Position Estimation

Abstract

A device includes at least one processor; and at least one memory including computer program code; the at least one memory and the computer program code are configured to, together with the at least one processor, cause the device to perform: determining at least one time delay value for a terminal node for multiple access nodes; determining at least one metric for the access node, the at least one metric indicating a probability of a line-of-sight condition between the terminal node and the access node; determining a first group of line-of-sight time delay values ​​having an associated line-of-sight condition probability above a threshold based at least in part on the at least one metric; determining a second group of time delay values ​​having an associated line-of-sight condition probability below a threshold based at least in part on the at least one metric; determining a position estimate of the terminal node based at least in part on the first group of line-of-sight time delay values; determining at least one line-of-sight time delay value in the second group based at least in part on the position estimate of the terminal node; and determining a new estimate of the position of the terminal node based at least in part on at least one determined line-of-sight time delay value in the second group.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to position estimation. Some relate to position estimation of terminal nodes using multipath information. Background Art

[0002] Wireless networks include multiple network nodes, including terminal nodes and access nodes. Communication between a terminal node and an access node is wireless.

[0003] In some cases, it may be desirable to improve the accuracy of position estimation of a terminal node. Summary of the Invention

[0004] According to various but not necessarily all embodiments, examples as claimed in the appended claims are provided.

[0005] According to various but not necessarily all embodiments, there is provided an apparatus including at least one processor; and

[0006] at least one memory including computer program code;

[0007] The at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to perform:

[0008] determine at least one time delay value for a plurality of access nodes for a terminal node;

[0009] determine at least one metric for an access node, the at least one metric indicating a line-of-sight condition probability between the terminal node and the access node;

[0010] determine, at least in part based on the at least one metric, a first set of line-of-sight time delay values having a related line-of-sight condition probability higher than a threshold;

[0011] determine, at least in part based on the at least one metric, a second set of time delay values having a related line-of-sight condition probability lower than the threshold;

[0012] determine a position estimate of the terminal node, at least in part based on the first set of line-of-sight time delay values;

[0013] determine, at least in part based on the position estimate of the terminal node, at least one line-of-sight time delay value in the second set; and

[0014] determine a new estimate of the position of the terminal node, at least in part based on the at least one determined line-of-sight time delay value in the second set.

[0015] In an example, determining at least one time delay value for a plurality of access nodes includes determining a plurality of time delay values for one or more of the plurality of access nodes.

[0016] In an example, at least one metric is determined at least in part based on one or more power delay profile metrics, and the one or more power delay profile metrics are determined at least in part based on at least one time delay value of a plurality of access nodes.

[0017] In an example, the one or more power delay profile metrics include one or more of the following: average excess delay, root mean square delay spread, a list of time delay values less than a determined line-of-sight time delay value for an access node and within a predetermined amount of the highest or maximum received power for the access node, and the number of multipath components above a predetermined power.

[0018] In an example, determining the at least one metric includes determining the at least one metric at least in part based on historical line-of-sight information of at least one of the access nodes among the access nodes.

[0019] In an example, determining a first set of line-of-sight time delay values having a relevant line-of-sight conditional probability higher than a threshold includes comparing the at least one metric with at least one threshold.

[0020] In an example, determining a location estimate of a terminal node includes using a time difference of arrival method at least in part based on the first set of line-of-sight time delay values.

[0021] In an example, determining at least one line-of-sight time delay value in a second set includes comparing a distance from an access node represented by one or more time delay values in the second set with the location estimate of the terminal node.

[0022] In an example, comparing the distance from the access node represented by the time delay values in the second set with the location estimate of the terminal node includes determining a distance between the location estimate of the terminal node and a collinear point on a circle or hyperbola described by one or more of the time delay values in the second set.

[0023] In an example, determining a new estimate of the location of the terminal node includes updating the location estimate of the terminal node at least in part based on at least one determined line-of-sight time delay value in the second set.

[0024] In an example, at least one memory and computer program code are configured to, with at least one processor, cause the apparatus to store at least one metric for a plurality of access nodes and the location of the terminal node.

[0025] In an example, at least one memory and computer program code are configured to, with at least one processor, cause the apparatus to determine the locations of the plurality of access nodes.

[0026] In an example, determining at least one time delay value for a plurality of access nodes for a terminal node includes receiving one or more signals from the plurality of access nodes.

[0027] In an example, determining at least one time delay value for a plurality of access nodes for a terminal node includes receiving one or more signals from the terminal node.

[0028] The terminal node is a user equipment, and the access node is a gNB.

[0029] According to various but not necessarily all embodiments, a user equipment including the apparatus described herein is provided.

[0030] According to various but not necessarily all embodiments, a server including the apparatus described herein is provided.

[0031] According to various but not necessarily all embodiments, a method is provided that includes:

[0032] Determining at least one time delay value for a terminal node for a plurality of access nodes;

[0033] Determining at least one metric of an access node, the at least one metric indicating a line-of-sight condition probability between the terminal node and the access node;

[0034] Determining, at least in part based on the at least one metric, a first set of line-of-sight time delay values having a related line-of-sight condition probability higher than a threshold;

[0035] Determining, at least in part based on the at least one metric, a second set of time delay values having a related line-of-sight condition probability lower than the threshold;

[0036] Determining, at least in part based on the first set of line-of-sight time delay values, a position estimate of the terminal node;

[0037] Determining, at least in part based on the position estimate of the terminal node, at least one line-of-sight time delay value in the second set; and

[0038] Determining a new estimate of the position of the terminal node, at least in part based on at least one determined line-of-sight time delay value in the second set.

[0039] According to various but not necessarily all embodiments, an apparatus is provided that includes components for performing the following operations:

[0040] Determining at least one time delay value for a terminal node for a plurality of access nodes;

[0041] Determining at least one metric of an access node, the at least one metric indicating a line-of-sight condition probability between the terminal node and the access node;

[0042] Determining, at least in part based on the at least one metric, a first set of line-of-sight time delay values having a related line-of-sight condition probability higher than a threshold;

[0043] Determine a second set of time delay values having a related line-of-sight conditional probability below a threshold, at least in part based on at least one metric;

[0044] Determine a location estimate of a terminal node, at least in part based on a first set of line-of-sight time delay values;

[0045] Determine at least one line-of-sight time delay value in the second set, at least in part based on the location estimate of the terminal node; and

[0046] Determine a new estimate of the location of the terminal node, at least in part based on at least one determined line-of-sight time delay value in the second set.

[0047] According to various but not necessarily all embodiments, there is provided a computer program comprising instructions for causing a device to perform at least the following operations or for performing at least the following operations:

[0048] Determine at least one time delay value for a plurality of access nodes for a terminal node;

[0049] Determine at least one metric of an access node, the at least one metric indicating a line-of-sight conditional probability between the terminal node and the access node;

[0050] Determine a first set of line-of-sight time delay values having a related line-of-sight conditional probability above a threshold, at least in part based on at least one metric;

[0051] Determine a second set of time delay values having a related line-of-sight conditional probability below a threshold, at least in part based on at least one metric;

[0052] Determine a location estimate of a terminal node, at least in part based on a first set of line-of-sight time delay values;

[0053] Determine at least one line-of-sight time delay value in the second set, at least in part based on the location estimate of the terminal node; and

[0054] Determine a new estimate of the location of the terminal node, at least in part based on at least one determined line-of-sight time delay value in the second set.

[0055] According to various but not necessarily all embodiments, there is provided a device comprising at least one processor; and

[0056] At least one memory comprising computer program code;

[0057] The at least one memory and the computer program code are configured to, with the at least one processor, cause the device to perform:

[0058] Transmit at least one signal to a terminal node, the at least one signal including information indicating a request for the terminal node to respond at least using one or more power delay profile metrics for an access node reachable by the terminal node, and at least one metric indicating the probability of a line-of-sight condition between the terminal node and the access node.

[0059] In an example, the one or more power delay profile metrics include at least one of the following: average excess delay, root mean square delay spread, a list of time delay values less than a determined line-of-sight time delay value for the access node and within a predetermined amount of the highest or maximum received power for the access node, and the number of multipath components above a predetermined power.

[0060] According to various but not necessarily all embodiments, there is provided an apparatus including at least one processor; and

[0061] at least one memory including computer program code;

[0062] the at least one memory and the computer program code are configured to, together with the at least one processor, cause the apparatus to perform:

[0063] Transmit at least one signal from the terminal node to a server, the at least one signal including information indicating one or more power delay profile metrics for an access node reachable by the terminal node, and at least one metric indicating the probability of a line-of-sight condition between the terminal node and the access node.

