CN115706630B

CN115706630B - Direct link positioning method, device and user equipment

Info

Publication number: CN115706630B
Application number: CN202110888814.3A
Authority: CN
Inventors: 李晨鑫; 胡金玲; 赵锐
Original assignee: CICTCI Technology Co Ltd
Current assignee: CICTCI Technology Co Ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2024-10-22
Anticipated expiration: 2041-08-02
Also published as: WO2023011164A1; CN115706630A

Abstract

The application discloses a direct link positioning method, a direct link positioning device and user equipment, and relates to the technical field of direct links, wherein the method is applied to first user equipment and comprises the following steps: performing a first transmission over a pass-through link, the first transmission comprising: and the transmission of the straight-through link positioning reference signal SL PRS or the transmission of the SL PRS and the first information can enable user equipment at a receiving end to measure the SL PRS, so that positioning based on the straight-through link positioning link is realized.

Description

Direct link positioning method, device and user equipment

技术领域Technical Field

本申请涉及直通链路技术领域，尤其是涉及一种直通链路定位方法、装置及用户设备。The present application relates to the technical field of direct link technology, and in particular to a direct link positioning method, device and user equipment.

背景技术Background Art

直通链路应用、特别是直通链路典型场景的车联网(Vehicle to everything，V2X)应用需要获知用户设备特别是移动终端(包括车载单元(On Board Unit，OBU)、弱势道路交通参与者(Vulnerable Road Users，VRU)等)的精确位置。常规的定位方式是基于全球导航卫星系统(Global Navigation Satellite System，GNSS)或者增强的GNSS定位，但在GNSS信号覆盖不佳的区域(如城市峡谷)以及无GNSS信号覆盖的区域(隧道、地下停车场、煤矿井下、地下运输通道等)，需要通过其他定位技术保障定位性能。Through-link applications, especially vehicle to everything (V2X) applications in typical through-link scenarios, require the precise location of user devices, especially mobile terminals (including on-board units (OBU), vulnerable road users (VRU), etc.). Conventional positioning methods are based on the Global Navigation Satellite System (GNSS) or enhanced GNSS positioning, but in areas with poor GNSS signal coverage (such as urban canyons) and areas without GNSS signal coverage (tunnels, underground parking lots, coal mines, underground transportation channels, etc.), other positioning technologies are needed to ensure positioning performance.

蜂窝车联网(Cellular Vehicle to Vehicle，C-V2X)包括长期演进车联网(LongTerm Evolution Vehicle to Vehicle，LTE-V2X)和新空口车联网(New Radio Vehicle toVehicle，NR-V2X)，支持直通链路和蜂窝网上下行链路通信，C-V2X设备在蜂窝网络信号覆盖内可以与基站进行通信；在蜂窝网络信号覆盖内和覆盖外，C-V2X均可通过直通链路进行通信。Cellular Vehicle to Vehicle (C-V2X) includes Long Term Evolution Vehicle to Vehicle (LTE-V2X) and New Radio Vehicle to Vehicle (NR-V2X), supporting direct links and uplink and downlink communications on the cellular network. C-V2X devices can communicate with base stations within the coverage of cellular network signals; C-V2X can communicate through direct links both within and outside the coverage of cellular network signals.

3GPP Release 16开展了NR Positioning的研究和标准化，在蜂窝网覆盖内，基站发送cell-specific的下行定位参考信号(Positioning Reference Signal，PRS)信号，终端发送上行用于定位的上行探测信号(Sounding Reference Signal，SRS)，相应的，终端可以测量参考信号的时间差(Reference Signal Time Difference，RSTD)，或者测量下行定位参考信号(Downlink Positioning Reference Signal，DL PRS)的参考信号接收功率(Reference Signal Received Power，RSRP)，或者测量终端接收到DL PRS和发送出SRS的时间差；基站可以测量上行的相对到达时间，(Relative Time of Arrival，RTOA)，SRS的RSRP，5G基站(gNB)收到SRS和gNB发送DL PRS的时间差，以及角度测量值等。通过对测量值进行处理，计算出用户设备(User Equipment，UE)的位置。3GPP Release 16 carried out the research and standardization of NR Positioning. Within the coverage of the cellular network, the base station sends a cell-specific downlink positioning reference signal (PRS) signal, and the terminal sends an uplink sounding reference signal (SRS) for uplink positioning. Accordingly, the terminal can measure the reference signal time difference (RSTD) or the reference signal received power (RSRP) of the downlink positioning reference signal (DL PRS), or the time difference between the terminal receiving the DL PRS and sending the SRS; the base station can measure the uplink relative time of arrival (RTOA), the RSRP of the SRS, the time difference between the 5G base station (gNB) receiving the SRS and the gNB sending the DL PRS, and the angle measurement value. By processing the measured values, the position of the user equipment (UE) is calculated.

然而V2X的应用场景需要支持蜂窝网络覆盖内或者覆盖外均可通信，在蜂窝网络覆盖外，需要针对直通链路设计专门的定位技术，以实现用户设备的位置确定。However, the application scenarios of V2X need to support communication both within and outside the coverage of the cellular network. Outside the coverage of the cellular network, special positioning technology needs to be designed for the direct link to determine the location of the user equipment.

目前，3GPP尚未开展针对直通链路定位技术开展标准化工作。Currently, 3GPP has not yet carried out standardization work on direct link positioning technology.

发明内容Summary of the invention

本申请的目的在于提供一种直通链路定位方法、装置及用户设备，从而解决现有技术没有针对直通链路的专门的定位技术的问题。The purpose of the present application is to provide a method, device and user equipment for locating a through link, so as to solve the problem that there is no special positioning technology for the through link in the prior art.

第一方面，本申请实施例提供了一种直通链路定位方法，应用于第一用户设备，所述方法包括：In a first aspect, an embodiment of the present application provides a through link positioning method, which is applied to a first user equipment, and the method includes:

在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号SL PRS的传输，或者，SL PRS和第一信息的传输。A first transmission is performed on a direct link, where the first transmission includes: transmission of a direct link positioning reference signal SL PRS, or transmission of the SL PRS and first information.

可选地，所述方法还包括下述至少一项：Optionally, the method further comprises at least one of the following:

获取所述SL PRS的第一配置参数；Obtaining a first configuration parameter of the SL PRS;

发送第二信息，所述第二信息用于指示所述第一传输的资源。Send second information, where the second information is used to indicate resources for the first transmission.

可选地，所述第一信息通过下述至少一项承载：Optionally, the first information is carried by at least one of the following:

直通链路控制信息SCI；Through link control information SCI;

直通链路定位信息SPI；Direct link positioning information SPI;

媒体接入控制层控制单元MAC CE；Media access control layer control element MAC CE;

无线资源控制RRC信令；Radio Resource Control RRC signaling;

直通链路数据包；Through link data packets;

物理直通链路控制信道PSCCH；Physical direct link control channel PSCCH;

物理直通链路共享信道PSSCH；Physical direct link shared channel PSSCH;

物理直通链路广播信道PSBCH；Physical direct link broadcast channel PSBCH;

物理直通链路反馈信道PSFCH；Physical direct link feedback channel PSFCH;

物理直通链路发现信道PSDCH；Physical direct link discovery channel PSDCH;

物理直通链路定位信道PSPCH。The physical direct link positioning channel PSPCH.

可选地，所述第一信息包括以下至少一项：Optionally, the first information includes at least one of the following:

所述SL PRS的优先级；The priority of the SL PRS;

所述第一用户设备的位置信息的优先级；The priority of the location information of the first user equipment;

所述第一用户设备的位置信息的置信度；confidence level of the location information of the first user equipment;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

可选地，所述SL PRS的交互方式包括下述至少一项：Optionally, the interaction mode of the SL PRS includes at least one of the following:

单程；One Way;

单程往返方式SW-RT；One-way round trip mode SW-RT;

双程往返方式TW-RT；Two-way round trip mode TW-RT;

对称双程往返方式STW-RT。Symmetrical two-way round trip method STW-RT.

可选地，确定所述SL PRS的交互方式为单程，采用以下方式至少之一：Optionally, determining that the interaction mode of the SL PRS is one-way, adopting at least one of the following methods:

所述第一用户设备与其他锚节点保持高精时间同步；The first user equipment maintains high-precision time synchronization with other anchor nodes;

与所述第一用户设备保持高精时间同步的其他用户设备数量满足预设数量门限；The number of other user equipments maintaining high-precision time synchronization with the first user equipment meets a preset number threshold;

所述第一用户设备确定维护时间与参考时间的预计时间差。The first user equipment determines an estimated time difference between a maintenance time and a reference time.

可选地，确定所述SL PRS的交互方式为单程往返方式，采用以下方式至少之一：Optionally, determining that the interaction mode of the SL PRS is a one-way round-trip mode adopts at least one of the following methods:

所述第一用户设备确定本地计时器件的频率偏移率；The first user equipment determines a frequency offset rate of a local timing device;

所述第一用户设备确定本地计时器件的频率偏移值及对应的参考时间；The first user equipment determines a frequency offset value of a local timing device and a corresponding reference time;

所述第一用户设备不同天线单元不具有处理时间偏移；Different antenna units of the first user equipment do not have a processing time offset;

所述第一用户设备确定不同天线单元的处理时间偏差值。The first user equipment determines processing time offset values of different antenna units.

可选地，所述第三信息包括下述至少一项：Optionally, the third information includes at least one of the following:

所述第一用户设备的位置信息；location information of the first user equipment;

所述第一用户设备的标识ID信息；identification ID information of the first user equipment;

相邻用户设备的位置信息；Location information of neighboring user equipment;

相邻用户设备的ID信息；ID information of adjacent user equipment;

相邻用户设备的位置信息的来源；The source of the location information of the neighboring user equipment;

相邻用户设备的位置信息的置信度；Confidence of location information of neighboring user equipment;

第一指示信息，用于指示当前的定位信号/信息用于绝对定位或相对定位；The first indication information is used to indicate whether the current positioning signal/information is used for absolute positioning or relative positioning;

第二指示信息，用于指示所述第一用户设备是否能够作为锚节点；second indication information, used to indicate whether the first user equipment can serve as an anchor node;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

第三指示信息，用于指示所述第一用户设备是否与其他锚节点保持高精时间同步；The third indication information is used to indicate whether the first user equipment maintains high-precision time synchronization with other anchor nodes;

与所述第一用户设备保持高精时间同步的其他用户设备的信息；Information of other user equipment that maintains high-precision time synchronization with the first user equipment;

所述第一用户设备的维护时间与参考时间的预计时间差；An estimated time difference between the maintenance time of the first user equipment and a reference time;

所述第一用户设备的本地计时器件的频率偏移率；a frequency deviation rate of a local timing device of the first user equipment;

所述第一用户设备的本地计时器件的频率偏移值及对应的参考测量时间；a frequency offset value of a local timing device of the first user equipment and a corresponding reference measurement time;

所述第一用户设备的不同天线单元是否具有处理时间偏移；whether different antenna units of the first user equipment have processing time offsets;

所述第一用户设备的不同天线单元的处理时间偏差值。The processing time deviation values of different antenna units of the first user equipment.

