Position information determination method and device, and first terminal and second terminal

1. A location information determination method, applied to a first terminal, comprising:

transmitting positioning request information;

receiving positioning assistance data transmitted by a second terminal;

calculating a positioning assistance parameter according to the positioning assistance data; and

transmitting the positioning assistance parameter, or calculating location information of the first terminal according to the positioning assistance parameter,

wherein the positioning assistance data comprises at least one of the following of the second terminal: positioning reference signal configuration information, location information, a terminal list, a movement speed, a movement direction, or timing advance information; the positioning request information comprises positioning parameter information, and the positioning parameter information comprises at least one of the following: a positioning measurement capability of the first terminal, a movement speed of the first terminal, or a movement direction of the first terminal; and the positioning assistance parameter comprises at least one of the following:

observed time difference of arrival, time of arrival, reference signal time difference, reference signal received power, receive-transmit (RX-TX) time difference, relative time of arrival, an angle of arrival, an angle of departure, a zenith angle of departure, or a zenith angle of arrival; and

wherein in a case where the positioning assistance data comprises the positioning reference signal configuration information, the positioning reference signal configuration information comprises at least one of the following: a positioning reference signal pattern, a positioning reference signal transmitting slot, positioning reference signal transmitting periodicity and offset, positioning reference signal muting, or a positioning reference signal sequence.

2. The method of claim 1 , wherein at least two second terminals are provided.

3. The method of claim 1 , further comprising:

transmitting positioning parameter information, wherein the positioning parameter information comprises at least one of the following of the first terminal: a positioning measurement capability, a movement speed, or a movement direction.

4. The method of claim 1 , wherein the positioning assistance data is transmitted through sidelink control information;

wherein the sidelink control information comprises a positioning enable identifier, and the positioning enable identifier is configured to indicate signaling content of the sidelink control information; and

wherein indicating, by the positioning enable identifier, the signaling content of the sidelink control information comprises:

in a case where a value of the positioning enable identifier is first data, indicating that the sidelink control information is used for transmitting sidelink scheduling information; and

in a case where the value of the positioning enable identifier is second data, indicating that the sidelink control information is used for transmitting the positioning assistance data.

5. The method of claim 1 , wherein the positioning assistance data is transmitted through sidelink synchronization information block.

6. The method of claim 1 , wherein a resource for transmitting the positioning assistance data by the second terminal is configured by a leader terminal, and the resource for transmitting the positioning assistance data comprises at least one of the following: a time domain resource, a frequency domain resource, a code domain resource, or a space domain resource.

7. The method of claim 1 , wherein calculating the location information of the first terminal according to the positioning assistance parameter comprises:

calculating the location information of the first terminal according to terminal location information of the second terminal and the positioning assistance parameter.

8. The method of claim 1 , wherein after calculating the location information of the first terminal according to the positioning assistance parameter, the method further comprises:

broadcasting the location information of the first terminal.

9. The method of claim 1 , wherein after transmitting the positioning assistance parameter, the method further comprises:

receiving the location information of the first terminal.

10. A location information determination method, applied to a second terminal, comprising:

receiving positioning request information transmitted by a first terminal; and

transmitting positioning assistance data,

wherein the positioning assistance data comprises at least one of the following of the second terminal: positioning reference signal configuration information, location information, a terminal list, a movement speed, a movement direction, or timing advance information; and the positioning request information comprises positioning parameter information, and the positioning parameter information comprises at least one of the following: a positioning measurement capability of the first terminal, a movement speed of the first terminal, or a movement direction of the first terminal; and

wherein in a case where the positioning assistance data comprises the positioning reference signal configuration information, the positioning reference signal configuration information comprises at least one of the following: a positioning reference signal pattern, a positioning reference signal transmitting slot, positioning reference signal transmitting periodicity and offset, positioning reference signal muting, or a positioning reference signal sequence.

11. The method of claim 10 , further comprising:

receiving positioning parameter information, wherein the positioning parameter information comprises at least one of the following of the first terminal: a positioning measurement capability, a movement speed, or a movement direction.

12. The method of claim 10 , wherein transmitting the positioning assistance data comprises:

transmitting the positioning assistance data through sidelink synchronization information block.

13. The method of claim 10 , wherein transmitting the positioning assistance data comprises:

transmitting the positioning assistance data through sidelink control information;

wherein the sidelink control information comprises a positioning enable identifier, and the positioning enable identifier is configured to indicate signaling content of the sidelink control information; and

wherein the method further comprises:

in a case where the sidelink control information is used for transmitting sidelink scheduling information, setting a value of the positioning enable identifier to be first data; and

in a case where the sidelink control information is used for transmitting the positioning assistance data, setting the value of the positioning enable identifier to be second data.

14. The method of claim 10 , wherein a resource for transmitting the positioning assistance data by the second terminal is configured by a leader terminal, and the resource for transmitting the positioning assistance data comprises at least one of the following: a time domain resource, a frequency domain resource, a code domain resource, or a space domain resource.

15. The method of claim 10 , further comprising:

receiving a positioning assistance parameter;

calculating location information of the first terminal according to the positioning assistance parameter and location information of at least two terminals comprised in a terminal list; and

transmitting the location information of the first terminal;

wherein the positioning assistance parameter comprises at least one of the following:

observed time difference of arrival, time of arrival, reference signal time difference, reference signal received power, receive-transmit (RX-TX) time difference, relative time of arrival, an angle of arrival, an angle of departure, a zenith angle of departure, or a zenith angle of arrival.

16. A first terminal, comprising:

at least one processor; and

a storage device storing at least one program;

wherein the at least one program, when executed by the at least one processor, causes the at least one processor to implement the location information determination method of claim 1 .

17. A second terminal, comprising:

at least one processor; and

a storage device storing at least one program;

wherein the at least one program, when executed by the at least one processor, causes the at least one processor to implement the location information determination method of claim 10 .

18. A non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the location information determination method of claim 1 .