Sidelink angle-based and sl rrm-based positioning

Abstract

One apparatus 1100 for finding a target UE (605, 805) sidelink (“SL”) positioning includes a processor 1105 configured to cause the target UE (605, 805) to receive SL PRS assistance data from a sidelink configuration source (610 or 635) associated with SL reference signal transmissions, e.g., beam transmissions (620a-620b), transmitted from one or more SL signal transmitting devices (e.g., 610, 615, 630). The target UE (605, 805) receives transmitted SL signal information from the one or more SL signal transmitting devices (610, 615, 630) and performs SL signal angle of arrival (“AoA”) measurements or performs reference signal received power (“RSRP”) measurements for deriving an angle of departure (AoD) mapped to the received SL RSRP measurements, or performs SL radio resource management measurements (“SL-RMM”) for determining an estimated position of the target UE (605, 805) using SL-AoD, SL-AoA, SL-RMM positioning techniques, or a combination thereof.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 063,854, filed August 10, 2020, entitled “Sidelink Angular-Based And SLRRM-Based Positioning”; U.S. Provisional Patent Application No. 63 / 063,836, filed August 10, 2020, entitled “Sidelink Timing-Based Positioning Methods”; and U.S. Provisional Patent Application No. 63 / 063,824, filed August 10, 2020, entitled “Apparatuses, Methods, and System For SL PRS Transmission Methodology”, which are incorporated herein by reference to the extent permitted by applicable patent laws and regulations. Technical Field

[0003] The topics disclosed herein generally relate to wireless communication, and more specifically to positioning based on sidelink (“SL”) angles and SL-based radio resource management (“RRM”). Background Technology

[0004] In some wireless communication systems, location-dependent radio access technology (“RAT”) using 3GPP New Radio (“NR”) technology has recently been supported in Release 16 of the 3GPP specification. Location features include fifth-generation (“5C”) network core architecture and interface enhancements, as well as support for physical layer and layer-2 / layer-3 signaling procedures to enable RAT-dependent location methods for the Un interface in LTE and NR for Radio Access Node (“RAN”) functionality. However, various existing systems lack sufficient location features for sidelink interfaces. Summary of the Invention

[0005] A signaling and measurement framework for configuring and executing an angle / range-based and SL-RRM-based NR sidelink (SL) approach is disclosed, which enables sidelink angle-based and SL RRM-based positioning. This disclosure provides several features for enabling sidelink angle-based and SL RRM-based positioning.

[0006] An apparatus for finding a target UE in a communication network using sidelink (“SL”) positioning is disclosed, the apparatus comprising a target UE including a processor, a memory, and program code, the program code executable by the processor to cause the target UE to: receive, from a sidelink configuration source, a plurality of SL PRS assistance data associated with a plurality of SL signal transmissions transmitted from one or more SL signal transmitting devices, the plurality of SL signal transmissions used as reference signal transmissions, such as beam transmissions, antenna panel transmissions, or combinations thereof. The apparatus can receive SL reference signal transmissions from the one or more SL signal transmitting devices and can perform SL signal angle of arrival (“AOA”) measurements of the received SL reference signal transmissions and can perform SL reference signal received power (“RSRP”) measurements for use in deriving angle of departure (AoD) calculations mapped to the received SL reference signal RSRP measurements for determining an estimated position of the target UE using SL AoD or SL AoA positioning techniques or combinations thereof.

[0007] A further apparatus for a communication network finding a target UE comprises a target UE including a processor, a memory, and program code, the program code executable by the processor to cause the target UE to perform one or more sidelink (“SL”) radio resource management (“RRM”) measurements such as physical sidelink broadcast channel (“PSBCH”) reference signal received power (“RSRP”), physical sidelink shared channel (“PSSCH”) RSRP, physical sidelink control channel (“PSCCH”) RSRP, SL channel state reference signal (“CSI-RS”), SL synchronization signal (“SLSS”), and combinations thereof. In various embodiments, in response to being configured for UE-based SL range-based positioning, the target UE determines its estimated position based on a selected RRM measurement. In some embodiments, in response to being configured for UE-assisted SL range-based positioning, a selected RRM measurement is reported to an LMF, the LMF configured to estimate a position of the target UE based on the reported RRM measurement.

[0008] A method for sidelink-based positioning of a target UE in a communication network is disclosed. In some examples, the method includes a first set of sidelink angle-based positioning techniques that can include SL AoA positioning, SL AoD positioning, or a combination thereof, and a second set of sidelink positioning techniques based on SL radio resource management (“RRM”) measurements, wherein the first sidelink angle-based positioning techniques include: receiving a plurality of SL PRS assistance data associated with a plurality of SL signal transmissions transmitted from one or more SL signal transmitting devices and selected from beam transmissions, and antenna panel transmissions, or a combination thereof, used as reference signal transmissions; receiving SL reference signal transmissions from the one or more SL signal transmitting devices; and performing configured measurements selected from: SL angle of arrival (“AoA”) measurements of the received SL reference signal transmissions used to determine an estimated position of the target UE using SL AoA positioning techniques; SL reference signal received power (“RSRP”) measurements mapped to SL angle of departure (“AoD”) calculations of the received SL reference signal transmissions used to determine an estimated position of the target UE using SL AoD positioning techniques; and combinations thereof.

