WO2023179560A1

WO2023179560A1 - Ranging and localization method and terminal

Info

Publication number: WO2023179560A1
Application number: PCT/CN2023/082572
Authority: WO
Inventors: 张奕忠; 王文
Original assignee: 维沃移动通信有限公司
Priority date: 2022-03-24
Filing date: 2023-03-20
Publication date: 2023-09-28
Also published as: CN116847275A

Abstract

The present application relates to the technical field of communication, and discloses a ranging and localization method and a terminal. The ranging and localization method of embodiments of the present application comprises: a first terminal sending a first request message to a second terminal, the first request message being used for requesting to negotiate parameter information of a first service with the second terminal, and the first service comprising ranging and/or bypass localization; and the first terminal obtaining a first result of the first service.

Description

Ranging and positioning methods and terminals

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210303267.2 and the invention title "Ranging and Positioning Method and Terminal" submitted on March 24, 2022, which is fully incorporated into this application by reference.

Technical field

This application belongs to the field of communication technology, and specifically relates to a ranging and positioning method and a terminal.

Background technique

With the development of communication technology, ranging and positioning are applied in a variety of scenarios. Among different positioning methods, bypass positioning refers to using the PC5 interface to locate the terminal. Ranging positioning can be used in various vertical fields, such as consumer, smart home, smart city, smart transportation, smart retail and industry 4.0.

The different application fields mentioned above can use different access technologies to achieve communication between terminals, such as LTE-based Vehicle-to-Everything (V2X), side links of new air interface NR, and other wireless devices that may be supported on PC5. Access Technology (Radio Access Technology, RAT). However, it is still unclear how to implement ranging and positioning based on the PC5 interface, that is, ranging services and bypass positioning.

Contents of the invention

Embodiments of the present application provide a ranging and positioning method and a terminal, which can solve the problem of how to specifically implement ranging-based services and bypass positioning for location-related services.

In the first aspect, a ranging and positioning method is provided, which method includes:

The first terminal sends a first request message to the second terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal. The first service includes: ranging and/or bypass position;

The first terminal obtains the first result of the first service.

In the second aspect, a ranging and positioning method is provided, which method includes:

The second terminal receives the first request message sent by the first terminal; the first request message is used to request parameter information of the first service to be negotiated with the second terminal. The first service includes: ranging and/or bypassing. Road positioning.

In a third aspect, a ranging and positioning device is provided, including:

A sending module, configured to send a first request message to the second terminal; the first request message is used to request communication with the The second terminal negotiates parameter information of a first service, where the first service includes: ranging and/or bypass positioning;

An acquisition module is used to acquire the first result of the first service.

In the fourth aspect, a ranging and positioning device is provided, including:

A receiving module, configured to receive a first request message sent by the first terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal, and the first service includes: ranging and/or or bypass positioning.

In a fifth aspect, a first terminal is provided. The terminal includes a processor and a memory. The memory stores programs or instructions that can be run on the processor. The program or instructions are implemented when executed by the processor. The steps of the method as described in the first aspect.

In a sixth aspect, a first terminal is provided, including a processor and a communication interface, wherein the communication interface is used to send a first request message to the second terminal; the first request message is used to request communication with the third terminal. The two terminals negotiate parameter information of a first service, where the first service includes: ranging and/or bypass positioning; the processor is configured to obtain a first result of the first service.

In a seventh aspect, a second terminal is provided. The terminal includes a processor and a memory. The memory stores programs or instructions that can be run on the processor. The program or instructions are implemented when executed by the processor. The steps of the method as described in the second aspect.

In an eighth aspect, a second terminal is provided, including a processor and a communication interface, wherein the communication interface is used to receive a first request message sent by the first terminal; the first request message is used to request and the The second terminal negotiates parameter information of the first service, where the first service includes: ranging and/or bypass positioning.

A ninth aspect provides a communication system, including: a first terminal and a second terminal. The first terminal can be used to perform the steps of the ranging and positioning method as described in the first aspect. The network side device can be used to Perform the steps of the ranging and positioning method described in the second aspect.

In a tenth aspect, a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect. The steps of the method described in the second aspect.

In an eleventh aspect, a chip is provided. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the method described in the first aspect. method, or implement a method as described in the second aspect.

In a twelfth aspect, a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the first aspect or the second aspect. The steps of the ranging and positioning method described in the second aspect.

In this embodiment of the present application, the first terminal sends a first request message to the second terminal; the first request message is used to request parameter information of the first service to be negotiated with the second terminal. The first service includes: ranging and/or bypassing. Road positioning; the first terminal obtains the first result of the first service, and executes the first service based on the result of parameter negotiation through parameter negotiation between the first terminal and the second terminal, that is, obtains the result of the first service, In this way, location-related services can be implemented specifically based on ranging services and bypass positioning, and the implementation solution is simple, highly efficient, and applicable It is suitable for scenarios where different access technologies are used for communication between terminals.

Description of the drawings

Figure 1 is a structural diagram of a wireless communication system applicable to the embodiment of the present application;

Figure 2 is one of the flow diagrams of the ranging and positioning method provided by the embodiment of the present application;

Figure 3 is one of the interactive flow diagrams of the ranging and positioning method provided by the embodiment of the present application;

Figure 4 is the second schematic flowchart of the ranging and positioning method provided by the embodiment of the present application;

Figure 5 is one of the structural schematic diagrams of the ranging and positioning device provided by the embodiment of the present application;

Figure 6 is the second structural schematic diagram of the ranging and positioning device provided by the embodiment of the present application;

Figure 7 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

Figure 8 is a schematic diagram of the hardware structure of a terminal provided by an embodiment of the present application;

Figure 9 is a schematic structural diagram of a network side device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of this application.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and "second" are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

It is worth pointing out that the technology described in the embodiments of this application is not limited to Long Term Evolution (LTE)/LTE Evolution (LTE-Advanced, LTE-A) systems, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access, OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of this application are often used interchangeably, and the described technology can be used not only for the above-mentioned systems and radio technologies, but also for other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in much of the following description, but these techniques can also be applied to applications other than NR system applications, such as 6th ^generation Generation, 6G) communication system.

