WO2025050413A1 - Positioning method, and terminal, network device and storage medium - Google Patents

Abstract

The present disclosure relates to the technical field of communications, and particularly relates to a positioning method, and a terminal, a network device and a storage medium. The positioning method comprises: a first device receiving first configuration information sent by a second device, wherein the first configuration information is used for the first device to determine a first reference direction, and the first reference direction is used for the first device to determine direction information. Accordingly, a first reference direction based on which a first terminal determines direction information can be flexibly configured, such that the first reference direction is applicable to different application scenarios, thereby facilitating the acquisition of more accurate direction information.

Description

Positioning method, terminal, network device and storage medium Technical Field

The present disclosure relates to the field of communication technology, and in particular to a positioning method, a terminal, a network device and a storage medium.

Background Art

When positioning a terminal (also called a user equipment (UE)), the direction information of the terminal relative to another device can be measured. The direction information may include direction information for any reference direction. There are some technical problems in the current positioning method, which makes the acquired direction information unsuitable for actual usage requirements.

Summary of the invention

The embodiments of the present disclosure propose a positioning method, a terminal, a network device and a storage medium to solve the technical problem that the direction information obtained in the related art is not suitable for actual usage requirements.

According to a first aspect of an embodiment of the present disclosure, a positioning method is proposed, which is performed by a first device. The method includes: receiving first configuration information sent by a second device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

According to a second aspect of an embodiment of the present disclosure, a positioning method is proposed, which is executed by a second device. The method includes: first configuration information is sent to a first device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

According to a third aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising:

A transceiver module, used to receive first configuration information sent by a second device;

A processing module is used to determine a first reference direction based on the first configuration information, where the first reference direction is used by the positioning device to determine direction information.

According to a fourth aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising:

A processing module, configured to determine first configuration information, wherein the first configuration information is used by a first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information;

A transceiver module is used to send the first configuration information to the first device.

According to the fifth aspect of an embodiment of the present disclosure, a terminal is proposed, comprising: one or more processors; a memory coupled to the processor, the memory storing executable instructions, wherein when the executable instructions are executed by the processor, the network device executes the positioning method described in the first aspect or the positioning method described in the second aspect.

According to the sixth aspect of an embodiment of the present disclosure, a network device is proposed, comprising: one or more processors; a memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the network device executes the positioning method described in the second aspect above.

According to a seventh aspect of an embodiment of the present disclosure, a communication system is provided, comprising a first device and a second device, wherein the first device is configured to implement the positioning method according to the first aspect, and the second device is configured to implement Now the positioning method described in the second aspect.

According to an eighth aspect of an embodiment of the present disclosure, a storage medium is proposed, wherein the storage medium stores instructions, and when the instructions are executed on a communication device, the communication device executes the positioning method described in the first aspect or the second aspect above.

According to an embodiment of the present disclosure, the first device may determine the first reference direction according to the received first configuration information, and then perform a positioning operation based on the first reference direction, for example, direction information may be determined based on the first reference direction. Accordingly, the first reference direction based on which the first terminal determines the direction information may be flexibly configured to be applicable to different application scenarios, which is conducive to obtaining more accurate direction information.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure.

FIG. 2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

FIG3A is a schematic flowchart of a positioning method according to an embodiment of the present disclosure.

FIG. 3B is a schematic diagram showing a local coordinate system according to an embodiment of the present disclosure.

FIG. 3C is a schematic diagram showing a conversion from a global coordinate system to a local coordinate system according to an embodiment of the present disclosure.

FIG. 4 is a schematic flow chart of a positioning method according to an embodiment of the present disclosure.

FIG5 is a schematic block diagram showing a device structure of a terminal according to an embodiment of the present disclosure.

FIG6 is a schematic block diagram showing the device structure of a network device according to an embodiment of the present disclosure.

FIG. 7 is a schematic diagram of the structure of a communication device proposed in an embodiment of the present disclosure.

FIG. 8 is a schematic diagram of the structure of a chip proposed in an embodiment of the present disclosure.

DETAILED DESCRIPTION

The embodiments of the present disclosure provide a positioning method, a terminal, a network device, and a storage medium.

In a first aspect, an embodiment of the present disclosure proposes a positioning method, which is performed by a first device, and the method includes: receiving first configuration information sent by a second device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

In the above embodiment, the first device can determine the first reference direction according to the received first configuration information, and then perform the positioning operation based on the first reference direction, for example, the direction information can be determined based on the first reference direction. Accordingly, the first reference direction based on which the first terminal determines the direction information can be flexibly configured to make it suitable for different application scenarios, which is conducive to obtaining more accurate direction information.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is included in a Side Link Positioning Protocol SLPP message.

In combination with some embodiments of the first aspect, in some embodiments, the SLPP message includes an SLPP location Request message.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is included in at least one of the following information element IEs of the SLPP location request message: a public location information request IE; a side link round trip time SL-RTT location information request IE; or a side link arrival angle SL-AOA location information request IE.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is used to indicate at least one of the following: a reference coordinate system; or a reference direction under the reference coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the reference coordinate system includes at least one of the following: a global coordinate system; or a local coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on a direction of a first coordinate axis of the global coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the direction of the first coordinate axis includes at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; Zenith direction.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on a direction of a second coordinate axis of the local coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the second coordinate axis includes at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the local coordinate system is constructed based on at least one of the following: a reference point in the first device or outside the first device; a radial axis of the first device; a horizontal axis of the first device; or a vertical axis of the first device.

In combination with some embodiments of the first aspect, in some embodiments, the first configuration information is further used to indicate conversion parameters of the local coordinate system relative to the global coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the local coordinate system includes a static local coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the method further includes: sending second configuration information to the second device, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information.

In combination with some embodiments of the first aspect, in some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction.

In combination with some embodiments of the first aspect, in some embodiments, the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is also used to indicate conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, the reference coordinate system corresponding to the second reference direction includes a dynamic local coordinate system.

In combination with some embodiments of the first aspect, in some embodiments, sending the second configuration information to the second device includes: determining at least one information change indicated by the second configuration information, sending to the second device Second configuration information.

In combination with some embodiments of the first aspect, in some embodiments, the method further includes: sending the direction information determined according to the first reference direction to the second device.

In a second aspect, an embodiment of the present disclosure proposes a positioning method, which is executed by a second device, and the method includes: first configuration information sent to a first device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is included in a Side Link Positioning Protocol SLPP message.

In combination with some embodiments of the second aspect, in some embodiments, the SLPP message includes a SLPP location request message.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is included in at least one of the following information element IEs of the SLPP location request message: a public location information request IE; a side link round trip time SL-RTT location information request IE; or a side link arrival angle SL-AOA location information request IE.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is used to indicate at least one of the following: a reference coordinate system; or a reference direction under the reference coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the reference coordinate system includes at least one of the following: a global coordinate system; or a local coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on the direction of a first coordinate axis of the global coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the direction of the first coordinate axis includes at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; or zenith direction.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on the direction of a second coordinate axis of the local coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the second coordinate axis includes at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the local coordinate system is constructed based on at least one of the following: a reference point in the first device or outside the first device; a radial axis of the first device; a horizontal axis of the first device; or a vertical axis of the first device.

In combination with some embodiments of the second aspect, in some embodiments, the first configuration information is further used to indicate conversion parameters of the local coordinate system relative to the global coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the local coordinate system includes a static local coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the method further includes: receiving second configuration information from the first device, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information.

In combination with some embodiments of the second aspect, in some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction.

In combination with some embodiments of the second aspect, in some embodiments, the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is also used to indicate the conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, the reference coordinate system corresponding to the second reference direction includes a dynamic local coordinate system.

In combination with some embodiments of the second aspect, in some embodiments, receiving second configuration information from the first device includes: determining at least one information change indicated by the second configuration information, and receiving second configuration information from the first device.

In combination with some embodiments of the second aspect, in some embodiments, the method further includes: receiving the direction information determined according to the first reference direction from the first device.

In a third aspect, a positioning device is proposed, comprising: a transceiver module for receiving first configuration information sent by a second device; a processing module for determining a first reference direction based on the first configuration information, wherein the first reference direction is used by the positioning device to determine direction information.

In a fourth aspect, a positioning device is proposed, which includes: a processing module for determining first configuration information, wherein the first configuration information is used by a first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information; and a transceiver module for sending the first configuration information to the first device.

In the fifth aspect, a terminal is proposed, comprising: one or more processors; a memory coupled to the processor, the memory storing executable instructions, wherein the executable instructions, when executed by the processor, enable the network device to execute the positioning method described in the first and second aspects and the optional embodiments of the first and second aspects.

In the sixth aspect, a network device is proposed, comprising: one or more processors; a memory coupled to the processor, the memory storing executable instructions, wherein the executable instructions, when executed by the processor, enable the network device to execute the positioning method described in the second aspect and the optional embodiment of the second aspect.

In a seventh aspect, an embodiment of the present disclosure proposes a communication device, wherein the communication device includes: one or more processors; a memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the processor calls the executable instructions so that the communication device performs the positioning method described in the first aspect and the second aspect, and the optional embodiments of the first aspect and the second aspect.

In an eighth aspect, an embodiment of the present disclosure proposes a communication system, the communication system comprising: a first device and a second device; wherein the first device is configured to execute the method described in the first aspect and the optional embodiment of the first aspect, and the second device is configured to execute the method described in the second aspect and the optional embodiment of the second aspect.

In a ninth aspect, an embodiment of the present disclosure proposes a storage medium, wherein the storage medium stores instructions. When the instructions are executed on a communication device, the communication device executes the method described in the first and second aspects, and the optional embodiments of the first and second aspects.

In a tenth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the first and second aspects and the optional embodiments of the first and second aspects.

In an eleventh aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute the method as described in the first and second aspects, and the optional embodiments of the first and second aspects.

It is understandable that the above-mentioned terminals, network devices, communication devices, communication systems, storage media, program products, and computer programs are all used to execute the methods proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods, which will not be repeated here.

The embodiments of the present disclosure propose positioning methods, terminals, network devices, and storage media. In some embodiments, the terms such as information sending method, information receiving method, information processing method, and communication method can be replaced with each other, the terms such as terminal, network device, information processing device, and communication device can be replaced with each other, and the terms such as information processing system and communication system can be replaced with each other.

The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional embodiments in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional embodiments of other embodiments.

In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and/or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "one", "an", "the", "above", "said", "foregoing", "this", etc., may mean "one and only one", or may mean "one or more", "at least one", etc.

For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article can be understood as a singular expression or a plural expression.

In the embodiments of the present disclosure, “plurality” refers to two or more.

In some embodiments, terms such as "at least one of", "one or more", "a plurality of", "multiple" and the like can be used interchangeably.

In some embodiments, "at least one of A and B", "A and/or B", "A in one case, B in another case", "in response to one case A, in response to another case B", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

The prefixes such as "first" and "second" in the embodiments of the present disclosure are only for distinguishing different description objects and do not constitute any restrictions on the position, order, priority, quantity or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes.

For example, if the object to be described is a "field", the ordinal number before the "field" in "the first field" and "the second field" does not limit the position or order of the "fields", and "first" and "second" do not limit the "fields" they modify. For example, whether the "first field" and "second field" are in the same message, nor does it limit the order of the "first field" and the "second field". For another example, if the description object is "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number, and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

In some embodiments, “including A”, “comprising A”, “used to indicate A”, and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

In some embodiments, terms such as "in response to ...", "in response to determining ...", "in the case of ...", "at the time of ...", "when ...", "if ...", "if ...", etc. can be used interchangeably.

In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

In some embodiments, devices and the like can be interpreted as physical or virtual, and their names are not limited to those in the embodiments.

The recorded names, terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

In some embodiments, "network" may be interpreted as devices included in the network (eg, access network equipment, core network equipment, etc.).