[0009] The present disclosure addresses various deficiencies of existing solutions and lack of functionality in C-V2X positioning by providing angle / range-based SL positioning. The disclosed SL positioning techniques also provide high accuracy depending on the scenario and radio environment. BRIEF DESCRIPTION OF DRAWINGS

[0010] A more particular description of the embodiments briefly described above will be rendered by reference to specific embodiments that are illustrated in the drawings. Understanding that these drawings depict only some embodiments and are not to be considered limitations of scope, the embodiments will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0011] Figure 1 is a schematic block diagram illustrating a wireless communication system for sidelink (“SL”) angle and SL RRM-based positioning in accordance with one or more embodiments of the present disclosure;

[0012] Figure 2 is a block diagram illustrating a 5G New Radio (“NR”) protocol stack in accordance with one or more embodiments of the present disclosure;

[0013] Figure 3 is a block diagram illustrating an example of NR beam-based positioning in accordance with one or more embodiments of the present disclosure;

[0014] Figure 4 is a diagram illustrating downlink (“DL”) time difference of arrival (“TDOA”) assistance data in accordance with one or more embodiments of the present disclosure;

[0015] Figure 5 FIG. 1 is a diagram illustrating DL-TDOA measurement reporting according to one or more embodiments of the present disclosure;

[0016] Figure 6 FIG. 2 is a diagram illustrating an example procedure for SL-AoD and / or AoA positioning with user equipment (“UE”) assistance of one or more UEs serving as reference nodes according to one or more embodiments of the present disclosure;

[0017] Figure 7 FIG. 3 is a diagram illustrating an example scenario for UE-based SL-AoD and / or AoA positioning with one or more UEs serving as reference nodes according to one or more embodiments of the present disclosure;

[0018] Figure 8 FIG. 4 is a diagram illustrating positioning based on user equipment (“UE”) assisted SL radio resource management (“RRM”) with one or more UEs serving as reference nodes according to one or more embodiments of the present disclosure;

[0019] Figure 9 FIG. 5 is a diagram illustrating an example of capability signaling exchange for SL-AoD and / or AoA positioning according to one or more embodiments of the present disclosure;

[0020] Figure 10 FIG. 6 is a diagram illustrating an example of assistance data signaling exchange for SL-TDOA and / or SL-RTT according to one or more embodiments of the present disclosure;

[0021] Figure 11 FIG. 7 is a block diagram of a user equipment device that can be used for sidelink angle-based and SL RRM-based positioning according to one or more embodiments of the present disclosure;

[0022] Figure 12 FIG. 8 is a block diagram of a network equipment device that can be used for sidelink angle-based and SL RRM-based positioning according to one or more embodiments of the present disclosure;

[0023] Figure 13 FIG. 9 is a block diagram illustrating an example of a method for sidelink angle-based positioning using AoD and / or AoA according to one or more embodiments of the present disclosure; and

[0024] Figure 14 FIG. 10 is a block diagram illustrating an example of a method for SL RRM-based positioning according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0025] As those skilled in the art will appreciate, the various aspects of the embodiments can be embodied as a system, apparatus, method, or program product. Accordingly, the embodiments can take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that can all generally be referred to herein as a "circuit," "module" or "system."

[0026] For example, disclosed embodiments can be implemented in hardware circuitry, including custom very-large-scale integration ("VLSI") circuits or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. Disclosed embodiments can also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like. As another example, disclosed embodiments can include one or more physical or logical blocks of executable code, which may, for example, be organized as an object, procedure, or function.

[0027] Furthermore, embodiments can take the form of a program product embodied in one or more computer readable storage devices storing machine-readable code, computer-readable code, and / or program code, hereinafter "code". The storage devices can be tangible, non-transitory, and / or non-transmission. The storage devices can not embody signals. In a certain embodiment, the storage devices only employ signals for accessing code.

[0028] Any combination of one or more computer readable medium can be utilized. The computer readable medium can be a computer readable storage medium. The computer readable storage medium can be a storage device storing the code. The storage device can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, holographic, micromechanical, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing.

[0029] More specific examples (a non-exhaustive list) of the storage device would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory ("RAM"), a read-only memory ("ROM"), an erasable programmable read-only memory ("EPROM" or Flash memory), a portable compact disc read-only memory ("CD-ROM"), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0030] Code for carrying out operations for embodiments can be any number of lines and can be written in any combination of one or more programming languages including an object- oriented programming language such as Python, Ruby, Java, Smalltalk, C++, or the like, and conventional procedural programming languages, such as the "C" programming language, or machine languages such as assembly languages. The code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network ("LAN") or a wide area network ("WAN"), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0031] Moreover, the described features, structures, or characteristics of the embodiments can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of programming, software modules, user selections, network transactions, database queries, database structures, hardware modules, hardware circuits, hardware chips, etc., to provide a thorough understanding of the embodiments. One skilled in the relevant art will recognize, however, that the embodiments can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail in order to avoid obscuring aspects of the embodiments.