Figure 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable. The wireless communication system includes a terminal 11 and a network side device 12. Among them, the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a handheld computer, a netbook, or a super mobile personal computer. (ultra-mobile personal computer, UMPC), mobile Internet device (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/virtual reality (VR) equipment, robots, wearable devices (Wearable Device) , vehicle-mounted equipment (VUE), pedestrian terminal (PUE), smart home (home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.), game consoles, personal computers (personal computers, PC), teller machines or self-service Terminal devices such as mobile phones, wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), Smart wristbands, smart clothing, etc. It should be noted that the embodiment of the present application does not limit the specific type of the terminal 11. The network side equipment 12 may include access network equipment or core network equipment, where the access network equipment 12 may also be called wireless access network equipment, radio access network (Radio Access Network, RAN), radio access network function or Wireless access network unit. The access network device 12 may include a base station, a WLAN access point or a WiFi node, etc. The base station may be called a Node B, an evolved Node B (eNB), an access point, a Base Transceiver Station (BTS), a radio Base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home B-Node, Home Evolved B-Node, Transmitting Receiving Point (TRP) or all Some other appropriate terminology in the above field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used as an example for introduction, and The specific type of base station is not limited. Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Services Discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data warehousing (Unified Data Repository, UDR), home subscriber server (Home Subscriber Server, HSS), centralized network configuration ( Centralized network configuration, CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc. It should be noted that in the embodiment of this application, only the core network equipment in the NR system is used as an example for introduction, and the specific type of the core network equipment is not limited.

First, the application scenarios and related terms of the embodiments of this application are explained:

The embodiments of this application are applied to ranging based services and bypass positioning (Ranging based services and sidelink positioning) scenario. Among them, ranging refers to determining the distance between two terminals or multiple terminals through direct device connection, and/or the direction and/or relative position of one terminal (i.e., target terminal) and another terminal (i.e., reference terminal). . In the case of 3D, the directions include horizontal and elevation directions. Some ranging-based services may require only distance measurements, some may require only direction measurements, and others may require both range and direction measurements. Bypass positioning refers to using the PC5 interface to locate the terminal. Ranging-based services and bypass positioning can be used in various verticals such as consumer, smart home, smart city, smart transportation, smart retail and Industry 4.0, etc.

The different application fields mentioned above can use different access technologies to achieve communication between terminals, such as LTE-based Vehicle-to-Everything (V2X), side links of new air interface NR, and other wireless devices that may be supported on PC5. Access Technology (Radio Access Technology, RAT). Therefore, for those skilled in the art, how to implement a universal method for performing ranging-based services and bypass positioning is an urgent technical problem that needs to be solved.

In the embodiments of this application, in order to facilitate the description, the first service is used to refer to ranging-based services and sidelink positioning (Ranging based services and sidelink positioning). The first service represents ranging and/or sidelink positioning services, that is, It can be a ranging service, a bypass positioning service, or a ranging and bypass positioning service.

For example, the first service may be that terminal 1 wishes to obtain relative information (such as relative position) between the first terminal and other terminals, or it may be absolute information (such as geographical location, velocity); or it may be that terminal 1 wishes to obtain Obtain relative information and absolute information between terminal 1 and a certain network side device (which can be understood as a base station, road side unit (Road Side Unit, RSU), etc.).

In the embodiment of the present application, a universal method for performing ranging-based services and bypass positioning is implemented by negotiating the parameter information of the first service between the first terminal and the second terminal.

In the embodiment of the present application, the control signaling part of ranging and bypass positioning can occur between terminals before and after transmitting the ranging/bypass positioning reference signal. Control signaling includes but is not limited to: coordination and configuration of terminals during the ranging/bypass positioning process, including device discovery, signaling control and configuration information between devices; exchanging ranging/bypass positioning between terminals Measurement results of reference signals used for ranging/bypass positioning calculations.

The ranging and positioning method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios.

Figure 2 is one of the schematic flow charts of the ranging and positioning method provided by the embodiment of the present application. As shown in Figure 2, the method provided by this embodiment includes:

Step 101: The first terminal sends a first request message to the second terminal; the first request message is used to request to negotiate parameter information of a first service with the second terminal. The first service includes: ranging and/or bypass positioning.

Specifically, the first terminal may negotiate the parameter information of the first service with the second terminal by sending a first request message to negotiate and determine how to send the positioning reference signal and how to obtain the result of the first service. The first terminal and/or the second terminal send positioning reference signals according to the result of parameter negotiation, and then obtain ranging and/or bypass positioning results.

Before the first terminal and the second terminal send the first request message, a communication connection may be established. Optionally, there is a PC5 link between the first terminal and the second terminal.

The existing mechanism can be used to establish the PC5 link. It is worth mentioning that if the first terminal and the second terminal establish the PC5 link, for example, before step 101, other services trigger the first terminal and the second terminal to establish the PC5 link, there is no need to repeatedly establish the PC5 link. . In addition, the embodiment of the present application is not limited to whether the first terminal or the second terminal initiates PC5 link establishment.

Step 102: The first terminal obtains the first result of the first service.

Specifically, the first terminal can obtain the first result of the first service based on the second positioning reference signal sent by the second terminal, and/or the first terminal obtains the second result of the first service determined by the second terminal, and then Based on the second result of the first service, the first result of the first service is obtained.

In the method of this embodiment, the first terminal sends a first request message to the second terminal; the first request message is used to request to negotiate parameter information of the first service with the second terminal. The first service includes: ranging and/or bypass Positioning; the first terminal obtains the first result of the first service, and executes the first service based on the result of parameter negotiation through parameter negotiation between the first terminal and the second terminal, that is, obtains the result of the first service, and implements The solution is simple, highly efficient, and can be applied to scenarios where different access technologies are used for communication between terminals.

Optionally, the first request message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the first terminal, the reference signal sending method or the result determination method.

Optionally, the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.

Illustratively, identity or device identification, such as: Subscription Concealed Identifier (SUCI), Globally Unique Temporary Identifier (GUTI), International Mobile Subscriber Identity (IMSI) ), Permanent Equipment Identifier (Permanent Equipment Identifier, PEI), International Mobile Equipment Identity (International Mobile Equipment Identity, IMEI), User Permanent Identifier (Subscription Permanent Identifier, SUPI), Temporary Mobile Station Identifier (Temporary Mobile Station Identifier) , TMSI), Generic Public Subscription Identifier (GPSI), 5G-S-TMSI;

Logical identification refers to a logical identification assigned by the network or application server that can uniquely identify a terminal, such as: a specific string combination, layer-2 identification (layer-2 ID), terminal identification related to business information, and terminal address information. . Address information includes but is not limited to at least one of the following: IPv4 address, IPv6 address, IPv4v6 address, port number, Media Access Control (Medium Access Control, MAC) address, Fully Qualified Domain Name (FQDN);

Optionally, the first request message also includes address information of the first terminal and/or address information of the second terminal; or

The address information of the first terminal and/or the address information of the second terminal is sent along with the first request message.