可选地，在所述第一用户设备的位置信息为第一数值的情况下，指示所述第一用户设备不能作为锚节点，所述第一用户设备能够支持相对定位。Optionally, when the location information of the first user equipment is a first value, it indicates that the first user equipment cannot serve as an anchor node, and the first user equipment can support relative positioning.

可选地，所述第一用户设备的本地计时器件的频率偏移值的计算过程包括：Optionally, the calculation process of the frequency offset value of the local timing device of the first user equipment includes:

在所述第一用户设备能够接收到GNSS信号的情况下，在第一时间内，收到一次全球导航卫星系统GNSS模块发送的秒脉冲或连续收到多次所述秒脉冲时，根据下述任一项计算所述第一用户设备的本地计时器件的频率偏移值，其中，所述第一时间为所述第一用户设备设定的参考时间或所述第一时间对应于GNSS模块输出秒脉冲的时间间隔：In the case where the first user equipment is capable of receiving GNSS signals, when a second pulse sent by a global navigation satellite system GNSS module is received once or the second pulse is received multiple times in succession within a first time, a frequency offset value of a local timing device of the first user equipment is calculated according to any one of the following items, wherein the first time is a reference time set by the first user equipment or the first time corresponds to a time interval at which the GNSS module outputs the second pulse:

本地计时器晶振实际计数与本地计时器晶振标称频率值的比较结果；The comparison result of the actual count of the local timer crystal oscillator and the nominal frequency value of the local timer crystal oscillator;

所述参考时间与所述本地计时器晶振实际计时的比较结果。The comparison result between the reference time and the actual timing of the local timer crystal oscillator.

可选地，所述第二信息指示的内容包括下述至少一项：Optionally, the content indicated by the second information includes at least one of the following:

专用频段；Dedicated frequency bands;

免许可频段；Unlicensed frequency bands;

频带；frequency band;

载波；Carrier;

带宽部分BWP；Bandwidth part BWP;

资源池；Resource pool;

时域资源位置；Time domain resource location;

以资源集为调度粒度的频域资源位置；Frequency domain resource location with resource set as scheduling granularity;

以子信道为调度粒度的频域资源位置；Frequency domain resource location with subchannel as scheduling granularity;

以梳齿资源块为调度粒度的频域资源位置；Frequency domain resource location with comb-tooth resource blocks as scheduling granularity;

以子信道及边缘组合资源为调度粒度的频域资源位置。The frequency domain resource location with sub-channel and edge combination resources as the scheduling granularity.

可选地，所述时域资源位置包括下述至少一项：Optionally, the time domain resource location includes at least one of the following:

与当前SCI的时域间隔；The time interval with the current SCI;

与当前SPI的时域间隔；The time domain interval with the current SPI;

所述SL PRS进行重复传输的时间间隔；The time interval for repeated transmission of the SL PRS;

所述SL PRS进行重复传输的次数；The number of times the SL PRS is repeatedly transmitted;

所述SL PRS的传输周期；The transmission period of the SL PRS;

当前SL PRS的传输周期与相邻的下一SL PRS传输周期的时间间隔。The time interval between the current SL PRS transmission period and the next adjacent SL PRS transmission period.

可选地，所述第二信息通过下述至少一项承载：Optionally, the second information is carried by at least one of the following:

SCI；SCI;

SPI。SPI.

可选地，当所述第二信息通过所述SPI进行承载时，所述SCI用于指示所述SPI传输的资源位置。Optionally, when the second information is carried by the SPI, the SCI is used to indicate a resource location of the SPI transmission.

可选地，所述SCI仅包括第一SCI，或者，所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种。Optionally, the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of a second SCI and a third SCI.

可选地，当所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种时，所述第一SCI指示的内容还包括：Optionally, when the SCI includes a first SCI, and at least one of a second SCI and a third SCI, the content indicated by the first SCI further includes:

所述第二SCI的资源位置；a resource location of the second SCI;

所述第三SCI的资源位置；The resource location of the third SCI;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

第四指示信息，用于指示PSSCH中是否包含所述第二SCI和/或所述第三SCI；Fourth indication information, used to indicate whether the PSSCH includes the second SCI and/or the third SCI;

第五指示信息，用于指示当前传输的信号和/或信息是否用于指示直通链路定位，其中，所述第五指示信息承载于所述第一SCI中的N个比特，N为正整数。The fifth indication information is used to indicate whether the currently transmitted signal and/or information is used to indicate the direct link positioning, wherein the fifth indication information is carried by N bits in the first SCI, and N is a positive integer.

可选地，所述SCI、所述SPI、所述SL PRS和PSSCH的传输方式包括：Optionally, the transmission mode of the SCI, the SPI, the SL PRS and the PSSCH includes:

在相同的频段、载波、BWP、资源池或资源集内传输；Transmitted within the same frequency band, carrier, BWP, resource pool or resource set;

或者，在不同的频段、载波、BWP、资源池或资源集内传输。Alternatively, transmission may be performed in different frequency bands, carriers, BWPs, resource pools or resource sets.

可选地，所述SCI、所述SPI和所述SL PRS在不同的频段传输包括：Optionally, the SCI, the SPI and the SL PRS are transmitted in different frequency bands including:

所述SCI和所述SPI的至少一项在第一频段传输，所述SL PRS在第二频段传输；所述第一频段低于第二频段；At least one of the SCI and the SPI is transmitted in a first frequency band, and the SL PRS is transmitted in a second frequency band; the first frequency band is lower than the second frequency band;

或者，所述SCI和所述SPI的至少一项在授权频段传输，所述SL PRS在免许可频段传输。Alternatively, at least one of the SCI and the SPI is transmitted in a licensed frequency band, and the SL PRS is transmitted in an unlicensed frequency band.

第二方面，本申请实施例还提供一种直通链路定位方法，应用于第二用户设备，所述方法包括：In a second aspect, an embodiment of the present application further provides a through link positioning method, which is applied to a second user equipment, and the method includes:

在直通链路上执行第一传输的接收，所述第一传输包括：SL PRS的传输，或者，所述SL PRS和第一信息的传输；Performing reception of a first transmission on the through link, the first transmission comprising: transmission of a SL PRS, or transmission of the SL PRS and first information;

对所述第一传输中的所述SL PRS进行测量。The SL PRS in the first transmission is measured.

接收第二信息，所述第二信息用于指示所述第一传输的资源。Second information is received, where the second information is used to indicate resources of the first transmission.

可选地，所述方法还包括：Optionally, the method further comprises:

根据所述第二信息，进行所述SL PRS的检测和/或资源排除。According to the second information, the SL PRS is detected and/or resources are excluded.

所述SL PRS的优先级；The priority of the SL PRS;

第一用户设备的位置信息的优先级；priority of the location information of the first user equipment;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

相邻用户设备的ID信息；ID information of adjacent user equipment;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

可选地，在所述第二指示信息指示所述第一用户设备能够作为锚节点的情况下，确定所述第二指示信息隐式指示的信息为所述第一用户设备能够支持绝对定位或自行解算位置；Optionally, when the second indication information indicates that the first user equipment can serve as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-calculate a position;

或者，在所述第二指示信息指示所述第一用户设备不能作为锚节点的情况下，确定所述第二指示信息隐式指示的信息为所述第一用户设备仅能够支持相对定位或支持辅助解算位置。Alternatively, when the second indication information indicates that the first user equipment cannot serve as an anchor node, it is determined that the information implicitly indicated by the second indication information is that the first user equipment can only support relative positioning or support auxiliary position solution.

可选地，在所述第三指示信息指示所述第一用户设备与其他锚节点保持高精时间同步，或者，与所述第一用户设备保持高精时间同步的其他用户设备数量满足预设数量门限，或者，在所述第三信息包括所述第一用户设备的维护时间与参考时间的预计时间差的情况下，所述第二用户设备确定能够基于所述第一用户设备单程传输SL PRS的方式进行定位。Optionally, when the third indication information indicates that the first user equipment maintains high-precision time synchronization with other anchor nodes, or the number of other user equipment that maintains high-precision time synchronization with the first user equipment meets a preset number threshold, or when the third information includes an estimated time difference between the maintenance time of the first user equipment and a reference time, the second user equipment determines that it can be positioned based on the one-way transmission of SL PRS by the first user equipment.

可选地，在所述第三信息包括所述第一用户设备的本地计时器件的频率偏移率，或者，所述第三信息包括所述第一用户设备的本地计时器件的频率偏移值及对应的参考时间，或者，所述第三信息包括并指示所述第一用户设备的不同天线单元不具有处理时间偏移，或者，所述第三信息包括所述第一用户设备的不同天线单元的处理时间偏差值的情况下，所述第二用户设备确定可基于所述第一用户设备进行单程往返方式SW-RT的SL PRS交互方式进行定位。Optionally, when the third information includes the frequency offset rate of the local timing device of the first user equipment, or the third information includes the frequency offset value of the local timing device of the first user equipment and the corresponding reference time, or the third information includes and indicates that different antenna units of the first user equipment do not have processing time offset, or the third information includes processing time deviation values of different antenna units of the first user equipment, the second user equipment determines that positioning can be performed based on the SL PRS interaction method of the one-way round-trip mode SW-RT of the first user equipment.

第三方面，本申请实施例还提供一种用户设备，包括收发机、存储器、处理器及存储在所述存储器上并了在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如第一方面所述的直通链路定位方法，或者，如第二方面所述的直通链路定位方法。In a third aspect, an embodiment of the present application further provides a user device, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the direct link positioning method as described in the first aspect is implemented, or the direct link positioning method as described in the second aspect is implemented.

第四方面，本申请实施例还提供一种直通链路定位装置应用于第一用户设备，包括：In a fourth aspect, an embodiment of the present application further provides a through link positioning device applied to a first user equipment, including:

传输模块，用于在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号SL PRS的传输，或者，SL PRS和第一信息的传输。The transmission module is used to perform a first transmission on a direct link, where the first transmission includes: transmission of a direct link positioning reference signal SL PRS, or transmission of the SL PRS and first information.

第五方面，本申请实施例还提供一种直通链路定位装置，应用于第二用户设备，包括：In a fifth aspect, an embodiment of the present application further provides a through link positioning device, which is applied to a second user equipment, including:

第一接收模块，用于在直通链路上执行第一传输的接收，所述第一传输包括：SLPRS的传输，或者，所述SL PRS和第一信息的传输；A first receiving module, configured to receive a first transmission on a direct link, wherein the first transmission includes: transmission of an SLPRS, or transmission of the SL PRS and first information;

测量模块，用于对所述第一传输中的所述SL PRS进行测量。A measuring module is used to measure the SL PRS in the first transmission.

第六方面，本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如第一方面所述的直通链路定位方法，或者，如第二方面所述的直通链路定位方法。In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the direct link positioning method as described in the first aspect or the direct link positioning method as described in the second aspect is implemented.