[0032] Reference throughout this specification to "one embodiment," "an embodiment," or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment," "in an embodiment," and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment, but mean "one or more but not all embodiments." Unless otherwise noted, the terms "including," "comprising," "having," and variations thereof are meant to be broad terms in an inclusive sense, that is, meaning to include, but not limited to. Unless otherwise noted, listed items are not exhaustive of the items in the category. Unless otherwise noted, the terms "a" and "an" are used in the sense to refer to one or more items.

[0033] As used herein, a list with a conjunction of “and / or” includes any single item in the list or a combination of items in the list. For example, a list of A, B and / or C includes only A, only B, only C, a combination of A and B, a combination of B and C, a combination of A and C, or a combination of A, B, and C. As used herein, a list using the terminology “one or more of’ includes any single item in the list or a combination of items in the list. For example, one or more of A, B and C includes only A, only B, only C, a combination of A and B, a combination of B and C, a combination of A and C, or a combination of A, B, and C. As used herein, a list using the terminology “one of’ includes one and only one of any single item in the list. For example, “one of A, B, and C” includes only A, only B, or only C and excludes combinations of A, B, and C. As used herein, “a member selected from the group consisting of A, B, and C” includes one and only one of A, B, or C, and excludes combinations of A, B, and C. As used herein, “a member selected from the group consisting of A, B, and C and combinations thereof’ includes only A, only B, only C, a combination of A and B, a combination of B and C, a combination of A and C, or a combination of A, B, and C.

[0034] Various aspects of embodiments are described in further detail in connection with the following illustrative figures. It will be appreciated that some aspects of the illustrations can not be drawn to scale, and that certain figures can be simplified for clarity. It will also be understood that the figures are not intended to limit the spirit or scope of the embodiments. The illustrative figures depict various aspects of embodiments of the application. It will be understood that various teachings herein can be applied to any suitable devices, methods, and systems. The various aspects of embodiments of the present application are described in detail in connection with the following illustrative figures, in which like reference numerals identify like parts throughout the figures. FIG. 1 is a diagram illustrating an example of a system for providing a user interface for a user to interact with a virtual environment, according to an embodiment.

[0035] The code can also be stored in a storage device that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the storage device produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram.

[0036] The code can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the code which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram.

[0037] The diagrams in the drawings are intended to facilitate understanding of the way in which the various embodiments can be implemented and operate. In this regard, the actual deployment and arrangement of the various components can differ from that shown in the drawings. For example, one or more of the components illustrated in the drawings can be combined or divided. Similarly, further components can be provided, or not provided. It is further noted that some of the components can be implemented by one or more computer programs. Such computer programs can be stored in main memory or on secondary storage and can be part of an operating system or part of one or more application programs. The functionality of the various components can be carried out by one or more processors operating under the control of the computer programs.

[0038] It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. These and other variations are contemplated herein.

[0039] Although various arrow types and line types can be employed in the flowchart and / or block diagrams, these are understood not to limit the scope of the corresponding embodiments. Indeed, some of the arrows or other connectors can represent optional decision points for the flow in the embodiments. An arrow type can also indicate a dummy link or placeholder rule in the drawing that represents one or more functions, features, or actions that are not represented by a corresponding block in the flowchart and / or block diagram. Further, an arrow can represent a control flow, a data flow, or a logical flow that is not necessarily dependent on the execution of a previous block.

[0040] The description of the elements in each figure can refer to elements of the preceding figures. Like numbers refer to like elements in all figures, including alternative embodiments of like elements.

[0041] SUMMARY

[0042] Generally, the present disclosure describes systems, methods, and apparatuses for sidelink angle-based and SL RRM-based positioning. More specifically, the present disclosure discloses an improved signaling and measurement framework, e.g., for NR, for enabling sidelink positioning using SL-RRM-based NR sidelink (SL) dependent and independent RAT positioning techniques using angle-based (e.g., AoD, AoA) and / or range-based.

[0043] Location methods relying on radio access technologies (“RATs”), such as TDOA, RTT, angle of origin (“AoD”), and cell identifier (“CID”), as well as U-UTRAN cell identifier (“E-CID”), have been specified for the Uu interface in Long Term Evolution (“LTE”) and the 3rd Generation Partnership Project (“3GPP”) New Radio (“NR”). Similarly, these location technologies show great potential for application in sidelinks, although there are currently no specific methods in 3GPP to implement such implementations. Furthermore, aspects of sidelink location that should beneficially be addressed may include identifying use cases and requirements for sidelink location that may not be applicable to sidelinks in existing systems, such as potential operational scenarios and design considerations in vehicle-to-everything (“V2X”), public safety, commercial services, and network coverage topics including both on- and off-coverage states; candidate frequency bands; UE use cases and deployments; RAT-dependent and RAT-independent location and hybrid methods; mobile-based (performed by the UE) and mobile-assisted (performed at least partially by the LMF) sidelink location; absolute and relative location; and architecture.

[0044] Another feature of SL positioning is that it achieves relative positioning, which can be beneficial for position estimation in moving vehicle scenarios. For example, relative positioning is a performance requirement for the horizontal accuracy of devices in Industrial Internet of Things (“IIoT”) environments, where flexible and modular assembly areas are needed in smart factory settings.