[0064] In an example, the one or more power delay profile metrics include at least one of the following: average excess delay, root mean square delay spread, a list of time delay values less than a determined line-of-sight time delay value for the access node and within a predetermined amount of the highest or maximum received power for the access node, and the number of multipath components above a predetermined power. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Some examples will now be described with reference to the drawings, in which:

[0066] Figure 1 Examples of the subject matter described herein are shown;

[0067] Figure 2 Another example of the subject matter described herein is shown;

[0068] Figure 3 Another example of the subject matter described herein is shown;

[0069] Figure 4 Another example of the subject matter described herein is shown;

[0070] Figure 5Shows another example of the subject matter described herein;

[0071] Figure 6 Shows another example of the subject matter described herein;

[0072] Figure 7 Shows another example of the subject matter described herein;

[0073] Figure 8A Shows another example of the subject matter described herein;

[0074] Figure 8B Shows another example of the subject matter described herein. Detailed Description

[0075] Figure 1 Shows an example of a network 100 including a plurality of network nodes (including a terminal node 110, an access node 120, and one or more core nodes 129). The terminal node 110 and the access node 120 communicate with each other. One or more core nodes 129 communicate with the access node 120.

[0076] In some examples, one or more core nodes 129 may communicate with each other. In some examples, one or more access nodes 120 may communicate with each other.

[0077] The network 100 may be a cellular network that includes a plurality of cells 122, and at least one cell 122 is served by an access node 120. In this example, the interface between the terminal node 110 and the access node 120 that defines the cell 122 is a wireless interface 124.

[0078] The access node 120 is a cellular radio transceiver. The terminal node 110 is a cellular radio transceiver.

[0079] In the illustrated example, the cellular network 100 is a 3rd Generation Partnership Project (3GPP) network, where the terminal node 110 is a user equipment (UE) and the access node 120 is a base station.

[0080] In some examples, the network 100 is an Evolved Universal Terrestrial Radio Access Network (E-UTRAN). The E-UTRAN consists of E-UTRAN NodeB (eNB) 120s that provide E-UTRA user plane and control plane (RRC) protocol termination towards the UE 110. The eNBs 120 are interconnected with each other through an X2 interface 126. The eNBs are also connected to a Mobility Management Entity (MME) 129 through an S1 interface 128.

[0081] In some examples, network 100 is a next generation (or New Radio NR) radio access network (NG-RAN). The NG-RAN consists of gNodeBs (gNBs) 120 that provide user plane and control plane (RRC) protocol termination towards UE 110. The gNBs 120 are interconnected with each other via the X2 / Xn interface 126. The gNBs are also connected to the Access and Mobility Management Function (AMF) via the N2 interface 128.

[0082] In an example, network 100 includes at least one server 112. In the example shown, server 112 is a location server 112.

[0083] In an example, one or more terminal nodes 110 may communicate with the location server 112, and one or more signals 162, 163 (e.g., see Figure 3 and Figure 4 ) that include information may be transmitted directly or indirectly between the one or more terminal nodes 110 and the location server 112.

[0084] In the example shown, the interface between the multiple terminal nodes 110 and the location server 112 is the wireless interface 124, but any suitable interface may be used.

[0085] In an example, Figure 1 communication between the elements shown may occur through any number of intermediate elements, including none.

[0086] Figure 2 An example of method 200 is shown.

[0087] In an example, method 200 may be performed at one or more elements in network 100 of Figure 1 . For example, method 200 may be performed at an access node 110 (e.g., UE 164) and / or a server 112 (e.g., location server 112).

[0088] Regarding Figure 2 one or more features discussed may be found in one or more other figures.

[0089] In block 202, method 200 includes determining, for a terminal node 110, at least one time delay value 138 for a plurality of access nodes 120.

[0090] Any suitable method may be used to determine, for a terminal node 110, at least one time delay value 138 for a plurality of access nodes 120.

[0091] As used herein, the term "determine" (and its grammatical variants) can at least include: calculate, compute, process, derive, investigate, look up (e.g., look up in a table, database, or other data structure), confirm, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), etc. Additionally, "determine" can include resolve, select, choose, establish, etc.

[0092] As used herein, the time delay value 138 is intended to include any measurement, metric, value, parameter, and / or quantity that indicates and / or represents and / or quantifies the time taken for one or more signals to travel from the access node 120 to the terminal node 110. In some examples, the time delay value 138 can be considered a latency.

[0093] Under line-of-sight conditions between the access node 120 and the terminal node 110, the time delay value 138 can be used to determine the distance between the access node 120 and the terminal node 110.

[0094] Under line-of-sight conditions between the access node 120 and the terminal node 110, the time delay value 138 of the line-of-sight condition can be considered the line-of-sight time delay value 142 or the time of arrival.

[0095] At least one time delay value 138 for multiple access nodes 120 can have any suitable form. In an example, the time delay value 138 can be in the form of absolute timing and / or relative timing.

[0096] For example, at least one time delay value for the access node 120 can be in the form of the delay between the transmission from the access node 120 and the reception at the terminal node 110.

[0097] In some examples, at least one time delay value 138 for multiple access nodes 120 can be in the form of the delay of a reference or anchor access node 120 and the time difference relative to the delay of the reference or anchor access node 120.

[0098] In an example, the access node 120 transmits a time-synchronized positioning reference signal with a constant power via at least one path that is received by the terminal node 110, and the terminal node 110 is allowed to determine or is caused or controlled to determine the (multiple) time delay values 138 for the received signal from the access node 120. In some examples, the terminal node 110 determines or is caused or controlled to determine the reference signal time difference of the time delay value 138 relative to the anchor access node 120.

[0099] In an example, any suitable method can be used to determine at least one time delay value 138 for the received signal from access node 120. For example, a channel impulse response or a correlation-based method can be used to determine the time delay value 138 and the associated power for the signal received from access node 120.

[0100] In some examples, determining at least one time delay value 138 for the received signal from access node 120 includes cross-correlating the received signal with a locally generated positioning reference signal and distinguishing between N different channels corresponding to N access nodes 120.

[0101] Thus, in an example, determining at least one time delay value 138 for multiple access nodes 120 for terminal node 110 includes receiving one or more signals from multiple access nodes 120.

[0102] In some examples, determining at least one time delay value 138 for multiple access nodes 120 includes determining multiple time delay values 138 for one or more of the multiple access nodes 120.

[0103] In an example, determining multiple time delay values 138 for access node 120 can be considered as determining multipath time delay information for access node 110.

[0104] The signal(s) (e.g., positioning reference signal) transmitted by access node 120 can reach terminal node 110 via multiple paths, including line-of-sight (LOS) and / or non-line-of-sight (NLOS) paths.

[0105] In such an example, terminal node 110 can determine multiple different time delay values 138 for access node 120 due to the multipath arrival of the signal.

[0106] In an example, method 200 includes determining a LOS time delay value 142 for access node 120, which can be considered as the arrival time of the signal received from the access node and is used to determine the position / location of terminal node 110.

[0107] In some examples, determining the LOS time delay value 142 for access node 120 includes determining which of the multiple time delay values 138 for the terminal node is or will be considered as the LOS time delay value 142.

[0108] Determining the LOS time delay value from the multiple time delay values 138 can be performed in any suitable manner using any suitable method that takes into account any suitable factors.

[0109] For example, the LOS time delay value 142 can be initially considered to be the time delay value with the highest correlation power among the plurality of time delay values 138.

[0110] However, in some cases, compared with the NLOS signal, the power of the LOS signal may attenuate, resulting in an incorrect identification of the LOS time delay value 142, which can lead to an error in determining the position / location of the terminal node 110.

[0111] Therefore, as used herein, the line-of-sight (LOS) time delay value 142 can be considered to be the time delay value 138 of the line-of-sight condition between the access node 120 and the terminal node 110 with a high and / or the highest confidence level and / or probability.

[0112] In some examples, based on the available information and / or the (multiple) factors considered in determining the LOS time delay value 142, the LOS time delay value 142 can be considered to be the time delay value 138 currently considered to be the LOS time delay value 142.

[0113] In an example, determining at least one time delay value 138 for a plurality of access nodes 120 for the terminal node 110 includes receiving one or more signals 162 from the terminal node 110.