Accompaniment means that the first request message may be sent simultaneously with the address information, but the address information may not be included in the first request message, and the AS layer of the second terminal may directly capture the address information, thereby receiving the first request message.

For example, the address information may be the terminal's layer-2 ID, IPv4 address, IPv6 address, IPv4v6 address, port number, MAC address, FQDN, and default address information. This address information is used for the terminal to send broadcasts ( broadcast) or multicast (groupcast) first request message.

Optionally, the first service auxiliary information includes at least one of the following:

Reference signal information, algorithm information, business information, capability information or location information;

The reference signal information includes at least one of the following: the name, identification, frequency, period, power or accuracy of the reference signal;

Algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters, or algorithm precision;

Business information includes at least one of the following: business code, business identification or business type;

Capability information is used to indicate the capability to support the first service;

Location information includes absolute location information and/or relative location information.

Specifically, the reference signal information represents information about the positioning reference signal used by the first terminal when using ranging and/or bypass positioning services, including at least one of the following: name of the reference signal, identification of the reference signal, reference signal frequency, reference signal period, reference signal power, reference signal accuracy;

The algorithm information is the algorithm information used by the first terminal when executing the first service. The algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters, algorithm accuracy, etc.;

The service code is used for at least one of the following: identifying that the first terminal needs to use the first service; identifying that the first terminal is authorized to use the first service; verifying that other terminals are authorized to use the first service, etc.

The service identification indicates that the identified service is authorized to use the first service.

The capability information indicates that the first terminal has the ability to support the first service; the capability information includes: the ability to support distance measurement and/or calculation; the ability to support direction measurement and/or calculation; the ability to support high-precision distance measurement and/or calculation. ;Support high-precision direction measurement and/or calculation;Support the ability to calculate first services.

Absolute location information, for example, includes at least one of the following: tracking area (TA), registration area (RA), cell ID, latitude and longitude, altitude, horizontal direction (horizontal direction), elevation direction (elevation direction) )wait;

Relative position information, such as the relative angle (including horizontal direction angle, elevation angle) and relative distance of the first terminal relative to the auxiliary node; it is worth mentioning that the auxiliary node is other than the first terminal and the second terminal Other communication devices, for example, a third terminal in addition to the first terminal and the second terminal; or a public infrastructure, such as a road side unit RSU; or a common reference system in which the first terminal and the second terminal know the absolute position information , for example, street lights.

Optionally, the reference signal sending method includes at least one of the following:

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.

Specifically, sending the reference signal immediately can be understood as, for example, the first terminal sends the positioning reference signal immediately after receiving the response message from the second terminal; periodically sending the reference signal can be understood as, for example, the first terminal sends a positioning reference signal every period of time (such as 500 seconds), or the first terminal sends a positioning reference signal in a specific time period, such as 12:00-13:00; event-triggered sending of the reference signal can be understood as, for example, when the first terminal meets a certain event, (for example , the distance difference between the first terminal and the second terminal reaches a certain threshold, or the signal strength between the first terminal and the second terminal reaches a certain threshold), the first terminal triggers to send the positioning reference signal; the same applies to the second terminal.

The second terminal sending the reference signal can also be understood as the first terminal requesting (the second terminal sending) the reference signal.

The reference signal sent by the first terminal and/or the second terminal can be combined with the reference signal sent immediately, periodically or event-triggered. For example, the combination of the reference signal sent by the first terminal and the reference signal immediately sent by the first terminal means that the first terminal sends positioning immediately. reference signal.

Optionally, the result determination method includes at least one of the following:

The first terminal determines the first result, the second terminal determines the first result, and the first terminal and the second terminal determine the first result.

Specifically, the second terminal determines the first result, which can be understood as the first terminal requesting the first result, or the first terminal requesting the second terminal to determine the first result.

Optionally, the first result is a result obtained by the first terminal corresponding to the first service related to the second terminal, and the first result includes at least one of the following:

Absolute position information of the second terminal, relative position information of the second terminal and the first terminal, accuracy information, or measurement results of the second positioning reference signal.

Specifically, the absolute location information of the second terminal such as TA, registration area RA, cell ID, longitude and latitude, altitude, horizontal direction angle or elevation angle, etc.;

Relative position information, such as the relative angle or relative distance of the second terminal relative to the first terminal, etc.;

The accuracy information represents the accuracy information of the first result, and may include, for example, at least one of the following: result dimensional information, measurement accuracy, and error information; where the result dimensional information is, for example, angle, meter, centimeter, etc.; the measurement accuracy is, for example, high Precision, ultra-high precision, low precision; error information, including: error precision information and error dimension information. Error precision information such as high error, low error, ultra-low error; error dimension information such as angle, meter, centimeter, etc. .

The measurement result represents the measurement result of the second positioning reference signal, for example, signal strength, the value of a certain measurement quantity calculated based on the second positioning reference signal, etc.

In the above embodiment, the parameter negotiation between the first terminal and the second terminal is realized through the content carried in the first request message, so that the first service is executed based on the result of the parameter negotiation, that is, the result of the first service is obtained. , the implementation solution is simple and efficient, and can be applied to using different access technologies for communication between terminals. Communication scenario.

In an embodiment, as shown in Figure 3, after step 101, the method may further include:

The first terminal receives a first request response message sent by the second terminal; the first request response message is used to respond to the first terminal's request for negotiating parameter information of the first service.

Specifically, the first terminal sends a first request message to the second terminal, and the second terminal can respond to the first terminal's request for negotiating parameter information of the first service by sending a first request response message to the first terminal. A terminal receives the first request response message.

Optionally, the first request response message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the second terminal, the reference signal sending method or the result determination method.

The content of the first request response message is the same as that of the first request message, and will not be described again here.

Optionally, the second terminal sends the second positioning reference signal immediately after sending the first request response message; or,

The second terminal periodically sends a second positioning reference signal after sending the first request response message; or,

After sending the first request response message, the second terminal sends the second positioning reference signal according to the event trigger.

Optionally, the method also includes:

The first terminal sends a first positioning reference signal to the second terminal; the first positioning reference signal is used to determine a second result of the first service.

Optionally, the first terminal sends the first positioning reference signal to the second terminal based on the first request response message.

Optionally, the first positioning reference signal is a positioning reference signal (Positioning Reference Signal, PRS).