[0045] This disclosure aims to address this problem and lack of functionality in cellular V2X (“C-V2X”) positioning by developing angle-based and / or SL-RRM-based mechanisms to perform SL positioning. The proposed SL positioning technology aims to provide high accuracy depending on the scene and radio environment.

[0046] Figure 1 A wireless communication system 100 supporting side-link angle-based and SL RRM-based positioning is depicted according to one or more embodiments of the present disclosure. In one embodiment, the wireless communication system 100 includes at least one remote unit 105, a radio access network (“RAN”) 120, and a mobile core network 140. The RAN 120 and the mobile core network 140 form a mobile communication network. The RAN 120 may consist of a base station unit 121, and the remote unit 105 communicates with the base station unit 121 using a wireless communication link 115. Although in Figure 1A particular number of remote units 105, base units 121, wireless communication links 115, RANs 120, and mobile core networks 140 are depicted, but one of skill in the art will recognize that any number of remote units 105, base units 121, wireless communication links 115, RANs 120, and mobile core networks 140 can be included in the wireless communication system 100.

[0047] In one implementation, the RAN 120 is in compliance with the 5G system defined in the 3GPP specifications. In another implementation, the RAN 120 is in compliance with the LTE system defined in the 3GPP specifications. More generally, however, the wireless communication system 100 can implement some other open or proprietary communication network, for example, WiMAX, among other networks. The present disclosure is not intended to be limited to the implementation of any particular wireless communication system architecture or protocol.

[0048] In one embodiment, the remote units 105 can include computing devices, such as desktop, laptop, personal digital assistants (“PDAs”), tablet computers, smart phones, smart televisions (e.g., televisions with internet connectivity), smart appliances (e.g., appliances with internet connectivity), set-top boxes, game consoles, security systems (including security cameras), vehicle

[0049] The remote units 105 can communicate directly with one or more base units 121 via uplink (“UL”) and downlink (“DL”) communication signals. The UL and DL communication signals can be carried over the wireless communication links 115. Here, the RAN 120 is an intermediate network that provides the remote units 105 with access to the mobile core network 140. As described in more detail below, the base unit(s) 121 can provide cells that operate using a first frequency range and / or cells that operate using a second frequency range.

[0050] In some embodiments, the remote units 105 communicate with the application servers 151 via a network connection with the mobile core network 140. For example, an application 107 (e.g., a web browser, a media client, a telephone app, and / or a Voice-over-Internet Protocol (“VoIP”) application) in a remote unit 105 can trigger the remote unit 105 to establish a protocol data unit (“PDU”) session (or other data connection) with the mobile core network 140 via the RAN 120. The mobile core network 140 then uses the PDU session to relay traffic between the remote unit 105 and the application server 151 in the packet data network 150. The PDU session represents a logical connection between the remote unit 105 and a User Plane Function (“UPF”) 141.

[0051] To establish a PDU session (or PDN connection), the remote unit 105 must be registered with the mobile core network 140 (also referred to as “attached to the mobile core network” in the context of a Fourth Generation (“4G”) system). Note that a remote unit 105 can establish one or more PDU sessions (or other data connections) with the mobile core network 140. Thus, a remote unit 105 can have at least one PDU session for communicating with the packet data network 150. The remote unit 105 can establish additional PDU sessions for communicating with other data networks and / or other communication peers.

[0052] In the context of a 5G system (“5GS”), the term “PDU session” refers to a data connection that provides end-to-end (“E2E”) User Plane (“UP”) connectivity between a remote unit 105 and a specific Data Network (“DN”) through a UPF 141. A PDU session supports one or more Quality of Service (“QoS”) flows. In certain embodiments, there can be a one-to-one mapping between a QoS flow and a QoS profile, such that all packets belonging to a particular QoS flow have the same 5G QoS Identifier (“5QI”).

[0053] In the context of a 4G / LTE system such as an Evolved Packet System (“EPS”), a Packet Data Network (“PDN”) connection (also referred to as an EPS session) provides E2E UP connectivity between a remote unit and a PDN. A PDN connectivity procedure establishes an EPS bearer, i.e., a tunnel between the remote unit 105 and a Packet Gateway (“PGW”, not shown) in the mobile core network 140. In certain embodiments, there is a one-to-one mapping between an EPS bearer and a QoS profile, such that all packets belonging to a particular EPS bearer have the same QoS Class Identifier (“QCI”).

[0054] The base units 121 can be distributed over a geographic region. In certain embodiments, the base units 121 can also be referred to as access terminals, access points, bases, base stations, Node Bs (“NBs”), evolved Node Bs (abbreviated as eNodeBs or “eNBs,” also known as Evolved Universal Terrestrial Radio Access Network (“E-UTRAN”) Node Bs), 5G / NR Node Bs (“gNBs”), Home NodeBs, relay nodes, RAN nodes, or by any other terminology used in the art. The base units 121 are generally part of a RAN, such as RAN 120, which can include one or more controllers that can be communicably coupled to one or more corresponding base units 121. These and other elements of radio access networks are not illustrated but are well known in the art. The base units 121 connect to the mobile core network 140 via the RAN 120.

