发送定位请求，其中，所述定位请求中包括所述第一列表。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
终端标识；
终端索引；
RRC状态；
服务小区的标识信息；
注册的接入和移动性管理功能AMF信息；
旁链路定位能力信息；
旁链路定位参考信号PRS发送配置信息；
旁链路资源配置；
旁链路资源分配方式；
旁链路资源分配方式为模式1时的资源调度类型；
地理位置信息；
关联的RSRP测量结果；
移动状态。
可选地，所述第一消息包括第二列表，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端；
所述第一发现模块182具体用于：
对所述第二列表中的终端，执行候选锚点终端的发现过程，得到所述候选锚点终端的所述第一列表。
可选地，所述装置还包括：
转发模块，用于转发所述定位服务终端与参与定位的至少一个锚点终端之间进行交互的消息。
可选地，所述转发模块具体用于：
接收所述定位服务终端发送的第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
根据所述锚点终端的标识信息或索引确定所述锚点终端，并向所述锚点终端发送第 九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。
可选地，所述转发模块还用于：
接收所述锚点终端发送的第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端发送给所述定位服务终端的第五消息；
向所述定位服务终端发送第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述第五消息。
本申请实施例中的定位装置可以是电子设备，例如具有操作系统的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端。示例性的，终端可以包括但不限于上述所列举的终端11的类型，本申请实施例不作具体限定。
本申请实施例提供的定位装置能够实现图9的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
第六方面，本申请实施例提供了一种定位装置，应用于网络侧设备，如图19所示，该定位装置包括：
信息提供模块191，用于与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
可选地，所述信息提供模块191具体用于：
接收定位服务终端发送的第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端；
响应于所述第一请求消息，向所述定位服务终端发送第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表。
可选地，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
可选地，所述第七消息为LPP、LCS消息、NAS消息、专用RRC消息中的其中一者。
可选地，所述信息提供模块191具体用于：
发送系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表。
可选地，所述装置还包括：
加密模块，用于在所述信息提供模块发送所述系统信息消息之前，采用预定密钥，对所述系统信息消息中包括的所述锚点终端的信息进行加密。
可选地，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
终端标识；
地理位置信息；
旁链路定位能力信息；
服务小区的标识信息；
旁链路定位参考信号PRS发送配置信息。
可选地，所述第三列表包括如下中至少一个终端：
所述定位服务终端的服务小区下的候选锚点终端；
所述定位服务终端的服务小区的邻区下的候选锚点终端。
本申请实施例中的定位装置可以是电子设备，例如具有操作系统的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是网络侧设备。示例性的，网络侧设备可以包括但不限于上述所列举的网络侧设备12的类型，本申请实施例不作具体限定。
本申请实施例提供的定位装置能够实现图10的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
可选地，如图20所示，本申请实施例还提供一种通信设备2000，包括处理器2001和存储器2002，存储器2002上存储有可在所述处理器2001上运行的程序或指令，例如，该通信设备2000为终端时，该程序或指令被处理器2001执行时实现上述第一方面或第二方面所述的定位方法实施例的各个步骤，且能达到相同的技术效果。该通信设备2000为网络侧设备时，该程序或指令被处理器2001执行时实现上述第三方面所述的定位方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，如图21所示，为实现本申请实施例的一种终端的硬件结构示意图。
该终端2100包括但不限于：射频单元2101、网络模块2102、音频输出单元2103、输入单元2104、传感器2105、显示单元2106、用户输入单元2107、接口单元2108、存储器2109以及处理器2110等中的至少部分部件。