In some embodiments, the terms "access network device (AN device), "radio access network device (RAN device)", "base station (BS)", "radio base station (radio base station)", "fixed station (fixed station)", "node", "access point (access point)", "transmission point (TP)", "reception point (RP)", "transmission/reception point (TRP)", "panel", "antenna panel (antenna panel)", "antenna array (antenna array)", "cell", "macro cell", "small cell (small cell)", "femto cell (femto cell)", "pico cell (pico cell)", "sector (sector)", "cell group (cell)", "serving cell", "carrier (carrier)", "component carrier (component carrier)", "bandwidth part (bandwidth part (BWP))" and so on can be used interchangeably.

In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal""mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client and the like can be used interchangeably.

In some embodiments, the access network device, the core network device, or the network device can be replaced by a terminal. For example, the various embodiments of the present disclosure can also be applied to a structure in which the communication between the access network device, the core network device, or the network device and the terminal is replaced by the communication between multiple terminals (for example, device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it can also be set as a structure in which the terminal has all or part of the functions of the access network device. In addition, terms such as "uplink" and "downlink" can also be replaced by terms corresponding to communication between terminals (for example, "side"). For example, uplink channels, downlink channels, etc. can be replaced by side channels, and uplinks, downlinks, etc. can be replaced by side links.

In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, the core network device, or the network device may also be configured to have a structure that has all or part of the functions of the terminal.

In some embodiments, the acquisition of data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

In some embodiments, data, information, etc. may be obtained with the user's consent.

In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, or any columns may also be implemented as an independent embodiment.

FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure.

As shown in FIG1 , the communication system 100 includes a first device 101 and a second device 102, wherein the first device 101 may be a terminal, and the second device 102 may be another terminal or network device other than the first device. The other terminal may include a target terminal (Target UE), an anchor terminal (anchor UE) or a server terminal (Server UE), etc.; the network device may include at least one of the following: an access network device, a core network device, etc.

In some embodiments, the terminal includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control (industrial control), a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid (smart grid), a wireless terminal device in transportation safety (transportation safety), a wireless terminal device in a smart city (smart city), and at least one of a wireless terminal device in a smart home (smart home), but is not limited to these.

In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network. The access network device may include an evolved Node B (eNB), a next generation evolved Node B (ng-eNB), a next generation Node B (gNB), a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

In some embodiments, the core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC). In some embodiments, the core network device may include a location management function (LMF). Function, LMF).

In some embodiments, the technical solution of the present disclosure may be applicable to the Open RAN architecture. In this case, the interfaces between access network devices or within access network devices involved in the embodiments of the present disclosure may become internal interfaces of Open RAN, and the processes and information interactions between these internal interfaces may be implemented through software or programs.

In some embodiments, the access network device may be composed of a centralized unit (central unit, CU) and a distributed unit (distributed unit, DU), wherein the CU may also be called a control unit (control unit). The CU-DU structure may be used to split the protocol layer of the access network device, with some functions of the protocol layer being centrally controlled by the CU, and the remaining part or all of the functions of the protocol layer being distributed in the DU, and the DU being centrally controlled by the CU, but not limited to this.

It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. A person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or part of the subject, but are not limited thereto. The subjects shown in FIG1 are examples, and the communication system may include all or part of the subjects in FIG1 , or may include other subjects other than FIG1 , and the number and form of the subjects are arbitrary, and the subjects may be physical or virtual, and the connection relationship between the subjects is an example, and the subjects may be connected or disconnected, and the connection may be in any manner, and may be a direct connection or an indirect connection, and may be a wired connection or a wireless connection.

The embodiments of the present disclosure may be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, the fourth generation mobile communication system (4G), the fifth generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access ... The present invention relates to wireless communication systems such as LTE, Wi-Fi (X), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) network, Device to Device (D2D) system, Machine to Machine (M2M) system, Internet of Things (IoT) system, Vehicle to Everything (V2X), systems using other communication methods, and next-generation systems expanded based on them. In addition, a combination of multiple systems (for example, a combination of LTE or LTE-A with 5G, etc.) may also be applied.

FIG. 2 is an interactive schematic diagram showing a positioning method according to an embodiment of the present disclosure.

As shown in FIG2 , the positioning method includes:

Step S201: The second device sends first information to the first device.

In some embodiments, the second device may send first information to the first device, and the first information may include first configuration information, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

In some embodiments, the second device sends first configuration information to the first device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

In some embodiments, the second device sends a Sidelink Positioning Protocol (SLPP) message to the first device, and the first configuration information is included in the Sidelink Positioning Protocol (SLPP) message.

In some embodiments, the SLPP message comprises a SLPP Location Request message.

In some implementations, the first configuration information is included in at least one of the following information elements IE of the SLPP location request message: a common location information request IE; a side link round trip time SL-RTT location information request IE; or a side link angle of arrival SL-AOA location information request IE.

In some embodiments, the second device sends the first configuration information to the first device, where the first configuration information is used to indicate a reference coordinate system, so that the first device determines a first reference direction based on the reference coordinate system.

In some embodiments, the second device sends the first configuration information to the first device, where the first configuration information is used to indicate a reference coordinate system and a reference direction, so that the first device determines a first reference direction based on the reference coordinate system and the reference direction.

In some embodiments, the second device sends first configuration information to the first device, wherein the reference coordinate system indicated by the first configuration information may include: a global coordinate system and/or a local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, wherein the first configuration information indicates a reference coordinate system, and the local coordinate system is constructed based on at least one of the following: a reference point in the first device or outside the first device; a radial axis of the first device; a horizontal axis of the first device; or a vertical axis of the first device.

In some embodiments, the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a global coordinate system so that the first device determines a first reference direction based on the first configuration information, where the first reference direction is determined based on the direction of a first coordinate axis of the global coordinate system.

In some embodiments, the direction of the first coordinate axis includes at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; or zenith direction.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a local coordinate system so that the first device determines a first reference direction based on the first configuration information, where the first reference direction is determined based on the direction of a second coordinate axis of the local coordinate system.

In some embodiments, the second coordinate axis includes at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a local coordinate system, and the first configuration information is also used to indicate a conversion parameter of the local coordinate system relative to a global coordinate system.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a local coordinate system, where the local coordinate system includes a static local coordinate system and/or a dynamic local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, and the first configuration information is used by the first device to determine a first reference direction. The first configuration uses the first reference direction to perform a positioning operation, and the obtained positioning result may include direction information determined by the first reference direction.

Step S201: The first device sends second information to the second device.

In some embodiments, the first device may send second information to the second device, and the second information may include Including second configuration information and/or direction information.

In some embodiments, the first device sends second configuration information to the second device, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information. Optionally, the second reference direction is the first reference direction.

In some embodiments, the first device sends second configuration information to the second device, where the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction.

In some embodiments, the first device sends second configuration information to the second device, the second configuration information being used to indicate a second reference direction and a reference coordinate system corresponding to the second reference direction, the reference coordinate system corresponding to the second reference direction including a local coordinate system, and the second configuration information being further used to indicate conversion parameters of the reference coordinate system corresponding to the second reference direction relative to a global coordinate system.

In some embodiments, the first device sends second configuration information to the second device, where the second configuration information is used to indicate a second reference direction and a reference coordinate system corresponding to the second reference direction, where the reference coordinate system corresponding to the second reference direction includes a dynamic local coordinate system and/or a static local coordinate system.

In some embodiments, the first device determines at least one information change indicated by the second configuration information, and the first device sends the second configuration information to the second device.

In some embodiments, the first device performs a positioning operation using the determined first reference direction and/or a reference coordinate system corresponding to the first reference direction, and the obtained positioning result includes direction information determined by the first reference direction. The first device sends the direction information determined according to the first reference direction to the second device.

In some embodiments, the first device uses the determined first reference direction and/or the reference coordinate system corresponding to the first reference direction to perform a positioning operation, and the obtained positioning result includes the direction information determined by the first reference direction. The first device sends the direction information determined according to the first reference direction and second configuration information to the second device, wherein the second configuration information includes the second reference direction actually used by the second device to determine the direction information when the first device determines the direction information and/or the reference coordinate system corresponding to the second reference direction. Optionally, the second reference direction is the first reference direction, and the reference coordinate system corresponding to the second reference direction is the reference coordinate system corresponding to the first reference direction.

The communication method involved in the embodiment of the present disclosure may include at least one of steps S201 to 202. For example, step S201 may be implemented as an independent embodiment, step S202 may be implemented as an independent embodiment, and step S201+S202 may be implemented as an independent embodiment, but is not limited thereto.

In some embodiments, steps S201 and S202 may be performed in an interchangeable order or simultaneously.

In some embodiments, step S201 is optional, and one or more of these steps may be omitted or replaced in different embodiments.

In some embodiments, step S202 is optional, and one or more of these steps may be omitted or replaced in different embodiments.

In some embodiments, reference may be made to other optional embodiments described before or after the description corresponding to FIG. 2 .

In some embodiments, positioning the terminal may include absolute positioning and relative positioning, as well as ranging.

Among them, absolute positioning is to determine the absolute coordinates of the terminal; relative positioning is to determine the coordinates of the terminal relative to a reference point; and ranging is to determine the distance and/or direction information of the terminal relative to a reference point.

Ranging usually requires measurement between two terminals involved, while absolute positioning and relative positioning may involve multiple terminals to participate in positioning.

Taking the positioning method based on downlink time difference of arrival (DL-TDOA) as an example, the terminal can determine the specific position of the terminal relative to the road side unit (RSU) by measuring the positioning signals sent by multiple (greater than or equal to 3) other terminals, such as the road side unit (RSU). In addition to DL-TDOA, other positioning methods can also include uplink time difference of arrival (UL-TDOA), multiple round-trip time (RTT), angle of arrival (AOA)/angle of departure (AOD), carrier phase positioning, etc.

If the positioning result is an absolute position coordinate converted based on absolute position information such as the Global Positioning System (GPS), then the positioning result is an absolute positioning result; otherwise, the positioning result is a relative positioning result.

In some embodiments, the located terminal may be referred to as a target terminal (target UE), and other terminals that support positioning of the target UE may be referred to as anchor terminals (anchor UE).

In some embodiments, if positioning involves only two terminals, the two terminals can be each other's anchor UE.

In some embodiments, there are different types of anchor UEs. For example, the anchor UE of the RSU mentioned above belongs to an infrastructure. This type of terminal can provide positioning services by collaborating with terminals of other infrastructure equipment, such as other RSUs. For another example, an ordinary mobile terminal can also serve as an anchor UE, but it is difficult for it to assist in providing positioning services with other terminals. In addition, some anchor UEs have location information such as GPS, which can assist other UEs in absolute positioning. Some other anchor UEs may not have location information such as GPS.

In some embodiments, when positioning the terminal, sidelink positioning or positioning based on the Uu interface can be used; wherein the Uu interface is the abbreviation of the interface between the terminal and the network device, and can also be called an air interface.

Among them, for side link positioning, the positioning message exchanged between the two terminals can be a side link positioning message based on the Sidelink Positioning Protocol (SLPP), and the positioning message exchanged between the terminal and the network device (such as the Location Management Function (LMF)) can also be an SLPP message; for Uu interface positioning, the positioning message exchanged between the terminal and LMF is a Long-Term Evolution Positioning Protocol (LPP) message.

In some embodiments, the side link may also be referred to as a side link, a secondary link, or a side link.

In some embodiments, the positioning result obtained after positioning the terminal may include direction information relative to another device, and the direction information may include direction information for a reference direction. However, for different application scenarios, there are different requirements for the obtained direction information. For example, for some applications, it is necessary to use direction information to determine whether the terminal is pointing to another terminal, such as determining whether the remote control is pointing to a certain display. In this case, compared with the direction information based on the global coordinate system, the application hopes to be able to measure the direction information based on the local coordinate system, using the radial direction of the terminal as the reference direction, so as to facilitate the application to use the measured direction information to perform subsequent judgment processes. How to make the measured direction information applicable to actual usage needs has become a technical problem that needs to be solved.

The embodiments of the present disclosure provide a positioning method. FIG3A is a schematic flow chart of a positioning method according to an embodiment of the present disclosure. The positioning method shown in this embodiment can be performed by a first device. The first device can be a terminal, which may also be referred to as a first terminal in the following embodiments for simplicity.