本申请的上述技术方案至少具有如下有益效果：The above technical solution of the present application has at least the following beneficial effects:

本申请实施例的直通链路定位方法、装置及用户设备，涉及直通链路技术领域，该方法应用于第一用户设备，该方法包括：在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号SL PRS的传输，或者，SL PRS和第一信息的传输，如此，能够使接收端的用户设备对SL PRS进行测量，从而实现基于直通链路sidelink的定位。The direct link positioning method, device and user equipment of the embodiments of the present application relate to the field of direct link technology. The method is applied to a first user equipment. The method includes: performing a first transmission on the direct link, and the first transmission includes: transmission of a direct link positioning reference signal SL PRS, or transmission of SL PRS and first information, so that the user equipment at the receiving end can measure the SL PRS, thereby realizing positioning based on the direct link sidelink.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1为本申请实施例的直通链路定位方法的流程示意图之一；FIG1 is a schematic diagram of a flow chart of a method for locating a direct link according to an embodiment of the present application;

图2为本申请实施例的直通链路定位方法的流程示意图之二；FIG2 is a second flow chart of the through link positioning method according to an embodiment of the present application;

图3为本申请实施例的直通链路定位装置的结构示意图之一；FIG3 is a schematic diagram of a structure of a through link positioning device according to an embodiment of the present application;

图4为本申请实施例的直通链路定位装置的结构示意图之二；FIG4 is a second structural diagram of the through link positioning device according to an embodiment of the present application;

图5为本申请实施例的用户设备的结构示意图。FIG5 is a schematic diagram of the structure of a user equipment according to an embodiment of the present application.

具体实施方式DETAILED DESCRIPTION

为使本申请要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。在下面的描述中，提供诸如具体的配置和组件的特定细节仅仅是为了帮助全面理解本申请的实施例。因此，本领域技术人员应该清楚，可以对这里描述的实施例进行各种改变和修改而不脱离本申请的范围和精神。另外，为了清楚和简洁，省略了对已知功能和构造的描述。To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

在本申请的各种实施例中，应理解，下述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

在本申请所提供的实施例中，应理解，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A 确定B，还可以根据A和/或其它信息确定B。In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, but B can also be determined according to A and/or other information.

如图1所示，本申请实施例提供了一种直通链路定位方法，应用于第一用户设备，该第一用户设备为应用于直通链路技术领域的典型应用场景(车联网应用场景)的用户设备，亦即，第一用户设备为支持直通链路定位的车联网通信设备，如：路侧设备(Road SideUnit，RSU)、OBU、VRU等。所述方法包括：As shown in FIG1 , an embodiment of the present application provides a through link positioning method, which is applied to a first user device, and the first user device is a user device applied to a typical application scenario (vehicle networking application scenario) in the field of through link technology, that is, the first user device is a vehicle networking communication device that supports through link positioning, such as: Road Side Unit (RSU), OBU, VRU, etc. The method includes:

步骤101，在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号(Sidelink Positioning Reference Signal，SL PRS)的传输，或者，SL PRS和第一信息的传输。Step 101: Perform a first transmission on a sidelink, where the first transmission includes: transmission of a sidelink positioning reference signal (SL PRS), or transmission of the SL PRS and first information.

这里，需要说明的是，该第一信息至少包括SL PRS配置信息和/或与定位相关的信息，但不以此为限。Here, it should be noted that the first information at least includes SL PRS configuration information and/or information related to positioning, but is not limited to this.

本申请实施例的直通链路定位方法，在直通链路上执行第一传输，第一传输包括SL PRS的传输，或者，SL PRS和第一信息的传输；亦即，在直通链路上发送SL PRS，或者，在直通链路上发送SL PRS和第一信息，使得接收端能够基于接收到的信号/信息进行基于sidelink的定位，解决了现有车联网定位主要依靠GNSS的局限性的问题。The direct link positioning method of the embodiment of the present application performs a first transmission on the direct link, and the first transmission includes the transmission of the SL PRS, or the transmission of the SL PRS and the first information; that is, the SL PRS is sent on the direct link, or the SL PRS and the first information are sent on the direct link, so that the receiving end can perform sidelink-based positioning based on the received signal/information, thereby solving the problem that the existing Internet of Vehicles positioning mainly relies on GNSS.

进一步地，作为一个可选的实现方式，所述方法还包括下述至少一项：Furthermore, as an optional implementation, the method further includes at least one of the following:

这里，需要说明的是，该第一配置参数包括SL PRS的带宽部分(BandWidth Part，BWP)配置参数，和/或，SL PRS资源配置参数，但不以此为限。Here, it should be noted that the first configuration parameter includes a bandwidth part (BandWidth Part, BWP) configuration parameter of the SL PRS and/or a SL PRS resource configuration parameter, but is not limited thereto.

本可选的实现方式中，通过获取SL PRS的第一配置参数，实现了对SL PRS的配置；通过发送第二信息，实现了接收端的用户设备根据第一传输的资源接收第一用户设备发送的信号/信息。In this optional implementation, the configuration of the SL PRS is achieved by acquiring the first configuration parameter of the SL PRS; and the second information is sent so that the user equipment at the receiving end receives the signal/information sent by the first user equipment according to the first transmission resource.

这里，需要说明的是，可以通过下述至少一种方式获取所述第一配置参数：Here, it should be noted that the first configuration parameter can be obtained by at least one of the following methods:

网络侧配置；Network side configuration;

预配置信息；Pre-configuration information;

直通链路主信息块(Master Information Block，MIB)信息；Master Information Block (MIB) information of the direct link;

直通链路定位配置广播消息。Broadcast message for direct link positioning configuration.

这里，还需要说明的是，该直通链路定位配置广播消息为用户设备(车联网通信设备)发送的消息。Here, it should also be noted that the direct link positioning configuration broadcast message is a message sent by the user equipment (Internet of Vehicles communication device).

作为一个可选的实现方式，所述第一信息通过下述至少一项承载：As an optional implementation manner, the first information is carried by at least one of the following:

直通链路控制信息(Sidelink Control Information，SCI)；Sidelink Control Information (SCI);

直通链路定位信息(Sidelink Positioning Information，SPI)；Sidelink Positioning Information (SPI);

媒体接入控制层控制单元(Media Access Control Control Element，MAC CE)；Media Access Control Control Element (MAC CE);

无线资源控制(Radio Resource Control，RRC)信令；Radio Resource Control (RRC) signaling;

直通链路数据包；Through link data packets;

物理直通链路控制信道(Physical Sidelink Control Channel，PSCCH)；Physical Sidelink Control Channel (PSCCH);

物理直通链路共享信道(Physical Sidelink Shared Channel，PSSCH)；Physical Sidelink Shared Channel (PSSCH);

物理直通链路广播信道(Physical Sidelink Broadcast Channel，PSBCH)；Physical Sidelink Broadcast Channel (PSBCH);

物理直通链路反馈信道(Physical Sidelink Feedback Channel，PSFCH)；Physical Sidelink Feedback Channel (PSFCH);

物理直通链路发现信道(Physical Sidelink Discover Channel，PSDCH)；Physical Sidelink Discovery Channel (PSDCH);

物理直通链路定位信道(Physical Sidelink Positioning Channel，PSPCH)。Physical Sidelink Positioning Channel (PSPCH).

这里，需要说明的是，“SPI”是指直通链路上用于指示定位相关信息的指示信息类型，但是，指示定位相关信息的指示信息类型的名称并不限于SPI。Here, it should be noted that “SPI” refers to the type of indication information used to indicate positioning related information on the direct link, but the name of the type of indication information indicating positioning related information is not limited to SPI.

这里，还需要说明的是，支持直通链路定位的MAC CE的设计格式/支持直通链路定位的RRC信令(传输指示)的设计格式/直通链路数据包的设计格式，包括以下指示信息的至少一项：Here, it should also be noted that the design format of the MAC CE supporting direct link positioning/the design format of the RRC signaling (transmission indication) supporting direct link positioning/the design format of the direct link data packet includes at least one of the following indication information:

第一信息；First information;

第二SCI的格式；The format of the second SCI;

第三SCI的格式；The format of the third SCI;

第四指示信息，用于指示PSSCH中是否包含所述第二SCI和/或所述第三SCI。The fourth indication information is used to indicate whether the PSSCH includes the second SCI and/or the third SCI.

其中，第一信息、第二SCI和第三SCI的相关内容可以参考后续内容，这里不重复说明。Among them, the relevant contents of the first information, the second SCI and the third SCI can be referred to in the subsequent content and will not be repeated here.

本可选的实现方式，通过对现有的MAC CE、RRC信令进行改进，实现了支持定位参考信号和定位信息的指示或者传输，以灵活调度定位信号资源以及支持不同的定位信号/信息监听方式，从而实现基于sidelink的定位。This optional implementation method improves the existing MAC CE and RRC signaling to support the indication or transmission of positioning reference signals and positioning information, flexibly schedule positioning signal resources and support different positioning signal/information monitoring methods, thereby realizing sidelink-based positioning.

作为一个可选的实现方式，所述第一信息包括以下至少一项：As an optional implementation manner, the first information includes at least one of the following:

所述SL PRS的优先级；The priority of the SL PRS;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

这里，需要说明的是，SL PRS的类型包括以下至少一项，但不以此为限：Here, it should be noted that the types of SL PRS include at least one of the following, but are not limited thereto:

PRS；PRS;

载波相位定位参考信号(Carrier Phase Positioning Reference Signal，C-PRS)。Carrier Phase Positioning Reference Signal (C-PRS).

作为一个具体的实现方式，所述SL PRS的交互方式包括下述至少一项：As a specific implementation manner, the interaction manner of the SL PRS includes at least one of the following:

单程；One Way;

单程往返方式(Single Way-Round Trip，SW-RT)；Single Way-Round Trip (SW-RT);

双程往返方式(Two Way-Round Trip，TW-RT)；Two Way-Round Trip (TW-RT);

对称双程往返方式(Symmetric Two Way-Round Trip，STW-RT)。Symmetric Two Way-Round Trip (STW-RT).

作为一个可选的实现方式，确定所述SL PRS的交互方式为单程，采用以下方式至少之一：As an optional implementation manner, determining that the interaction mode of the SL PRS is one-way, at least one of the following methods is adopted:

也就是说，在满足第一条件的情况下，确定SL PRS的交互方式可为单程，其中，第一条件包括上述三个条件中的至少一个，亦即，在第一用户设备满足上述三个条件中的至少一个的情况下，确定SL PRS的交互方式可为单程，如此，第二用户设备能够基于第一用户设备单程传输的SL PRS的方式进行定位。That is to say, when the first condition is met, it is determined that the interaction mode of SL PRS can be one-way, wherein the first condition includes at least one of the above three conditions, that is, when the first user equipment satisfies at least one of the above three conditions, it is determined that the interaction mode of SL PRS can be one-way, so that the second user equipment can be positioned based on the SL PRS transmitted one-way by the first user equipment.

作为又一个可选的实现方式，采用以下方式至少之一，确定所述SL PRS的交互方式为单程往返方式：As another optional implementation, at least one of the following methods is used to determine that the interaction mode of the SL PRS is a one-way round-trip mode:

也就是说，在满足第二条件的情况下，确定SL PRS的交互方式可为单程往返方式；亦即，在第一用户设备满足上述四个条件中的至少一个的情况下，确定SL PRS的交互方式可为单程往返方式，如此，第二用户设备能够基于第一用户设备单程往返传输的SL PRS的方式进行定位。That is to say, when the second condition is met, the interaction mode of SL PRS is determined to be a one-way round-trip mode; that is, when the first user equipment satisfies at least one of the above four conditions, the interaction mode of SL PRS is determined to be a one-way round-trip mode, so that the second user equipment can be positioned based on the SL PRS transmitted one-way round-trip by the first user equipment.