Specifically, the first terminal and the second terminal may send positioning reference signals to each other. The first positioning reference signal is used to calculate the results of ranging and/or bypass positioning.

Optionally, the first terminal sends the first positioning reference signal to the second terminal based on the first request response message, including:

After receiving the first request response message, the first terminal immediately sends the first positioning reference signal to the second terminal; or,

After receiving the first request response message, the first terminal periodically sends the first positioning reference signal to the second terminal; or,

After receiving the first request response message, the first terminal sends the first positioning reference signal to the second terminal based on event triggering.

In the above embodiment, after receiving the first request response message sent by the second terminal, the first terminal sends a first positioning reference signal to the second terminal. The second terminal can obtain the first service based on the first positioning reference signal. As a result, the first service is executed based on the result of parameter negotiation, and the implementation solution is simple and efficient.

In an embodiment, after the first terminal sends the first request message to the second terminal, the method further includes:

The first terminal receives the second positioning reference signal sent by the second terminal; the second positioning reference signal is used to determine the first result of the first service.

Specifically, the second terminal may send a second positioning reference signal to the first terminal based on the first request message, and the second positioning reference signal is used to calculate ranging and/or bypass positioning results.

Optionally, the first terminal receives the second positioning reference signal sent by the second terminal based on the first request response message.

When the first terminal receives the first request response message from the second terminal, it means that the second terminal will send the second positioning reference signal. The first terminal receives the second positioning reference signal based on the first request response message.

Optionally, step 102 can be implemented in the following manner:

The first terminal obtains the first result of the first service based on the second positioning reference signal.

Specifically, the first terminal obtains the first result of the first service based on the second positioning reference signal, such as the obtained first service calculation result related to UE-2, such as the result obtained by measuring the second positioning reference signal. Measurement results, including, for example, values for signal strength or other measured quantities.

In the embodiment of this application, optionally, obtaining can be understood as obtaining from configuration, receiving, receiving after requesting, obtaining through self-learning or calculation, obtaining based on derivation from unreceived information, or obtaining after processing based on received information. , which can be specifically determined according to actual needs, and is not limited in the embodiments of this application.

In the above embodiment, the result of the first service can be obtained based on the second positioning reference signal sent by the second terminal when receiving the first request message, that is, the first service is executed based on the result of parameter negotiation. The implementation solution is simple. Higher efficiency.

In one embodiment, the method further includes:

The access layer AS of the first terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The first terminal receives the second positioning reference signal sent by the second terminal, including:

The AS of the first terminal receives the second positioning reference signal sent by the second terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, sending the first positioning reference signal to the second terminal includes:

The AS of the first terminal sends the first positioning reference signal to the second terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Specifically, the first terminal provides the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal (sent over the air interface, which is a kind of inter-layer interaction) to the AS layer of the first terminal, using Monitor the specific positioning reference signal (such as the second positioning reference signal) at the AS layer of the first terminal, for example, monitor the positioning reference signal at a specific frequency and period, and send the specific positioning reference signal (such as the first positioning reference signal).

For example, the Non-Access Stratum (NAS) of the first terminal obtains the first service auxiliary information of the second terminal, and provides the first service auxiliary information of the second terminal to the AS layer of the first terminal, The AS layer of the first terminal may receive the second positioning reference message sent by the second terminal.

For example, the NAS of the first terminal obtains the first service auxiliary information of the first terminal and provides the first service auxiliary information of the first terminal to the AS layer of the first terminal. The AS layer of the first terminal may (for example, in a specific frequency rate) to send the first positioning reference message.

Optionally, the method also includes:

The first terminal sends a second request message to the second terminal, and the second request message is used to request to obtain a second result of the first service.

The second result is a result obtained by the second terminal corresponding to the first service related to the first terminal.

Specifically, the first terminal may obtain the second result of the first service determined by the second terminal by sending the second request message. For example, the second result may be the result obtained based on the first positioning reference signal sent by the first terminal. A terminal can obtain the result of the first service based on the second result.

It should be noted that the first terminal determines the first result of the first service based on the second positioning reference signal, and the second terminal determines the second result of the first service based on the first positioning reference signal and can perform one of them, Can also be executed simultaneously. When executed at the same time, the order is not limited. In one implementation, "the first terminal determines the first result of the first service based on the second positioning reference signal" is performed, or "the second terminal determines the second result of the first service based on the first positioning reference signal" ”, or both, depending on the way the reference signal is sent and/or the way the result is determined in the first request message.

Optionally, the first terminal obtains the first result of the first service, including:

The first terminal obtains the first result of the first service based on the second result of the first service.

Optionally, the second request message includes at least one of the following: the terminal identification of the first terminal, the terminal identification of the second terminal, or the first result;

Optionally, after the first terminal sends the second request message to the second terminal, it further includes:

The first terminal receives a second request response message sent by the second terminal, and the second request response message is used to respond to the first terminal's request for obtaining a second result of the first service.

Specifically, the first terminal sends a second request message to the second terminal, and the second terminal can respond to the first terminal's request for obtaining the second result of the first service by sending a second request response message to the first terminal, The first terminal receives the second request response message.

Optionally, the second request response message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or a second result.

Optionally, the second result includes at least one of the following:

Absolute position information of the second terminal, relative position information of the first terminal and the second terminal, accuracy information, or measurement results of the first reference signal.

The second result is the same as the first result. Please refer to the foregoing embodiments and will not be described again here.

In the above embodiment, the first terminal can also obtain the second result of the first service determined by the second terminal through the second request message, and then obtain the first result of the first service based on the second result, that is, based on parameter negotiation. As a result, the first service is executed, and the implementation solution is simple, that is, the implementation complexity of the terminal is low and the efficiency is high.

Optionally, as shown in Figure 3, the method includes the following steps:

Step 1. Direct ranging discovery process;

Step 2. PC5 link is established;

Step 3. The first terminal sends the first request message to the second terminal;

Step 4: The second terminal sends the first request response message to the first terminal;

Step 5a: The first terminal sends the first positioning reference signal to the second terminal;

Step 5b: The second terminal sends the first positioning reference signal to the first terminal;

Step 6a: The first terminal calculates the first result of the first service based on the second positioning reference signal;

Step 6b: The second terminal calculates the second result of the first service based on the first positioning reference signal;

Step 7: The first terminal sends the second request message to the second terminal;

Step 8: The second terminal sends a second request response message to the first terminal.

The first request message may be a request for parameter and configuration negotiation between the first terminal and the second terminal.