As shown in FIG3A , the positioning method may include the following steps:

In step S301, first configuration information sent by a second device is received, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine a direction information. interest.

In some embodiments, the first device receives first configuration information related to a reference direction, and may determine a first reference direction based on the first configuration information, wherein the first reference direction is a reference direction based on which the first device is positioned. For example, in a further embodiment, the first device may perform a positioning operation based on the first reference direction, and report the obtained positioning result, and the positioning result may include direction information relative to the first reference direction.

In some embodiments, the first device may receive the first configuration information from the second device, and the second device may be a network device or a second terminal other than the first device. The network device may refer to an access network device or a core network device, such as an LMF. The second terminal may be a Target UE, an anchor UE, or a server UE.

In some embodiments, the first reference direction determined by the first device may be a reference direction indicated by the first configuration information, or, the first reference direction may be selected and determined from a plurality of candidate reference directions indicated by the first configuration information, or, the first reference direction may be a reference direction determined by the first device based on its own needs.

For example, the first configuration information received by the first terminal T1 from the LMF may include multiple sets of first configuration information. Taking three sets of first configuration information M1, M2, and M3 as examples, the first configuration information M1, M2, and M3 are used to indicate candidate reference directions A1, A2, and A3, respectively. If the first terminal T1 selects to use the first configuration information M1 corresponding to the reference direction A1 from the three sets of first configuration information, that is, the first terminal T1 determines the reference direction A1 as the first reference direction, then the first terminal T1 can use the first configuration information M1 to perform a positioning operation, and the obtained positioning result includes direction information determined based on the reference direction A1.

For example, the first terminal T1 may receive first configuration information M1 from the second terminal T2, the first configuration information M1 being used to indicate the reference direction A1, and the first terminal T1 may further determine whether the first configuration information M1 is applicable. If the first terminal determines that the first configuration information M1 is not applicable, the first terminal T1 may not determine the direction information based on the reference direction A1, but may determine the reference direction A2 as the first reference direction. The first terminal T1 may perform a positioning operation based on the reference direction A2, and the obtained positioning result includes the direction information determined based on the reference direction A2.

In some embodiments, if the first device does not receive the first configuration information, the first device may use a default reference direction as the first reference direction. The default reference direction may be a reference direction based on which the terminal determines the direction information when the first configuration information is not received, or may be a reference direction based on which the first device last performed a positioning operation.

In some embodiments, after performing the positioning operation, the first device may report the positioning result to the second device that sends the first configuration information, or may report it to other devices. For example, the first device may report the positioning result to the LMF.

It should be noted that the direction information may be an angle value relative to the first reference direction, or an angle value measured relative to the first reference direction on a reference plane where the first reference direction is located, for example, an azimuth on a horizontal plane or an elevation on a vertical plane. If the geographic north (North) is used as the first reference direction on the horizontal plane, the direction information based on the first reference direction determined by the first terminal T1 may be the azimuth measured after rotating Azimuth relative to the geographic north on the horizontal plane clockwise or counterclockwise. If the zenith (Zenith) direction is used as the first reference direction on the vertical plane, the direction information based on the first reference direction determined by the first terminal T1 may be the elevation obtained after rotating clockwise or counterclockwise relative to Zenith on the vertical plane.

It should be noted that the embodiment shown in FIG. 3A may be implemented independently or in combination with at least one other embodiment in the present disclosure. The specific implementation may be selected as needed and the present disclosure is not limited thereto.

In the embodiment of the present disclosure, the first device can determine the first reference direction according to the received first configuration information, and then perform a positioning operation based on the first reference direction, for example, determining direction information based on the first reference direction. Accordingly, the first reference direction based on which the first terminal determines the direction information can be flexibly configured to be applicable to different application scenarios, which is conducive to obtaining more accurate direction information.

In some embodiments, the positioning operation performed by the first device may adopt side link positioning or Uu interface positioning, wherein, for side link positioning, the first configuration information received by the first device from the second device may be included in a side link positioning protocol SLPP message; for Uu interface positioning, the first configuration information received by the first device from the second device may be included in an LPP message, or may also be included in a radio resource control (Radio Resource Control, RRC) message.

For example, the first terminal T1 may receive an SLPP message from the second terminal T2, where the SLPP message carries first configuration information. The first terminal T1 may determine a first reference direction based on the first configuration information to determine the reference direction when performing a positioning operation.

The SLPP message received by the first device from the second device may be any of the SLPP messages that the first device interacts with the second device during the process of performing the positioning operation. In some embodiments, the first device may receive a SLPP location request message from the second device, and the SLPP location request message includes the first configuration information. The SLPP location request message is used to indicate that the second device requests to obtain the location information of the first device.

The SLPP location request message may include multiple information elements (IEs), and the first configuration information may be carried by at least one designated information element in the SLPP location request message. In some embodiments, the first configuration information may be included in at least one of the following information element IEs of the SLPP location request message: a public location information request IE; a sidelink multiple round-trip time (SL-RTT) location information request IE; or a sidelink angle of arrival (SL-AOA) location information request IE.

In some embodiments, the first configuration information may be carried by an information element corresponding to the applicable positioning method based on the positioning method to which the first configuration information is applicable. For example, if the first configuration information M1 is carried by the SL-RTT location information request IE, it indicates that the first configuration information M1 is applicable to the SL-RTT positioning method. If the first configuration information M2 is carried by the SL-AOA location information request IE, it indicates that the first configuration information M2 is applicable to the SL-AOA positioning method. If the first configuration information M3 is carried by the public location information request IE, it indicates that the first configuration information M3 can be applicable to any positioning method.

In some embodiments, a first device receives an SLPP location request message sent by a second device, wherein a first information element of the SLPP location request message carries first configuration information. The first device may extract the first configuration information from the SLPP location request message, and determine a first positioning method applicable to the first configuration information based on the first information element carrying the first configuration information. The first device may determine whether to use the first configuration information based on the positioning method actually used. If the first device uses the first positioning method to perform a positioning operation, a first reference direction may be determined based on the first configuration information, and the direction information may be determined using the first reference direction.

In some embodiments, the first device receives an SLPP location request message sent by the second device, and multiple information elements of the SLPP location request message may carry multiple sets of first configuration information. The first device may perform a positioning operation based on the positioning method actually used, using the first configuration information corresponding to the positioning method actually used, to determine a first reference direction, and use the first reference direction to determine direction information.

For example, the first terminal T1 receives the SLPP location request message sent by the second terminal T2, the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. If the first terminal T1 actually uses the SL-RTT positioning method to perform a positioning operation, the first configuration information M1 can be used to determine the first A reference direction; if the first terminal T1 actually uses the SL-AOA positioning method to perform positioning operations, the first configuration information M2 can be used to determine the first reference direction; if the first terminal T1 actually uses other SL-TDOA positioning methods to perform positioning operations, the first configuration information M3 can be used to determine the first reference direction.

In an embodiment of the present disclosure, the first configuration information may be included in the SLPP message sent by the second device, so that during the process of the first device performing side link positioning, the first reference direction can be flexibly configured to make it suitable for different application scenarios, thereby facilitating obtaining more accurate direction information and facilitating the use of direction information by various applications.

In some embodiments, the first configuration information may be used to indicate at least one of the following: a reference coordinate system; or a reference direction under the reference coordinate system.

In some embodiments, the first device may receive first configuration information from the second device, the first configuration information being used to indicate a reference coordinate system. The first device may determine a first reference direction based on the reference coordinate system, so as to determine direction information based on the first reference direction when performing a positioning operation.

In some embodiments, the reference coordinate system may include at least one of: a global coordinate system; or a local coordinate system.

In some embodiments, the first device may maintain default reference directions corresponding to various reference coordinate systems. The first device receives first configuration information from the second device, the first configuration information being used to indicate a reference coordinate system, and if the first configuration information does not indicate a reference direction corresponding to the reference coordinate system, the first device may use the default reference direction corresponding to the reference coordinate system as the first reference direction, so as to determine direction information based on the default reference direction corresponding to the reference coordinate system when performing a positioning operation.

In some embodiments, the default reference direction corresponding to the reference coordinate system may be a direction of at least one coordinate axis of the reference coordinate system.

In some embodiments, the first device receives first configuration information from the second device, where the first configuration information is used to indicate a global coordinate system, and the first reference direction of the first device can be determined based on the direction of a first coordinate axis of the global coordinate system.

In some embodiments, the first coordinate axis of the global coordinate system may include at least one of the following: geographic North; geographic South; geographic West; geographic East; magnetic North; magnetic South; magnetic West; magnetic East; and zenith direction.

For example, the first terminal T1 receives first configuration information from the second terminal T2, where the first configuration information is used to indicate a global coordinate system. If the first configuration information does not indicate a reference direction, the first terminal may use geographic north as the first reference direction to determine direction information based on geographic north when performing a positioning operation.

In some embodiments, the first configuration information received by the first device from the second device can be used to indicate a local coordinate system. Since the local coordinate system can be constructed based on a reference point and/or a coordinate axis, the first configuration information received by the first device from the second device can be used to indicate a reference point and/or a coordinate axis used to establish the local coordinate system.

In some embodiments, the reference point used to construct the local coordinate system may be a reference point in the first device, for example, the center point of the first device; or, may be a reference point outside the first device, for example, the center point of the second device.

In some embodiments, the coordinate axes used to construct the local coordinate system may include at least one of the following: a radial axis of the first device, a lateral axis of the first device; or a vertical axis of the first device; or a specified x-axis, y-axis, or z-axis.

It should be noted that the radial axis of the first device, the horizontal axis of the first device, and the vertical axis of the first device may be coordinate axes determined based on the shape or usage of the first device.

For example, as shown in Figure 3B, the first terminal T1 receives first configuration information from the second terminal T2, and the first configuration information indicates that a local coordinate system is established with the center point O of the first terminal T1 as a reference point, and with the radial axis a1 of the first terminal T1, the horizontal axis a2 of the first terminal T1 and the vertical axis a3 of the first terminal T1 as coordinate axes.

In some embodiments, the first device receives first configuration information from the second device, where the first configuration information is used to indicate a local coordinate system, and the first reference direction of the first device can be determined based on the direction of a second coordinate axis of the local coordinate system.

In some embodiments, the second coordinate axis of the local coordinate system may include at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

For example, the first terminal T1 receives first configuration information from the second terminal T2, where the first configuration information is used to indicate a local coordinate system. If the first configuration information does not indicate a reference direction, and the local coordinate system is constructed based on the center point of the first terminal T1 as a reference point, the first terminal T1 can use the radial axis a1 of the first terminal T1 as the first reference direction to determine direction information based on the radial axis a1 of the first terminal T1 when performing a positioning operation.

In some embodiments, a first device receives first configuration information from a second device, and the first configuration information may be used to indicate a reference direction, and the first device may determine a first reference direction based on the reference direction indicated by the first configuration information. The first reference direction may be the reference direction indicated by the first configuration information or may not be the reference direction indicated by the first configuration information. For example, the reference direction indicated by the first configuration information may be used as the first reference direction, or the first reference direction may be determined by selecting from a plurality of candidate reference directions indicated by the first configuration information, or the reference direction determined by the first device based on its own needs may be used as the first reference direction.

In some embodiments, the reference direction indicated by the first configuration information may be a first coordinate axis in a global coordinate system and/or a second coordinate axis in a local coordinate system. The first coordinate axis may include at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; or zenith direction. The second coordinate axis may include at least one of the following: a radial axis of the first device; a horizontal axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In some embodiments, a first device receives first configuration information from a second device, where the first configuration information can be used to indicate a reference coordinate system and a reference direction under the reference coordinate system, and the first device can determine a first reference direction based on the reference direction under the reference coordinate system indicated by the first configuration information.

For example, the first terminal T1 receives first configuration information M1 from the second terminal T2, where the first configuration information M1 is used to indicate a global coordinate system, as well as geographic north, geographic south, and geomagnetic north as reference directions. The first terminal T1 can select geographic north as the first reference direction from multiple reference directions indicated by the first configuration information M1 to determine direction information based on geographic north when performing a positioning operation.