上述两个可选的实现方式，支持直通链路不同同步方式、不同定位信息来源、不同时间同步精度、不同信号优先级以及考虑是否进行本地时钟偏移指示、天线单元处理时延校准的情况下，实现支持直通链路定位的设备根据相应信息，确认定位信号交互方式、类型等方式，进而确认绝对/相对定位、UE自行定位/UE辅助定位等，实现车联网定位复杂环境、灵活配置下的多种方式的定位。The above two optional implementation methods support different synchronization modes of the direct link, different positioning information sources, different time synchronization accuracy, different signal priorities, and consider whether to perform local clock offset indication and antenna unit processing delay calibration. The equipment that supports direct link positioning can confirm the positioning signal interaction mode and type according to the corresponding information, and then confirm the absolute/relative positioning, UE self-positioning/UE-assisted positioning, etc., to realize various positioning methods in complex environment and flexible configuration of Internet of Vehicles positioning.

作为一个可选的实现方式，所述第三信息包括下述至少一项：As an optional implementation manner, the third information includes at least one of the following:

相邻用户设备的ID信息；ID information of adjacent user equipment;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

这里，需要说明的是，辅助解算位置即为UE-assisted解算位置信息，自行解算位置即为UE-based解算位置信息。Here, it should be noted that the assisted location solution is UE-assisted location solution information, and the self-solved location is UE-based location solution information.

本可选的实现方式中，第三信息包括上述多个内容中的至少一个，实现了接收端的用户设备根据相应信息，确认定位信号交互方式、类型等方式，进而确认绝对/相对定位、UE自行定位/UE辅助定位等，实现车联网定位复杂环境、灵活配置下的多种方式的定位。In this optional implementation, the third information includes at least one of the above-mentioned multiple contents, so that the user equipment at the receiving end can confirm the positioning signal interaction mode and type according to the corresponding information, and then confirm the absolute/relative positioning, UE self-positioning/UE-assisted positioning, etc., to realize various positioning methods under complex environment and flexible configuration of Internet of Vehicles positioning.

作为一个可选的实现方式，在所述第一用户设备的位置信息为第一数值的情况下，指示所述第一用户设备不能作为锚节点，所述第一用户设备能够支持相对定位。As an optional implementation manner, when the location information of the first user equipment is a first value, it indicates that the first user equipment cannot serve as an anchor node, and the first user equipment can support relative positioning.

这里，需要说明的是，特殊的，第一数值可以为0，特殊的，对于多bit位的指示、第一数值表示为全0，也就是说，在所述第一用户设备的位置信息为0的情况下，指示所述第一用户设备不能作为锚节点，所述第一用户设备进行相对定位。Here, it should be noted that, specifically, the first value can be 0. Specifically, for a multi-bit indication, the first value is represented as all 0s. That is to say, when the location information of the first user equipment is 0, it indicates that the first user equipment cannot be used as an anchor node, and the first user equipment performs relative positioning.

这里，还需要说明的是，在所述第二指示信息指示所述第一用户设备能够作为锚节点的情况下，隐式指示所述第一用户设备能够支持绝对定位或UE-based定位；或者，在所述第二指示信息指示所述第一用户设备不能够作为锚节点的情况下，隐式指示所述第一用户设备仅能够支持相对定位或UE-assisted定位。Here, it is also necessary to explain that, when the second indication information indicates that the first user equipment can serve as an anchor node, it implicitly indicates that the first user equipment can support absolute positioning or UE-based positioning; or, when the second indication information indicates that the first user equipment cannot serve as an anchor node, it implicitly indicates that the first user equipment can only support relative positioning or UE-assisted positioning.

作为一个可选的实现方式，所述第一用户设备的本地计时器件的频率偏移值的计算过程包括：As an optional implementation manner, the calculation process of the frequency offset value of the local timing device of the first user equipment includes:

这里，需要说明的是，GNSS模块输出秒脉冲的时间间隔为1s。Here, it should be noted that the time interval for the GNSS module to output second pulses is 1s.

也就是说，当第一用户设备能够接收到GNSS信号时，在一定时间内，进行至少一次偏移测量，具体的，在一定时间(参考时间或者1s)内，在连续1次或者多次收到秒脉冲时，利用参考时间内的本地计时器晶振实际计时与晶振标称值进行比较，或者，利用参考时间与本地计时器晶振实际计时进行比较，获得第一用户设备的本地计时器件的频率偏移。That is to say, when the first user device is able to receive the GNSS signal, at least one offset measurement is performed within a certain time. Specifically, within a certain time (reference time or 1s), when the second pulse is received continuously for one or more times, the actual timing of the local timer crystal oscillator within the reference time is compared with the nominal value of the crystal oscillator, or the reference time is compared with the actual timing of the local timer crystal oscillator to obtain the frequency offset of the local timing device of the first user device.

进一步地，在偏移值满足以下预设条件的至少一项的情况下，确定所述偏移值有效，可以传输所述偏移值：Further, when the offset value satisfies at least one of the following preset conditions, it is determined that the offset value is valid and the offset value can be transmitted:

预设时间内；Within the preset time;

预设温度范围内；Within the preset temperature range;

预设湿度范围内。Within the preset humidity range.

也就是说，第一用户设备在发送所述偏移值时，还可进一步发送相应的条件，以使接收端的用户设备能够根据发送的条件确定所述偏移值是否有效。That is, when sending the offset value, the first user equipment may further send a corresponding condition, so that the user equipment at the receiving end can determine whether the offset value is valid according to the sent condition.

本可选的实现方式，提出了一种基于GNSS的本地计时器件晶振频移测算方法，在可收到GNSS信号时进行测量，在直通链路定位中指示，可支持用户设备间不同步的情况下，基于单程RT实现高精测距，在基于单程RT计算TOA或者测距时，将频移量带入，消除了本地计时器频偏带来计时误差引起定位精度下降的问题。This optional implementation method proposes a method for measuring the crystal frequency shift of a local timing device based on GNSS. The method performs measurements when a GNSS signal can be received and indicates the frequency shift in the direct link positioning. The method can support high-precision ranging based on one-way RT when user devices are not synchronized. When calculating TOA or ranging based on one-way RT, the frequency shift is brought in, thus eliminating the problem of timing error caused by the frequency deviation of the local timer, which causes a decrease in positioning accuracy.

作为一个可选的实现方式，所述第二信息指示的内容包括下述至少一项：As an optional implementation manner, the content indicated by the second information includes at least one of the following:

专用频段；Dedicated frequency bands;

免许可频段；Unlicensed frequency bands;

频带；frequency band;

载波；Carrier;

带宽部分BWP；Bandwidth part BWP;

资源池；Resource pool;

时域资源位置；Time domain resource location;

也就是说，本申请实施例的第一传输可以在以上至少一种资源上传输。That is to say, the first transmission of the embodiment of the present application can be transmitted on at least one of the above resources.

作为一个具体的实现方式，所述时域资源位置包括下述至少一项：As a specific implementation manner, the time domain resource location includes at least one of the following:

与当前SCI的时域间隔；The time interval with the current SCI;

与当前SPI的时域间隔；The time domain interval with the current SPI;

所述SL PRS的传输周期；The transmission period of the SL PRS;

作为一个可选的实现方式，所述第二信息通过下述至少一项承载：As an optional implementation manner, the second information is carried by at least one of the following:

SCI；SCI;

SPI。SPI.

这里，需要说明的是，本可选实现方式中，在只进行直通链路定位(SLPositioning Standalone)时，所述第二信息通过SCI和/或SPI承载。Here, it should be noted that, in this optional implementation, when only straight link positioning (SL Positioning Standalone) is performed, the second information is carried by SCI and/or SPI.

其中，作为一个具体的实现方式，当所述第二信息通过所述SPI进行承载时，所述SCI用于指示所述SPI传输的资源位置。As a specific implementation method, when the second information is carried by the SPI, the SCI is used to indicate the resource location of the SPI transmission.

作为一个可选的实现方式，所述SCI仅包括第一SCI，或者，所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种。As an optional implementation manner, the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

这里，需要说明的是，在直通链路定位(SL Positioning)与直通链路通信(SLCommunication)共存，或者，通过SL Communication传输的信号/信息指示或者调度SLPositioning信号/信息时，所述第二信息承载于SCI和/或SPI，其中，所述SCI仅包括第一SCI，或者，所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种。It should be noted here that when direct link positioning (SL Positioning) coexists with direct link communication (SL Communication), or when the signal/information transmitted through SL Communication indicates or schedules the SL Positioning signal/information, the second information is carried on the SCI and/or SPI, wherein the SCI only includes the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

其中，本申请实施例，将SCI设计为仅包括第一SCI，此种情况下，可以不改变现有的第一SCI基本格式或者仅增加指示是否用于定位的比特，实现了直通链路定位与直通链路通信机制的兼容性，保证直通链路通信的用户设备能够实现有效资源感知；将SCI设计为包括第一SCI，以及，第二SCI和第三SCI中的至少一项，能够支持定位参考信号和定位信息的指示或者传输。具体的，SCI包括第一SCI，以及，第二SCI和第三SCI中的至少一项，具体可以为：SCI包括第一SCI和新设计的第二SCI，或者，SCI包括第一SCI、现有的第二SCI和新设计的第三SCI。Among them, in the embodiment of the present application, the SCI is designed to include only the first SCI. In this case, the existing first SCI basic format may not be changed or only the bit indicating whether it is used for positioning may be added, so as to achieve the compatibility of the direct link positioning and the direct link communication mechanism, and ensure that the user equipment of the direct link communication can achieve effective resource perception; the SCI is designed to include the first SCI, and at least one of the second SCI and the third SCI, so as to support the indication or transmission of the positioning reference signal and the positioning information. Specifically, the SCI includes the first SCI, and at least one of the second SCI and the third SCI, which may be: the SCI includes the first SCI and the newly designed second SCI, or the SCI includes the first SCI, the existing second SCI and the newly designed third SCI.

这里，需要说明的是，所述第一SCI指示的内容包括以下至少一项：Here, it should be noted that the content indicated by the first SCI includes at least one of the following:

PSSCH的资源位置；Resource location of PSSCH;

PSPCH的资源位置；The resource location of PSPCH;

SPI的资源位置。The resource location of the SPI.

具体的，PSSCH的资源位置具体可以是承载所述第一传输的PSSCH资源位置。Specifically, the resource location of the PSSCH may be the resource location of the PSSCH that carries the first transmission.