The second request message may be a request by the first terminal to obtain the second result of the first service determined by the second terminal.

Figure 4 is the second schematic flowchart of the ranging and positioning method provided by the embodiment of the present application. As shown in Figure 4, the method provided by this embodiment includes:

Step 201: The second terminal receives a first request message sent by the first terminal; the first request message is used to request to negotiate parameter information of a first service with the second terminal. The first service includes: ranging and/or bypass positioning.

Optionally, the first request message includes at least one of the following:

Optionally, after the second terminal receives the first request message sent by the first terminal, the method further includes:

The first request response message sent by the second terminal to the first terminal; the first request response message is used to respond to the first terminal's request for negotiating parameter information of the first service.

Optionally, the method also includes:

The second terminal receives a first positioning reference signal sent by the first terminal; the first positioning reference signal is used to determine a second result of the first service.

Optionally, the method also includes:

The second terminal obtains a second result of the first service based on the first positioning reference signal.

Optionally, the method also includes:

The second terminal receives the first positioning reference signal sent by the first terminal; the first positioning reference signal is sent by the first terminal based on the first request response message.

Optionally, the first positioning reference signal is sent by the first terminal to the second terminal immediately after receiving the first request response message; or,

The first positioning reference signal is periodically sent by the first terminal to the second terminal after receiving the first request response message; or,

The first positioning reference signal is sent by the first terminal to the second terminal based on event triggering after receiving the first request response message.

Optionally, after the second terminal receives the first request message sent by the first terminal, the method includes:

The second terminal sends a second positioning reference signal to the first terminal; the second positioning reference signal is used to determine a first result of the first service.

Optionally, the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.

The algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters or algorithm accuracy;

The service information includes at least one of the following: service code, service identifier or service type;

The capability information is used to indicate the capability to support the first service;

The location information includes absolute location information and/or relative location information.

The reference signal sending method includes at least one of the following:

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.

The absolute position information of the second terminal, the relative position information of the second terminal and the first terminal, Accuracy information or measurement results of the second positioning reference signal.

Optionally, the method also includes:

The access layer AS of the second terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The second terminal receiving the first positioning reference signal sent by the first terminal includes:

The AS of the second terminal receives the first positioning reference signal sent by the first terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the method also includes:

The sending of the second positioning reference signal to the first terminal includes:

The AS of the second terminal sends a second positioning reference signal to the first terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the method also includes:

The second terminal receives a second request message sent by the first terminal. The second request message is used to request to obtain a second result of the first service; the second result is obtained by the second terminal. The result corresponding to the first service related to the first terminal.

Optionally, the first result of the first service is obtained by the first terminal based on the second result of the first service.

Optionally, the second request message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or the first result.

Optionally, after the second terminal receives the second request message sent by the first terminal, the method further includes:

The second terminal sends a second request response message to the first terminal, where the second request response message is used to respond to the first terminal's request for obtaining a second result of the first service.

Optionally, the second request response message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or the second result.

Optionally, the second result includes at least one of the following:

Optionally, there is a PC5 link between the first terminal and the second terminal.

For the ranging and positioning method provided by the embodiment of the present application, the execution subject may be a ranging and positioning device. In the embodiment of the present application, the distance measurement and positioning device performed by the ranging and positioning device is used as an example to illustrate the ranging and positioning device provided by the embodiment of the present application.

FIG. 5 is one of the structural schematic diagrams of the ranging and positioning device provided by the embodiment of the present application. As shown in Figure 5, the ranging and positioning device provided in this embodiment includes:

The sending module 210 is configured to send a first request message to the second terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal, and the first service includes: ranging and/or or bypass positioning;

The obtaining module 220 is used to obtain the first result of the first service.

Optionally, the first request message includes at least one of the following:

Optionally, the device also includes:

A receiving module configured to receive a first request response message sent by the second terminal; the first request response message is used to respond to a request from the first terminal for negotiating parameter information of the first service.

Optionally, the sending module 210 is also used to:

A first positioning reference signal is sent to the second terminal; the first positioning reference signal is used to determine a second result of the first service.

Optionally, the sending module 210 is specifically used for:

Based on the first request response message, a first positioning reference signal is sent to the second terminal.

Optionally, the sending module 210 is specifically used for:

After receiving the first request response message, immediately send a first positioning reference signal to the second terminal; or,

After receiving the first request response message, periodically sending a first positioning reference signal to the second terminal; or,

After receiving the first request response message, a first positioning reference signal is sent to the second terminal based on event triggering.

Optionally, the receiving module is also used for:

Receive a second positioning reference signal sent by the second terminal; the second positioning reference signal is used to determine a first result of the first service.

Optionally, the receiving module is specifically used for:

Based on the first request response message, a second positioning reference signal sent by the second terminal is received.

Optionally, the acquisition module 220 is specifically used for:

Based on the second positioning reference signal, a first result of the first service is obtained.

Optionally, the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.

Optionally, the acquisition module 220 is also used to:

Obtain the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal through the access layer AS;

Optionally, the receiving module is specifically used for:

The second positioning reference signal sent by the second terminal is received through the AS layer based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the acquisition module 220 is also used to:

Optionally, the sending module 210 is also used to:

Based on the first service auxiliary information of the first terminal and/or the first service of the second terminal through the AS layer Auxiliary information: sending the first positioning reference signal to the second terminal.

Optionally, the sending module 210 is also used to:

Send a second request message to the second terminal, the second request message is used to request to obtain a second result of the first service; the second result is the same as the first result obtained by the second terminal. The result corresponding to the first service related to the terminal.

Optionally, the acquisition module 220 is specifically used for:

Optionally, the receiving module is also used to:

Receive a second request response message sent by the second terminal, the second request response message being used to respond to the first terminal's request for obtaining a second result of the first service.

Optionally, the second result includes at least one of the following:

The device of this embodiment can be used to execute the method of any one of the foregoing first terminal-side method embodiments. Its specific implementation process and technical effects are similar to those of the first terminal-side method embodiment. For details, see First Terminal The detailed introduction of the side method embodiment will not be described again here.

FIG. 6 is the second structural schematic diagram of the ranging and positioning device provided by the embodiment of the present application. As shown in Figure 6, the ranging and positioning device provided by this embodiment includes:

The receiving module 310 is configured to receive a first request message sent by the first terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal. The first service includes: ranging and /or bypass positioning.

Optionally, the first request message includes at least one of the following:

Optionally, the receiving module 310 is also used to:

Receive a first positioning reference signal sent by the first terminal; the first positioning reference signal is used to determine a second result of the first service.