本领域技术人员可以理解，终端2100还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器2110逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图21中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元2104可以包括图形处理单元(Graphics Processing Unit，GPU)21041和麦克风21042，图形处理器21041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元2106可包括显示面板21061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板21061。用户输入单元2107包括触控面板21071以及其他输入设备21072中的至少一种。触控面板21 071，也称为触摸屏。触控面板21071可包括触摸检测装置和触摸控制器两个部分。其他输入设备21072可以包括但不限于物理键盘、功能键 (比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元2101接收来自网络侧设备的下行数据后，可以传输给处理器2110进行处理；另外，射频单元2101可以向网络侧设备发送上行数据。通常，射频单元2101包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器2109可用于存储软件程序或指令以及各种数据。存储器2109可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器2109可以包括易失性存储器或非易失性存储器，或者，存储器2109可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器2109包括但不限于这些和任意其它适合类型的存储器。
处理器2110可包括一个或多个处理单元；可选地，处理器2110集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器2110中。
当终端2100作为定位服务终端时，处理器2110用于确定对目标终端执行旁链路定位；获取候选锚点终端的信息；从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
射频单元2101用于与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
可选地，处理器2110获取候选锚点终端的信息，具体用于：
从所述目标终端获取所述候选锚点终端的信息；
或者，
控制射频单元2101与网络侧设备交互，获取所述候选锚点终端的信息。
可选地，处理器2110从所述目标终端获取所述候选锚点终端的信息，具体用于：
控制射频单元2101向所述目标终端发送第一消息，所述第一消息用于请求获取所述候选锚点终端的信息；
控制射频单元2101接收所述目标终端响应于所述第一消息发送的第二消息，其中， 所述第二消息包括所述候选锚点终端的第一列表；
根据所述第二消息中的所述第一列表，获取所述候选锚点终端的信息。
可选地，处理器2110还用于：
在所述定位服务终端与所述目标终端之间未建立旁链路单播连接的情况下，执行所述目标终端的发现过程和/或与所述目标终端的旁链路单播连接建立过程；
射频单元2110向所述目标终端发送第一消息，具体用于：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，向所述目标终端发送所述第一消息；
射频单元2101接收所述目标终端响应于所述第一消息发送的第二消息，具体用于：
在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，接收所述第二消息。
可选地，射频单元2101还用于：
在处理器2110未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接的情况下，向发送所述定位请求的设备发送定位响应消息或定位失败消息，其中，所述定位响应消息或所述定位失败消息中携带有第一指示信息，所述第一指示信息用于指示未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述第一列表中的所述候选锚点终端满足所述目标条件；
其中，所述目标条件包括如下中至少一项：
位置信息已知；
能获取到位置信息；
处于特定移动状态；
参考信号接收功率RSRP测量结果大于第一预设阈值；
属于特定终端类型；
具有特定的旁链路定位能力；
在网络覆盖范围内；
在特定区域内；
处于特定的无线资源控制RRC状态；
PC5口资源大于第二预设阈值；
与所述目标终端建立了旁链路单播连接；
处于指定的终端列表中。
可选地，处理器2110确定对目标终端执行旁链路定位，具体用于：
控制射频单元2101接收定位请求，所述定位请求用于请求对所述目标终端进行定位；
响应于所述定位请求，确定对所述目标终端执行旁链路定位。
可选地，所述定位请求是所述目标终端发送的，所述定位请求中包括所述候选锚点终端的第一列表；
处理器2110从所述目标终端获取所述候选锚点终端的信息，具体用于：
根据所述定位请求中的所述第一列表，获取所述候选锚点终端的信息。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
终端标识；
终端索引；
RRC状态；
服务小区的标识信息；
注册的接入和移动性管理功能AMF信息；
旁链路定位能力信息；
旁链路定位参考信号PRS发送配置信息；
旁链路资源配置；
旁链路资源分配方式；
旁链路资源分配方式为模式1时的资源调度类型；
地理位置信息；
关联的RSRP测量结果；
移动状态。
可选地，处理器2110还用于：
分别对所述第一列表中的终端，执行发现过程和/或旁链路单播连接建立过程；
处理器2110从所述候选锚点终端中，确定参与定位的至少一个锚点终端，具体用于：
从所述第一列表中的第一类终端中，确定参与定位的至少一个所述锚点终端，其中，所述第一类终端为所述定位服务终端发现成功和/或建立旁链路单播连接成功的终端。
可选地，射频单元2101向所述目标终端发送第一消息之前，处理器2110还用于：
执行候选锚点终端的发现过程，得到候选锚点终端的第二列表；