作为一个可选的实现方式，当所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种时，所述第一SCI指示的内容还包括：As an optional implementation manner, when the SCI includes a first SCI, and at least one of a second SCI and a third SCI, the content indicated by the first SCI further includes:

所述第二SCI的资源位置；a resource location of the second SCI;

所述第三SCI的资源位置；The resource location of the third SCI;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

这里，需要说明的是，一者，第四指示信息具体用于指示PSSCH中是否仅包含第二SCI，或者，用于指示PSSCH中是否仅包含第二SCI和第三SCI。二者，承载所述第五指示信息的N个比特为已有的第一阶段SCI的预留比特，也就是说，所述第五指示信息是在已有第一阶段SCI的预留比特进行指示。特殊的，N可以为1bit，当对应bit位指示为1，支持直通链路定位的新版本设备接收到该bit位信息，可以获知该第一阶段SCI指示的相关传输用于定位。Here, it should be noted that, firstly, the fourth indication information is specifically used to indicate whether the PSSCH contains only the second SCI, or, to indicate whether the PSSCH contains only the second SCI and the third SCI. Secondly, the N bits carrying the fifth indication information are reserved bits of the existing first-stage SCI, that is, the fifth indication information is indicated in the reserved bits of the existing first-stage SCI. In particular, N can be 1 bit. When the corresponding bit indication is 1, the new version device that supports direct link positioning receives the bit information and can know that the related transmission indicated by the first-stage SCI is used for positioning.

也就是说，SL Positioning Standalone下支持直通链路定位的SCI设计，或者，SLPositioning与SL Communication共存，或者，通过SL Communication传输的信号/信息指示或者调度SL Positioning信号/信息时的第一SCI设计具体包括以下至少一项：That is, the SCI design supporting direct link positioning under SL Positioning Standalone, or the coexistence of SLPositioning and SL Communication, or the first SCI design when the signal/information transmitted by SL Communication indicates or schedules the SL Positioning signal/information specifically includes at least one of the following:

PSSCH的资源位置；Resource location of PSSCH;

PSPCH的资源位置；The resource location of PSPCH;

SPI的资源位置；The resource location of SPI;

所述第二SCI的资源位置；a resource location of the second SCI;

所述第三SCI的资源位置；The resource location of the third SCI;

第二信息；Second information:

时域资源位置；Time domain resource location;

以子信道及边缘组合资源为调度粒度的频域资源位置；Frequency domain resource location with subchannel and edge combination resources as scheduling granularity;

所述SL PRS的优先级；The priority of the SL PRS;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

第五指示信息，用于指示当前传输的信号和/或信息是否用于指示直通链路定位。The fifth indication information is used to indicate whether the currently transmitted signal and/or information is used to indicate the direct link positioning.

另外，SL Positioning与SL Communication共存，或者，通过SL Communication传输的信号/信息指示或者调度SL Positioning信号/信息时，支持直通链路定位的第二SCI或第三SCI具体包括以下指示信息的至少一项：In addition, when SL Positioning and SL Communication coexist, or when the signal/information transmitted by SL Communication indicates or schedules the SL Positioning signal/information, the second SCI or the third SCI supporting direct link positioning specifically includes at least one of the following indication information:

第二信息；Second information:

第一信息；First information;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

这里，还需要说明的是，直通链路定位信息SPI包括以下指示信息的至少一项：Here, it should be noted that the direct link positioning information SPI includes at least one of the following indication information:

第二信息；Second information:

第一信息；First information;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

作为一个可选的实现方式，所述SCI、所述SPI、所述SL PRS和PSSCH的传输方式包括：As an optional implementation manner, the transmission manner of the SCI, the SPI, the SL PRS and the PSSCH includes:

本可选的实现方式能够支持控制信息或者定位信息的至少一项与SL PRS以及第一信息(必要的定位信息)在相同或不同的频段、载波、BWP、资源池、资源集进行灵活传输和调度，以及支持不同的定位信号/信息监听方式。This optional implementation method can support flexible transmission and scheduling of at least one item of control information or positioning information with SL PRS and the first information (necessary positioning information) in the same or different frequency bands, carriers, BWPs, resource pools, and resource sets, and support different positioning signal/information monitoring methods.

作为一个具体的实现方式，所述SCI、所述SPI和所述SL PRS在不同的频段传输包括：As a specific implementation manner, the SCI, the SPI and the SL PRS are transmitted in different frequency bands including:

这里，需要说明的是，在所述SCI和所述SPI的至少一项在第一频段传输，所述SLPRS在第二频段传输的情况下，该第二频段还可同时传输SCI和SPI的至少一项，或者，该第二频段不传输SCI和SPI。Here, it should be noted that, when at least one of the SCI and the SPI is transmitted in the first frequency band and the SLPRS is transmitted in the second frequency band, the second frequency band can also simultaneously transmit at least one of the SCI and the SPI, or the second frequency band does not transmit the SCI and the SPI.

在所述SCI和所述SPI的至少一项在授权频段传输，所述SL PRS在免许可频段传输的情况下，免许可频段可同时传输SCI和SPI的至少一项，或者，免许可频段不传输SCI和SPI。When at least one of the SCI and the SPI is transmitted in a licensed frequency band and the SL PRS is transmitted in an unlicensed frequency band, the unlicensed frequency band may transmit at least one of the SCI and the SPI simultaneously, or the unlicensed frequency band does not transmit the SCI and the SPI.

另外，在所述SCI和所述SPI的至少一项在授权频段传输，所述SL PRS在免许可频段传输的情况下，免许可频段传输前导信息(序列)，前导信息(序列)用于指示即将传输的SL PRS。In addition, when at least one of the SCI and the SPI is transmitted in a licensed frequency band and the SL PRS is transmitted in an unlicensed frequency band, the unlicensed frequency band transmits a preamble information (sequence), and the preamble information (sequence) is used to indicate the SL PRS to be transmitted.

本申请实施例的直通链路定位方法，一者，通过在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号SL PRS的传输，或者，SL PRS和第一信息的传输，使得接收端的用户设备能够对SL PRS进行测量，从而实现基于直通链路sidelink的定位，使得用户设备工作在蜂窝网络覆盖外场景时也能实现定位，且对车辆移动进行针对性设计，提高了定位精度；二者，通过对各种信令/信息格式的设计，使得直通链路定位技术与直通链路通信技术能够兼容，保证直通链路的用户设备能够实现有效资源感知，且支持定位参考信号和定位信息的指示或传输；三者，通过对SCI、SPI、SL PRS和PSSCH的传输方式进行设计，实现了SL PRS以及必要的定位信息能够在相同或不同频段、载波、BWP、资源池、资源集进行灵活传输和调度，解决了定位频谱受限的问题；四者，通过本地及时期晶振频移测算方法，在可收到GNSS信号时进行测量，在直通链路定位中指示，可支持用户设备不同步情况下，基于单程RT实现高精测距，在基于单程RTT计算TOA或测距时，将频移量带入、消除本地计时器频偏带来即使误差引起定位精度下降的问题，提高了定位精度。The direct link positioning method of the embodiment of the present application, first, by performing a first transmission on the direct link, the first transmission includes: transmission of a direct link positioning reference signal SL PRS, or transmission of SL PRS and first information, so that the user equipment at the receiving end can measure the SL PRS, thereby realizing positioning based on the direct link sidelink, so that the user equipment can also realize positioning when working in a scene outside the coverage of the cellular network, and performs targeted design for vehicle movement, thereby improving the positioning accuracy; second, by designing various signaling/information formats, the direct link positioning technology is made compatible with the direct link communication technology, ensuring that the user equipment of the direct link can realize effective resource perception, and supports the indication or transmission of positioning reference signals and positioning information; third, by designing the transmission mode of SCI, SPI, SL PRS and PSSCH, SL is realized. PRS and necessary positioning information can be flexibly transmitted and scheduled in the same or different frequency bands, carriers, BWP, resource pools, and resource sets, solving the problem of limited positioning spectrum. Fourthly, through local and period crystal oscillator frequency shift measurement methods, measurements are performed when GNSS signals can be received, and indicated in direct link positioning. It can support high-precision ranging based on one-way RT when user equipment is not synchronized. When calculating TOA or ranging based on one-way RTT, the frequency shift amount is brought in to eliminate the problem of reduced positioning accuracy caused by the error caused by the local timer frequency deviation, thereby improving positioning accuracy.

如图2所示，本申请实施例还提供一种直通链路定位方法，应用于第二用户设备，该第二用户设备为应用于直通链路技术领域的典型应用场景(车联网应用场景)的用户设备，亦即，第二用户设备为支持直通链路定位的车联网通信设备，如：路侧设备(Road SideUnit，RSU)、OBU、VRU等。所述方法包括：As shown in FIG2 , the embodiment of the present application also provides a through link positioning method, which is applied to a second user device, and the second user device is a user device applied to a typical application scenario (vehicle networking application scenario) in the field of through link technology, that is, the second user device is a vehicle networking communication device that supports through link positioning, such as: Road Side Unit (RSU), OBU, VRU, etc. The method includes:

步骤201，在直通链路上执行第一传输的接收，所述第一传输包括：SL PRS的传输，或者，所述SL PRS和第一信息的传输；Step 201: receiving a first transmission on a direct link, where the first transmission includes: transmission of a SL PRS, or transmission of the SL PRS and first information;

这里，需要说明的是，该第一信息至少包括SL PRS配置信息和与定位相关的信息，但不以此为限。Here, it should be noted that the first information at least includes SL PRS configuration information and information related to positioning, but is not limited to this.

步骤202，对所述第一传输中的所述SL PRS进行测量。Step 202: measure the SL PRS in the first transmission.

本申请实施例的直通链路定位方法，在直通链路上执行第一传输的接收，第一传输包括SL PRS的传输，或者，SL PRS和第一信息的传输；亦即，在直通链路上接收SL PRS，或者，在直通链路上接收SL PRS和第一信息，以对第一传输中的SL PRS进行测量，实现基于接收到的信号/信息进行基于sidelink的定位，解决了现有车联网定位主要依靠GNSS的局限性的问题。The direct link positioning method of the embodiment of the present application performs reception of a first transmission on the direct link, and the first transmission includes transmission of an SL PRS, or transmission of an SL PRS and first information; that is, SL PRS is received on the direct link, or SL PRS and first information are received on the direct link to measure the SL PRS in the first transmission, thereby realizing sidelink-based positioning based on the received signal/information, thereby solving the problem that the existing Internet of Vehicles positioning mainly relies on the limitation of GNSS.

这里，需要说明的是，该第一配置参数包括SL PRS的带宽部分BWP配置参数，和/或，SL PRS资源配置参数，但不以此为限。Here, it should be noted that the first configuration parameter includes the bandwidth part BWP configuration parameter of the SL PRS and/or the SL PRS resource configuration parameter, but is not limited thereto.

本可选的实现方式中，通过接收第二信息，实现了根据第一传输的资源接收第一用户设备发送的信号/信息。In this optional implementation, by receiving the second information, it is achieved that the signal/information sent by the first user equipment is received according to the resources of the first transmission.