For example, the first terminal T1 receives a SLPP location request message from the second terminal T2, wherein the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. Among them, the first configuration information M1 is used to indicate the global coordinate system without indicating the reference direction; the first configuration information M2 is used to indicate the reference direction geographic north without indicating the reference coordinate system; the third configuration information M3 is used to indicate the local coordinate system, and the reference direction is the radial axis of the first terminal T1.

If the first terminal T1 actually uses the SL-RTT positioning method to perform a positioning operation, the first configuration information M1 may be used to determine a first reference direction, where the first reference direction is the default reference direction geomagnetic north corresponding to the global coordinate system;

If the first terminal T1 actually uses the SL-AOA positioning method to perform a positioning operation, the first configuration information M2 may be used to determine a first reference direction, where the first reference direction is the geographic north indicated by the first configuration information M2;

If the first terminal T1 actually uses other SL-TDOA positioning methods to perform positioning operations, the first configuration information M3 can be used to determine a first reference direction, where the first reference direction is a radial axis of the first terminal T1 on the local coordinate system.

In the disclosed embodiment, the first configuration information received by the first device can be used to indicate a reference coordinate system; or a reference direction, and the first device can determine the first reference direction in a variety of ways according to the different contents indicated by the first configuration information. Accordingly, the first reference direction corresponding to the first terminal can be flexibly configured to be applicable to different application scenarios and different reference coordinate systems, which is conducive to obtaining more accurate direction information.

In some embodiments, the reference direction may include a horizontal plane reference direction and/or a vertical plane reference direction.

In some embodiments, the first reference direction may include a first reference direction of a horizontal plane and/or a first reference direction of a vertical plane. Accordingly, the direction information determined based on the first reference direction may also include direction information of a horizontal plane corresponding to the first reference direction of the horizontal plane and/or direction information of a vertical plane corresponding to the first reference direction of the vertical plane.

It should be noted that the horizontal plane and the vertical plane can be an absolute plane or a relative plane.

For example, in a global coordinate system, the horizontal plane and the vertical plane may be absolute planes. The reference direction of the horizontal plane may include at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; and the reference direction of the vertical plane may include the zenith direction.

For example, in the local coordinate system, the horizontal plane and the vertical plane may be relative planes. The reference direction of the horizontal plane may include at least one of the following: the radial axis of the first device; the transverse axis of the first device; the x-axis of the local coordinate system; or the y-axis of the local coordinate system; the reference direction of the vertical plane may include at least one of the following: the vertical axis of the first device, or the z-axis of the local coordinate system.

In some embodiments, the first device receives first configuration information of the second device, and the first configuration information can be used to indicate a horizontal plane reference direction and/or a vertical plane reference direction. The first device can determine the first reference direction of the horizontal plane and/or the first reference direction of the vertical plane based on the first configuration information, so as to determine the direction information of the horizontal plane based on the first reference direction of the horizontal plane and/or determine the direction information of the vertical plane based on the first reference direction of the vertical plane when performing a positioning operation.

In some embodiments, if the first configuration information does not indicate the horizontal plane reference direction and/or the vertical plane reference direction corresponding to the reference coordinate system, the first device may adopt the default horizontal plane reference direction corresponding to the reference coordinate system as the first reference direction of the horizontal plane, and/or the default vertical plane reference direction as the first reference direction of the vertical plane. Or if the first configuration information only indicates the horizontal plane reference direction corresponding to the reference coordinate system, the first device may adopt the horizontal plane reference direction corresponding to the reference coordinate system indicated in the first configuration information as the first reference direction of the horizontal plane, and the default vertical plane reference direction corresponding to the reference coordinate system as the first reference direction of the vertical plane. Or if the first configuration information only indicates the vertical plane reference direction corresponding to the reference coordinate system, the first device may adopt the vertical plane reference direction corresponding to the reference coordinate system indicated in the first configuration information as the first reference direction of the vertical plane, and the default horizontal plane reference direction corresponding to the reference coordinate system as the first reference direction of the horizontal plane.

For example, the first terminal T1 receives the first configuration information M1 of the second terminal T2, and the first configuration information can be used to indicate that the horizontal plane reference direction is the geographic north, but does not indicate the vertical plane reference direction. The first terminal T1 can use the geographic north as the first reference direction of the horizontal plane, and use the default vertical plane reference direction zenith direction as the first reference direction of the vertical plane.

In some embodiments, the local coordinate system may be a static local coordinate system, which may be a local coordinate system that does not change with the movement of the first device. For example, a local coordinate system constructed with a reference point outside the first device, a specified x-axis, a y-axis, and a z-axis, if the reference point and the specified x-axis, y-axis, and z-axis do not change within a certain period of time, then the local coordinate system may be considered a static local coordinate system.

In some embodiments, the local coordinate system may be a dynamic local coordinate system, and the dynamic local coordinate system may be a local coordinate system that changes with the movement of the first device. For example, a local coordinate system constructed based on a reference point in the first device, a radial axis of the first device, a horizontal axis of the first device, and a vertical axis of the first device, because the local coordinate system constructed based on the reference point in the first device, the radial axis of the first device, the horizontal axis of the first device, and the vertical axis of the first device changes with the movement of the first device, then the local coordinate system may be considered to be a dynamic coordinate system.

For example, the first terminal T1 receives a SLPP location request message from the second terminal T2, wherein the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. Among them, the first configuration information M1 is used to indicate the global coordinate system without indicating the reference direction; the first configuration information M2 is used to indicate the static local coordinate system, and indicates that the x-axis of the static local coordinate system is the reference direction; the third configuration information M3 is used to indicate the dynamic local coordinate system, and indicates that the reference direction is the radial axis of the first terminal T1. If the first terminal uses the SL-AOA positioning method, it can use the static local coordinate system indicated by the first configuration information and the x-axis of the static local coordinate system to perform positioning operations, so as to determine the direction information based on the x-axis of the static local coordinate system.

In some embodiments, a first device receives first configuration information from a second device, and the first configuration information is used to indicate a local coordinate system. The first configuration information can also be used to indicate conversion parameters of the local coordinate system relative to a global coordinate system. Since the global coordinate system is an absolute coordinate system, the first device can determine relevant parameters of the local coordinate system based on the conversion parameters of the local coordinate system relative to the global coordinate system.

For example, as shown in FIG3C , the first terminal T1 receives first configuration information M1 from the second terminal T2, where the first configuration information M1 is used to indicate a local coordinate system and conversion parameters of the local coordinate system relative to the global coordinate system: bearing angle α, downtilt angle β, slant angle γ. The first terminal T1 can determine the local coordinate system based on the conversion parameters. Taking the coordinate axes of the global coordinate system as (xo, y0, z0) as shown in FIG3C , the coordinate axis is first rotated by an angle of α around the coordinate axis z0 to form a coordinate system constructed by (x1, y1, z1), and then rotated by an angle of β around the coordinate axis y1 to form a coordinate system constructed by (x2, y2, z2), and finally rotated by an angle of γ around the coordinate axis x2 to form a local coordinate system constructed by (x3, y3, z3). Based on the obtained local coordinate system, if the first configuration information M1 does not indicate a reference direction, the first terminal T1 can use the radial axis of the first terminal T1, which is the default reference angle of the local coordinate system, as the first reference direction to determine direction information based on the first reference direction when the first device performs a positioning operation.

In the embodiment of the present disclosure, by indicating the conversion parameters between the local coordinate system and the global coordinate system in the first configuration information, it is convenient for the first device to accurately obtain the local coordinate system through the conversion of the coordinate system.

In some embodiments, the first device performs a positioning operation to obtain a positioning result, which may include direction information. The first device may report the positioning result including the direction information, and may report the positioning result to a second device that sends the first configuration information, such as a second terminal or a network device LMF, or may send the positioning result to other designated devices, such as a network device LMF.

In some embodiments, when reporting positioning information, the first device may also report second configuration information at the same time, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information.

In some embodiments, the first device receives first configuration information, and the first device determines a first reference direction based on the first configuration information. The first device performs a positioning operation using the first reference direction to determine direction information based on the first reference direction. The first device reports a positioning result including direction information, and simultaneously reports second configuration information, wherein the second configuration information includes a second reference direction actually used by the first device when determining direction information, that is, the first reference direction.

In some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction. The reference coordinate system corresponding to the second reference direction may be a reference coordinate system actually used by the first device when determining the direction information.

In some embodiments, the first device receives first configuration information, the first device determines a first reference direction and a first reference coordinate system corresponding to the first reference direction based on the first configuration information, and the first device performs a positioning operation using the first reference coordinate system and the first reference direction to determine direction information based on the first reference direction. The first device reports a positioning result including direction information and reports second configuration information at the same time, the second configuration information includes a second reference direction actually used by the first device when determining direction information, and a reference coordinate system corresponding to the second reference direction, that is, the first reference direction and the first reference coordinate system corresponding to the first reference direction.

For example, the first terminal T1 receives first configuration information from the second terminal T2, and the first configuration information is used to determine that the first reference direction used by the first terminal T1 when performing a positioning operation is the reference direction A1, and the coordinate system S1 corresponding to the reference direction A1. The first terminal T1 can obtain a positioning result after performing a positioning operation using the coordinate system S1 and the reference direction A1, and the positioning result may include direction information based on the reference direction A1. The first terminal T1 sends the obtained positioning result including the direction information to the second terminal T2, and at the same time sends second configuration information to the second terminal T2, and the second configuration information may be used to indicate the reference direction A1 and/or the coordinate system S1.

In some embodiments, the direction information and the second configuration information reported by the first device may be carried by the same message or by different messages.

In the embodiment of the present disclosure, after performing the positioning operation, the first device can report the obtained direction information, and can also report the second reference direction actually used when performing the positioning operation, and/or the reference coordinate system corresponding to the second reference direction. Accordingly, the device that obtains the direction information can accurately understand the direction information and use the direction information reasonably.

In some embodiments, the first device reports the second configuration information only when the content indicated by the second configuration information is different from that indicated by the first configuration information, that is, the first device reports the second configuration information only when at least one of the following conditions is met: the second reference direction actually used when performing the positioning operation is different from the reference direction indicated by the first configuration information, or the reference coordinate system actually used when performing the positioning operation is different from the reference coordinate system indicated by the first configuration information.

For example, the first terminal T1 receives first configuration information from the second terminal T2, where the first configuration information is used to indicate the reference coordinate system S1 and the reference direction A1. The first terminal T1 determines that the reference direction A1 is not applicable based on the first configuration information, and the first terminal T1 performs a positioning operation using the reference coordinate system S1 and the reference direction A2, and determines the direction information based on the reference direction A2. The first terminal T1 sends the positioning result including the direction information to the second terminal T2, and simultaneously sends second configuration information to the second terminal T2, where the second configuration information is used to indicate the reference direction A2.

In some embodiments, the reference coordinate system indicated by the second configuration information reported by the first device may include a global coordinate system or a local coordinate system.

It should be noted that the content and method of the second configuration information reported by the first device can be the same as the above The content and manner of the first configuration information received in the embodiment may be the same or different, and the repeated parts will not be repeated here.

In some embodiments, when the reference coordinate system corresponding to the second reference direction is a local coordinate system, the reference coordinate system corresponding to the second reference direction may include a static local coordinate system and a dynamic local coordinate system. The dynamic local coordinate system may be a local coordinate system that changes with the movement of the first device. For example, a local coordinate system constructed based on a reference point in the first device, a radial axis of the first device, a horizontal axis of the first device, and a vertical axis of the first device.

In some embodiments, when the first device performs a positioning operation and reports a positioning result including direction information, if it is determined that the reference coordinate system corresponding to the second reference direction actually used by the first device is a dynamic local coordinate system, the first device reports second configuration information, and the second configuration information is used to indicate the second reference direction and/or the reference coordinate system corresponding to the second reference direction.

In some embodiments, after the first device performs a positioning operation, it can report the obtained positioning results and report second configuration information. If the reference coordinate system corresponding to the second reference direction indicated by the second configuration information includes a local coordinate system, then the second configuration information is also used to indicate the conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system.