其中，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端，所述第一消息包括所述第二列表，所述第一列表中包括的候选锚点终端是所述第二列表中被所述目标终端成功发现的终端。
可选地，射频单元2101与所述锚点终端进行交互，具体用于：
通过所述目标终端与所述锚点终端进行交互；
或者，
在所述定位服务终端与所述锚点终端之间成功建立旁链路单播连接的情况下，通过所述定位服务终端与所述锚点终端之间的旁链路单播连接，与所述锚点终端进行交互。
可选地，射频单元2101通过所述目标终端与所述锚点终端进行交互，包括如下中至少一项：
向所述目标终端发送第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
接收所述目标终端发送的第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述锚点终端发送给所述定位服务终端的第五消息。
可选地，处理器2110控制射频单元2101与网络侧设备交互，获取所述候选锚点终端的信息，具体用于：
控制射频单元2101向所述网络侧设备发送第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端的信息；
控制射频单元2101接收所述网络侧设备响应于所述第一请求消息发送的第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表；
根据所述第七消息中的所述第三列表，获取所述候选锚点终端的信息。
可选地，所述第一请求消息包括所述定位服务终端的位置信息，所述第三列表中的候选锚点终端是根据所述定位服务终端的位置信息确定的。
可选地，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
可选地，所述第七消息为LPP消息、LCS消息、NAS消息、专用RRC消息中的其中一者。
可选地，处理器2110控制射频单元2101与网络侧设备交互，获取所述候选锚点终端的信息，具体用于：
控制射频单元2101接收所述网络侧设备发送的系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表；
根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息。
可选地，所述系统信息消息包括的所述锚点终端的信息为加密后的信息；
处理器2110根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息，具体用于：
在存储有预定密钥的情况下，采用所述预定密钥，对所述系统信息消息中加密后的信息进行解密，得到所述第三列表；
根据所述第三列表，获取所述候选锚点终端的信息。
可选地，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信 息，其中，所述第二终端信息包括如下中至少一项：
终端标识；
地理位置信息；
旁链路定位能力信息；
服务小区的标识信息；
旁链路PRS发送配置信息。
可选地，所述第三列表包括如下中至少一个终端：
所述定位服务终端的服务小区下的候选锚点终端；
所述定位服务终端的服务小区的邻区下的候选锚点终端。
当终端2100作为目标终端时，射频单元2101用于接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
处理器2110用于执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
射频单元2101用于向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
可选地，处理器2110执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，具体用于：
控制射频单元2101广播发现请求消息，其中，所述发现请求消息用于请求发现候选锚点终端；
控制射频单元2101接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息；
根据所述候选锚点终端的信息，得到所述第一列表；
或者，
控制射频单元2101接收终端广播的宣告消息，其中，所述宣告消息包括终端的参数信息；
根据接收到的所述宣告消息对应的终端，获取所述候选锚点终端的信息；
根据所述候选锚点终端的信息，得到所述第一列表。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件；
处理器2110根据接收到的所述第一响应消息或所述宣告消息对应的终端，获取所述候选锚点终端的信息，具体用于：
将接收到的所述第一响应消息或所述宣告消息对应的终端中，满足所述目标条件的终端的信息，确定为所述候选锚点终端的信息。
可选地，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述发现请求消息中包括所述目标条件；
处理器2110控制射频单元2101接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息，具体用于：
控制射频单元2101接收满足所述目标条件的终端发送的所述第一响应消息，并将接收到的所述第一响应消息对应的终端的信息，确定为所述候选锚点终端的信息。
可选地，所述目标条件包括如下中至少一项：
位置信息已知；
能获取到位置信息；
处于特定移动状态；
参考信号接收功率RSRP测量结果大于第一预设阈值；
属于特定终端类型；
具有特定的旁链路定位能力；
在网络覆盖范围内；
在特定区域内；
处于特定的无线资源控制RRC状态；
PC5口资源大于第二预设阈值；
与所述目标终端建立了旁链路单播连接；
处于指定的终端列表中。
可选地，射频单元2101还用于：