网络侧配置；Network side configuration;

预配置信息；Pre-configuration information;

作为一个可选的实现方式，所述方法还包括：As an optional implementation, the method further includes:

这里，需要说明的是，所述第一信息通过下述至少一项承载：Here, it should be noted that the first information is carried by at least one of the following:

直通链路控制信息SCI；Through link control information SCI;

直通链路定位信息SPI；Direct link positioning information SPI;

无线资源控制RRC信令；Radio Resource Control RRC signaling;

直通链路数据包；Through link data packets;

这里，还需要说明的是，支持直通链路定位的MAC CE设计格式/支持直通链路定位的RRC信令(传输指示)设计格式/直通链路数据包设计格式，包括以下指示信息的至少一项：Here, it should also be noted that the MAC CE design format supporting direct link positioning/RRC signaling (transmission indication) design format supporting direct link positioning/direct link data packet design format includes at least one of the following indication information:

第一信息；First information;

第二SCI的格式；The format of the second SCI;

第三SCI的格式；The format of the third SCI;

所述SL PRS的优先级；The priority of the SL PRS;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

PRS；PRS;

所述SL PRS的交互方式包括下述至少一项：The interaction mode of the SL PRS includes at least one of the following:

单程；One Way;

双程往返方式(Two Way-Round Trip，TW-RT)；Two Way-Round Trip (TW-RT);

相邻用户设备的ID信息；ID information of adjacent user equipment;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

本可选的实现方式中，第三信息包括上述多个内容中的至少一个，实现了第二用户设备根据相应信息，确认定位信号交互方式、类型等方式，进而确认绝对/相对定位、UE自行定位/UE辅助定位等，实现车联网定位复杂环境、灵活配置下的多种方式的定位。In this optional implementation, the third information includes at least one of the above-mentioned multiple contents, so that the second user equipment can confirm the positioning signal interaction mode and type according to the corresponding information, and then confirm the absolute/relative positioning, UE self-positioning/UE-assisted positioning, etc., to realize various positioning methods under complex environment and flexible configuration of Internet of Vehicles positioning.

作为一个可选的实现方式，在所述第二指示信息指示所述第一用户设备能够作为锚节点的情况下，确定所述第二指示信息隐式指示的信息为所述第一用户设备能够支持绝对定位或自行解算位置；As an optional implementation manner, when the second indication information indicates that the first user equipment can serve as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-calculate a position;

作为一个可选的实现方式，在所述第三指示信息指示所述第一用户设备与其他锚节点保持高精时间同步，或者，与所述第一用户设备保持高精时间同步的其他用户设备数量满足预设数量门限，或者，在所述第三信息包括所述第一用户设备的维护时间与参考时间的预计时间差的情况下，所述第二用户设备确定能够基于所述第一用户设备单程传输SLPRS的方式进行定位。As an optional implementation method, when the third indication information indicates that the first user equipment maintains high-precision time synchronization with other anchor nodes, or the number of other user equipment that maintains high-precision time synchronization with the first user equipment meets a preset number threshold, or when the third information includes an estimated time difference between the maintenance time and the reference time of the first user equipment, the second user equipment determines that it can be positioned based on the one-way transmission of SLPRS by the first user equipment.

作为一个可选的实现方式，在所述第三信息包括所述第一用户设备的本地计时器件的频率偏移率，或者，所述第三信息包括所述第一用户设备的本地计时器件的频率偏移值及对应的参考时间，或者，所述第三信息包括并指示所述第一用户设备的不同天线单元不具有处理时间偏移，或者，所述第三信息包括所述第一用户设备的不同天线单元的处理时间偏差值的情况下，所述第二用户设备确定可基于所述第一用户设备进行单程往返方式SW-RT的SL PRS交互方式进行定位。As an optional implementation method, when the third information includes the frequency offset rate of the local timing device of the first user equipment, or the third information includes the frequency offset value of the local timing device of the first user equipment and the corresponding reference time, or the third information includes and indicates that different antenna units of the first user equipment do not have processing time offset, or the third information includes the processing time deviation values of different antenna units of the first user equipment, the second user equipment determines that positioning can be performed based on the SL PRS interaction method of the one-way round-trip SW-RT of the first user equipment.

另外，还需要说明的是，第一用户设备计算的本地计时器件的频率偏移值满足以下至少一项的情况下，确定该频率偏移值有效：In addition, it should be noted that the frequency offset value of the local timing device calculated by the first user equipment is determined to be valid when the frequency offset value satisfies at least one of the following conditions:

预设时间内；Within the preset time;

预设温度范围内；Within the preset temperature range;

预设湿度范围内。Within the preset humidity range.

也就是说，第一用户设备在发送所述偏移值时，还可进一步发送相应的条件，以使第二用户设备能够根据发送的条件与预设条件进行比较，以确定所述偏移值是否有效。That is, when sending the offset value, the first user equipment may further send a corresponding condition, so that the second user equipment can compare the sent condition with a preset condition to determine whether the offset value is valid.

本可选实现方式中，在定位过程中，将频率偏移值带入，消除了本地计时器频偏带来计时误差引起定位精度下降的问题。In this optional implementation, the frequency offset value is brought into the positioning process, thereby eliminating the problem of timing error caused by the frequency deviation of the local timer, which causes a decrease in positioning accuracy.

另外，在本申请实施例中，所述第二信息指示的内容包括下述至少一项：In addition, in the embodiment of the present application, the content indicated by the second information includes at least one of the following:

专用频段；Dedicated frequency bands;

免许可频段；Unlicensed frequency bands;

频带；frequency band;

载波；Carrier;

带宽部分BWP；Bandwidth part BWP;

资源池；Resource pool;

时域资源位置；Time domain resource location;

具体的，所述时域资源位置包括下述至少一项：Specifically, the time domain resource location includes at least one of the following:

与当前SCI的时域间隔；The time interval with the current SCI;

与当前SPI的时域间隔；The time domain interval with the current SPI;

所述SL PRS的传输周期；The transmission period of the SL PRS;

SCI；SCI;

SPI。SPI.

其中，一者，在只进行直通链路定位(SL Positioning Standalone)时，所述第二信息通过SCI和/或SPI承载。二者，当所述第二信息通过所述SPI进行承载时，所述SCI用于指示所述SPI传输的资源位置。Wherein, first, when only SL Positioning Standalone is performed, the second information is carried by SCI and/or SPI. Second, when the second information is carried by the SPI, the SCI is used to indicate the resource location of the SPI transmission.

另外，在直通链路定位(SL Positioning)与直通链路通信(SL Communication)共存，或者，通过SL Communication传输的信号/信息指示或者调度SL Positioning信号/信息时，所述第二信息承载于SCI和/或SPI，其中，所述SCI仅包括第一SCI，或者，所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种。In addition, when direct link positioning (SL Positioning) and direct link communication (SL Communication) coexist, or when the signal/information transmitted via SL Communication indicates or schedules the SL Positioning signal/information, the second information is carried on the SCI and/or SPI, wherein the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

其中，本申请实施例，将SCI设计为仅包括第一SCI，此种情况下，可以不改变现有的第一SCI基本格式或者仅增加指示是否用于定位的比特，实现了直通链路定位与直通链路通信机制的兼容性，保证直通链路通信的用户设备能够实现有效资源感知；将SCI设计为包括第一SCI，以及，第二SCI和第三SCI中的至少一项，能够支持定位参考信号和定位信息的指示或者传输。Among them, in an embodiment of the present application, the SCI is designed to include only the first SCI. In this case, the existing first SCI basic format may not be changed or only a bit indicating whether it is used for positioning may be added, thereby achieving compatibility between the direct link positioning and the direct link communication mechanism, and ensuring that the user equipment of the direct link communication can achieve effective resource perception; the SCI is designed to include the first SCI, and at least one of the second SCI and the third SCI, which can support the indication or transmission of the positioning reference signal and the positioning information.

具体的，所述第一SCI指示的内容包括以下至少一项：Specifically, the content indicated by the first SCI includes at least one of the following:

PSSCH的资源位置；Resource location of PSSCH;

PSPCH的资源位置；The resource location of PSPCH;

SPI的资源位置。The resource location of the SPI.

当所述SCI包括第一SCI，以及第二SCI和第三SCI的至少一种时，所述第一SCI指示的内容还包括：When the SCI includes a first SCI, and at least one of a second SCI and a third SCI, the content indicated by the first SCI further includes:

所述第二SCI的资源位置；a resource location of the second SCI;

所述第三SCI的资源位置；The resource location of the third SCI;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

第二SCI或第三SCI具体包括以下指示信息的至少一项：The second SCI or the third SCI specifically includes at least one of the following indication information:

第二信息；Second information:

第一信息；First information;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

SPI包括以下指示信息的至少一项：The SPI includes at least one of the following indications:

第二信息；Second information:

第一信息；First information;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

本申请实施例还提供一种直通链路定位方法，应用于第三用户设备，所述方法包括：The embodiment of the present application also provides a through link positioning method, which is applied to a third user equipment, and the method includes:

配置SL PRS的第一配置参数。Configure the first configuration parameter of SL PRS.

作为一个可选的实现方式，通过下述至少一项配置所述第一配置参数：As an optional implementation, the first configuration parameter is configured by at least one of the following:

网络侧配置；Network side configuration;

预配置信息；Pre-configuration information;

直通链路MIB消息；Through link MIB message;

这里，需要说明的是，该直通链路定位配置广播消息为用户设备(车联网通信设备)发送的消息。Here, it should be noted that the direct link positioning configuration broadcast message is a message sent by the user equipment (Internet of Vehicles communication device).

如图3所示，本申请实施例还提供一种直通链路定位装置，应用于第一用户设备，包括：As shown in FIG3 , the embodiment of the present application further provides a through link positioning device, which is applied to a first user equipment, including:

传输模块301，用于在直通链路上执行第一传输，所述第一传输包括：直通链路定位参考信号SL PRS的传输，或者，SL PRS和第一信息的传输。The transmission module 301 is configured to perform a first transmission on a direct link, where the first transmission includes: transmission of a direct link positioning reference signal SL PRS, or transmission of the SL PRS and first information.

本申请实施例的直通链路定位装置，传输模块301在直通链路上执行第一传输，第一传输包括SL PRS的传输，或者，SL PRS和第一信息的传输；亦即，在直通链路上发送SLPRS，或者，在直通链路上发送SL PRS和第一信息，使得接收端的用户设备能够基于接收到的信号/信息进行基于sidelink的定位，解决了现有车联网定位主要依靠GNSS的局限性的问题。In the direct link positioning device of the embodiment of the present application, the transmission module 301 performs a first transmission on the direct link, and the first transmission includes the transmission of an SL PRS, or the transmission of an SL PRS and a first message; that is, an SLPRS is sent on the direct link, or an SL PRS and a first message are sent on the direct link, so that a user device at the receiving end can perform sidelink-based positioning based on the received signal/information, thereby solving the problem that the existing Internet of Vehicles positioning mainly relies on the limitation of GNSS.

进一步地，所述装置还包括下述至少一项：Furthermore, the device further comprises at least one of the following:

获取模块，用于获取所述SL PRS的第一配置参数；An acquisition module, used for acquiring a first configuration parameter of the SL PRS;

发送模块，用于发送第二信息，所述第二信息用于指示所述第一传输的资源。A sending module is used to send second information, where the second information is used to indicate resources of the first transmission.

直通链路控制信息SCI；Through link control information SCI;

直通链路定位信息SPI；Direct link positioning information SPI;

无线资源控制RRC信令；Radio Resource Control RRC signaling;

直通链路数据包；Through link data packets;

所述SL PRS的优先级；The priority of the SL PRS;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

单程；One Way;

单程往返方式SW-RT；One-way round trip mode SW-RT;

双程往返方式TW-RT；Two-way round trip mode TW-RT;

对称双程往返方式STW-RT。Symmetrical two-way round trip method STW-RT.