[0055] The base units 121 can serve a number of remote units 105 within a serving area, such as a cell or a cell sector via wireless communication links 115. The base units 121 can communicate directly with one or more of the remote units 105 via communication signals. Generally, the base units 121 transmit DL communication signals to serve the remote units 105 in the time, frequency, and / or spatial domain. Additionally, the DL communication signals can be carried on the wireless communication links 115. The wireless communication links 115 can be any suitable carrier in licensed or unlicensed radio frequency spectrum. The wireless communication links 115 facilitate communication between one or more remote units 105 and / or one or more base units 121. Note that during NR operation on unlicensed spectrum (referred to as “NR-U”), base units 121 communicate with remote units 105 over unlicensed (i.e., shared) radio frequency spectrum.

[0056] In one embodiment, the mobile core network 140 is a 5GC or an Evolved Packet Core (“EPC”), which can be coupled to packet data networks 150, like the Internet and private data networks, as well as other data networks. A remote unit 105 can have a subscription or other account with the mobile core network 140. In various embodiments, each mobile core network 140 belongs to a single Mobile Network Operator (“MNO”). The present disclosure is not intended to be limited to the implementation of any particular wireless communication system architecture or protocol.

[0057] In certain embodiments, the mobile core network 140 also includes a number of control plane (“CP”) functions, including but not limited to one or more user plane functions (“UPFs”) 141, an Access and Mobility Management Function (“AMF”) 143 serving the RAN 120, a Session Management Function (“SMF”) 145, a Location Management Function (“LMF”) 147, a Unified Data Management Function (“UDM”), and a User Data Repository (“UDR”). While illustrated as part of the mobile core network 140 in FIG. 1, these and other elements of a mobile core network may, in certain embodiments, be part of a larger core network that also provides data, voice, and other services, not all of which are wireless.Figure 1 A particular number and type of network functions are depicted, but one of skill will recognize that any number and type of network functions can be included in the mobile core network 140.

[0058] In the 5G architecture, the UPF(s) 141 is responsible for packet routing and forwarding, packet inspection, QoS handling, and external PDU session for interworking with the data network (“DN”). The AMF 143 is responsible for termination of NAS signaling, NAS ciphering and integrity protection, registration management, connection management, mobility management, access authentication and authorization, security context management. The SMF 145 is responsible for session management (i.e., session establishment, modification, release) of the UPF 141, remote unit (i.e., UE) IP address allocation and management, DL data notification, and traffic steering configuration for proper traffic routing.

[0059] The LMF 147 receives measurements from the RAN 120 and the remote unit 105 (e.g., via the AMF 143) and computes the location of the remote unit 105. The UDM is responsible for generating authentication and key agreement (“AKA”) credentials, user identification handling, access authorization, subscription management. The UDR is a repository of subscriber information and can be used to serve multiple network functions. For example, the UDR can store subscription data, policy-related data, subscriber-related data that is allowed to be exposed to third party applications, etc. In some embodiments, the UDM is co-located with the UDR, depicted as the combined entity “UDM / UDR” 149.

[0060] In various embodiments, the mobile core network 140 can also include a policy control function (“PCF”) 144 (which provides policy rules to CP functions), a network repository function (“NRF”) (which provides network function (NF) service registration and discovery, enabling NFs to identify appropriate services in each other and communicate with each other over application programming interfaces (“APIs”)), a network exposure function (“NEF”) (which is responsible for enabling customers and network partners to easily access network data and resources), an authentication server function (“AUSF”), or other NFs defined for the 5GC. When present, the AUSF can function as an authentication server and / or authentication proxy, allowing the AMF 143 to authenticate the remote unit 105. In certain embodiments, the mobile core network 140 can include an authentication, authorization, and accounting (“AAA”) server.

[0061] In various embodiments, the mobile core network 140 supports different types of mobile data connections and different types of network slices, where each mobile data connection utilizes a particular network slice. Here, a “network slice” refers to a portion of the mobile core network 140 that is optimized for a particular traffic type or communication service. For example, one or more network slices can be optimized for enhanced mobile broadband (“eMBB”) services. As another example, one or more network slices can be optimized for ultra-reliable low-latency communication (“URLLC”) services. In other examples, network slices can be optimized for machine-type communication (“MTC”) services, massive MTC (“mMTC”) services, Internet of Things (“IoT”) services. In still other examples, network slices can be deployed for particular application services, vertical services, particular use cases, etc.

[0062] A network slice instance can be identified by a single-network slice selection assistance information (“S-NSSAI”), while a set of network slices for which a remote unit 105 is authorized to use is identified by network slice selection assistance information (“NSSAI”). Here, “NSSAI” refers to a vector value that includes one or more S-NSSAI values. In certain embodiments, various network slices can include separate instances of network functions, such as the SMF 145 and the UPF 141. In some embodiments, different network slices can share some common network functions, such as the AMF 143. For ease of illustration, different network slices are not shown in FIG. 1, but their support is assumed. Figure 1

[0063] As discussed in more detail below, the remote units 105 receive measurement configurations 125 from the network (e.g., from the LMF 147 via the RAN 120). The remote units 105 perform positioning measurements, as described in more detail below, and send positioning reports 127 to the LMF 147. In certain embodiments, the LMF 147 is implemented as a standalone network core function. In some embodiments, the LMF is implemented in a location server.