[0114] One or more signals 162 can also include additional information for determining the position / location of the terminal node 110. For example, one or more signals 162 can include one or more time delay values 138 and one or more metrics and / or measurements. In some examples, one or more metrics and / or measurements can include one or more power delay distribution metrics. For example, see block 204.

[0115] In an example, one or more signals 162 are received at the location server 112. For example, see Figure 3 .

[0116] At block 204, method 200 includes determining at least one metric 140 for the access node 120, where at least one metric 140 indicates the probability of the line-of-sight condition between the terminal node 110 and the access node 120.

[0117] In an example, at least one metric 140 can be considered to indicate the confidence level of the line-of-sight condition between the terminal node 110 and the access node 120.

[0118] In an example, at least one metric 140 is or can be considered to be an estimate and / or determination and / or measurement of the probability or confidence of the LOS time delay value 142 received for the access node 120 under line-of-sight conditions.

[0119] Additionally or alternatively, in an example, at least one metric 140 is or can be considered to be an estimate and / or determination and / or measurement of the probability or confidence that the LOS time delay value 142 for the access node 120 has been correctly identified.

[0120] Any suitable method can be used to determine at least one metric 140. In an example, determining at least one metric 140 includes processing and / or analyzing multipath information.

[0121] In some examples, at least one metric 140 is determined at least in part based on one or more power delay distribution metrics, which are determined at least in part based on at least one time delay value 138 for a plurality of access nodes 120.

[0122] The power delay distribution (PDP) can be considered to be the strength or power of the signal received through a multipath channel as a function of time delay.

[0123] Thus, in an example, the power delay distribution for a plurality of access nodes 120 can represent the strength or power of the received signal as a function of at least one time delay value 138 of the access node. See, for example Figure 5 .

[0124] Any suitable power delay distribution metric can be used. For example, at least one power delay distribution metric can be determined at least in part based on one or more of the following: the energy in the channel, the spread of the (multiple) time delay values 138, the power associated with the (multiple) time delay values 138, the number of time delay values 138, etc.

[0125] In some examples, one or more power delay distribution metrics include one or more of the following: the average excess delay, the root mean square delay spread, a list of time delay values 138 that are less than the determined line-of-sight time delay value 142 for the access node 120 and within a predetermined amount of the highest or maximum received power from that access node 120, and the number of multipath components above a predetermined power.

[0126] The average excess delay (MED) can be considered to be the time delay at which the energy in the channel drops below a predetermined amount of the highest or maximum power.

[0127] In an example, any suitable predetermined amount below the highest or maximum power can be used. For example, a predetermined amount within the range of 7.5 dB to 12.5 dB can be used.

[0128] In an example, the predetermined amount is substantially 10 dB, and thus, in such an example, the MED is the time delay at which the energy in the channel drops 10 dB below the highest or maximum value.

[0129] A small MED value is an indication of line-of-sight conditions. In an example, an MED value on the order of tens of nanoseconds is considered a small MED value. In some examples, an MED value in the range of 10 to 100 nanoseconds can be considered a small MED value. In some examples, an MED value in the range of 30 to 70 nanoseconds can be considered a small MED value.

[0130] The root mean square delay spread (RMS-DS) can be considered the square root of the second central moment of the power delay profile.

[0131] A small RMS-DS value is an indication of line-of-sight conditions. In an example, an RMS-DS value on the order of tens of nanoseconds is considered a small RMS-DS value. In some examples, an RMS-DS value in the range of 10 to 100 nanoseconds can be considered a small RMS-DS value. In some examples, an RMS-DS value in the range of 30 to 70 nanoseconds can be considered a small RMS-DS value.

[0132] For a list of time delay values 138 that are less than a determined line-of-sight time delay value 142 for access node 120 and within a predetermined amount of the highest or maximum received power for that access node 120, any suitable predetermined amount can be used. In an example, the list can be denoted by Lc.

[0133] For example, a predetermined amount in the range of 2 to 4 dB can be used.

[0134] In an example, the predetermined amount is substantially 3 dB, and in such an example, the time delay value 138 in the list is less than the determined line-of-sight time delay value 42 for access node 120 and within 3 dB of the highest or maximum received power for that access node 120.

[0135] The list of time delay values 138 can help eliminate errors introduced when the true LOS time delay value 142 is attenuated compared to the NLOS time delay value 138 and not correctly identified as the LOS time delay value 142.

[0136] For the number of multipath components that exceed a predetermined power, this can be considered "channel sparsity".

[0137] In an example, any suitable predetermined power value can be used. For example, the number of multipath components with non-negligible power can be determined. In some examples, the noise floor can be used to determine channel sparsity, and in such examples, the number of multipath components above the noise floor is determined.

[0138] Channel sparsity can be beneficial when determining whether line-of-sight conditions exist. In an example, when determining whether a channel is LOS or NLOS, channel sparsity can be used in combination with one or more other power delay distribution metrics.

[0139] In an example, one or more power delay distribution metrics can be used in any suitable manner to determine at least one metric 140.

[0140] In an example, at least one metric 140 can be a single metric, such as represented by P LOS which is defined as a step function based on at least one or more power delay distribution metrics. In some examples, metric 140P LOS can be defined as a step function based on the average excess delay, root mean square delay spread, and channel sparsity.

[0141] In some examples, P LOS can be defined as a step function based on the comparison of MED, RMS-DS, and channel sparsity with corresponding thresholds.

[0142] For example, P LOS can be defined as:

[0143]

[0144] where:

[0145] η MED η RMS and η K are thresholds for MED, RMS-DS, and channel sparsity, respectively.

[0146] In an example, any suitable threshold can be used. For example, η MED can be in the range of 250 ns to 750 ns, can be in the range of 400 ns to 600 ns, and / or can be in the range of 450 ns to 550 ns. In some examples, η MED can be or can be approximately 500 ns.

[0147] In some examples, η RMS can be in the range of 0.5 to 1.5 μs, can be in the range of 0.75 to 1.25 μs, and / or can be in the range of 0.9 to 1.1 μs. In some examples, η RMS can be or can be approximately 1 μs.

[0148] In some examples, η K can be in the range of 5 to 15, can be in the range of 7 to 13, and / or can be in the range of 9 to 11. In some examples, in some examples, η K can be or can be approximately 10.

[0149] In some examples, at least one metric 140 can be determined as the LOS probability. For example, P LOS can represent the probability of a LOS condition on a channel and can be determined at least in part based on one or more power delay distribution metrics.

[0150] In some examples, one or more power delay distribution metrics (e.g., one or more of MED, RMS-DS, Lc, and channel sparsity) can be used as inputs to a machine learning module configured to output at least one metric 140.

[0151] Any suitable machine learning module can be used. For example, one or more artificial neural networks and / or support vector machines.

[0152] In an example, the machine learning module can be implemented via supervised learning, e.g., as an artificial neural network regressor or classifier, or using an algorithm from a reinforcement learning framework.

[0153] In an example, the neural network can implement a number of hidden layers, which can be characterized by various activation functions (such as ReLU, linear, tanh, etc.).

[0154] In an example, the machine learning module is trained on artificially generated channels, e.g., ray tracing, and can be used once the false positive rate of LOS condition detection is minimized.

[0155] In an example, the neural network can be trained on a set of measurements collected in a controlled environment, e.g., under known LOS / NLOS conditions.

[0156] The loss function can be cross-entropy, hinge, etc.

[0157] In some examples, in a machine learning framework, a neural network with an output activation function (such as a softmax, sigmoid function, or similar output activation function) can be used.

[0158] In some examples, determining at least one metric 140 includes hypothesis testing. For example, one or more power delay distribution metrics can be tested to determine whether they are extracted from a distribution characterizing a LOS or NLOS condition.

[0159] In an example, an optimization problem is formulated and Bayesian inference methods are used, for example, to determine the probability of at least one metric 140.

[0160] In an example, determining at least one metric 140 includes determining at least one metric 140 based at least in part on historical line-of-sight information of at least one of the access nodes 120 in the access node 120.

[0161] Any suitable method can be used to determine at least one metric 140 based at least in part on historical line-of-sight information of at least one of the access nodes 120 in the access node 120.

[0162] In an example, at least one metric 140 is determined based at least in part on a previously determined or estimated channel that is substantially at and / or in the vicinity and / or nearby the current position / location of the terminal node 110 and / or the area where the terminal node 110 is currently located.

[0163] For example, at least one metric 140 can be determined based at least in part on a previously determined value of at least one metric 140 for the access node 120.