向所述定位服务终端发送定位请求，其中，所述定位请求中包括所述第一列表。
可选地，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
终端标识；
终端索引；
RRC状态；
服务小区的标识信息；
注册的接入和移动性管理功能AMF信息；
旁链路定位能力信息；
旁链路定位参考信号PRS发送配置信息；
旁链路资源配置；
旁链路资源分配方式；
旁链路资源分配方式为模式1时的资源调度类型；
地理位置信息；
关联的RSRP测量结果；
移动状态。
可选地，所述第一消息包括第二列表，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端；
处理器2110执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，具体用 于：
对所述第二列表中的终端，执行候选锚点终端的发现过程，得到所述候选锚点终端的所述第一列表。
可选地，射频单元2101还用于：
转发所述定位服务终端与参与定位的至少一个锚点终端之间进行交互的消息。
可选地，射频单元2101转发所述定位服务终端与所述锚点终端之间进行交互的消息，具体用于：
接收所述定位服务终端发送的第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
根据所述锚点终端的标识信息或索引确定所述锚点终端，并向所述锚点终端发送第九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。
可选地，射频单元2101转发所述定位服务终端与所述锚点终端之间进行交互的消息，还用于：
接收所述锚点终端发送的第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端发送给所述定位服务终端的第五消息；
向所述定位服务终端发送第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述第五消息。
本申请实施例还提供一种网络侧设备，如图22所示，该网络侧设备2200包括：天线221、射频装置222、基带装置223、处理器224和存储器225。天线221与射频装置222连接。在上行方向上，射频装置222通过天线221接收信息，将接收的信息发送给基带装置223进行处理。在下行方向上，基带装置223对要发送的信息进行处理，并发送给射频装置222，射频装置222对收到的信息进行处理后经过天线221发送出去。
以上实施例中网络侧设备执行的方法可以在基带装置223中实现，该基带装置223包括基带处理器。
基带装置223例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图22所示，其中一个芯片例如为基带处理器，通过总线接口与存储器225连接，以调用存储器225中的程序，执行以上方法实施例中所示的网络设备操作。
该网络侧设备还可以包括网络接口226，该接口例如为通用公共无线接口(common public radio interface，CPRI)。
具体地，本发明实施例的网络侧设备2200还包括：存储在存储器225上并可在处理器224上运行的指令或程序，处理器224调用存储器225中的指令或程序执行图10所示的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
具体地，本申请实施例还提供了一种网络侧设备。如图23所示，该网络侧设备2300包括：处理器2301、网络接口2302和存储器2303。其中，网络接口2302例如为通用公 共无线接口(common public radio interface，CPRI)。
具体地，本发明实施例的网络侧设备2300还包括：存储在存储器2303上并可在处理器2301上运行的指令或程序，处理器2301调用存储器2303中的指令或程序执行图10所示的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种定位系统，包括：终端和网络侧设备，所述终端可用于执行如上述第一方面或第二方面所述的定位方法的步骤，所述网络侧设备可用于执行如上述第三方面所述的定位方法的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是 手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (46)

  1. 一种定位方法，其中，所述方法包括：
    定位服务终端确定对目标终端执行旁链路定位；
    所述定位服务终端获取候选锚点终端的信息；
    所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
    所述定位服务终端与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
  2. 根据权利要求1所述的方法，其中，所述定位服务终端获取候选锚点终端的信息，包括：
    所述定位服务终端从所述目标终端获取所述候选锚点终端的信息；
    或者，
    所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息。
  3. 根据权利要求2所述的方法，其中，所述定位服务终端从所述目标终端获取所述候选锚点终端的信息，包括：
    所述定位服务终端向所述目标终端发送第一消息，所述第一消息用于请求获取所述候选锚点终端的信息；
    所述定位服务终端接收所述目标终端响应于所述第一消息发送的第二消息，其中，所述第二消息包括所述候选锚点终端的第一列表；
    所述定位服务终端根据所述第二消息中的所述第一列表，获取所述候选锚点终端的信息。
  4. 根据权利要求3所述的方法，其中，所述方法还包括：