In some embodiments, the first device indicates the conversion parameter in the second configuration information only when the conversion parameter can be reported.

For example, the first terminal T1 receives the first configuration information of the second terminal T2, and the first terminal T1 actually performs a positioning operation based on the reference direction A1 and the reference coordinate system S1 to determine the direction information based on the reference direction A1. The first terminal T1 sends the obtained positioning result including the direction information to the second terminal T2. At the same time, if the reference coordinate system S1 is a local coordinate system and the first terminal T1 can determine the conversion parameters between the reference coordinate system S1 and the global coordinate system, the first terminal T1 can also send the second configuration information to the second terminal T2, and the second configuration information is used to indicate the reference coordinate system S1 and the conversion parameters between the reference coordinate system S1 and the global coordinate system.

In some embodiments, the first device may determine at least one information change indicated by the second configuration information, and send the second configuration information to the second device. The information indicated by the second configuration information may include at least one of the following: a second reference direction; a reference coordinate system corresponding to the second reference direction; or a conversion parameter between a local coordinate system and a global coordinate system.

In some embodiments, the first device may report the second configuration information only when it is determined that at least one item of information in the second configuration information is different from at least one item of information indicated by the received first configuration information.

In some embodiments, the first device may report new second configuration information only when it is determined that at least one item of information in the second configuration information has changed compared with at least one item of information in the previously reported second configuration information, which may include a new second reference direction, a new reference coordinate system, or at least one of the conversion parameters between the new local coordinate system and the global coordinate system.

For example, when the first terminal T1 performs the last positioning operation, the reference coordinate system S1 and the reference direction A1 are used, and the direction information is determined based on the reference direction A1; the first terminal T1 reports the direction information to the second terminal T2, and reports the second configuration information, and the second configuration information is used to indicate the reference coordinate system S1 and the reference direction A1. When the first terminal T1 performs the current positioning operation, the reference coordinate system S1 and the reference direction A2 are used, and the direction information is determined based on the reference direction A2; the first terminal T1 reports the direction information to the second terminal T2, and reports the second configuration information, and the second configuration information is used to indicate the changed reference direction A2.

In the embodiment of the present disclosure, the first device reports the second configuration information only when at least one content indicated by the second configuration information changes, thereby saving communication resources and energy consumption and improving communication efficiency.

In the second aspect, an embodiment of the present disclosure proposes a positioning method. FIG4 is a schematic flow chart of a positioning method according to an embodiment of the present disclosure. The positioning method shown in this embodiment can be executed by a second device, wherein the second device can be a second terminal other than the first device, or a network device, the second terminal can be a Target UE, an anchor UE or a service terminal (Server UE), and the network device can be an access network device or a core network device, for example, an LMF.

As shown in FIG4 , the positioning method may include the following steps:

In step S401, first configuration information is sent to a first device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information.

In some embodiments, the second device may send first configuration information to the first device so that the first device may determine a first reference direction based on the first configuration information, where the first reference direction is a reference direction based on which the first device is positioned. For example, in a further embodiment, the first device may perform a positioning operation based on the first reference direction. The second device may receive a positioning result from the first device, where the positioning result may include direction information relative to the first reference direction.

In some embodiments, the first reference direction determined by the first device may be a reference direction indicated by the first configuration information, or, the first reference direction may be selected and determined from a plurality of candidate reference directions indicated by the first configuration information, or, the first reference direction may be a reference direction determined by the first device based on its own needs.

For example, the first configuration information sent by the LMF to the first terminal T1 may include multiple sets of first configuration information. Taking three sets of first configuration information M1, M2, and M3 as examples, the first configuration information M1, M2, and M3 are used to indicate candidate reference directions A1, A2, and A3, respectively. If the first terminal T1 selects to use the first configuration information M1 corresponding to the reference direction A1 from the three sets of first configuration information, that is, the first terminal T1 determines the reference direction A1 as the first reference direction, then the first terminal T1 can use the first configuration information M1 to perform a positioning operation, and the obtained positioning result includes the direction information determined by the reference direction A1.

For example, the second terminal T2 may send the first configuration information M1 to the first terminal T1, where the first configuration information M1 is used to indicate the reference direction A1, so that the first terminal T1 may further determine whether the first configuration information M1 is applicable. If the first terminal determines that the first configuration information M1 is not applicable, the first terminal T1 may not determine the direction information based on the reference direction A1, but may determine the reference direction A2 as the first reference direction. The first terminal T1 may perform a positioning operation based on the reference direction A2, and the obtained positioning result includes the direction information determined based on the reference direction A2.

In some embodiments, if the first device does not receive the first configuration information, the first device may use a default reference direction as the first reference direction. The default reference direction may be a reference direction based on the first configuration information not received and saved by the terminal, or may be a reference direction based on the last positioning operation performed by the first device.

In some embodiments, the second device may receive the positioning result from the first device.

It should be noted that the direction information may be an angle value relative to the first reference direction, or an angle value measured relative to the first reference direction on a reference plane where the first reference direction is located, for example, an azimuth on a horizontal plane or an elevation on a vertical plane. If the geographic north (North) is used as the first reference direction on the horizontal plane, the direction information based on the first reference direction determined by the first terminal T1 may be the azimuth measured after rotating Azimuth relative to the geographic north on the horizontal plane clockwise or counterclockwise. If the zenith (Zenith) direction is used as the first reference direction on the vertical plane, the direction information based on the first reference direction determined by the first terminal T1 may be the elevation obtained after rotating clockwise or counterclockwise relative to Zenith on the vertical plane.

It should be noted that the embodiment shown in FIG. 4 can be implemented independently or in combination with at least one other embodiment of the present disclosure. The embodiments may be combined for implementation and may be selected as needed, and the present disclosure is not limited thereto.

In the embodiment of the present disclosure, the first device can determine the first reference direction according to the received first configuration information, and then perform a positioning operation based on the first reference direction to obtain direction information determined based on the first reference direction. Accordingly, the first reference direction corresponding to the first terminal can be flexibly configured to make it suitable for different application scenarios, which is conducive to obtaining more accurate direction information.

In some embodiments, the positioning operation performed by the first device may adopt side link positioning or Uu interface positioning, wherein, for side link positioning, the first configuration information sent by the second device to the first device may be included in a side link positioning protocol SLPP message; for Uu interface positioning, the first configuration information sent by the second device to the first device may be included in an LPP message, or may also be included in a radio resource control (Radio Resource Control, RRC) message.

For example, the second terminal T2 may send a SLPP message to the second terminal T1, where the SLPP message carries first configuration information, and the first terminal T1 may determine a first reference direction based on the first configuration information for determining a reference direction when performing a positioning operation.

The SLPP message sent by the second device to the first device can be any of the SLPP messages exchanged between the second device and the first device during the process of the first device performing a positioning operation. In some embodiments, the second device can request the location information of the first device by sending a SLPP location request message to the first device, and the SLPP location request message includes the first configuration information.

The SLPP location request message may include multiple information elements (IEs), and the first configuration information may be carried by at least one designated information element in the SLPP location request message. In some embodiments, the first configuration information may be included in at least one of the following information element IEs of the SLPP location request message: a public location information request IE; a sidelink multiple round-trip time (SL-RTT) location information request IE; or a sidelink angle of arrival (SL-AOA) location information request IE.

In some embodiments, the second device may carry the corresponding first configuration information based on the positioning method to which the first configuration information is applicable, by an information element corresponding to the applicable positioning method. For example, if the first configuration information M1 is applicable to the SL-RTT positioning method, the first configuration information M1 may be carried by the SL-RTT location information request IE. If the first configuration information M2 is applicable to the SL-AOA positioning method, the first configuration information M2 may be carried by the SL-AOA location information request IE. If the first configuration information M3 can be applicable to any positioning method, the first configuration information M3 may be carried by the public location information request IE.

In some embodiments, the second device may determine the first configuration information based on the positioning method used by the first device, and may carry the first configuration information in an information element corresponding to the positioning method used in the SLPP location request message based on the positioning method used.

For example, if the second terminal T2 determines that the first terminal T1 uses the SL-AOA positioning method, the first configuration information M1 adapted to the SL-AOA positioning method can be sent to the first terminal T1. The second terminal T2 can carry the first configuration information M1 through the SL-AOA location information request IE or the public location information request IE in the SLPP location request message.

In some embodiments, the second device may send a SLPP location request message to the first device, wherein the first information element of the SLPP location request message carries the first configuration information. The first device may extract the first configuration information from the SLPP location request message, and determine the first positioning method applicable to the first configuration information based on the first information element carrying the first configuration information. The first device may determine whether to use the first configuration information based on the positioning method actually used. If the first device uses the first positioning method to perform a positioning operation, it may determine a first reference direction based on the first configuration information, and use the first reference direction to determine the direction information.

In some embodiments, the second device may send a SLPP location request message to the first device, and multiple information elements of the SLPP location request message may carry multiple sets of first configuration information. The first device may perform a positioning operation based on the positioning method actually used and using the first configuration information corresponding to the positioning method actually used to determine the first reference direction, and use the first reference direction to determine the direction information.

For example, the second terminal T2 may send a SLPP location request message to the first terminal T1, wherein the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. If the first terminal T1 actually uses the SL-RTT positioning method to perform a positioning operation, the first configuration information M1 may be used to determine the first reference direction; if the first terminal T1 actually uses the SL-AOA positioning method to perform a positioning operation, the first configuration information M2 may be used to determine the first reference direction; if the first terminal T1 actually uses other SL-TDOA positioning methods to perform a positioning operation, the first configuration information M3 may be used to determine the first reference direction.

In the disclosed embodiment, the second device can send an SLPP message carrying first configuration information to the first device, so that the first device can determine the first reference direction. Thus, during the process of the first device performing side link positioning, the first reference direction can be flexibly configured to make it suitable for different application scenarios, which is conducive to obtaining more accurate direction information and can also facilitate the use of direction information by various applications.

In some embodiments, the first configuration information may be used to indicate at least one of the following: a reference coordinate system; or a reference direction.

In some embodiments, the second device may send first configuration information to the first device, where the first configuration information is used to indicate a reference coordinate system so that the first device can determine a first reference direction based on the reference coordinate system, and determine direction information based on the first reference direction when performing a positioning operation.

In some embodiments, the reference coordinate system may include at least one of: a global coordinate system; or a local coordinate system.

In some embodiments, the second device may agree with the first device or configure the first device with default reference directions corresponding to various reference coordinate systems. The second device sends first configuration information to the first device, and the first configuration information is used to indicate the reference coordinate system. If the first configuration information does not indicate a reference direction corresponding to the reference coordinate system, the first device may use the default reference direction corresponding to the reference coordinate system as the first reference direction, so as to determine direction information based on the default reference direction corresponding to the reference coordinate system when performing a positioning operation.

In some embodiments, the default reference direction corresponding to the reference coordinate system may be the direction of a coordinate axis corresponding to the reference coordinate system.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a global coordinate system so that a first reference direction of the first device can be determined based on a direction of a first coordinate axis of the global coordinate system.

In some embodiments, the first coordinate axis of the global coordinate system may include at least one of the following: geographic North; geographic South; geographic West; geographic East; magnetic North; magnetic South; magnetic West; magnetic East; and zenith direction.

For example, the second terminal T2 sends first configuration information to the first terminal T1, where the first configuration information is used to indicate a global coordinate system. If the first configuration information does not indicate a reference direction, the first terminal may use geographic north as the first reference direction to determine direction information based on geographic north when performing a positioning operation.

In some embodiments, the first configuration information sent by the second device to the first device may be used to indicate a local coordinate system. Since the local coordinate system may be constructed based on reference points and/or coordinate axes, the second device may send the first configuration information to the first device. The first configuration information sent by the device may be used to indicate a reference point and/or a coordinate axis for establishing a local coordinate system.

In some embodiments, the reference point used to construct the local coordinate system may be a reference point in the first device, for example, the center point of the first device; or, may be a reference point outside the first device, for example, the center point of the second device.