Optionally, the device also includes:

An acquisition module, configured to acquire a second result of the first service based on the first positioning reference signal.

Optionally, the receiving module 310 is also used to:

Receive a first positioning reference signal sent by the first terminal; the first positioning reference signal is sent by the first terminal based on the first request response message.

Optionally, the device also includes:

The sending module 320 is configured to send a second positioning reference signal to the first terminal; the second positioning reference signal is used to determine a first result of the first service.

Optionally, the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.

The algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters or algorithm precision;

The reference signal sending method includes at least one of the following:

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.

Optionally, the acquisition module is also used to:

The receiving module 310 is specifically used for:

The first positioning reference signal sent by the first terminal is received through the AS layer based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the acquisition module is also used to:

The sending module 320 is specifically used for:

A second positioning reference signal is sent to the first terminal through the AS layer based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the receiving module 310 is also used to:

Receive a second request message sent by the first terminal, the second request message is used to request to obtain a second result of the first service; the second result is the same as the second result obtained by the second terminal. A result corresponding to the first service related to a terminal.

Optionally, the sending module 320 is also used to:

A second request response message is sent to the first terminal, where the second request response message is used to respond to the first terminal's request for obtaining a second result of the first service.

Optionally, the second request response message includes at least one of the following: a terminal identification of the first terminal, The terminal identification of the second terminal or the second result.

Optionally, the second result includes at least one of the following:

The device of this embodiment can be used to execute the method of any of the foregoing second terminal-side method embodiments. Its specific implementation process and technical effects are similar to those in the second terminal-side method embodiment. For details, see Second Terminal The detailed introduction of the side method embodiment will not be described again here.

The ranging and positioning device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other devices other than the terminal. For example, terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.

The ranging and positioning device provided by the embodiment of the present application can implement each process implemented by the method embodiment in Figures 2 to 4, and achieve the same technical effect. To avoid duplication, the details will not be described here.

Optionally, as shown in Figure 7, this embodiment of the present application also provides a communication device 700, which includes a processor 701 and a memory 702. The memory 702 stores programs or instructions that can be run on the processor 701, for example. , when the communication device 700 is the first terminal, when the program or instruction is executed by the processor 701, each step of the above ranging and positioning method embodiment is implemented, and the same technical effect can be achieved. When the communication device 700 is a second terminal, when the program or instruction is executed by the processor 701, each step of the above ranging and positioning method embodiment is implemented, and the same technical effect can be achieved. To avoid duplication, the details will not be described here.

An embodiment of the present application also provides a terminal, including a processor and a communication interface. The communication interface is used to send a first request message to a second terminal; the first request message is used to request negotiation with the second terminal for the first time. Parameter information of a service, the first service includes: ranging and/or bypass positioning; the processor is configured to obtain a first result of the first service. This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment. Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 8 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.

The terminal 1000 includes but is not limited to: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, processor 1010, etc. at least some parts of it.

Those skilled in the art can understand that the terminal 1000 may also include a power supply (such as a battery) that supplies power to various components. The power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 8 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.

It should be understood that in the embodiment of the present application, the input unit 1004 may include a graphics processing unit (Graphics Processing Unit, GPU) 10041 and a microphone 10042. The graphics processor 10041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras). The display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072 . Touch panel 10071, also known as touch screen. The touch panel 10071 may include two parts: a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.

In this embodiment of the present application, after receiving downlink data from the network side device, the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network side device. Generally, the radio frequency unit 1001 includes, but is not limited to, an antenna, at least one amplifier, transceiver, coupler, low noise amplifier, duplexer, etc.

Memory 1009 may be used to store software programs or instructions as well as various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage program or instruction area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, image playback function, etc.), etc. Additionally, memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory. Including high-speed random access memory, it can also include non-volatile memory, where the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), programmable read-only memory (Programmable ROM, PROM), Erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM). Memory 1009 in embodiments of the present application includes, but is not limited to, these and any other suitable type of memory such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

The processor 1010 may include one or more processing units; optionally, the processor 1010 may integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, application programs or instructions, etc. In operation, the modem processor mainly processes wireless communication signals, such as the baseband processor. It can be understood that the above modem processor may not be integrated into the processor 1010.

Wherein, the radio frequency unit 1001 is used to send a first request message to the second terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal, and the first service includes: ranging and/or bypass position;

Processor 1010, configured to obtain the first result of the first service.

In the above embodiment, the first terminal sends a first request message to the second terminal; the first request message is used to request to negotiate parameter information of the first service with the second terminal. The first service includes: ranging and/or bypass positioning. ; The first terminal obtains the first result of the first service, and executes the first service based on the result of parameter negotiation through parameter negotiation between the first terminal and the second terminal, that is, obtains the result of the first service, and implements the solution It is simple, highly efficient, and can be applied to scenarios where different access technologies are used for communication between terminals.

Optionally, the first request message includes at least one of the following:

Optionally, the radio frequency unit 1001 is also used for:

Receive a first request response message sent by the second terminal; the first request response message is used to respond to the first terminal's request for negotiating parameter information of the first service.

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the radio frequency unit 1001 is specifically used for:

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the radio frequency unit 1001 is specifically used for:

Optionally, the processor 1010 is specifically used to:

Optionally, the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.

In the above embodiment, the parameter negotiation between the first terminal and the second terminal is realized through the content carried in the first request message, so that the first service is executed based on the result of the parameter negotiation, that is, the result of the first service is obtained. , the implementation solution is simple, that is, the terminal implementation complexity is low.

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the radio frequency unit 1001 is specifically used for:

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the radio frequency unit 1001 is specifically used for:

A first positioning reference signal is sent to the second terminal through the AS layer based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the processor 1010 is specifically used to:

Optionally, the radio frequency unit 1001 is also used for:

Optionally, the second result includes at least one of the following:

Optionally, the second terminal may also adopt the structure of the terminal in the above embodiment, which will not be described again here.

An embodiment of the present application also provides a network side device. As shown in FIG. 9 , the network side device 700 includes: an antenna 71 , a radio frequency device 72 , a baseband device 73 , a processor 75 and a memory 75 . The antenna 71 is connected to the radio frequency device 72 . In the uplink direction, the radio frequency device 72 receives information through the antenna 71 and sends the received information to the baseband device 73 for processing. In the downlink direction, the baseband device 73 processes the information to be sent and sends it to the radio frequency device 72. The radio frequency device 72 processes the received information and then sends it out through the antenna 71.