    在所述定位服务终端与所述目标终端之间未建立旁链路单播连接的情况下，所述定位服务终端执行所述目标终端的发现过程和/或与所述目标终端的旁链路单播连接建立过程；
    所述定位服务终端向所述目标终端发送第一消息，包括：
    在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，所述定位服务终端向所述目标终端发送所述第一消息；
    所述定位服务终端接收所述目标终端响应于所述第一消息发送的第二消息，包括：
    在所述定位服务终端与所述目标终端之间的旁链路单播连接建立成功的情况下，通过所述定位服务终端与所述目标终端之间的旁链路单播连接，所述定位服务终端接收所述第二消息。
  5. 根据权利要求4所述的方法，其中，所述方法还包括：
    在未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接的情况下，所述定位服务终端向发送所述定位请求的设备发送定位 响应消息或定位失败消息，其中，所述定位响应消息或所述定位失败消息中携带有第一指示信息，所述第一指示信息用于指示未成功发现所述目标终端和/或未成功建立所述定位服务终端与所述目标终端之间的旁链路单播连接。
  6. 根据权利要求3所述的方法，其中，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述第一列表中的所述候选锚点终端满足所述目标条件；
    其中，所述目标条件包括如下中至少一项：
    位置信息已知；
    能获取到位置信息；
    处于特定移动状态；
    参考信号接收功率RSRP测量结果大于第一预设阈值；
    属于特定终端类型；
    具有特定的旁链路定位能力；
    在网络覆盖范围内；
    在特定区域内；
    处于特定的无线资源控制RRC状态；
    PC5口资源大于第二预设阈值；
    与所述目标终端建立了旁链路单播连接；
    处于指定的终端列表中。
  7. 根据权利要求2所述的方法，其中，所述定位服务终端确定对目标终端执行旁链路定位，包括：
    所述定位服务终端接收定位请求，所述定位请求用于请求对所述目标终端进行定位；
    所述定位服务终端响应于所述定位请求，确定对所述目标终端执行旁链路定位。
  8. 根据权利要求7所述的方法，其中，所述定位请求是所述目标终端发送的，所述定位请求中包括所述候选锚点终端的第一列表；
    所述定位服务终端从所述目标终端获取所述候选锚点终端的信息，包括：
    所述定位服务终端根据所述定位请求中的所述第一列表，获取所述候选锚点终端的信息。
  9. 根据权利要求3或8所述的方法，其中，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
    终端标识；
    终端索引；
    RRC状态；
    服务小区的标识信息；
    注册的接入和移动性管理功能AMF信息；
    旁链路定位能力信息；
    旁链路定位参考信号PRS发送配置信息；
    旁链路资源配置；
    旁链路资源分配方式；
    旁链路资源分配方式为模式1时的资源调度类型；
    地理位置信息；
    关联的RSRP测量结果；
    移动状态。
  10. 根据权利要求3或8所述的方法，其中，所述方法还包括：
    所述定位服务终端分别对所述第一列表中的终端，执行发现过程和/或旁链路单播连接建立过程；
    所述定位服务终端从所述候选锚点终端中，确定参与定位的至少一个锚点终端，包括：
    所述定位服务终端从所述第一列表中的第一类终端中，确定参与定位的至少一个所述锚点终端，其中，所述第一类终端为所述定位服务终端发现成功和/或建立旁链路单播连接成功的终端。
  11. 根据权利要求3所述的方法，其中，所述定位服务终端向所述目标终端发送第一消息之前，所述方法还包括：
    所述定位服务终端执行候选锚点终端的发现过程，得到候选锚点终端的第二列表；
    其中，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端，所述第一消息包括所述第二列表，所述第一列表中包括的候选锚点终端是所述第二列表中被所述目标终端成功发现的终端。
  12. 根据权利要求1所述的方法，其中，所述定位服务终端与所述锚点终端进行交互，包括：
    所述定位服务终端通过所述目标终端与所述锚点终端进行交互；
    或者，
    在所述定位服务终端与所述锚点终端之间成功建立旁链路单播连接的情况下，通过所述定位服务终端与所述锚点终端之间的旁链路单播连接，所述定位服务终端与所述锚点终端进行交互。
  13. 根据权利要求12所述的方法，其中，所述定位服务终端通过所述目标终端与所述锚点终端进行交互，包括如下中至少一项：
    所述定位服务终端向所述目标终端发送第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
    所述定位服务终端接收所述目标终端发送的第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述锚点终端发送给 所述定位服务终端的第五消息。
  14. 根据权利要求2所述的方法，其中，所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息，包括：
    所述定位服务终端向所述网络侧设备发送第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端的信息；
    所述定位服务终端接收所述网络侧设备响应于所述第一请求消息发送的第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表；
    所述定位服务终端根据所述第七消息中的所述第三列表，获取所述候选锚点终端的信息。
