Positioning method and apparatus, and terminal and storage medium

A positioning method applied to a primary positioning terminal, wherein the primary positioning terminal is configured to provide a primary positioning service for a first terminal, the primary positioning terminal being determined by the first terminal from target terminals by:

• determining, from the target terminals according to positioning service information, at least one candidate terminal for providing the primary positioning service, and
• screening, from the at least one candidate terminal according to positioning capability information of each candidate terminal, a movement speed of each candidate terminal, and a channel condition between each candidate terminal and the first terminal, the primary positioning terminal for providing the primary positioning service, the primary positioning terminal having positioning capability matched with positioning capability of the first terminal, having a lowest movement speed, and having a best channel condition with the first terminal;
• wherein the positioning service information is used to characterize a type of positioning services that is provided by each of the target terminals, the type of positioning services comprising the primary positioning service and a secondary positioning service;
• and the positioning method comprising:
• receiving positioning capability information of the first terminal;
• determining, according to the positioning capability information of the first terminal, a positioning method for positioning measurement of the first terminal, and transmitting the positioning method to the first terminal;
• receiving a measurement result obtained from measurement, by the first terminal, of a positioning reference signal with a secondary positioning terminal based on the positioning method;
• and
• obtaining a positioning result of the first terminal based on the measurement result, and transmitting the positioning result to the first terminal;
• wherein the first terminal, the primary positioning terminal, the target terminals, and the secondary positioning terminal are each wireless terminals, the secondary positioning terminal is determined by the first terminal from the target terminals according to the positioning service information and is configured to provide the secondary positioning service, the secondary positioning service comprising performing positioning measurement with the first terminal to obtain the measurement result, and the first terminal communicates with the primary positioning terminal and the secondary positioning terminal via a sidelink interface.

A wireless or mobile terminal which is a first terminal, wherein the first terminal comprises:

• a memory, configured to store a computer program;
• a processor, configured to read the computer program in the memory;
• and a transceiver, configured to transceive data under control of the processor;
• wherein the processor is configured to execute operations of:
• acquiring positioning service information of target terminals, wherein the positioning service information is used to characterize a type of positioning services that is provided by each of the target terminals, the type of positioning services comprising a primary positioning service and a secondary positioning service;
• determining, from the target terminals, according to the positioning service information, at least one candidate terminal for providing the primary positioning service;
• screening, from the at least one candidate terminal according to positioning capability information of each candidate terminal, a movement speed of each candidate terminal, and a channel condition between each candidate terminal and the first terminal, a primary positioning terminal for providing the primary positioning service, the primary positioning terminal having positioning capability matched with positioning capability of the first terminal, having a lowest movement speed, and having a best channel condition with the first terminal;
• determining, from the target terminals according to the positioning service information, a secondary positioning terminal for providing the secondary positioning service, wherein the secondary positioning service comprises performing positioning measurement with the first terminal to obtain a measurement result for determining the location of the first terminal;
• and
• performing positioning for a location of the first terminal based on the primary positioning terminal and the secondary positioning terminal, wherein the performing positioning comprises:
• transmitting positioning capability information of the first terminal to the primary positioning terminal;
• receiving, from the primary positioning terminal, a positioning method for positioning measurement of the first terminal, the positioning method being determined by the primary positioning terminal according to the positioning capability information;
• performing measurement of a positioning reference signal with the secondary positioning terminal based on the positioning method to obtain the measurement result;
• and
• obtaining the location of the first terminal based on the measurement result;
• wherein the target terminals, the primary positioning terminal, and the secondary positioning terminal are each wireless terminals, and the first terminal communicates with the primary positioning terminal and the secondary positioning terminal via a sidelink interface.