[0164] In some examples, at least one metric 140 is determined based at least in part on historical information of one or more other terminal nodes 110.

[0165] For example, at least one metric 140 can be determined based at least in part on a previously determined value of at least one metric 140, where the previously determined value of at least one metric 140 is determined for at least one or more other terminal nodes 110 at and / or in the vicinity and / or nearby the current position / location of the terminal node 110 for the access node 120 from which the terminal node 110 has received one or more signals.

[0166] In an example, a previously determined value of at least one metric 140 determined for at least one or more other terminal nodes 110 that are substantially or approximately within 10 m of the current position / location of the terminal node 110 can be used.

[0167] In an example, the current position / location of the terminal node 110 can be estimated based at least in part on information of the (multiple) past positions / locations of the terminal node and the estimated speed. In some examples, this process can be referred to as dead reckoning.

[0168] This estimation of the position / location of the terminal node 110 can be used with historical information to determine at least one metric 140.

[0169] In an example, at least one metric 140 for the access node 120 is stored or caused to be stored in at least one data structure, such as at least one table, which can be considered a tracking data structure or a tracking table.

[0170] In some examples, one or more of the one or more power delay distribution metrics for the access node are also stored in at least one data structure.

[0171] For example, when the method 200 is executed at the terminal node 110, the determined at least one metric 140 and (in some examples) at least one power delay distribution metric for the access node are stored or caused to be stored in a tracking data structure (e.g., a tracking table) with an associated timestamp.

[0172] In an example, the information in at least one tracking data structure can be considered to trace or track the channel from the access node 120.

[0173] The tracking data structure can be implemented as a first-in-first-out (FIFO) tracking data structure and / or a tracking table. For example, the data structure can be implemented as a FIFO queue with at most K entries, where the most recent K measurements are stored.

[0174] In an example, K can be fixed or variable. In some examples, K can be proportional to the capabilities (e.g., speed) of the terminal node 110.

[0175] An example of a tracking data structure in the form of a tracking table for two access nodes 120 is shown in Table 1. In the example of Table 1, the access node 120 is a gNB.

[0176] In addition, in the example of Table 1, the determined LOS time delay value 142 is represented as "ToA".

[0177]

[0178] Table 1

[0179] In the example of Table 1, the LOS time delay value 142 or ToA, at least one metric P LOS and the power delay distribution metrics MED, RMS-DS, Lc, and the channel sparsity at two different timestamps have been stored.

[0180] In an example, at least a portion of the information for which a timestamp is determined is transmitted or caused to be transmitted from the terminal node 110 to the location server 112. For example, see Figure 3 .

[0181] At block 206, method 200 includes determining, at least in part based on at least one metric 140, a first set 144 of line-of-sight time delay values 142 having a related line-of-sight conditional probability higher than a threshold.

[0182] In an example, the related probability may be or be considered to be a confidence level and / or confidence degree of the related line-of-sight condition.

[0183] Any suitable method may be used to determine, at least in part based on at least one metric 140, a first set 144 of line-of-sight time delay values 142 having a related line-of-sight conditional probability higher than a threshold.

[0184] Determining a first set 144 of line-of-sight time delay values 142 having a related line-of-sight conditional probability higher than a threshold may be considered to be determining a first set 144 of time delay values 138 having a related line-of-sight conditional probability higher than a threshold.

[0185] In some examples, determining a first set 144 of line-of-sight time delay values 142 having a related line-of-sight conditional probability higher than a threshold includes comparing at least one metric 140 with at least one threshold.

[0186] At least one metric 140 may be compared with at least one threshold in any suitable manner. For example, comparing at least one metric 140 with at least one threshold may include determining whether at least one metric 140 is greater than, greater than or equal to, less than, or less than or equal to at least one threshold.

[0187] In an example, at least one threshold may be determined in any suitable manner. For example, determining at least one threshold may include receiving at least one threshold. In an example, at least one threshold may be received at the terminal node 110 from the location server 112.

[0188] Any suitable threshold(s) determined in any suitable manner may be used. In an example where at least one metric 140 is determined to be a step function, for example, see Equation 1, the threshold may be 0.5.

[0189] In an example where at least one metric is determined to be a probability, the threshold may be in the range of 40% to 60% and / or in the range of 45% to 55%. In some examples, the threshold may be or may be approximately 50%.

[0190] In some examples, the threshold may be a predetermined value selected from one or more predetermined values. For example, the threshold may be retrieved from the memory 134.

[0191] In an example, the threshold can be determined based at least in part on one or more factors. Any suitable factors can be used, such as, for example, the number of access nodes 120 available to the terminal node 110, and / or the accuracy of the requested position / location estimate and / or historical line-of-sight information, etc.

[0192] In the example of Table 1, when it is determined that it is greater than or equal to the threshold 0.5, neither gNB1 nor gNB2 is in the first group 144 because both gNBs have a P LOS value of 0 at both T1 and T2.

[0193] At block 208, the method includes determining a second set 146 of time delay values 138 having a related line-of-sight conditional probability below a threshold, based at least in part on at least one metric 140.

[0194] In some examples, determining a second set 146 of time delay values 138 having a related line-of-sight conditional probability below a threshold can be considered as determining a second set 146 of line-of-sight time delay values 142 having a related line-of-sight conditional probability below a threshold.

[0195] Any suitable method can be used to determine a second set 146 of time delay values 138 having a related line-of-sight conditional probability below a threshold, based at least in part on at least one metric 140.

[0196] In an example, determining the second set 146 of time delay values 138 includes comparing at least one metric 140 with at least one threshold described with respect to block 206, but in the opposite sense.

[0197] For example, if determining the first set 144 includes determining (multiple) related metrics 140 that are greater than or equal to a threshold, then determining the second set 146 will include determining (multiple) metrics 140 that are less than the threshold, and so on.

[0198] In some examples, determining the second set 146 of time delay values 138 includes determining time delay values that are not in the first set 144.

[0199] Thus, in some examples, blocks 206 and 208 of method 200 can be combined into a single block or action that includes comparing at least one metric 140 associated with the determined time delay values 138 for the access node 120 with a threshold.

[0200] In an example, the time delay values 138 and / or the line-of-sight time delay values 142 for the access node 120 can be considered to be grouped into a first set 144 having a good or high line-of-sight conditional probability or confidence and a second set 146 having a poor or low line-of-sight conditional probability or confidence.

[0201] At block 210, method 200 includes determining a position estimate 148 of the terminal node 110 based at least in part on the line-of-sight time delay values 142 of the first set 144.

[0202] In an example, determining the position estimate 148 can be considered as determining the location estimate 148.

[0203] Any suitable method can be used to determine the position estimate 148 of the terminal node 110 based at least in part on the line-of-sight time delay values 142 of the first set 144.

[0204] In an example, determining the position estimate 148 of the terminal node 110 includes using the observed time difference of arrival method based at least in part on the first set of line-of-sight time delay values 142.

[0205] At block 212, method 200 includes determining at least one line-of-sight time delay value 142 in the second set 146 based at least in part on the position estimate 148 of the terminal node 110.

[0206] In some examples, the time delay values 138 in the second set 146 have a determined line-of-sight time delay value 142, but have a relatively low associated line-of-sight conditional probability or confidence and / or correct identification of the line-of-sight time delay value 142.

[0207] Thus, in an example, determining at least one line-of-sight time delay value 142 in the second set 146 can be considered as and / or includes determining at least one updated or new line-of-sight time delay value 142 in the second set 146.

[0208] In some examples, determining at least one line-of-sight time delay value 142 in the second set 146 can be considered as and / or includes verifying at least one line-of-sight time delay value 142 in the second set 146.

[0209] Any suitable method can be used to determine at least one line-of-sight time delay value 142 in the second set 146 based at least in part on the position estimate 148 of the terminal node 110.

[0210] In an example, determining at least one line-of-sight time delay value 142 in the second set 146 includes comparing the distance 152 to the access node 120 represented by one or more time delay values 138 of the second set 146 with the position estimate 148 of the terminal node 110. For example, see Figure 6 and Figure 7 .

[0211] Comparisons can be made for one or more time delay values 138 in the second set 146. In some examples, the time delay values 138 in list Lc can be compared.

[0212] The distance 152 from the access node 120 represented by the time delay values 138 in the second set 146 can be compared with the position estimate 148 in any suitable manner.