  15. 根据权利要求14所述的方法，其中，所述第一请求消息包括所述定位服务终端的位置信息，所述第三列表中的候选锚点终端是根据所述定位服务终端的位置信息确定的。
  16. 根据权利要求14所述的方法，其中，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
    或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
  17. 根据权利要求14所述的方法，其中，所述第七消息为LPP消息、LCS消息、NAS消息、专用RRC消息中的其中一者。
  18. 根据权利要求2所述的方法，其中，所述定位服务终端与网络侧设备交互，获取所述候选锚点终端的信息，包括：
    所述定位服务终端接收所述网络侧设备发送的系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表；
    所述定位服务终端根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息。
  19. 根据权利要求18所述的方法，其中，所述系统信息消息包括的所述锚点终端的信息为加密后的信息；
    所述定位服务终端根据所述系统信息消息中的所述第三列表，获取所述候选锚点终端的信息，包括：
    在所述定位服务终端中存储有预定密钥的情况下，所述定位服务终端采用所述预定密钥，对所述系统信息消息中加密后的信息进行解密，得到所述第三列表；
    所述定位服务终端根据所述第三列表，获取所述候选锚点终端的信息。
  20. 根据权利要求14或18所述的方法，其中，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
    终端标识；
    地理位置信息；
    旁链路定位能力信息；
    服务小区的标识信息；
    旁链路PRS发送配置信息。
  21. 根据权利要求14或18所述的方法，其中，所述第三列表包括如下中至少一个终端：
    所述定位服务终端的服务小区下的候选锚点终端；
    所述定位服务终端的服务小区的邻区下的候选锚点终端。
  22. 一种定位方法，其中，所述方法包括：
    目标终端接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
    所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
    所述目标终端向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
  23. 根据权利要求22所述的方法，其中，所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，包括：
    所述目标终端广播发现请求消息，其中，所述发现请求消息用于请求发现候选锚点终端；
    所述目标终端接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息；
    所述目标终端根据所述候选锚点终端的信息，得到所述第一列表；
    或者，
    所述目标终端接收终端广播的宣告消息，其中，所述宣告消息包括终端的参数信息；
    所述目标终端根据接收到的所述宣告消息对应的终端，获取所述候选锚点终端的信息；
    所述目标终端根据所述候选锚点终端的信息，得到所述第一列表。
  24. 根据权利要求23所述的方法，其中，所述第一消息包括所述候选锚点终端所需满足的目标条件；
    所述目标终端根据接收到的所述第一响应消息或所述宣告消息对应的终端，获取所述候选锚点终端的信息，包括：
    所述目标终端将接收到的所述第一响应消息或所述宣告消息对应的终端中，满足所述目标条件的终端的信息，确定为所述候选锚点终端的信息。
  25. 根据权利要求23所述的方法，其中，所述第一消息包括所述候选锚点终端所需满足的目标条件，所述发现请求消息中包括所述目标条件；
    所述目标终端接收所述发现请求消息的第一响应消息，并根据接收到的所述第一响应消息对应的终端，获取所述候选锚点终端的信息，包括：
    所述目标终端接收满足所述目标条件的终端发送的所述第一响应消息，并将接收到 的所述第一响应消息对应的终端的信息，确定为所述候选锚点终端的信息。
  26. 根据权利要求24或25所述的方法，其中，所述目标条件包括如下中至少一项：
    位置信息已知；
    能获取到位置信息；
    处于特定移动状态；
    参考信号接收功率RSRP测量结果大于第一预设阈值；
    属于特定终端类型；
    具有特定的旁链路定位能力；
    在网络覆盖范围内；
    在特定区域内；
    处于特定的无线资源控制RRC状态；
    PC5口资源大于第二预设阈值；
    与所述目标终端建立了旁链路单播连接；
    处于指定的终端列表中。
  27. 根据权利要求22所述的方法，其中，所述方法还包括：
    所述目标终端向所述定位服务终端发送定位请求，其中，所述定位请求中包括所述第一列表。
  28. 根据权利要求22或27所述的方法，其中，所述第二消息或所述定位请求还包括所述候选锚点终端的第一终端信息，其中，所述第一终端信息包括如下中至少一项：
    终端标识；
    终端索引；
    RRC状态；
    服务小区的标识信息；
    注册的接入和移动性管理功能AMF信息；
    旁链路定位能力信息；
    旁链路定位参考信号PRS发送配置信息；
    旁链路资源配置；
    旁链路资源分配方式；
    旁链路资源分配方式为模式1时的资源调度类型；
    地理位置信息；
    关联的RSRP测量结果；
    移动状态。