In some embodiments, the coordinate axes used to construct the local coordinate system may include at least one of the following: a radial axis of the first device, a lateral axis of the first device; or a vertical axis of the first device; or a specified x-axis, y-axis, or z-axis.

It should be noted that the radial axis of the first device, the horizontal axis of the first device, and the vertical axis of the first device may be coordinate axes determined based on the shape or usage of the first device.

For example, as shown in Figure 3B, the second terminal T2 sends first configuration information to the first terminal T1, and the first configuration information indicates that a local coordinate system is established with the center point O of the first terminal T1 as a reference point, and with the radial axis a1 of the first terminal T1, the horizontal axis a2 of the first terminal T1 and the vertical axis a3 of the first terminal T1 as coordinate axes.

In some embodiments, the second device sends first configuration information to the first device, where the first configuration information is used to indicate a local coordinate system, and the first reference direction of the first device can be determined based on the direction of a second coordinate axis of the local coordinate system.

In some embodiments, the second coordinate axis of the local coordinate system may include at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

For example, the second terminal T2 sends first configuration information to the first terminal T1, where the first configuration information is used to indicate a local coordinate system. If the first configuration information does not indicate a reference direction, and the local coordinate system is constructed based on the center point of the first terminal T1 as a reference point, the first terminal T1 can use the radial axis a1 of the first terminal T1 as the first reference direction to determine direction information based on the radial axis a1 of the first terminal T1 when performing a positioning operation.

In some embodiments, the second device sends first configuration information to the first device, and the first configuration information can be used to indicate a reference direction, and the first device can determine the first reference direction based on the reference direction indicated by the first configuration information. The first reference direction may be the reference direction indicated by the first configuration information or may not be the reference direction indicated by the first configuration information. For example, the reference direction indicated by the first configuration information can be used as the first reference direction, or the first reference direction can be determined by selecting from multiple candidate reference directions indicated by the first configuration information, or the reference direction determined by the first device based on its own needs can be used as the first reference direction.

In some embodiments, the reference direction indicated by the first configuration information may be a first coordinate axis in a global coordinate system and/or a second coordinate axis in a local coordinate system. The first coordinate axis may include at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; or zenith direction. The second coordinate axis may include at least one of the following: a radial axis of the first device; a horizontal axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, and the first configuration information can be used to indicate a reference coordinate system and a reference direction under the reference coordinate system, so that the first device can determine a first reference direction based on the reference direction under the reference coordinate system indicated by the first configuration information.

For example, the second terminal T2 sends first configuration information M1 to the first terminal T1, where the first configuration information M1 is used to indicate the global coordinate system, as well as geographic north, geographic south, and geomagnetic north as reference directions. T1 may select geographic north as the first reference direction from the multiple reference directions indicated by the first configuration information M1, so as to determine direction information based on geographic north when performing a positioning operation.

For example, the second terminal T2 sends a SLPP location request message to the first terminal T1, wherein the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. Among them, the first configuration information M1 is used to indicate the global coordinate system without indicating the reference direction; the first configuration information M2 is used to indicate the reference direction geographic north without indicating the reference coordinate system; the third configuration information M3 is used to indicate the local coordinate system, and the reference direction is the radial axis of the first terminal T1.

If the first terminal T1 actually uses the SL-RTT positioning method to perform a positioning operation, the first configuration information M1 may be used to determine a first reference direction, where the first reference direction is the default reference direction geomagnetic north corresponding to the global coordinate system;

If the first terminal T1 actually uses the SL-AOA positioning method to perform a positioning operation, the first configuration information M2 may be used to determine a first reference direction, where the first reference direction is the geographic north indicated by the first configuration information M2;

If the first terminal T1 actually uses other SL-TDOA positioning methods to perform positioning operations, the first configuration information M3 can be used to determine a first reference direction, where the first reference direction is a radial axis of the first terminal T1 on the local coordinate system.

In the disclosed embodiment, the first configuration information sent by the second device can be used to indicate a reference coordinate system; or a reference direction, so that the first device can determine the first reference direction in a variety of ways according to the different contents indicated by the first configuration information. Accordingly, the first reference direction corresponding to the first terminal can be flexibly configured to be applicable to different application scenarios and different reference coordinate systems, which is conducive to obtaining more accurate direction information.

In some embodiments, the reference direction may include a horizontal plane reference direction and/or a vertical plane reference direction.

In some embodiments, the first reference direction may include a first reference direction of a horizontal plane and/or a first reference direction of a vertical plane. Accordingly, the direction information determined based on the first reference direction may also include direction information of a horizontal plane corresponding to the first reference direction of the horizontal plane and/or direction information of a vertical plane corresponding to the first reference direction of the vertical plane.

It should be noted that the horizontal plane and the vertical plane can be an absolute plane or a relative plane.

For example, in a global coordinate system, the horizontal plane and the vertical plane may be absolute planes. The reference direction of the horizontal plane may include at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; and the reference direction of the vertical plane may include the zenith direction.

For example, in the local coordinate system, the horizontal plane and the vertical plane may be relative planes. The reference direction of the horizontal plane may include at least one of the following: the radial axis of the first device; the transverse axis of the first device; the x-axis of the local coordinate system; or the y-axis of the local coordinate system; the reference direction of the vertical plane may include at least one of the following: the vertical axis of the first device, or the z-axis of the local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, and the first configuration information can be used to indicate a horizontal plane reference direction and/or a vertical plane reference direction. The first device can determine the first reference direction of the horizontal plane and/or the first reference direction of the vertical plane based on the first configuration information, so as to determine the direction information of the horizontal plane based on the first reference direction of the horizontal plane and/or determine the direction information of the vertical plane based on the first reference direction of the vertical plane when performing a positioning operation.

In some embodiments, if the first configuration information does not indicate a horizontal plane reference direction and/or a vertical plane reference direction corresponding to the reference coordinate system, the first device may use a default horizontal plane reference direction corresponding to the reference coordinate system. The first device may use the horizontal plane reference direction as the first reference direction of the horizontal plane, and/or use the default vertical plane reference direction as the first reference direction of the vertical plane. Or if the first configuration information only indicates the horizontal plane reference direction corresponding to the reference coordinate system, the first device may use the horizontal plane reference direction corresponding to the reference coordinate system indicated in the first configuration information as the first reference direction of the horizontal plane, and use the default vertical plane reference direction corresponding to the reference coordinate system as the first reference direction of the vertical plane. Or if the first configuration information only indicates the vertical plane reference direction corresponding to the reference coordinate system, the first device may use the vertical plane reference direction corresponding to the reference coordinate system indicated in the first configuration information as the first reference direction of the vertical plane, and use the default horizontal plane reference direction corresponding to the reference coordinate system as the first reference direction of the horizontal plane.

For example, the second terminal T2 sends the first configuration information M1 to the first terminal T1, and the first configuration information can be used to indicate that the horizontal plane reference direction is the geographic north, but does not indicate the vertical plane reference direction. The first terminal T1 can use the geographic north as the first reference direction of the horizontal plane, and use the default vertical plane reference direction zenith direction as the first reference direction of the vertical plane.

In some embodiments, the local coordinate system may be a static local coordinate system, which may be a local coordinate system that does not change with the movement of the first device. For example, a local coordinate system constructed with a reference point outside the first device, a specified x-axis, a y-axis, and a z-axis, if the reference point and the specified x-axis, y-axis, and z-axis do not change within a certain period of time, then the local coordinate system may be considered a static local coordinate system.

In some embodiments, the local coordinate system may be a dynamic local coordinate system, and the dynamic local coordinate system may be a local coordinate system that changes with the movement of the first device. For example, a local coordinate system constructed based on a reference point in the first device, a radial axis of the first device, a horizontal axis of the first device, and a vertical axis of the first device, because the local coordinate system constructed based on the reference point in the first device, the radial axis of the first device, the horizontal axis of the first device, and the vertical axis of the first device changes with the movement of the first device, then the local coordinate system may be considered to be a dynamic coordinate system.

For example, the second terminal T2 sends a SLPP location request message to the first terminal T1, and the SL-RTT location information request IE of the SLPP location request message carries the first configuration information M1, the SL-AOA location information request IE carries the first configuration information M2, and the public location information request IE carries the first configuration information M3. Among them, the first configuration information M1 is used to indicate the global coordinate system without indicating the reference direction; the first configuration information M2 is used to indicate the static local coordinate system, and indicates that the x-axis of the static local coordinate system is the reference direction; the third configuration information M3 is used to indicate the dynamic local coordinate system, and indicates that the reference direction is the radial axis of the first terminal T1. If the first terminal uses the SL-AOA positioning method, it can use the static local coordinate system indicated by the first configuration information and the x-axis of the static local coordinate system to perform positioning operations to determine the direction information based on the x-axis of the static local coordinate system.

In some embodiments, the second device sends first configuration information to the first device, and the first configuration information is used to indicate a local coordinate system. The first configuration information can also be used to indicate conversion parameters of the local coordinate system relative to a global coordinate system. Since the global coordinate system is an absolute coordinate system, the first device can determine relevant parameters of the local coordinate system based on the conversion parameters of the local coordinate system relative to the global coordinate system.

For example, as shown in FIG3C , the second terminal T2 sends the first configuration information M1 to the first terminal T1. The first configuration information M1 is used to indicate the local coordinate system and the conversion parameters of the local coordinate system relative to the global coordinate system: bearing angle α, downtilt angle β, slant angle γ. The first terminal T1 can determine the local coordinate system based on the conversion parameters. Taking the coordinate axis of the global coordinate system as (xo, y0, z0) as shown in FIG3C , the coordinate axis z0 is first rotated by an angle of α to form a coordinate system constructed by (x1, y1, z1), and then the coordinate axis y1 is rotated by an angle of β to form a coordinate system constructed by (x2, y2, z2), and finally the coordinate axis x2 is rotated by an angle of γ to form a local coordinate system constructed by (x3, y3, z3). Based on the obtained local coordinate system, if the first configuration information M1 does not indicate a reference direction, the first terminal T1 can use the default reference angle of the local coordinate system, the radial axis of the first terminal T1, as the first reference direction, to obtain the local coordinate system. When a device performs a positioning operation, direction information is determined based on a first reference direction.

In the embodiment of the present disclosure, by indicating the conversion parameters between the local coordinate system and the global coordinate system in the first configuration information, it is convenient for the first device to accurately obtain the local coordinate system through the conversion of the coordinate system.

In some embodiments, the second device may receive a positioning result from the first device that will include the direction information.

In some embodiments, when receiving positioning information from the first device, second configuration information may also be received from the first device at the same time, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information.

In some embodiments, the second device and the first device send first configuration information, and the first device determines a first reference direction based on the first configuration information. The first device performs a positioning operation using the first reference direction to determine direction information based on the first reference direction. The second device receives a positioning result including direction information and second configuration information from the first device, wherein the second configuration information includes a second reference direction actually used by the first device when determining the direction information, that is, the first reference direction.

In some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction. The reference coordinate system corresponding to the second reference direction may be a reference coordinate system actually used by the first device when determining the direction information.

In some embodiments, the second device sends first configuration information to the first device so that the first device can determine a first reference direction based on the first configuration information, and a first reference coordinate system corresponding to the first reference direction, and the first device performs a positioning operation using the first reference coordinate system and the first reference direction to determine direction information based on the first reference direction. The second device receives a positioning result including direction information and second configuration information from the first device, the second configuration information including a second reference direction actually used by the first device when determining direction information, and a reference coordinate system corresponding to the second reference direction, that is, the first reference direction and the first reference coordinate system corresponding to the first reference direction.

For example, the second terminal T2 sends first configuration information to the first terminal T1, and the first configuration information is used to determine that the first reference direction used by the first terminal T1 when performing a positioning operation is the reference direction A1, and the coordinate system S1 corresponding to the reference direction A1. The first terminal T1 can obtain a positioning result after performing a positioning operation using the coordinate system S1 and the reference direction A1, and the positioning result may include direction information based on the reference direction A1. The second terminal T2 receives the positioning result including the direction information from the first terminal T1, and simultaneously receives second configuration information from the first terminal T1, and the second configuration information may be used to indicate the reference direction A1 and/or the coordinate system S1.