[0213] In some examples, comparing the distance 152 from the access node 120 represented by the time delay values 138 in the second set 146 with the position estimate 148 of the terminal node 110 includes determining the distance 152 between the position estimate 148 of the terminal node 110 and the collinear points 154 on the circle 156 or hyperbola described by one or more time delay values 138 in the second set 146. For example, see Figure 6 .

[0214] For example, the Euclidean distance or Manhattan distance 152 between the position estimate 148 of the terminal node 110 and the collinear points 154 on the circle 156 or hyperbola described by one or more time delay values 138 can be used. However, any suitable distance measurement or metric can be used.

[0215] In an example, the line-of-sight time delay value 142 for the access node 120 in the second set 146 is determined to be the time delay value 138 having the minimum determined distance 152 for that access node 120.

[0216] In some examples, the line-of-sight time delay value 142 or time of arrival can be defined as:

[0217]

[0218] Where:

[0219] d(A, B(t1)) is the distance between the position estimate 148 of the terminal node 110 (A) and the collinear point 154 on the circle 156 represented by t1 (B); and

[0220] d(A, B(t2)) is the distance between the position estimate 148 of the terminal node 110 (A) and the collinear point 154 on the circle 156 represented by t2 (B).

[0221] In the example of Equation 2, two time delay values 138 (t1 and t2) are considered. However, any suitable number of time delay values 138 for the access node 120 can be considered.

[0222] At block 214, method 200 includes determining a new estimate of the location of terminal node 110 based at least in part on the line-of-sight time delay value 142 determined based on at least one of the second set 146.

[0223] Any suitable method can be used to determine a new estimate of the location of terminal node 110 based at least in part on the line-of-sight time delay value 142 determined based on at least one of the second set 146.

[0224] In some examples, determining a new estimate of the location of terminal node 110 includes updating the location estimate of terminal node 110 based at least in part on the line-of-sight time delay value 142 determined based on at least one of the second set 146.

[0225] Updating the location of terminal node 110 based at least in part on the line-of-sight time delay value 142 determined based on at least one of the second set 146 can be performed in any suitable manner.

[0226] In some examples, updating the location estimate of terminal node 110 includes recalculating the location of terminal node 110 using the line-of-sight time delay value 142 in the first set 144 determined at block 212 and the line-of-sight time delay value(s) 142 in the second set 146.

[0227] For example, updating the location estimate of terminal node 110 can include using the observed time difference of arrival method based at least in part on the first set of line-of-sight time delay values 142 determined at block 212 and the line-of-sight time delay value(s) 142 in the second set 146.

[0228] In some examples, updating the location estimate of terminal node 110 includes refining and / or changing and / or modifying and / or moving the location estimate of terminal node 100 based at least in part on the line-of-sight time delay value(s) 142 in the second set 146 determined at block 212.

[0229] For example, a second location estimate of terminal node 110 can be determined based at least in part on the line-of-sight time delay value(s) 142 in the second set 146 determined at block 212 and a new estimate of the location of terminal node 110 determined based at least in part on the location estimate and the second location estimate.

[0230] In an example, determining a second location estimate of terminal node 110 includes using the observed time difference of arrival method based at least in part on the line-of-sight time delay value(s) 142 in the second set 146 determined at block 212.

[0231] In some examples, the new location of terminal node 110 is defined as the midpoint of the segment defined by the location estimate 148 of terminal node 110 and the second location estimate of terminal node 110.

[0232] The technical advantage provided by method 200 is to improve the accuracy of the position / location determination of the terminal node 110 (e.g., user equipment (UE) 164).

[0233] In an example, this technical benefit is provided by using a position estimate of the terminal derived from the line-of-sight time delay value 142 of the access node 120 with a high line-of-sight condition probability or confidence, to determine one or more line-of-sight time delay values 142 from the multipath data of other access nodes 120 with initially lower line-of-sight condition probabilities or confidences.

[0234] For example, this provides mitigation of the error in the position estimate of the terminal node 110, which is caused by incorrectly identifying the NLOS time delay value 138 as the LOS time delay value 142 or the time of arrival.

[0235] At block 216, method 200 includes causing to store at least one metric 140 for a plurality of access nodes 120 and the position of the terminal node 110.

[0236] For example, the at least one metric 140 determined at block 214 and the new estimate of the position of the terminal node 110 can be stored in the memory 134.

[0237] In some examples, additional information can also be stored. For example, one or more power delay profile metrics.

[0238] This provides a technical advantage. For example, it enables the terminal node 110 (e.g., UE 164) and / or the server 112 (e.g., location server 112) to maintain channel tracking information, which can be used to improve future determinations of at least one metric 140. Thus, this provides, for example, more accurate and / or more efficient position determination over time. For example, see block 204.

[0239] Additionally or alternatively, a LOS map can be constructed, for example by the location server 112, and provided to one or more serving access nodes 120 for resource allocation purposes, more dynamic MCS adjustment, etc.

[0240] Therefore, the provided technical advantage also lies in, for example, efficient resource allocation in the network 100.

[0241] In some examples, method 200 includes determining the positions of the plurality of access nodes 120.

[0242] Any suitable method can be used to determine the positions of the plurality of access nodes 120.

[0243] For example, determining the locations of the plurality of access nodes 120 can include receiving the locations of the plurality of access nodes 120 and / or retrieving the locations of the plurality of access nodes 120 from the memory 134.

[0244] In an example, determining the locations of the plurality of access nodes 120 is performed as part of block 212.

[0245] Thus, Figure 2 A method is shown that includes:

[0246] Determining at least one time delay value 138 for a plurality of access nodes 120 for a terminal node 110;

[0247] Determining at least one metric 140 of an access node 120, the at least one metric 140 indicating a probability of a line-of-sight condition between the terminal node 110 and the access node 120;

[0248] Determining a line-of-sight time delay value 142 of a first set 144 having a related line-of-sight condition probability higher than a threshold, at least in part based on the at least one metric 140;

[0249] Determining a time delay value 138 of a second set 146 having a related line-of-sight condition probability lower than a threshold, at least in part based on the at least one metric 140;

[0250] Determining a location estimate 148 of the terminal node 110, at least in part based on the first set 144 of line-of-sight time delay values 142;

[0251] Determining at least one line-of-sight time delay value 142 in the second set 146, at least in part based on the location estimate 148 of the terminal node 110; and

[0252] Determining a new estimate of the location of the terminal node 110, at least in part based on the at least one determined line-of-sight time delay value 142 in the second set 146.

[0253] Figure 3 An example of a location estimate of the terminal node 110 is shown.

[0254] Figure 3 Method 300 can also be considered to be disclosed.

[0255] In Figure 3 the example, a plurality of devices communicate over a network. In an example, any suitable form of communication using any suitable network setup can be used. For example, Figure 1 network 100 can be used.

[0256] In the example shown, the terminal node 110 is communicating with the server 112. In Figure 3In the example, the terminal node 110 is a user equipment (UE) 164, and the server is a location server 112.

[0257] At block 302, at least one signal 163 is transmitted from the location server 112 to the UE 164.

[0258] Figure 3 One or more actions showing the transmission of one or more signals between the location server 112 and the UE 164 are shown. Figure 3 Corresponding transmission / causing transmission characteristics are also shown.

[0259] Similarly, for any transmission / causing transmission characteristic, Figure 3 Corresponding receiving actions are also shown.

[0260] For example, block 302 thus also shows receiving at least one signal 163 from the location server 112.

[0261] In Figure 3 the example, at least one signal 163 includes information indicating a request for the terminal node 110 to respond using at least one or more power delay profile metrics for the access node 120 to which the terminal node is reachable, and at least one metric 140 indicating the probability of a line-of-sight condition between the terminal node 110 and the access node 120.

[0262] In the example, at least one metric 140 and / or one or more power delay profile metrics may be as described for block 204 of Figure 2 ...

[0263] Any suitable information may be used to indicate a request for the terminal node 110 to respond using that information.

[0264] For example, at least one signal 163 may include one or more flags indicating which information the terminal node 110 should use to respond. For example, at least one signal may include one or more flags for indicating which (if any) power delay profile metric the terminal node 110 should use to respond.

[0265] Additionally or alternatively, at least one signal 163 may include a power threshold for determining a list Lc of time delay values. For example, see block 204 of Figure 2 ...

[0266] Additionally or alternatively, at least one signal 163 may include thresholds for determining a first set 144 and a second set 146 of time delay values 142, 138. For example, see blocks 206 and 208 of Figure 2 ...