[0064] While Figure 1 While components of a 5G RAN and 5G core network are depicted, the described embodiments for performing sidelink angle-based and / or SL-RRM based positioning apply to other types of communication networks and RATs, including IEEE 802.11 variants, Global System for Mobile Communications (“GSM”, i.e., a 2G digital cellular network), General Packet Radio Service (“GPRS”), Universal Mobile Telecommunications System (“UMTS”), LTE variants, CDMA2000, Bluetooth, Zigbee, and others.

[0065] ​Furthermore, in LTE variants in which the mobile core network 140 is an EPC, the described network functions can be replaced with appropriate EPC entities, such as a Mobility Management Entity (“MME”), a Serving Gateway (“SGW”), a PGW, a Home Subscriber Server (“HSS”), and / or the like. For example, the AMF 143 can be mapped to a MME, the SMF 145 can be mapped to a control plane portion of a PGW and / or to a MME, the UPF 141 can be mapped to a SGW and a user plane portion of a PGW, the UDM / UDR 149 can be mapped to a HSS, and / or the like.

[0066] In the following description, the term “RAN node” is used for a base station, but it can be replaced with e.g., gNB, ng-eNB, eNB, base station (“BS”), access point (“AP”), etc., any other radio access node. Also, the operations are mainly described in the context of 5G NR. However, the proposed solutions / methods are equally applicable for other mobile communication systems that support performing sidelink angle based positioning and / or RRM based positioning.

[0067] Figure 2 A NR protocol stack 200 is depicted in accordance with one or more embodiments of the present disclosure. While the protocol stack 200 is described primarily in the context of 5G NR, the proposed solutions / methods are equally applicable for other mobile communication systems that support performing sidelink angle based positioning and / or RRM based positioning. Figure 2 A UE 205, a RAN node 210, and an AMF 215 in a 5G Core Network (“5GC”) are shown, but these represent a set of remote units 105 that interact with a base unit 121 and a mobile core network 140. As depicted, the protocol stack 200 includes a user plane protocol stack 201 and a control plane protocol stack 203. The user plane protocol stack 201 includes a physical (“PHY”) layer 220, a medium access control (“MAC”) sublayer 225, a radio link control (“RLC”) sublayer 230, a packet data convergence protocol (“PDCP”) sublayer 235, and a service data adaptation protocol (“SDAP”) layer 240. The control plane protocol stack 203 includes the physical layer 220, the MAC sublayer 225, the RLC sublayer 230, and the PDCP sublayer 235. The control plane protocol stack 203 also includes a radio resource control (“RRC”) layer 245 and a non-access stratum (“NAS”) layer 250.

[0068] The AS layers for the user plane protocol stack 201 (also referred to as the “AS protocol stack”) are comprised of at least the SDAP, PDCP, RLC, and MAC sub-layers, as well as the physical layer. The AS layers for the control plane protocol stack 203 are comprised of at least the RRC, PDCP, RLC, and MAC sub-layers, as well as the physical layer. Layer 2 (“L2”) is split into the SDAP, PDCP, RLC, and MAC sub-layers. Layer 3 (“L3”) includes the RRC layer 245 for the control plane and the NAS layer 250 and includes, for example, the Internet Protocol (“IP”) layer and / or PDU layer (not depicted) for the user plane. L1 and L2 are referred to as “lower layers,” while L3 and above layers (e.g., transport layer, application layer) are referred to as “higher layers” or “upper layers.”

[0069] The physical layer 220 provides transport channels to the MAC sub-layer 225. The physical layer 220 can perform a clear channel assessment and / or listen-before-talk (“CCA / LBT”) procedure. In certain embodiments, the physical layer 220 can send a notification of a UL listen-before-talk (“LBT”) failure to a MAC entity at the MAC sub-layer 225. The MAC sub-layer 225 provides logical channels to the RLC sub-layer 230. The RLC sub-layer 230 provides RLC channels to the PDCP sub-layer 235. The PDCP sub-layer 235 provides radio bearers to the SDAP sub-layer 240 and / or the RRC layer 245. The SDAP sub-layer 240 provides QoS flows to a core network (e.g., 5GC). The RRC layer 245 provides addition, modification, and release of carrier aggregation and / or dual connectivity. The RRC layer 245 also manages the establishment, configuration, maintenance, and release of signaling radio bearers (“SRBs”) and data radio bearers (“DRBs”).

[0070] The NAS layer 250 is between the UE 205 and the AMF 215 of the core network (e.g., 5GC). NAS messages are transferred transparently through the RAN. The NAS layer 250 is used to manage the establishment of communication sessions and to maintain continuous communication with the UE 205 as the UE 205 moves between different cells of the RAN. In contrast, the AS layer is between the UE 205 and the RAN (i.e., the RAN node 210) and carries information through the wireless portion of the network.