In some embodiments, the direction information and the second configuration information received by the second device from the first device may be carried by the same message or by different messages.

In the embodiment of the present disclosure, the second device may receive direction information obtained through the positioning operation, as well as the second reference direction actually used when performing the positioning operation, and/or the reference coordinate system corresponding to the second reference direction from the first device. Accordingly, the device that obtains the direction information can accurately understand the direction information and use the direction information reasonably.

In some embodiments, the first device reports the second configuration information only when the content indicated by the second configuration information is different from that indicated by the first configuration information, that is, the first device reports the second configuration information only when at least one of the following conditions is met: the second reference direction actually used when performing the positioning operation is different from the reference direction indicated by the first configuration information, or the reference coordinate system actually used when performing the positioning operation is different from the reference coordinate system indicated by the first configuration information.

For example, the second terminal T2 sends first configuration information to the first terminal T1, where the first configuration information is used to indicate the reference coordinate system S1 and the reference direction A1. If the first terminal T1 determines that the reference direction A1 is not applicable based on the first configuration information, the first terminal T1 may use the reference coordinate system S1 and the reference direction A2 to perform a positioning operation, and The direction information is determined based on the reference direction A2. The second terminal T2 sends the positioning result including the direction information to the first terminal T1, and simultaneously sends the second configuration information to the second terminal T2, where the second configuration information is used to indicate the reference direction A2.

In some embodiments, the reference coordinate system indicated by the second configuration information received by the second device from the first device may include a global coordinate system or a local coordinate system.

It should be noted that the content and manner of the second configuration information indicated by the second device received from the first device may be the same as or different from the content and manner of the first configuration information indicated by the first configuration information sent in the above embodiment, and the repeated parts will not be repeated here.

In some embodiments, when the reference coordinate system corresponding to the second reference direction is a local coordinate system, the reference coordinate system corresponding to the second reference direction may include a static local coordinate system and a dynamic local coordinate system. The dynamic local coordinate system may be a local coordinate system that changes with the movement of the first device. For example, a local coordinate system constructed based on a reference point in the first device, a radial axis of the first device, a horizontal axis of the first device, and a vertical axis of the first device.

In some embodiments, when the first device performs a positioning operation and reports a positioning result including direction information, if it is determined that the reference coordinate system corresponding to the second reference direction actually used by the first device is a dynamic local coordinate system, the first device reports second configuration information, and the second configuration information is used to indicate the second reference direction and/or the reference coordinate system corresponding to the second reference direction.

In some embodiments, after the first device performs a positioning operation, it can report the obtained positioning results and report second configuration information. If the reference coordinate system corresponding to the second reference direction indicated by the second configuration information includes a local coordinate system, then the second configuration information is also used to indicate the conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system.

In some embodiments, the first device indicates the conversion parameter in the second configuration information only when the conversion parameter can be reported.

For example, the second terminal T2 sends the first configuration information to the first terminal T1, and the first terminal T1 actually performs a positioning operation based on the reference direction A1 and the reference coordinate system S1 to determine the direction information based on the reference direction A1. The first terminal T1 sends the obtained positioning result including the direction information to the second terminal T2. At the same time, if the reference coordinate system S1 is a local coordinate system and the first terminal T1 can determine the conversion parameters between the reference coordinate system S1 and the global coordinate system, the first terminal T1 can also send the second configuration information to the second terminal T2, and the second configuration information is used to indicate the reference coordinate system S1 and the conversion parameters between the reference coordinate system S1 and the global coordinate system.

In some embodiments, the first device may determine at least one information change indicated by the second configuration information, and send the second configuration information to the second device. The information indicated by the second configuration information may include at least one of the following: a second reference direction; a reference coordinate system corresponding to the second reference direction; or a conversion parameter between a local coordinate system and a global coordinate system.

In some embodiments, the first device may report the second configuration information only when it is determined that at least one item of information in the second configuration information is different from at least one item of information indicated by the received first configuration information.

In some embodiments, the first device may report new second configuration information only when it is determined that at least one item of the second configuration information is changed from at least one item of the second configuration information reported previously.

For example, when the first terminal T1 performs the last positioning operation, it uses the reference coordinate system S1 and the reference direction A1, and determines the direction information based on the reference direction A1; the first terminal T1 reports the direction information to the second terminal T2, and reports the second configuration information, where the second configuration information is used to indicate the reference coordinate system S1 and the reference direction A1. When the first terminal T1 performs the current positioning operation, it uses the reference coordinate system S1 and the reference direction A2, and determines the direction information based on the reference direction A1. Direction A2 determines direction information; the first terminal T1 reports the direction information to the second terminal T2, and reports second configuration information, where the second configuration information is used to indicate the changed reference direction A2.

In the embodiment of the present disclosure, the first device reports the second configuration information only when at least one content indicated by the second configuration information changes, thereby saving communication resources and energy consumption and improving communication efficiency.

In some embodiments, the names of information, etc. are not limited to the names recorded in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "code element", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

In some embodiments, terms such as "moment", "time point", "time", and "time position" can be interchangeable, and terms such as "duration", "period", "time window", "window", and "time" can be interchangeable.

In some embodiments, terms such as "component carrier (CC)", "cell", "frequency carrier", and "carrier frequency" can be used interchangeably.

In some embodiments, "obtain", "obtain", "get", "receive", "transmit", "bidirectional transmission", "send and/or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from high levels, obtaining by self-processing, autonomous implementation, etc.

In some embodiments, terms such as "send", "transmit", "report", "send", "transmit", "bidirectional transmission", "send and/or receive" can be used interchangeably.

Corresponding to the aforementioned embodiments of the positioning method, the present disclosure also provides embodiments of a terminal and a network device.

An embodiment of the present disclosure further proposes a terminal, comprising: one or more processors; a memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the network device executes the positioning method described in the above embodiment.

FIG5 is a schematic block diagram of a terminal device structure according to an embodiment of the present disclosure. As shown in FIG5 , the terminal may be a positioning device 500 , and the device includes a transceiver module 501 and a processing module 502 .

In some embodiments, the transceiver module 501 is used to receive first configuration information sent by a second device; the processing module 502 is used to determine a first reference direction based on the first configuration information, and the first reference direction is used by the positioning device to determine direction information.

In some embodiments, the first configuration information is included in a Side Link Positioning Protocol (SLPP) message.

In some embodiments, the SLPP message comprises a SLPP Location Request message.

In some embodiments, the first configuration information is included in at least one of the following information elements IE of the SLPP location request message: a public location information request IE; a side link round trip time SL-RTT location information request IE; or a side link angle of arrival SL-AOA location information request IE.

In some embodiments, the first configuration information is used to indicate at least one of the following: a reference coordinate system; or a reference direction under the reference coordinate system.

In some embodiments, the reference coordinate system comprises at least one of: a global coordinate system; or a local coordinate system.

In some embodiments, the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction.

In some embodiments, the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on a direction of a first coordinate axis of the global coordinate system.

In some embodiments, the direction of the first coordinate axis includes at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; Zenith direction.

In some embodiments, the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on a direction of a second coordinate axis of the local coordinate system.

In some embodiments, the second coordinate axis includes at least one of the following: a radial axis of the positioning device; a lateral axis of the positioning device; a vertical axis of the positioning device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In some embodiments, the local coordinate system is constructed based on at least one of: a reference point in or outside the positioning device; a radial axis of the positioning device; a lateral axis of the positioning device; or a vertical axis of the positioning device.

In some embodiments, the first configuration information is further used to indicate a conversion parameter of the local coordinate system relative to a global coordinate system.

In some embodiments, the local coordinate system comprises a static local coordinate system.

In some embodiments, the transceiver module 501 is further used to send second configuration information to the second device, wherein the second configuration information is used by the second device to determine a second reference direction actually used when the positioning device determines direction information.

In some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction.

In some embodiments, the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is further used to indicate a conversion parameter of the reference coordinate system corresponding to the second reference direction relative to a global coordinate system.

In some embodiments, the reference coordinate system corresponding to the second reference direction comprises a dynamic local coordinate system.

In some embodiments, sending the second configuration information to the second device includes: determining at least one information change indicated by the second configuration information, and sending the second configuration information to the second device.

In some embodiments, the transceiver module 501 is further configured to send the direction information determined according to the first reference direction to the second device.

It should be noted that the modules included in the terminal are not limited to the modules described in the above embodiments, and may also include other modules, such as a storage module, a display module, etc.

An embodiment of the present disclosure further proposes a network device, comprising: one or more processors; a memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the network device executes the positioning method described in the above embodiment.

FIG6 is a schematic block diagram of a device structure of a network device according to an embodiment of the present disclosure. As shown in FIG6 , the network device may be a positioning device 600 , which includes a transceiver module 601 and a processing module 602 .

In some embodiments, the processing module 602 is used to determine first configuration information, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine a direction Information; the transceiver module 601 is used to send the first configuration information to the first device.

In some embodiments, the first configuration information is included in a Side Link Positioning Protocol (SLPP) message.

In some embodiments, the SLPP message comprises a SLPP Location Request message.

In some embodiments, the first configuration information is included in at least one of the following information elements IE of the SLPP location request message: a public location information request IE; a side link round trip time SL-RTT location information request IE; or a side link angle of arrival SL-AOA location information request IE.

In some embodiments, the first configuration information is used to indicate at least one of the following: a reference coordinate system; or a reference direction under the reference coordinate system.

In some embodiments, the reference coordinate system comprises at least one of: a global coordinate system; or a local coordinate system.

In some embodiments, the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction.

In some embodiments, the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on a direction of a first coordinate axis of the global coordinate system.

In some embodiments, the direction of the first coordinate axis includes at least one of the following: geographic north; geographic south; geographic west; geographic east; geomagnetic north; geomagnetic south; geomagnetic west; geomagnetic east; Zenith direction.

In some embodiments, the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on a direction of a second coordinate axis of the local coordinate system.

In some embodiments, the second coordinate axis includes at least one of: a radial axis of the first device; a lateral axis of the first device; a vertical axis of the first device; an x-axis of the local coordinate system; a y-axis of the local coordinate system; or a z-axis of the local coordinate system.

In some embodiments, the local coordinate system is constructed based on at least one of: a reference point in the first device or outside the first device; a radial axis of the first device; a lateral axis of the first device; or a vertical axis of the first device.

In some embodiments, the first configuration information is further used to indicate a conversion parameter of the local coordinate system relative to a global coordinate system.

In some embodiments, the local coordinate system comprises a static local coordinate system.

In some embodiments, the transceiver module 601 is further used to receive second configuration information from the first device, wherein the second configuration information is used by the positioning apparatus to determine a second reference direction actually used when the first device determines direction information.

In some embodiments, the second configuration information is used to indicate at least one of the following: the second reference direction; or a reference coordinate system corresponding to the second reference direction.

In some embodiments, the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is further used to indicate a conversion parameter of the reference coordinate system corresponding to the second reference direction relative to a global coordinate system.

In some embodiments, the reference coordinate system corresponding to the second reference direction comprises a dynamic local coordinate system.

In some embodiments, receiving the second configuration information from the first device includes: determining at least one information change indicated by the second configuration information, and receiving the second configuration information from the first device.

In some embodiments, the transceiver module 601 is further configured to receive, from the first device, the direction information determined according to the first reference direction.

It should be noted that the modules included in the network device are not limited to the modules described in the above embodiments, and may also include other modules, such as a storage module, a display module, etc.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

An embodiment of the present disclosure also proposes a communication device, comprising: one or more processors; a memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the processor calls the executable instructions so that the communication device executes the positioning method described in the above optional embodiment.

An embodiment of the present disclosure further proposes a communication system, including a first device and a second device, wherein the first device is configured to implement the positioning method described in the above optional embodiment, and the second device is configured to implement the positioning method described in the above optional embodiment.

An embodiment of the present disclosure further proposes a storage medium, wherein the storage medium stores instructions, and when the instructions are executed on a communication device, the communication device executes the positioning method described in the above optional embodiment.