可选地，所述装置还包括第一确定模块，用于：Optionally, the device further includes a first determining module, configured to:

确定所述SL PRS的交互方式为单程，采用以下方式至少之一：Determine that the interaction mode of the SL PRS is one-way, using at least one of the following methods:

可选地，所述装置还包括第二确定模块，用于：Optionally, the device further includes a second determining module, configured to:

确定所述SL PRS的交互方式为单程往返方式，采用以下方式至少之一：Determining that the interaction mode of the SL PRS is a one-way round-trip mode, at least one of the following methods is adopted:

相邻用户设备的ID信息；ID information of adjacent user equipment;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

可选地，所述直通链路定位装置还包括计算模块，用于计算所述第一用户设备的本地计时器件的频率偏移值，具体用于：Optionally, the through link positioning device further includes a calculation module, configured to calculate a frequency offset value of a local timing device of the first user equipment, specifically configured to:

专用频段；Dedicated frequency bands;

免许可频段；Unlicensed frequency bands;

频带；frequency band;

载波；Carrier;

带宽部分BWP；Bandwidth part BWP;

资源池；Resource pool;

时域资源位置；Time domain resource location;

与当前SCI的时域间隔；The time interval with the current SCI;

与当前SPI的时域间隔；The time domain interval with the current SPI;

所述SL PRS的传输周期；The transmission period of the SL PRS;

SCI；SCI;

SPI。SPI.

所述第二SCI的资源位置；a resource location of the second SCI;

所述第三SCI的资源位置；The resource location of the third SCI;

所述第二SCI的格式；the format of the second SCI;

所述第三SCI的格式；the format of the third SCI;

可选地，所述装置还包括：确定模块，用于：Optionally, the device further includes: a determining module, configured to:

确定所述SCI、所述SPI、所述SL PRS和PSSCH的传输方式包括：Determining the transmission mode of the SCI, the SPI, the SL PRS, and the PSSCH includes:

可选地，所述确定模块包括：Optionally, the determining module includes:

第一确定子模块，用于在确定所述SCI、所述SPI和所述SL PRS在不同的频段传输时，确定：The first determining submodule is configured to determine, when determining that the SCI, the SPI, and the SL PRS are transmitted in different frequency bands:

如图4所示，本申请实施例还提供一种直通链路定位装置，应用于第二用户设备，包括：As shown in FIG. 4 , the embodiment of the present application further provides a through link positioning device, which is applied to a second user equipment, including:

第一接收模块401，用于在直通链路上执行第一传输的接收，所述第一传输包括：SL PRS的传输，或者，所述SL PRS和第一信息的传输；A first receiving module 401 is configured to receive a first transmission on a direct link, where the first transmission includes: transmission of an SL PRS, or transmission of the SL PRS and first information;

测量模块402，用于对所述第一传输中的所述SL PRS进行测量。The measuring module 402 is configured to measure the SL PRS in the first transmission.

本申请实施例的直通链路定位装置，第一接收模块401在直通链路上执行第一传输的接收，第一传输包括SL PRS的传输，或者，SL PRS和第一信息的传输；亦即，在直通链路上接收SL PRS，或者，在直通链路上接收SL PRS和第一信息，以使测量模块402对第一传输中的SL PRS进行测量，实现基于接收到的信号/信息进行基于sidelink的定位，解决了现有车联网定位主要依靠GNSS的局限性的问题。In the through link positioning device of the embodiment of the present application, the first receiving module 401 performs reception of the first transmission on the through link, and the first transmission includes the transmission of the SL PRS, or the transmission of the SL PRS and the first information; that is, the SL PRS is received on the through link, or the SL PRS and the first information are received on the through link, so that the measurement module 402 measures the SL PRS in the first transmission, and realizes sidelink-based positioning based on the received signal/information, thereby solving the problem that the existing vehicle network positioning mainly relies on the limitation of GNSS.

可选地，所述装置还包括下述至少一项：Optionally, the device further comprises at least one of the following:

第二接收模块，用于接收第二信息，所述第二信息用于指示所述第一传输的资源。The second receiving module is used to receive second information, where the second information is used to indicate resources of the first transmission.

可选地，所述装置还包括：Optionally, the device further comprises:

处理模块，用于根据所述第二信息，进行所述SL PRS的检测和/或资源排除。A processing module is used to detect and/or exclude resources of the SL PRS according to the second information.

所述SL PRS的优先级；The priority of the SL PRS;

所述SL PRS的类型；The type of SL PRS;

所述SL PRS的交互方式；The interaction mode of the SL PRS;

第三信息。Third information.

相邻用户设备的ID信息；ID information of adjacent user equipment;

支持辅助解算位置；Support auxiliary position solving;

支持自行解算位置；Supports self-calculation of position;

在所述第二指示信息指示所述第一用户设备能够作为锚节点的情况下，确定所述第二指示信息隐式指示的信息为所述第一用户设备能够支持绝对定位或自行解算位置；In a case where the second indication information indicates that the first user equipment can serve as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-calculate a position;

在所述第三指示信息指示所述第一用户设备与其他锚节点保持高精时间同步，或者，与所述第一用户设备保持高精时间同步的其他用户设备数量满足预设数量门限，或者，在所述第三信息包括所述第一用户设备的维护时间与参考时间的预计时间差的情况下，确定所述第二用户设备能够基于所述第一用户设备单程传输SL PRS的方式进行定位。When the third indication information indicates that the first user equipment maintains high-precision time synchronization with other anchor nodes, or the number of other user equipment that maintains high-precision time synchronization with the first user equipment meets a preset number threshold, or when the third information includes an estimated time difference between the maintenance time and the reference time of the first user equipment, it is determined that the second user equipment can be positioned based on the one-way transmission of the SL PRS by the first user equipment.

可选地，所述装置还包括第三确定模块，用于：Optionally, the device further includes a third determining module, configured to:

在所述第三信息包括所述第一用户设备的本地计时器件的频率偏移率，或者，所述第三信息包括所述第一用户设备的本地计时器件的频率偏移值及对应的参考时间，或者，所述第三信息包括并指示所述第一用户设备的不同天线单元不具有处理时间偏移，或者，所述第三信息包括所述第一用户设备的不同天线单元的处理时间偏差值的情况下，确定所述第二用户设备可基于所述第一用户设备进行单程往返方式SW-RT的SL PRS交互方式进行定位。When the third information includes the frequency offset rate of the local timing device of the first user equipment, or the third information includes the frequency offset value of the local timing device of the first user equipment and the corresponding reference time, or the third information includes and indicates that different antenna units of the first user equipment do not have processing time offset, or the third information includes processing time deviation values of different antenna units of the first user equipment, it is determined that the second user equipment can be positioned based on the SL PRS interaction method of the one-way round-trip mode SW-RT performed by the first user equipment.

另外，本申请实施例还提供一种直通链路定位装置，应用于第三用户设备，所述装置包括：In addition, an embodiment of the present application further provides a through link positioning device, which is applied to a third user equipment, and the device includes:

配置模块，用于配置SL PRS的第一配置参数。A configuration module is used to configure a first configuration parameter of the SL PRS.

作为一个可选的实现方式，配置模块通过下述至少一项配置所述第一配置参数：As an optional implementation manner, the configuration module configures the first configuration parameter by at least one of the following:

网络侧配置；Network side configuration;

预配置信息；Pre-configuration information;

直通链路MIB消息；Through link MIB message;

如图5所示，本申请实施例还提供一种用户设备，包括收发机510、存储器520、处理器500及存储在所述存储器520上并了在所述处理器500上运行的计算机程序，所述处理器500执行所述计算机程序时实现如上所述的应用于第一用户设备的所述的直通链路定位方法实施例的各个过程，或者，如上所述的应用于第二用户设备的所述的直通链路定位方法实施例的各个过程，为了避免重复，这里不再赘述。As shown in Figure 5, an embodiment of the present application also provides a user device, including a transceiver 510, a memory 520, a processor 500, and a computer program stored on the memory 520 and running on the processor 500. When the processor 500 executes the computer program, the various processes of the embodiment of the direct link positioning method applied to the first user device as described above, or the various processes of the embodiment of the direct link positioning method applied to the second user device as described above are implemented. In order to avoid repetition, they are not repeated here.

其中，在图5中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器500代表的一个或多个处理器和存储器520代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机510可以是多个元件，即包括发送机和收发机，提供用于在传输介质上与各种其他装置通信的单元。针对不同的终端，用户接口530还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。处理器500负责管理总线架构和通常的处理，存储器520可以存储处理器500在执行操作时所使用的数据。Among them, in Figure 5, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 500 and various circuits of memory represented by memory 520 are linked together. The bus architecture can also link various other circuits such as peripherals, voltage regulators and power management circuits together, which are all well known in the art, so they are not further described herein. The bus interface provides an interface. The transceiver 510 can be a plurality of components, that is, including a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 530 can also be an interface that can connect external and internal devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 500 is responsible for managing the bus architecture and general processing, and the memory 520 can store data used by the processor 500 when performing operations.

本领域技术人员可以理解，实现上述实施例的全部或者部分步骤可以通过硬件来完成，也可以通过计算机程序来指示相关的硬件来完成，所述计算机程序包括执行上述方法的部分或者全部步骤的指令；且该计算机程序可以存储于一可读存储介质中，存储介质可以是任何形式的存储介质。Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing related hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

另外，本申请实施例还提供一种计算机可读存储介质，可读存储介质上存储有程序，该程序被处理器执行时实现如上所述的直通链路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，该计算机可读存储介质，如只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。In addition, the embodiment of the present application also provides a computer-readable storage medium, on which a program is stored, and when the program is executed by the processor, each process of the embodiment of the direct link positioning method described above is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the computer-readable storage medium, such as a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), a disk or an optical disk, etc.

此外，需要指出的是，在本申请的装置和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序或按时间顺序执行，但是并不需要一定按照时间顺序执行，某些步骤可以并行或彼此独立地执行。对本领域的普通技术人员而言，能够理解本申请的方法和装置的全部或者任何步骤或者部件，可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件、固件、软件或者它们的组合加以实现，这是本领域普通技术人员在阅读了本申请的说明的情况下运用他们的基本编程技能就能实现的。In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and/or recombined. These decompositions and/or recombinations should be regarded as equivalent schemes of the present application. In addition, the steps of performing the above-mentioned series of processing can be naturally performed in the order of description or in chronological order, but it is not necessary to perform in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is possible to understand that all or any steps or components of the method and device of the present application can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices with hardware, firmware, software or a combination thereof, which can be realized by those of ordinary skill in the art using their basic programming skills after reading the description of the present application.