The above frequency band processing device may be located in the baseband device 73 , and the method performed by the network side device in the above embodiment may be implemented in the baseband device 73 . The baseband device 73 includes a baseband processor 75 and a memory 75 .

The baseband device 73 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. The program in the memory 75 performs the network device operations shown in the above method embodiment.

The network side device of the baseband device 73 may also include a network interface 76 for exchanging information with the radio frequency device 72. The interface is, for example, a common public radio interface (CPRI).

Specifically, the network side device 700 in this embodiment of the present invention also includes: instructions or programs stored in the memory 75 and executable on the processor 75. The processor 75 calls the instructions or programs in the memory 75 to execute what the network side device executes. method and achieve the same technical effect. To avoid repetition, we will not repeat it here.

Embodiments of the present application also provide a readable storage medium. Programs or instructions are stored on the readable storage medium. When the program or instructions are executed by a processor, each process of the above ranging and positioning method embodiments is implemented, and can achieve The same technical effects are not repeated here to avoid repetition.

Wherein, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.

An embodiment of the present application further provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the above embodiments of the ranging and positioning method. Each process can achieve the same technical effect. To avoid repetition, we will not go into details here.

It should be understood that the chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.

Embodiments of the present application further provide a computer program/program product. The computer program/program product is stored in a storage medium. The computer program/program product is executed by at least one processor to implement the above ranging and positioning method. Each process in the example can achieve the same technical effect. To avoid repetition, we will not repeat it here.

An embodiment of the present application also provides a communication system, including: a first terminal and a second terminal. The first terminal can be used to perform the steps of the ranging and positioning method on the first terminal side as described above. The network side The device may be configured to perform the steps of the ranging and positioning method on the second terminal side as described above.

It should be noted that, in this document, the terms "comprising", "comprising" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions may be performed, for example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases In this case, the former is a better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Inspired by this application, many forms can be made without departing from the purpose of this application and the scope protected by the claims, all of which fall within the protection of this application.

Claims

A ranging and positioning method, including:

The first terminal sends a first request message to the second terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal. The first service includes: ranging and/or bypass position;

The first terminal obtains the first result of the first service.
The method of claim 1, wherein the first request message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the first terminal, the reference signal sending method or the result determination method.
The method according to claim 1, wherein after the first terminal sends the first request message to the second terminal, the method further includes:

The first terminal receives a first request response message sent by the second terminal; the first request response message is used to respond to the first terminal's request for negotiating parameter information of the first service.
The method according to claim 3, wherein the first request response message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the second terminal, the reference signal sending method or the result determination method.
The method according to any one of claims 1-4, wherein after the first terminal sends the first request message to the second terminal, the method further includes:

The first terminal sends a first positioning reference signal to the second terminal; the first positioning reference signal is used to determine a second result of the first service.
The method according to claim 3 or 4, wherein after the first terminal receives the first request response message sent by the second terminal, it further includes:

The first terminal sends a first positioning reference signal to the second terminal based on the first request response message.
The method according to claim 6, wherein the first terminal sends a first positioning reference signal to the second terminal based on the first request response message, including:

After receiving the first request response message, the first terminal immediately sends a first positioning reference signal to the second terminal; or,

After receiving the first request response message, the first terminal periodically sends a first positioning reference signal to the second terminal; or,

After receiving the first request response message, the first terminal sends a first positioning reference signal to the second terminal based on event triggering.
The method according to any one of claims 1-4, wherein after the first terminal sends the first request message to the second terminal, the method further includes:

The first terminal receives a second positioning reference signal sent by the second terminal; the second positioning reference signal The number is used to determine the first result of the first service.
The method according to claim 8, wherein the first terminal receiving the second positioning reference signal sent by the second terminal includes:

The first terminal receives the second positioning reference signal sent by the second terminal based on the first request response message.
The method according to claim 8 or 9, wherein the first terminal obtains the first result of the first service, including:

The first terminal obtains the first result of the first service based on the second positioning reference signal.
The method according to any one of claims 2-4, wherein the terminal identification includes at least one of the following:

Identity identification, device identification, logical identification.
The method according to claim 2, wherein the first request message further includes address information of the first terminal and/or address information of the second terminal; or

The address information of the first terminal and/or the address information of the second terminal is sent along with the first request message.
The method according to any one of claims 2-4, wherein the first service auxiliary information includes at least one of the following:

Reference signal information, algorithm information, business information, capability information or location information;

The reference signal information includes at least one of the following: the name, identification, frequency, period, power or accuracy of the reference signal;

The algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters or algorithm accuracy;

The service information includes at least one of the following: service code, service identifier or service type;

The capability information is used to indicate the capability to support the first service;

The location information includes absolute location information and/or relative location information.
The method according to claim 2 or 4, wherein the reference signal sending method includes at least one of the following:

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.
The method according to claim 2 or 4, wherein,

The result determination method includes at least one of the following:

The first terminal determines the first result, the second terminal determines the first result, and the first terminal determines the first result. The terminal and the second terminal determine the first result.
The method according to any one of claims 1 to 4, wherein the first result is a result obtained by the first terminal corresponding to the first service related to the second terminal, and the first result includes At least one of the following:

Absolute position information of the second terminal, relative position information of the second terminal and the first terminal, accuracy information, or measurement results of the second positioning reference signal.
The method according to claim 8 or 9, wherein the method further includes:

The access layer AS of the first terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The first terminal receiving the second positioning reference signal sent by the second terminal includes:

The AS of the first terminal receives the second positioning reference signal sent by the second terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.
The method of claim 5, further comprising:

The access layer AS of the first terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The sending of the first positioning reference signal to the second terminal includes:

The AS of the first terminal sends a first positioning reference signal to the second terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.
The method according to any one of claims 1-4, wherein the method further includes:

The first terminal sends a second request message to the second terminal. The second request message is used to request to obtain a second result of the first service; the second result is obtained by the second terminal. Results corresponding to the first service related to the first terminal.
The method according to claim 19, wherein the first terminal obtains the first result of the first service, including:

The first terminal obtains the first result of the first service based on the second result of the first service.
The method of claim 19, wherein the second request message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or the first result.
The method according to claim 19, wherein after the first terminal sends the second request message to the second terminal, it further includes:

The first terminal receives a second request response message sent by the second terminal, and the second request response message is used to respond to the first terminal's request for obtaining a second result of the first service.
The method of claim 22, wherein the second request response message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or the second result.
The method of claim 19, wherein the second result includes at least one of the following:

Absolute position information of the second terminal, relative position information of the first terminal and the second terminal, accuracy information, or measurement results of the first reference signal.
The method according to any one of claims 1-4, wherein,

There is a PC5 link between the first terminal and the second terminal.
A ranging and positioning method, including:

The second terminal receives the first request message sent by the first terminal; the first request message is used to request parameter information of the first service to be negotiated with the second terminal. The first service includes: ranging and/or bypassing. Road positioning.
The method of claim 26, wherein the first request message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the first terminal, the reference signal sending method or the result determination method.
The method according to claim 26, wherein after the second terminal receives the first request message sent by the first terminal, the method further includes:

The first request response message sent by the second terminal to the first terminal; the first request response message is used to respond to the first terminal's request for negotiating parameter information of the first service.
The method of claim 28, wherein the first request response message includes at least one of the following:

The terminal identification of the first terminal, the terminal identification of the second terminal, the first service auxiliary information of the second terminal, the reference signal sending method or the result determination method.
The method according to any one of claims 26-29, wherein the method further includes:

The second terminal receives a first positioning reference signal sent by the first terminal; the first positioning reference signal is used to determine a second result of the first service.
The method of claim 30, wherein the method further includes:

The second terminal obtains a second result of the first service based on the first positioning reference signal.
The method according to claim 28 or 29, wherein the method further comprises:

The second terminal receives the first positioning reference signal sent by the first terminal; the first positioning reference signal is sent by the first terminal based on the first request response message.
The method according to claim 32, wherein the first positioning reference signal is sent by the first terminal to the second terminal immediately after receiving the first request response message; or,

The first positioning reference signal is periodically sent by the first terminal to the second terminal after receiving the first request response message; or,

The first positioning reference signal is sent by the first terminal to the second terminal based on event triggering after receiving the first request response message.
The method according to any one of claims 26 to 29, wherein after the second terminal receives the first request message sent by the first terminal, the method includes:

The second terminal sends a second positioning reference signal to the first terminal; the second positioning reference signal is used to determine a first result of the first service.
The method according to any one of claims 27-29, wherein the terminal identification includes at least the following One item:

Identity identification, device identification, logical identification.
The method according to any one of claims 26-29, wherein the first request message further includes address information of the first terminal and/or address information of the second terminal; or

The address information of the first terminal and/or the address information of the second terminal is sent along with the first request message.
The method of claim 29, wherein the first service assistance information includes at least one of the following:

Reference signal information, algorithm information, business information, capability information or location information;

The reference signal information includes at least one of the following: the name, identification, frequency, period, power or accuracy of the reference signal;

The algorithm information includes at least one of the following: algorithm name, algorithm identification, algorithm parameters or algorithm accuracy;

The service information includes at least one of the following: service code, service identifier or service type;

The capability information is used to indicate the capability to support the first service;

The location information includes absolute location information and/or relative location information.
The method according to claim 27 or 29, wherein the reference signal sending method includes at least one of the following:

The reference signal sending method includes at least one of the following:

The first terminal sends a reference signal;

The second terminal sends a reference signal;

The first terminal and the second terminal send reference signals;

Send reference signal immediately;

Send reference signals periodically;

The event triggers the sending of a reference signal.
The method according to claim 27 or 29, wherein,

The result determination method includes at least one of the following:

The first terminal determines a first result, the second terminal determines the first result, and the first terminal and the second terminal determine the first result.
The method according to claim 34, wherein the first result is a result obtained by the first terminal corresponding to the first service related to the second terminal, and the first result includes at least one of the following:

Absolute position information of the second terminal, relative position information of the second terminal and the first terminal, accuracy information, or measurement results of the second positioning reference signal.
The method of claim 30, wherein the method further includes:

The access layer AS of the second terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The second terminal receiving the first positioning reference signal sent by the first terminal includes:

The AS of the second terminal receives the first positioning reference signal sent by the first terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.
The method of claim 34, wherein the method further includes:

The access layer AS of the second terminal obtains the first service auxiliary information of the first terminal and/or the first service auxiliary information of the second terminal;

The sending of the second positioning reference signal to the first terminal includes:

The AS of the second terminal sends a second positioning reference signal to the first terminal based on the first service assistance information of the first terminal and/or the first service assistance information of the second terminal.
The method according to any one of claims 26-29, wherein the method further includes:

The second terminal receives a second request message sent by the first terminal. The second request message is used to request to obtain a second result of the first service; the second result is obtained by the second terminal. The result corresponding to the first service related to the first terminal.
The method according to claim 43, wherein the first result of the first service is obtained by the first terminal based on the second result of the first service.
The method of claim 43, wherein the second request message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or a first result.
The method according to claim 43, wherein after the second terminal receives the second request message sent by the first terminal, it further includes:

The second terminal sends a second request response message to the first terminal, where the second request response message is used to respond to the first terminal's request for obtaining a second result of the first service.
The method of claim 46, wherein the second request response message includes at least one of the following: a terminal identification of the first terminal, a terminal identification of the second terminal, or the second result.
The method of claim 43, wherein the second result includes at least one of the following:

Absolute position information of the second terminal, relative position information of the first terminal and the second terminal, accuracy information, or measurement results of the first reference signal.
The method according to any one of claims 26-29, wherein,

There is a PC5 link between the first terminal and the second terminal.
A ranging and positioning device, including:

A sending module, configured to send a first request message to the second terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal, and the first service includes: ranging and/or Bypass positioning;

An acquisition module is used to acquire the first result of the first service.
A ranging and positioning device, including:

A receiving module, configured to receive a first request message sent by the first terminal; the first request message is used to request parameter information of a first service to be negotiated with the second terminal, and the first service includes: ranging and/or bypassing. Road positioning.
A first terminal, including a processor and a memory. The memory stores programs or instructions that can be run on the processor. When the programs or instructions are executed by the processor, any one of claims 1 to 25 is implemented. The steps of the ranging and positioning method described in the item.
A second terminal, including a processor and a memory. The memory stores programs or instructions that can be run on the processor. When the programs or instructions are executed by the processor, any one of claims 26 to 48 is implemented. The steps of the ranging and positioning method described in the item.
A readable storage medium on which programs or instructions are stored. When the programs or instructions are executed by a processor, the ranging and positioning method as described in any one of claims 1-25 is implemented, or the method as described in any one of claims 1-25 is implemented. The steps of the ranging and positioning method according to any one of claims 26 to 48.