[0267] In an example, one or more signals 163 include information indicating that the requesting terminal node 110 is to respond using one or more time delay values 138 for a plurality of access nodes 120.

[0268] Any suitable information indicating the request may be used.

[0269] In response to receiving at least one signal 163, the terminal node 110 (UE 164 in the Figure 3 example) determines the requested information.

[0270] In the Figure 3 example, the UE 164 determines at least one time delay value 138 for the plurality of access nodes 120. This may be as described in box 202 with respect to Figure 2 and is thus represented as 202 in Figure 3 .

[0271] In the Figure 3 example, the UE 164 also determines at least one metric 140 for the plurality of access nodes 120 and the requested power delay profile metric. This may be as described in box 204 with respect to Figure 2 and is thus represented as 204 in Figure 3 .

[0272] In the Figure 3 example, the UE also stores at least one metric 140 for the plurality of access nodes 216 for future use. This may be as described in box 216 with respect to Figure 2 and is thus represented as 216 in Figure 3 .

[0273] In box 304, at least one signal 162 is transmitted from the terminal node 110 to the server 112 to provide the server 112 with the requested at least one metric 140 and one or more power delay profile metrics.

[0274] In the Figure 3 example, one or more time delay values 138 are provided in the at least one signal 162.

[0275] Thus, Figure 3 shows the transmission of at least one signal 162 from the terminal node to the server 112, the at least one signal 162 including information indicating one or more power delay profile metrics for access nodes 120 reachable by the terminal node 110, and at least one metric 140 indicating the probability of a line-of-sight condition between the terminal node 110 and the access nodes 120.

[0276] Any suitable information of the indicated power delay distribution metric and at least one metric 140 can be used. For example, the values determined for the metric can be provided in at least one signal 162.

[0277] In an example, the latest entry in the data structure shown in Table 1 is provided in at least one signal 162.

[0278] In Figure 3 the example of, the location server 112 then performs Figure 2 method 200 of, at least in part based on the information received from the terminal node 110 in at least one signal 162, to determine the position / location estimate of the UE 164.

[0279] Therefore, in Figure 3 the example of, determining at least one time delay value 138 (block 202 of method 200) and determining at least one metric 140 (block 204 in method 200) includes receiving one or more signals 162 from the terminal node 110.

[0280] In an example, the location server 112 can use topology information and / or historical information (e.g., the (multiple) past metrics 140 reported by different terminal nodes 110 located in substantially the same area), to refine and / or correct at least one metric 140 received for the access node 120.

[0281] Although in Figure 3 the example of, the actions are performed at the terminal node 110, it should be understood that method 200 is performed at the server 112, at least in part based on the information received from the terminal node 110.

[0282] In an example, transmitting at least one signal can include transmitting at least one message.

[0283] In some examples, Figure 3 the example of can include transmitting / receiving one or more additional signals (not shown) between the server 112 and the terminal node 110.

[0284] For example, one or more additional signals can be transmitted between the server 112 and the terminal node 110 to determine the capabilities of the terminal node 110 and / or provide additional information to the terminal node 110, such as access node identity and / or location.

[0285] Figure 3 The method 300 shown in the example of can be considered UE-assisted positioning. In this example, the location server 112 determines the location estimate at least in part based on the information provided by the UE 164.

[0286] In other examples, the positioning can be based on the UE. For example, see Figure 4 .

[0287] Figure 4 An example of the position estimate of the terminal node 110 is shown.

[0288] Figure 4 It can also be considered to disclose a method 400.

[0289] Figure 4 The example of Figure 3 is similar to the example shown, and also shows the terminal node 110 communicating with the server 112. In Figure 4 the example, the terminal node 110 is the user equipment (UE) 164, and the server 112 is the location server 112.

[0290] At block 402, at least one signal 163 is transmitted from the location server 112 to the UE 164. In the example, at least one signal 163 can be as Figure 3 described.

[0291] In some examples, Figure 4 at least one signal 163 in Figure 4 can be different and includes information indicating a request for the terminal node 110 to respond using the position / location estimate of the terminal node 110. In some examples,

[0292] at least one signal 163 in Figure 2 can be considered an activation signal. Figure 4 In response to receiving at least one signal 163, the terminal node 110 (UE 164 in the example shown) executes

[0293] the method 200 of Figure 4 to determine the position / location estimate of the terminal node 110. This is shown by the block labeled 200 in

[0294] In block 404, at least one signal 162 is transmitted from the terminal node 110 to the server 112.

[0295] In the example, at least one signal 162 can be as Figure 3 described.

[0296] In some examples, Figure 4at least one signal 162 in the example is different and includes a position / location estimate of the terminal node 110.

[0297] In some examples, Figure 4 the example may include transmitting / receiving one or more additional signals (not shown) between the server 112 and the terminal node 110.

[0298] For example, one or more additional signals may be transmitted between the server 112 and the terminal node 110 to determine the capabilities of the terminal node 110 and / or provide additional information to the terminal node 110, such as access node identification and / or location.

[0299] Figure 4 The method 400 shown in the example of may be considered UE-based positioning. In this example, the UE 164 determines a position estimate and provides it to the location server 112.

[0300] Figure 5 An example of the power delay distribution for multiple access nodes 120 is shown.

[0301] In Figure 5 the example, the power delay distribution is determined by the terminal node 110 (e.g., UE 164).

[0302] In Figure 5 a power delay distribution for five access nodes 120 is shown. In the example shown, the power delay distribution is labeled A to E.

[0303] The power delay distribution shows multiple time delay values 138 for the access nodes 120 - A to E. In the example shown, the power delay distribution has been determined by cross-correlating the received positioning reference signal with a locally generated positioning reference signal sequence.

[0304] From Figure 5 it can be seen that the power delay distributions A to D include multiple time delay values 138. The power delay distributions A to D thus include multipath information.

[0305] In Figure 5 the example, line-of-sight time delay values 142 with a relevant line-of-sight condition probability higher than a threshold have been determined for distributions B, D, and E. This determination can be as described in Figure 2 box 208 of.

[0306] Therefore, in Figure 5 the example, the line-of-sight time delay values 142 for distributions B, D, and E are determined to be in the first group 144.

[0307] However, the time delay values 138 for distributions A and C are determined to have a relevant line-of-sight condition probability below the threshold and are thus determined to be in the second group 146.

[0308] In Figure 5 the distribution A, the threshold for determining the list Lc is shown as a dashed line 166, and the threshold for determining channel sparsity is shown as a dotted line 168. For example, see Figure 2 box 204 of

[0309] In the example, line-of-sight time delay values 142 can be determined for distributions A and C, but are not marked in Figure 5 because there is insufficient probability or confidence that the correct line-of-sight time delay values 142 for distributions A and C have been determined.

[0310] For example, the time delay value 138 with the highest power can initially be determined as the line-of-sight time delay value 142 for distributions A and C. It is the time delay value for both distributions A and C, marked as "3".

[0311] In Figure 5 the example, the position estimate 148 of the terminal node 110 is determined at least in part based on the line-of-sight time delay values 142 in the first group 144. That is, the line-of-sight time delay values 142 for distributions B, D, and E. This can be as described in Figure 2 box 210 of

[0312] As described with respect to Figure 2 the position estimate 148 can be used to improve the determination of the line-of-sight time delay values 142 for distributions A and D. For example, see Figure 6 and Figure 7 .

[0313] Figure 6 An example scenario is shown. Figure 6 An example of determining the line-of-sight time delay value 138 at least in part based on the position estimate 148 of the terminal node 110 is shown.

[0314] Figure 6 The example of Figure 5 corresponds to the distribution A of

[0315] In Figure 6 the example, a circle is drawn, showing the Figure 5 circle described by the first and second time delay values 138 marked as "1" and "2" in

[0316] and the positions of the corresponding access nodes 120. In the example shown, these can be considered as the delays present in the list Lc for distribution A.

[0317] Figure 6 Also shown is a position estimate 148 relative to the position of access node 120.

[0318] In Figure 6 Also shown is a distance 152 between the position estimate 148 and a collinear point on the circle.

[0319] It can be seen that the distance 152 for the second time delay value 138 is less than the distance 152 for the first time delay value 138.

[0320] Thus, in this example, the second time delay value 138 of distribution A is determined as the line-of-sight time delay value 142.

[0321] This is shown in the example of Figure 7 which shows a power delay profile labeled "A" where the determined line-of-sight time delay value 142 is indicated. Figure 7 In the example, for

[0322] distribution C of Figure 5 a similar process can be followed.