[0071] RAT-dependent positioning techniques

[0072] The following RAT-dependent positioning techniques can be supported by the system 100:

[0073] DL-TDoA: The DL-TDOA positioning method utilizes DL RSTD (and optionally DL PRS RSRQ) of downlink signals received at the UE from multiple TPs. The UE uses assistance data received from the location server to measure the DL RSTD (and optionally DL PRS RSRP) of the received signals and the resulting measurements are used, along with other configuration information, to locate the UE with respect to the neighboring TPs.

[0074] DL-AoD: The DL AoD positioning method utilizes measured DL PRS RSRP of downlink signals received at the UE from multiple TPs. The UE uses assistance data received from the location server to measure the DL PRS RSRP of the received signals and the resulting measurements are used, along with other configuration information, to locate the UE with respect to the neighboring TPs.

[0075] Multi-RTT: The Multi-RTT positioning method utilizes UE Rx-Tx measurements measured by the UE and DL PRS RSRP of downlink signals received from multiple TRPs, as well as measured gNB Rx-Tx measurements and UL SRS-RSRP at multiple TRPs of uplink signals transmitted from the UE.

[0076] The UE uses assistance data received from the location server to measure the UE Rx-Tx measurements (and optionally DL SRS RSRP of the received signals) and the TRPs use assistance data received from the location server to measure the gNB Rx-Tx measurements (and optionally UL SRS-RSRP of the received signals). The measurements are used to determine RTTs at the location server for estimating the location of the UE.

[0077] E-CID / NR E-CID: Enhanced Cell ID (CID) positioning methods estimate the location of a UE with knowledge of the serving ng-eNB, gNB, and cell and are based on LTE signals. Information about the serving ng-eNB, gNB, and cell can be obtained through paging, registration, or other methods. NR Enhanced Cell ID (NR E CID) positioning refers to techniques that use additional UE measurements and / or NR radio resources and other measurements to improve UE location estimation using NR signals.

[0078] While NR E-CID positioning can utilize some of the same measurements as in the measurement control system in the RRC protocol, the UE is not generally expected to take additional measurements for the sole purpose of positioning; that is, the positioning procedure does not provision measurement configuration or measurement control messages and the UE reports measurements it has available rather than being required to take additional measurement actions.

[0079] UL-TDoA: The UL TDOA positioning method utilizes UL TDOA (and optionally UL SRS-RSRP) at multiple RPs of uplink signals transmitted from a UE. The RPs measure UL TDOA (and optionally UL SRS-RSRP) of the received signals using assistance data received from a positioning server, and the resulting measurements are used, along with other configuration information, to estimate the location of the UE.

[0080] UL-AoA: The UL AoA positioning method utilizes azimuth and zenith of arrival measured at multiple RPs of uplink signals transmitted from a UE. The RPs measure A-AoA and Z-AoA of the received signals using assistance data received from a positioning server, and the resulting measurements are used, along with other configuration information, to estimate the location of the UE.

[0081] Table 1 lists various positioning performance requirements for different scenarios in IIoT or indoor factory settings. In addition, certain positioning requirements are especially stringent with respect to accuracy, latency, and reliability for IIoT in Release 17 (“Rel-17”).

[0082] The apparatuses, methods, and systems disclosed herein facilitate implementing sidelink angle-based and SL-RRM-based positioning with high accuracy, low latency, and high reliability.

[0083] Table 1: IIoT positioning performance requirements

[0084]

[0085] The present disclosure describes mechanisms to perform sidelink positioning of the term UE. Beneficially, angle-based measurements and location estimation facilitate high resolution of target UEs in terms of accuracy. Further, enabling SL AoD / AOA and / or SL RMM-based measurements and location estimation for both anchor and non-anchor UEs configurations facilitates high-accuracy positioning in out-of-coverage scenarios, especially beneficial for public safety and V2X scenarios.

[0086] Other techniques disclosed herein can be used to enable a target UE to autonomously perform round-trip time (RTT) measurements for TX-RX distance / range computation using multiple pairs of UEs in sidelink. The disclosed RTT measurements for TX-RX distance computation can be easily configured, do not require network assistance, and apply to mode-2 SL operation. Further, multiple SL beams can be leveraged to perform precise RTT measurements in unicast scenarios, and RTT measurements from multiple UEs can also enable mapping of the surrounding environment of the target UE.

[0087] Figure 1A wireless communication system 100 for sidelink angle / range based positioning in accordance with various embodiments of the present disclosure is depicted. In one embodiment, the wireless communication system 100 includes at least one remote unit 105, a radio access network (“RAN”) 120, and a mobile core network 140. The RAN 120 and mobile core network 140 form a mobile communication network. The RAN 120 can be composed of base unit 121 with which remote units 105 communicate using wireless communication links 123. Although Figure 1 A specific number of remote units 105, base units 121, wireless communication links 115, RAN 120, and mobile core network 140 are depicted in the wireless communication system 100, those skilled in the art will recognize that any number of remote units 105, base units 121, wireless communication links 115, RAN 120, and mobile core network 140 can be included in the wireless communication system 100.