The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device is proposed, the above device includes a unit or module for implementing each step performed by the terminal in any of the above methods. For another example, another device is also proposed, including a unit or module for implementing each step performed by a network device (such as an access network device, a core network function node, a core network device, etc.) in any of the above methods.

It should be understood that the division of the units or modules in the above device is only a division of logical functions, which can be fully or partially integrated into one physical entity or physically separated in actual implementation. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units or modules in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units or modules may be implemented by designing the hardware circuits. The hardware circuits may be understood as one or more processors; for example, in one implementation, the hardware circuits are application-specific integrated circuits (ASICs), and the functions of some or all of the above units or modules may be implemented by designing the logical relationship of the components in the circuits; for another example, in another implementation, the hardware circuits may be implemented by programmable logic devices (PLDs), and Field Programmable Gate Arrays (FPGAs) may be used as an example, which may include a large number of logic gate circuits, and the connection relationship between the logic gate circuits may be configured by configuring the configuration files, thereby implementing the functions of some or all of the above units or modules. All units or modules of the above devices may be implemented in the form of software called by the processor, or in the form of hardware circuits, or in the form of software called by the processor, and the remaining part may be implemented in the form of hardware circuits.

In the embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or digital signal processor (DSP), etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the above hardware circuit is fixed or reconfigurable, such as the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading the configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

FIG7 is a schematic diagram of the structure of a communication device 7100 proposed in an embodiment of the present disclosure. The communication device 7100 may be a network device (e.g., an access network device, a core network device, etc.), or a terminal (e.g., a user device, etc.), or a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. The communication device 7100 may be used to implement the method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

As shown in FIG7 , the communication device 7100 includes one or more processors 7101. The processor 7101 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and the communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a program, and process the data of the program. The processor 7101 is used to call executable instructions so that the communication device 7100 executes any of the above methods.

In some embodiments, the communication device 7100 further includes one or more memories 7102 for storing instructions. Optionally, all or part of the memory 7102 may also be outside the communication device 7100.

In some embodiments, the communication device 7100 further includes one or more transceivers 7103. When the communication device 7100 includes one or more transceivers 7103, the communication steps such as sending and receiving in the above method are executed by the transceiver 7103, and the other steps are executed by the processor 7101.

In some embodiments, the transceiver may include a receiver and a transmitter, and the receiver and the transmitter may be separate or integrated. Optionally, the terms such as transceiver, transceiver unit, transceiver, transceiver circuit, etc. may be replaced with each other, the terms such as transmitter, transmission unit, transmitter, transmission circuit, etc. may be replaced with each other, and the terms such as receiver, receiving unit, receiver, receiving circuit, etc. may be replaced with each other.

Optionally, the communication device 7100 further includes one or more interface circuits 7104, which are connected to the memory 7102. The interface circuit 7104 can be used to receive signals from the memory 7102 or other devices, and can be used to send signals to the memory 7102 or other devices. For example, the interface circuit 7104 can read instructions stored in the memory 7102 and send the instructions to the processor 7101.

The communication device 7100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 7100 described in the present disclosure is not limited thereto, and the structure of the communication device 7100 may not be limited by FIG. 7. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

Fig. 8 is a schematic diagram of the structure of a chip 8200 provided in an embodiment of the present disclosure. In the case where the communication device 7100 may be a chip or a chip system, reference may be made to the schematic diagram of the structure of the chip 8200 shown in Fig. 8, but the present disclosure is not limited thereto.

The chip 8200 includes one or more processors 8201, and the processor 8201 is used to call executable instructions so that the chip 8200 executes any of the above methods.

In some embodiments, the chip 8200 further includes one or more interface circuits 8202, and the interface circuit 8202 is connected to the memory 8203. The interface circuit 8202 can be used to receive signals from the memory 8203 or other devices, and the interface circuit 8202 can be used to send signals to the memory.

8203 or other devices to send signals. For example, the interface circuit 8202 can read the instructions stored in the memory 8203 and send the instructions to the processor 8201. Optionally, the terms such as interface circuit, interface, transceiver pin, transceiver, etc. can be replaced with each other.

In some embodiments, the chip 8200 further includes one or more memories 8203 for storing instructions. Optionally, all or part of the memory 8203 may be outside the chip 8200.

The present disclosure also proposes a storage medium, on which instructions are stored, and when the instructions are executed on the communication device 7100, the communication device 7100 executes any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a temporary storage medium.

The present disclosure also proposes a program product, which, when executed by the communication device 7100, enables the communication device 7100 to execute any of the above methods. Optionally, the program product is a computer program product.

The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to execute any one of the above methods.

Claims (47)

A positioning method, characterized in that it is performed by a first device and includes: First configuration information sent by a second device is received, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information. The method according to claim 1 is characterized in that the first configuration information is contained in a Side Link Positioning Protocol (SLPP) message. The method according to claim 2 is characterized in that the SLPP message includes a SLPP location request message. The method according to claim 3, characterized in that the first configuration information is included in at least one of the following information elements IE of the SLPP location request message: Public location information request IE; Side Link Round Trip Time SL-RTT Location Information Request IE; or Side link angle of arrival SL-AOA position information request IE. The method according to any one of claims 1 to 4, wherein the first configuration information is used to indicate at least one of the following: a reference coordinate system; or The reference direction in the reference coordinate system. The method according to claim 5, characterized in that the reference coordinate system includes at least one of the following: Global coordinate system; or Local coordinate system. The method according to claim 6 is characterized in that the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction. The method according to claim 6 or 7 is characterized in that the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on the direction of a first coordinate axis of the global coordinate system. The method according to claim 8, characterized in that the direction of the first coordinate axis includes at least one of the following: Geographic North; Geographic South; Geography West; Geography East; Magnetic North; Magnetic south; geomagnetic west; geomagnetic east; Zenith direction. The method according to claim 6 or 7 is characterized in that the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on the direction of a second coordinate axis of the local coordinate system. The method according to claim 10, characterized in that the second coordinate axis includes at least one of the following: a radial axis of the first device; a transverse axis of the first device; a vertical axis of the first device; The x-axis of the local coordinate system; The y-axis of the local coordinate system; The z-axis of the local coordinate system. The method according to claim 6 or 7 or 10 or 11, characterized in that the local coordinate system Based on at least one of the following: a reference point in the first device or outside the first device; a radial axis of the first device; a transverse axis of the first device; or The vertical axis of the first device. The method according to any one of claims 10-12 is characterized in that the first configuration information is also used to indicate a conversion parameter of the local coordinate system relative to the global coordinate system. The method of claim 13, wherein the local coordinate system comprises a static local coordinate system. The method according to any one of claims 1 to 14, characterized in that the method further comprises: Second configuration information is sent to the second device, where the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information. The method according to claim 15, characterized in that the second configuration information is used to indicate at least one of the following: the second reference direction; or A reference coordinate system corresponding to the second reference direction. The method according to claim 16 is characterized in that the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is also used to indicate conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system. The method according to claim 17 is characterized in that the reference coordinate system corresponding to the second reference direction includes a dynamic local coordinate system. The method according to any one of claims 15 to 18, wherein sending the second configuration information to the second device comprises: Determine at least one information change indicated by the second configuration information, and send the second configuration information to the second device. The method according to any one of claims 1 to 19, characterized in that the method further comprises: The direction information determined according to the first reference direction is sent to the second device. A positioning method, characterized in that it is performed by a second device and includes: First configuration information is sent to a first device, wherein the first configuration information is used by the first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information. The method according to claim 21 is characterized in that the first configuration information is contained in a Side Link Positioning Protocol (SLPP) message. The method according to claim 22 is characterized in that the SLPP message includes a SLPP location request message. The method according to claim 23, characterized in that the first configuration information is included in at least one of the following information elements IE of the SLPP location request message: Public location information request IE; Side Link Round Trip Time SL-RTT Location Information Request IE; or Side link angle of arrival SL-AOA position information request IE. The method according to any one of claims 21 to 24, characterized in that the first configuration information is used to indicate at least one of the following: a reference coordinate system; or The reference direction in the reference coordinate system. The method according to claim 25, characterized in that the reference coordinate system includes at least one of the following: Global coordinate system; or Local coordinate system. The method according to claim 26 is characterized in that the reference direction includes a horizontal plane reference direction and/or a vertical plane reference direction. The method according to claim 26 or 27 is characterized in that the first configuration information is used to indicate a global coordinate system, wherein the first reference direction is determined based on the direction of a first coordinate axis of the global coordinate system. The method according to claim 8, characterized in that the direction of the first coordinate axis includes at least one of the following: Geographic North; Geographic South; Geography West; Geography East; Magnetic North; Magnetic south; geomagnetic west; geomagnetic east; Zenith direction. The method according to claim 26 or 27 is characterized in that the first configuration information is used to indicate a local coordinate system, wherein the first reference direction is determined based on the direction of a second coordinate axis of the local coordinate system. The method according to claim 30, characterized in that the second coordinate axis includes at least one of the following: a radial axis of the first device; a transverse axis of the first device; a vertical axis of the first device; The x-axis of the local coordinate system; The y-axis of the local coordinate system; The z-axis of the local coordinate system. The method according to claim 26 or 27 or 30 or 31, characterized in that the local coordinate system is constructed based on at least one of the following: a reference point in the first device or outside the first device; a radial axis of the first device; a transverse axis of the first device; or The vertical axis of the first device. The method according to any one of claims 30-32 is characterized in that the first configuration information is also used to indicate the conversion parameters of the local coordinate system relative to the global coordinate system. The method of claim 33, wherein the local coordinate system comprises a static local coordinate system. The method according to any one of claims 31 to 34, characterized in that the method further comprises: Second configuration information is received from the first device, wherein the second configuration information is used by the second device to determine a second reference direction actually used by the first device when determining direction information. The method according to claim 35, characterized in that the second configuration information is used to indicate at least one of the following: the second reference direction; or A reference coordinate system corresponding to the second reference direction. The method according to claim 36 is characterized in that the reference coordinate system corresponding to the second reference direction includes a local coordinate system, and the second configuration information is also used to indicate the conversion parameters of the reference coordinate system corresponding to the second reference direction relative to the global coordinate system. The method according to claim 37 is characterized in that the reference coordinate system corresponding to the second reference direction includes a dynamic local coordinate system. The method according to any one of claims 35 to 38, wherein receiving second configuration information from the first device comprises: Determine at least one information change indicated by the second configuration information, and receive second configuration information from the first device. The method according to any one of claims 21 to 39, characterized in that the method further comprises: The direction information determined according to the first reference direction is received from the first device. A positioning device, characterized in that it comprises: A transceiver module, used to receive first configuration information sent by a second device; A processing module is used to determine a first reference direction based on the first configuration information, where the first reference direction is used by the positioning device to determine direction information. A positioning device, characterized in that it comprises: A processing module, configured to determine first configuration information, wherein the first configuration information is used by a first device to determine a first reference direction, and the first reference direction is used by the first device to determine direction information; A transceiver module is used to send the first configuration information to the first device. A terminal, characterized by comprising: one or more processors; A memory coupled to the processor, wherein executable instructions are stored in the memory, wherein when the executable instructions are executed by the processor, the terminal executes the positioning method described in any one of claims 1-20 and/or the positioning method described in any one of claims 21-40. A network device, comprising: one or more processors; A memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the network device executes the positioning method described in any one of claims 21-40. A communication device, comprising: one or more processors; A memory coupled to the processor, wherein the memory stores executable instructions, wherein when the executable instructions are executed by the processor, the processor calls the executable instructions so that the communication device executes the positioning method described in any one of claims 1-20 and/or the positioning method described in any one of claims 21-40. A communication system, characterized in that it includes a first device and a second device, wherein the first device is configured to implement the positioning method described in any one of claims 1-20, and the second device is configured to implement the positioning method described in any one of claims 21-40. A storage medium storing instructions, characterized in that when the instructions are executed on a communication device, the communication device executes the positioning method described in any one of claims 1-20 and/or the positioning method described in any one of claims 21-40.