  29. 根据权利要求22所述的方法，其中，所述第一消息包括第二列表，所述第二列表中包括的候选锚点终端是被所述定位服务终端成功发现的终端；
    所述目标终端执行候选锚点终端的发现过程，得到候选锚点终端的第一列表，包括：
    所述目标终端对所述第二列表中的终端，执行候选锚点终端的发现过程，得到所述候选锚点终端的所述第一列表。
  30. 根据权利要求22所述的方法，其中，所述方法还包括：
    所述目标终端转发所述定位服务终端与参与定位的至少一个锚点终端之间进行交互的消息。
  31. 根据权利要求30所述的方法，其中，所述目标终端转发所述定位服务终端与所述锚点终端之间进行交互的消息，包括：
    所述目标终端接收所述定位服务终端发送的第三消息，其中，所述第三消息包括所述锚点终端的标识信息或索引，以及第一容器，所述第一容器包括所述定位服务终端发送给所述锚点终端的第四消息；
    所述目标终端根据所述锚点终端的标识信息或索引确定所述锚点终端，并向所述锚点终端发送第九消息，其中，所述第九消息包括第三容器，所述第三容器包括所述第四消息。
  32. 根据权利要求30或31所述的方法，其中，所述目标终端转发所述定位服务终端与所述锚点终端之间进行交互的消息，还包括：
    所述目标终端接收所述锚点终端发送的第十消息，其中，所述第十消息包括第四容器，所述第四容器包括所述锚点终端发送给所述定位服务终端的第五消息；
    所述目标终端向所述定位服务终端发送第六消息，其中，所述第六消息包括所述锚点终端的标识信息或索引，以及第二容器，所述第二容器包括所述第五消息。
  33. 一种定位方法，其中，所述方法包括：
    网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
  34. 根据权利要求33所述的方法，其中，所述网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息，包括：
    所述网络侧设备接收定位服务终端发送的第一请求消息，其中，所述第一请求消息用于请求获取所述候选锚点终端；
    所述网络侧设备响应于所述第一请求消息，向所述定位服务终端发送第七消息，其中，所述第七消息包括所述候选锚点终端的第三列表。
  35. 根据权利要求34所述的方法，其中，所述网络侧设备为定位管理功能LMF，所述第一请求消息为定位业务LCS消息或长期演进定位协议LPP消息；
    或者，所述网络侧设备为接入移动管理功能AMF，所述第一请求消息为非接入层NAS消息。
  36. 根据权利要求34所述的方法，其中，所述第七消息为LPP、LCS消息、NAS消息、专用RRC消息中的其中一者。
  37. 根据权利要求33所述的方法，其中，所述网络侧设备与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息，包括：
    所述网络侧设备发送系统信息消息，其中，所述系统信息消息包括所述候选锚点终端的第三列表。
  38. 根据权利要求37所述的方法，其中，所述网络侧设备发送所述系统信息消息之前，所述方法还包括：
    所述网络侧设备采用预定密钥，对所述系统信息消息中包括的所述锚点终端的信息进行加密。
  39. 根据权利要求34或37所述的方法，其中，所述第七消息或所述系统信息消息还包括所述候选锚点终端的第二终端信息，其中，所述第二终端信息包括如下中至少一项：
    终端标识；
    地理位置信息；
    旁链路定位能力信息；
    服务小区的标识信息；
    旁链路定位参考信号PRS发送配置信息。
  40. 根据权利要求34或37所述的方法，其中，所述第三列表包括如下中至少一个终端：
    所述定位服务终端的服务小区下的候选锚点终端；
    所述定位服务终端的服务小区的邻区下的候选锚点终端。
  41. 一种定位装置，其中，所述装置包括：
    第一确定模块，用于确定对目标终端执行旁链路定位；
    第一信息获取模块，用于获取候选锚点终端的信息；
    第二确定模块，用于从所述候选锚点终端中，确定参与定位的至少一个锚点终端；
    定位交互模块，用于与所述目标终端和/或至少一个所述锚点终端进行交互，对所述目标终端进行定位。
  42. 一种定位装置，其中，所述装置包括：
    第一接收模块，用于接收定位服务终端发送的第一消息，其中，所述第一消息用于请求候选锚点终端的信息；
    第一发现模块，用于执行候选锚点终端的发现过程，得到候选锚点终端的第一列表；
    第一发送模块，用于向所述定位服务终端发送第二消息，其中，所述第二消息包括所述第一列表。
  43. 一种定位装置，其中，所述装置包括：
    信息提供模块，用于与定位服务终端交互，向所述定位服务终端提供候选锚点终端的信息。
  44. 一种终端，其中，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至21任一项所述的定位方法的步骤，或者实现如权利要求22至32任一项所述的定位方法的步骤。
  45. 一种网络侧设备，其中，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求33至40任一项所述的定位方法的步骤。
  46. 一种可读存储介质，其中，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至21任一项所述的定位方法，或者实现如权利要求22至32任一项所述的定位方法的步骤，或者实现如权利要求33至40任一项所述的定位方法的步骤。
PCT/CN2023/116669 2022-09-09 2023-09-04 定位方法、装置、终端及网络侧设备 Ceased WO2024051630A1 (zh)

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