[0323] Thus, a new position estimate for terminal node 110 can be determined based on the line-of-sight time delay values 142 for some or all of distributions A through E, thereby improving the accuracy of the position estimate for the terminal node by using multipath information.

[0324] Figure 8A Shown is an example of a device 130 that can be a controller for a device or apparatus such as terminal node 110 (e.g., UE 164) or server 112 (e.g., location server 112).

[0325] The implementation of device 130 can be controller circuitry. Device 130 can be implemented solely in hardware, have certain aspects in software, including standalone firmware, or can be a combination of hardware and software (including firmware).

[0326] As Figure 8A shown, device 130 can be implemented using instructions that enable hardware functionality, e.g., by using executable instructions of a computer program 136 in a general-purpose or special-purpose processor 132 that can be stored on a computer-readable storage medium (disk, memory, etc.) for execution by such a processor 132.

[0327] Processor 132 is configured to read from and write to memory 134. Processor 132 can also include an output interface through which processor 132 outputs data and / or commands, and an input interface through which data and / or commands are input into processor 132.

[0328] Memory 134 stores a computer program 136 including computer program instructions (computer program code) which, when loaded into the processor 132, control the operation of the device 130. The computer program instructions of the computer program 136 provide the logic and routines that enable the device to execute Figure 2 , Figure 3 , and / or Figure 4 the methods shown. The processor 132 is capable of loading and executing the computer program 136 by reading the memory 134.

[0329] Thus, the device 130 includes:

[0330] at least one processor 132; and

[0331] at least one memory 134 including computer program code

[0332] The at least one memory 134 and the computer program code are configured to, together with the at least one processor 132, cause the device 130 to at least perform:

[0333] determine at least one time delay value for a plurality of access nodes for a terminal node;

[0334] determine at least one metric for an access node, the at least one metric indicating a probability of a line-of-sight condition between the terminal node and the access node;

[0335] determine, at least in part based on the at least one metric, a first set of line-of-sight time delay values for which the associated line-of-sight condition probability is above a threshold;

[0336] determine, at least in part based on the at least one metric, a second set of time delay values for which the associated line-of-sight condition probability is below a threshold;

[0337] determine a position estimate of the terminal node, at least in part based on the first set of line-of-sight time delay values;

[0338] determine at least one line-of-sight time delay value in the second set, at least in part based on the position estimate of the terminal node; and

[0339] determine a new estimate of the position of the terminal node, at least in part based on at least one determined line-of-sight time delay value in the second set.

[0340] As Figure 8AAs shown, the computer program 136 can reach the device 130 via any suitable delivery mechanism 137. The delivery mechanism 137 can be, for example, a machine-readable medium, a computer-readable medium, a non-transitory computer-readable storage medium, a computer program product, a memory device, a recording medium such as a compact disc read-only memory (CD-ROM) or a digital versatile disc (DVD) or a solid-state memory, an article of manufacture that includes or tangibly embodies the computer program 136. The delivery mechanism can be a signal configured to reliably convey the computer program 136. The device 130 can propagate or transmit the computer program 136 as a computer data signal.

[0341] The computer program instructions are for causing the device to perform at least the following operations or for performing at least the following operations:

[0342] Determine at least one time delay value for a plurality of access nodes for a terminal node;

[0343] Determine at least one metric for an access node, the at least one metric indicating a probability of a line-of-sight condition between the terminal node and the access node;

[0344] Determine a first set of line-of-sight time delay values having a related line-of-sight condition probability higher than a threshold, at least in part based on the at least one metric;

[0345] Determine a second set of time delay values having a related line-of-sight condition probability lower than the threshold, at least in part based on the at least one metric;

[0346] Determine a location estimate of the terminal node, at least in part based on the first set of line-of-sight time delay values;

[0347] Determine at least one line-of-sight time delay value in the second set, at least in part based on the location estimate of the terminal node; and

[0348] Determine a new estimate of the location of the terminal node, at least in part based on at least one determined line-of-sight time delay value in the second set.

[0349] The computer program instructions can be included in a computer program, a non-transitory computer-readable medium, a computer program product, a machine-readable medium. In some but not necessarily all examples, the computer program instructions can be distributed over more than one computer program.

[0350] Although the memory 134 is shown as a single component / circuit system, it can be implemented as one or more separate component / circuit systems, some or all of which can be integrated / removable and / or can provide permanent / semi-permanent / dynamic / cache storage.

[0351] In an example, the memory 134 includes a random access memory 170 and a read only memory 172. In an example, the computer program 136 may be stored in the read only memory 172. For example, see Figure 8B

[0352] In some examples, the memory 134 may be split into a random access memory 170 and a read only memory 172.

[0353] Although the processor 132 is shown as a single component / circuit system, it may be implemented as one or more separate component / circuit systems, some or all of which may be integrated / removable. The processor 132 may be a single-core or multi-core processor.

[0354] References to "computer-readable storage media", "computer program products", "tangibly embodied computer programs", etc. or "controllers", "computers", "processors", etc. should be understood to cover not only computers having different architectures, such as single / multi-processor architectures and sequential (Von Neumann) / parallel architectures, but also dedicated circuits, such as field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), signal processing devices, and other processing circuit systems. References to computer programs, instructions, code, etc. should be understood to cover software for programmable processors or firmware, such as the programmable content of a hardware device, whether instructions for a processor or configuration settings for a fixed function device, gate array, or programmable logic device, etc.

[0355] As used in this application, the term "circuit system" may refer to one or more or all of the following:

[0356] (a) A pure hardware circuit implementation (such as an implementation using only analog and / or digital circuits), and

[0357] (b) A combination of hardware circuits and software, such as (where applicable):

[0358] (i) A combination of (multiple) analog and / or digital hardware circuits and software / firmware, and

[0359] (ii) (Multiple) hardware processors (including (multiple) digital signal processors) with software, software, and any part of (multiple) memories, which work together to cause a device (such as a mobile phone or a server) to perform various functions, and

[0360] (c) (Multiple) hardware circuits and / or (multiple) processors, such as (multiple) microprocessors or a part of (multiple) microprocessors, which require software (e.g., firmware) to operate, but the software may not be present when not needed for operation.

[0361] The definition of circuitry applies to all uses of the term in this application, including in any claims. As another example, as used in this application, the term circuitry also encompasses implementations of only hardware circuits or processors and their accompanying software and / or firmware. For example, if applicable to a particular claim element, the term circuitry also encompasses a baseband integrated circuit for a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0362] Figure 2 , Figure 3 and / or Figure 4 The boxes shown may represent steps in a method and / or segments of code in a computer program 136. The illustration of a particular order of the boxes does not necessarily imply that the boxes have a required or preferred order, and the order and arrangement of the boxes may be changed. Additionally, some boxes may be omitted. For example, Figure 2 box 216 of

[0363] where a structural feature has been described, it may be replaced with a component for performing one or more functions of the structural feature, whether the function or functions are explicitly or implicitly described.

[0364] Thus, the apparatus may include components for

[0365] determining at least one time delay value for a plurality of access nodes for a terminal node;

[0366] determining at least one metric of an access node, the at least one metric indicating a probability of a line-of-sight condition between the terminal node and the access node;

[0367] determining, at least in part based on the at least one metric, a first set of line-of-sight time delay values having a related line-of-sight condition probability higher than a threshold;

[0368] determining, at least in part based on the at least one metric, a second set of time delay values having a related line-of-sight condition probability lower than the threshold;

[0369] determining, at least in part based on the first set of line-of-sight time delay values, a location estimate of the terminal node;

[0370] determining, at least in part based on the location estimate of the terminal node, at least one line-of-sight time delay value in the second set; and

[0371] determining, at least in part based on at least one determined line-of-sight time delay value in the second set, a new estimate of the location of the terminal node.

[0372] Systems, devices, methods, and computer programs can use machine learning, which can include statistical learning. Machine learning is a field of computer science that enables computers to learn without being explicitly programmed. A computer learns knowledge of a class of tasks T from experience E if its performance on tasks in T (measured by P) improves with experience E, where P is a performance measure. A computer can generally learn from prior training data to make predictions about future data. Machine learning includes fully or partially supervised learning and fully or partially unsupervised learning. It can achieve discrete outputs (e.g., classification, clustering) and continuous outputs (e.g., regression). Machine learning can be implemented, for example, using different methods such as cost function minimization, artificial neural networks, support vector machines, and Bayesian networks. For example, cost function minimization can be used for linear and polynomial regression and K-means clustering. For example, an artificial neural network with one or more hidden layers models the complex relationship between an input vector and an output vector. Support vector machines can be used for supervised learning. A Bayesian network is a directed acyclic graph that represents the conditional independence of multiple random variables.