因此，本申请的目的还可以通过在任何计算装置上运行一个程序或者一组程序来实现。所述计算装置可以是公知的通用装置。因此，本申请的目的也可以仅仅通过提供包含实现所述方法或者装置的程序代码的程序产品来实现。也就是说，这样的程序产品也构成本申请，并且存储有这样的程序产品的存储介质也能构成本申请。显然，所述存储介质可以是任何公知的存储介质或者将来所开发出来的任何存储介质。Therefore, the purpose of the present application can also be achieved by running a program or a group of programs on any computing device. The computing device can be a known general device. Therefore, the purpose of the present application can also be achieved by simply providing a program product containing a program code that implements the method or device. In other words, such a program product also constitutes the present application, and a storage medium storing such a program product can also constitute the present application. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future.

最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，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、物品或者终端设备不仅包括那些要素，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、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

以上所述是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请所述原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for positioning a through link, applied to a first user equipment, the method comprising:

Performing a first transmission over a pass-through link, the first transmission comprising: transmission of the straight-through link positioning reference signal SL PRS and the first information;

the first information includes an interaction mode of the SL PRS, and at least one of the following:

Priority of the SL PRS;

priority of the location information of the first user equipment;

confidence of the position information of the first user equipment;

The type of the SL PRS;

third information;

wherein the third information includes at least one of:

Position information of the first user equipment;

Identification ID information of the first user equipment;

Location information of neighboring user equipments;

ID information of adjacent user equipment;

a source of location information for the neighboring user device;

confidence of location information of neighboring user equipment;

First indication information for indicating that the current positioning signal/information is used for absolute positioning or relative positioning;

the second indication information is used for indicating whether the first user equipment can be used as an anchor node or not;

supporting an auxiliary resolving position;

supporting a self-calculation position;

the third indication information is used for indicating whether the first user equipment keeps high-precision time synchronization with other anchor nodes or not;

Information of other user equipment which keeps high-precision time synchronization with the first user equipment;

The predicted time difference between the maintenance time of the first user equipment and the reference time;

A frequency offset rate of a local timing device of the first user equipment;

The frequency offset value of the local timing device of the first user equipment and the corresponding reference measurement time;

Whether different antenna units of the first user equipment have a processing time offset;

processing time bias values of different antenna units of the first user equipment;

The interaction mode of the SL PRS comprises at least one of the following steps:

a single pass;

A single-pass round trip mode SW-RT;

A double-pass round trip TW-RT;

symmetric double-pass round trip mode STW-RT.

2. The method of claim 1, further comprising at least one of:

Acquiring a first configuration parameter of the SL PRS;

and sending second information, wherein the second information is used for indicating the resources of the first transmission.

3. The method of claim 1, wherein the first information is carried by at least one of:

the direct link control information SCI;

Direct link positioning information SPI;

a media access control layer control unit (MAC CE);

radio resource control, RRC, signaling;

A direct link packet;

physical direct link control channel PSCCH;

Physical through link shared channel PSSCH;

a physical through link broadcast channel PSBCH;

a physical through link feedback channel PSFCH;

Physical through link discovery channel PSDCH;

physical through link positioning channel PSPCH.

4. The method of claim 1, wherein the interaction pattern of the SL PRS is determined to be a single pass by at least one of:

the first user equipment and other anchor nodes keep high-precision time synchronization;

the number of other user equipment which keep high-precision time synchronization with the first user equipment meets a preset number threshold;

the first user equipment determines an expected time difference between the maintenance time and the reference time.

5. The method of claim 1, wherein the interaction pattern of the SL PRS is determined to be a single-pass round trip pattern using at least one of:

the first user equipment determines the frequency offset rate of a local timing device;

The first user equipment determines a frequency offset value of a local timing device and corresponding reference time;

the different antenna units of the first user equipment do not have processing time offsets;

the first user equipment determines processing time offset values for different antenna elements.

6. The method according to claim 1, wherein in case the location information of the first user equipment is a first value, indicating that the first user equipment cannot act as an anchor node, the first user equipment is able to support relative positioning.

7. The method according to claim 1, wherein the calculating of the frequency offset value of the local timer means of the first user equipment comprises:

Under the condition that the first user equipment can receive the GNSS signals, when receiving a second pulse sent by a GNSS module of a global navigation satellite system or continuously receiving a plurality of second pulses in a first time, calculating a frequency offset value of a local timing device of the first user equipment according to any one of the following, wherein the first time is a reference time set by the first user equipment or corresponds to a time interval of outputting the second pulse by the GNSS module:

comparing the actual count of the local timer crystal oscillator with the nominal frequency value of the local timer crystal oscillator;

and comparing the reference time with the actual timing of the local timer crystal oscillation.

8. The method of claim 2, wherein the content indicated by the second information comprises at least one of:

Dedicated frequency band;

Unlicensed frequency bands;

A frequency band;

a carrier wave;

Bandwidth part BWP;

A resource pool;

a time domain resource location;

Taking the resource set as the frequency domain resource position of the scheduling granularity;

frequency domain resource positions with sub-channels as scheduling granularity;

taking the comb tooth resource blocks as frequency domain resource positions of scheduling granularity;

and taking the sub-channel and edge combined resources as the frequency domain resource positions of the scheduling granularity.

9. The method of claim 8, wherein the time domain resource locations comprise at least one of:

Time domain spacing from current SCI;

time domain interval with current SPI;

the SL PRS carries out the time interval of repeated transmission;

The number of times of repeated transmission of the SL PRS;

A transmission period of the SL PRS;

The time interval between the transmission period of the current SL PRS and the next adjacent SL PRS transmission period.

10. The method of claim 2, wherein the second information is carried by at least one of:

SCI；

SPI。

11. the method of claim 10 wherein the SCI is configured to indicate a resource location of the SPI transmission when the second information is carried over the SPI.

12. The method of claim 3 or 10 wherein the SCI comprises only the first SCI or the SCI comprises the first SCI and at least one of the second SCI and the third SCI.

13. The method of claim 12 wherein when the SCI comprises a first SCI and at least one of a second SCI and a third SCI, the content indicated by the first SCI further comprises:

a resource location of the second SCI;

the resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

fourth indication information for indicating whether the second SCI and/or the third SCI is/are included in the PSSCH;

And fifth indicating information for indicating whether the currently transmitted signal and/or information is used for indicating the through link positioning, wherein the fifth indicating information is carried by N bits in the first SCI, and N is a positive integer.

14. The method of claim 3 or 10, wherein the transmission modes of the SCI, the SPI, the SL PRS, and the PSSCH include:

Transmitting in the same frequency band, carrier wave, BWP, resource pool or resource set;

Or transmitted in a different frequency band, carrier, BWP, resource pool or resource set.

15. The method of claim 14, wherein the SCI, the SPI, and the SL PRS transmissions in different frequency bands comprise:

At least one of the SCI and the SPI is transmitted in a first frequency band, and the SL PRS is transmitted in a second frequency band; the first frequency band is lower than the second frequency band;

or at least one of the SCI and the SPI is transmitted in an authorized frequency band, and the SL PRS is transmitted in an unlicensed frequency band.

16. A method for positioning a through link, applied to a second ue, the method comprising:

Performing reception of a first transmission over a pass-through link, the first transmission comprising: transmission of SL PRS and first information;

measuring the SL PRS in the first transmission;

Priority of the SL PRS;

Priority of location information of the first user equipment;

confidence of the position information of the first user equipment;

The type of the SL PRS;

third information;

wherein the third information includes at least one of:

Position information of the first user equipment;

Identification ID information of the first user equipment;

Location information of neighboring user equipments;

ID information of adjacent user equipment;

a source of location information for the neighboring user device;

confidence of location information of neighboring user equipment;

supporting an auxiliary resolving position;

supporting a self-calculation position;

A frequency offset rate of a local timing device of the first user equipment;

a single pass;

A single-pass round trip mode SW-RT;

A double-pass round trip TW-RT;

symmetric double-pass round trip mode STW-RT.

17. The method of claim 16, further comprising at least one of:

Acquiring a first configuration parameter of the SL PRS;

second information is received, the second information being used to indicate resources of the first transmission.

18. The method of claim 17, wherein the method further comprises:

and detecting and/or removing resources of the SL PRS according to the second information.

19. The method according to claim 16, wherein in case the second indication information indicates that the first user equipment is capable of acting as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment is capable of supporting an absolute positioning or a self-resolving position;

Or determining that the information implicitly indicated by the second indication information is that the first user equipment can only support relative positioning or support auxiliary resolving positions under the condition that the second indication information indicates that the first user equipment cannot serve as an anchor node.

20. The method of claim 16, wherein the second user device determines that positioning can be performed based on a single transmission of the SL PRS by the first user device if the third indication information indicates that the first user device remains in high-precision time synchronization with other anchor nodes, or that a number of other user devices that remain in high-precision time synchronization with the first user device meets a preset number threshold, or if the third information includes a predicted time difference between a maintenance time of the first user device and a reference time.

21. The method of claim 16, wherein the second user device determines that positioning can be performed based on SL PRS interactions in which the first user device makes a single round trip SW-RT if the third information includes a frequency offset of a local timing device of the first user device or the third information includes a frequency offset value of the local timing device of the first user device and a corresponding reference time or the third information includes and indicates that a different antenna unit of the first user device does not have a processing time offset or the third information includes a processing time offset value of a different antenna unit of the first user device.

22. A user equipment comprising a transceiver, a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that the processor implements the through link positioning method according to any of claims 1 to 15 or the through link positioning method according to any of claims 16 to 21 when executing the computer program.

23. A through link positioning device, applied to a first user equipment, comprising:

A transmission module for performing a first transmission over a pass-through link, the first transmission comprising: transmission of SL PRS and first information; the first information includes an interaction mode of the SL PRS, and at least one of the following:

Priority of the SL PRS;

Priority of location information of the first user equipment;

confidence of the position information of the first user equipment;

The type of the SL PRS;

third information;

wherein the third information includes at least one of:

Position information of the first user equipment;

Identification ID information of the first user equipment;

Location information of neighboring user equipments;

ID information of adjacent user equipment;

a source of location information for the neighboring user device;

confidence of location information of neighboring user equipment;

supporting an auxiliary resolving position;

supporting a self-calculation position;

A frequency offset rate of a local timing device of the first user equipment;

a single pass;

A single-pass round trip mode SW-RT;

A double-pass round trip TW-RT;

symmetric double-pass round trip mode STW-RT.

24. A through link positioning apparatus, for use in a second user equipment, comprising:

a first receiving module for performing reception of a first transmission on a pass-through link, the first transmission comprising: transmission of SL PRS and first information;

A measurement module, configured to measure the SL PRS in the first transmission;

Priority of the SL PRS;

Priority of location information of the first user equipment;

confidence of the position information of the first user equipment;

The type of the SL PRS;

third information;

wherein the third information includes at least one of:

Position information of the first user equipment;

Identification ID information of the first user equipment;

Location information of neighboring user equipments;

ID information of adjacent user equipment;

a source of location information for the neighboring user device;

confidence of location information of neighboring user equipment;

supporting an auxiliary resolving position;

supporting a self-calculation position;

A frequency offset rate of a local timing device of the first user equipment;

a single pass;

A single-pass round trip mode SW-RT;

A double-pass round trip TW-RT;

symmetric double-pass round trip mode STW-RT.

25. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the through link positioning method according to any one of claims 1 to 15 or the through link positioning method according to any one of claims 16 to 21.