[0373] The above examples can be used as enabling components for the following components:

[0374] Automotive systems; telecommunications systems; electronic systems, including consumer electronics; distributed computing systems; media systems for generating or rendering media content, including audio, visual, and audiovisual content, as well as hybrid, mediated, virtual, and / or augmented reality; personal systems, including personal health systems or personal fitness systems; navigation systems; user interfaces, also known as human-machine interfaces; networks, including cellular, non-cellular, and optical networks; ad hoc networks; the Internet; the Internet of Things; virtualized networks; and related software and services.

[0375] The term "including" as used in this document has an inclusive rather than an exclusive meaning. That is, any reference to X that includes Y means that X can include only one Y or can include more than one Y. If an exclusive meaning of "including" is intended, it will be made clear in the context by referring to "including only one..." or by using "consisting of".

[0376] In this specification, various examples are referred to. The description of a feature or function in relation to an example indicates that those features or functions exist in that example. The use of the terms "example" or "for example" or "may" or "can" in the text indicates that such a feature or function exists in at least the described example, whether or not it is described as an example, and they may but do not necessarily exist in some or all other examples. Thus, "example", "for example", "may" or "can" refer to a particular instance within a class of examples. The attributes of an instance can be attributes of only that instance or of the class or of a subclass of the class that includes some but not all instances of the class. Thus, features described with reference to one example rather than another are implicitly disclosed and can, where possible, be used as part of a working combination in that other example, but do not necessarily have to be used in that other example.

[0377] Although examples have been described with reference to various examples in the preceding paragraphs, it should be understood that the examples given can be modified without departing from the scope of the claims.

[0378] The features described in the foregoing description can be used in combinations other than those explicitly described above.

[0379] Although functions have been described with reference to certain features, those functions can be performed by other features, whether or not described.

[0380] Although features have been described with reference to certain examples, those features can also exist in other examples, whether or not described.

[0381] The terms "a" or "the" used in this document are inclusive rather than exclusive. That is, any reference to X that includes a / the Y means that X can include only one Y or can include more than one Y, unless the context clearly indicates the contrary. If the intention is to use "a" or "the" with an exclusive meaning, it will be stated explicitly in the context. In some cases, "at least one" or "one or more" can be used to emphasize the inclusive meaning, but the absence of these terms should not be taken as inferring an exclusive meaning.

[0382] The presence of a feature (or combination of features) in a claim is a reference to that feature or (combination of features) itself and to features (equivalent features) that achieve substantially the same technical effect. Equivalent features include, for example, features that are variants and achieve substantially the same result in substantially the same way. Equivalent features include, for example, features that perform substantially the same function in substantially the same way to achieve substantially the same result.

[0383] In this specification, reference is made to various examples, and adjectives or adjective phrases are used to describe the characteristics of the examples. Such a description of a characteristic related to an example indicates that the characteristic exists exactly as described in some examples and substantially as described in other examples.

[0384] Although the foregoing specification has sought to draw attention to those features regarded as important, it should be understood that the applicant can seek protection by the claims for any patentable feature or combination of features mentioned above and / or shown in the drawings, whether or not emphasized.

Claims

1. A location server (112), comprising: at least one processor (132); as well as at least one memory (134) comprising computer program code (136); The at least one memory (134) and the computer program code (136) are configured to, together with the at least one processor (132), cause the location server (112) to execute: transmitting at least one signal (163) to a terminal node (110), the at least one signal (163) comprising: information indicating a request for the terminal node (110) to respond using at least one or more power delay profile metrics for access nodes (120) contactable by the terminal node (110), and at least one metric (140) indicating a probability of a line-of-sight condition between the terminal node (110) and the access node (120); and At least one signal (162) is received from the terminal node (110), the at least one signal (162) comprising: information indicating the one or more power delay profile metrics for the access nodes (120) that are contactable by the terminal node (110), and at least one metric (140) indicating a probability of a line-of-sight condition between the terminal node (110) and the access node (120).

2. A location server (112) according to claim 1, wherein the one or more power delay distribution metrics include at least one of: average excess delay, root mean square delay spread, a list of time delay values ​​that are less than a determined line-of-sight time delay value for an access node and within a predetermined amount of a maximum received power for the access node, and a number of multipath components above a predetermined power.

3. The location server (112) of claim 1, wherein the at least one signal (162) is received in response to transmitting the at least one signal (163).

4. The location server (112) of claim 1, wherein the at least one memory (134) and the computer program code (136) are configured to, together with the at least one processor (132), cause the location server (112) to execute: A position or location estimate of the terminal node is determined based at least in part on information received from the terminal node (110) regarding the at least one signal (162).

5. The location server (112) of claim 4, wherein the at least one memory (134) and the computer program code (136) are configured to, together with the at least one processor (132), cause the location server (112) to execute: The at least one metric is corrected (140) using topology information, and / or historical information reported by different terminal nodes 110 located in substantially the same area.

6. The location server (112) of any preceding claim, wherein the at least one metric (140) represents a line of sight probability.

7. A terminal node (110), comprising: at least one processor (132); as well as at least one memory (134) comprising computer program code (136); The at least one memory (134) and the computer program code (136) are configured to, together with the at least one processor (132), cause the terminal node (110) to execute: receiving at least one signal (163) from a server (112), the at least one signal (163) comprising: information indicating a request for the terminal node (110) to respond using at least one or more power delay profile metrics for access nodes (120) contactable by the terminal node (110), and at least one metric (140) indicating a probability of a line-of-sight condition between the terminal node (110) and the access node (120); and At least one signal (162) is transmitted to the server (112), the at least one signal (162) including: the information indicating the one or more power delay distribution metrics for the access nodes (120) that are contactable by the terminal node (110), and the at least one metric (140) indicating the probability of a line-of-sight condition between the terminal node (110) and the access node (120).

8. A terminal node (110) according to claim 7, wherein the one or more power delay distribution metrics include at least one of: average excess delay, root mean square delay spread, a list of time delay values ​​that are less than a determined line-of-sight time delay value for an access node and within a predetermined amount of a maximum received power for the access node, and a number of multipath components above a predetermined power.

9. The terminal node (110) of claim 7, wherein the at least one memory (134) and the computer program code (136) are configured to, together with the at least one processor (132), cause the terminal node (110) to execute: In response to receiving the at least one signal (163), the one or more power delay profile metrics and the at least one metric (140) indicative of a probability of a line-of-sight condition between the terminal node (110) and the access node (120) are determined.

10. The terminal node (110) of claim 7, wherein the at least one signal (162) is transmitted to provide the requested one or more power delay profile metrics and the at least one metric (140) to the server (112).

11. The terminal node (110) according to any one of claims 7 to 10, wherein the at least one metric (140) represents a line of sight probability.

12. A method for use in a location server (112), comprising: Transmitting, by the location server (112), to a terminal node (110), at least one signal (163), the at least one signal (163) comprising: information indicating a request for the terminal node (110) to respond using at least one or more power delay profile metrics for access nodes (120) contactable by the terminal node (110), and at least one metric (140) indicating a probability of a line-of-sight condition between the terminal node (110) and the access node (120); and At least one signal (162) is received by the location server (112) from the terminal node (110), the at least one signal (162) including: information indicating the one or more power delay distribution metrics for the access nodes (120) that are contactable by the terminal node (110), and at least one metric (140) indicating the probability of a line-of-sight condition between the terminal node (110) and the access node (120).

13. A method for use in a terminal node (110), comprising: Receiving, by the terminal node (110), at least one signal (163) from a server (112), the at least one signal (163) comprising: information indicating a request for the terminal node (110) to respond using at least one or more power delay profile metrics for access nodes (120) contactable by the terminal node (110), and at least one metric (140) indicating a probability of a line-of-sight condition between the terminal node (110) and the access node (120); and At least one signal (162) is transmitted by the terminal node (110) to the server (112), the at least one signal (162) including: information indicating the one or more power delay distribution metrics for the access nodes (120) that the terminal node (110) can contact, and at least one metric (140) indicating the probability of a line-of-sight condition between the terminal node (110) and the access node (120).

Images