[0088] In one implementation, the RAN 120 is in compliance with 5G systems specified in the Third Generation Partnership Project (“3GPP”) specifications. For example, the RAN 120 can be a Next Generation Radio Access Network (“NG-RAN”) implementing New Radio (“NR”) Radio Access Technology (“RAT”) and / or Long Term Evolution (“LTE”) RAT. In another example, the RAN 120 can include non-3GPP RATs (e.g., Institute of Electrical and Electronics Engineers (“IEEE”) 802.11 family of standards based WLANs). In another implementation, the RAN 120 is in compliance with LTE systems specified in the 3GPP specifications. More generally, however, the wireless communication system 100 can implement some other open or proprietary communication network standards, for example, Worldwide Interoperability for Microwave Access (“WiMAX”) or IEEE 802.16 standards family, among others. The present disclosure is not intended to be limited to the implementation of any particular wireless communication system architecture or protocol.

[0089] ​In one embodiment, the remote units 105 can include computing devices, such as desktop, laptop, personal digital assistant (“PDA”), tablet, smart phone, smart television (e.g., television connected to the Internet), smart appliance (e.g., appliance connected to the Internet), set-top box, game console, security system (including security cameras), vehicle

[0090] The remote units 105 can communicate directly with one or more base units 121 in the RAN 120 via uplink (“UL”) and downlink (“DL”) communication signals. The UL and DL communication signals can be carried over the wireless communication links 115. Here, the RAN 120 is an intermediate network that provides the remote units 105 with access to the mobile core network 140. As described in more detail below, the base unit(s) 121 can provide cells that operate using a first frequency range and / or cells that operate using a second frequency range.

[0091] In some embodiments, the remote units 105 communicate with the application server 151 via a network connection with the mobile core network 140. For example, an application 107 (e.g., web browser, media client, telephone and / or Voice-over-Internet Protocol (“VoIP”) application) in a remote unit 105 can trigger the remote unit 105 to establish a protocol data unit (“PDU”) session (or other data connection) with the mobile core network 140 via the RAN 120. The mobile core network 140 then relays traffic between the remote unit 105 and the application server 151 in the packet data network 150 using the PDU session. The PDU session represents a logical connection between the remote unit 105 and a user plane function (“UPF”) 141.

[0092] To establish a PDU session (or PDN connection), a remote unit 105 must register with the mobile core network 140 (also referred to as “attaching to the mobile core network” in the context of fourth generation (“4G”) systems). Note that a remote unit 105 can establish one or more PDU sessions (or other data connections) with the mobile core network 140. Thus, a remote unit 105 can have at least one PDU session for communicating with a packet data network 150. A remote unit 105 can establish additional PDU sessions for communicating with other data networks and / or other communication peers.

[0093] In the context of a 5G system (“5GS”), the term “PDU session” refers to a data connection that provides end-to-end (“E2E”) user plane (“UP”) connectivity between a remote unit 105 and a specific data network (“DN”) through a UPF 141. A PDU session supports one or more quality of service (“QoS”) flows. In certain embodiments, there can be a one-to-one mapping between a QoS flow and a QoS profile, such that all packets belonging to a particular QoS flow have the same 5G QoS Identifier (“5QI”).

[0094] In the context of 4G / LTE systems, such as the evolved packet system (“EPS”), a packet data network (“PDN”) connection (also referred to as an EPS session) provides E2E UP connectivity between a remote unit and a PDN. A PDN connectivity procedure establishes an EPS bearer, i.e., a tunnel between a remote unit 105 and a packet gateway (“PGW”, not shown) in the mobile core network 140. In certain embodiments, there is a one-to-one mapping between an EPS bearer and a QoS profile, such that all packets belonging to a particular EPS bearer have the same QoS class identifier (“QCI”).

[0095] The base units 121 can be distributed over a geographic region. In certain embodiments, the base units 121 can also be referred to as access terminals, access points, bases, base stations, NodeBs (“NBs”), evolved NodeBs (abbreviated as eNodeBs or “eNBs,” also known as evolved Universal Terrestrial Radio Access Network (“E-UTRAN”) Node Bs), 5G / NR NodeBs (“gNBs”), Home NodeBs, relay nodes, RAN nodes, or by any other terminology used in the art. The base units 121 are generally part of a RAN, such as the RAN 120, which can include one or more controllers that can be communicably coupled to one or more corresponding base units 121. These and other elements of radio access networks are not illustrated but are well known to those ordinarily skilled in the art. The base units 121 connect to the mobile core network 140 via the RAN 120.

[0096] The base units 121 can serve a number of remote units 105 within a serving area, for example, a cell or a cell sector via a wireless communication link 115. The base units 121 can communicate directly with one or more remote units 105 via communication signals. Generally, the base units 121 transmit DL communication signals to serve the remote units 105 in the time, frequency, and / or spatial domain. Additionally, the DL communication signals can be carried over the wireless communication links 115. The wireless communication links 115 can be any suitable carrier in a licensed or unlicensed radio frequency spectrum. The wireless communication links 115 facilitate communication between one or more remote units 105 and / or one or more base units 121. Note that during NR operation on unlicensed spectrum (referred to as “NR-U”), base units 121 and remote units 105 communicate over unlicensed (i.e., shared) radio frequency spectrum.

[0097] In one embodiment, the mobile core network 140 is a 5GC or an evolved packet core (“EPC”), which can be coupled to packet data networks 150, like the Internet and private data networks, as well as other data networks. A remote unit 105 can have a subscription or other account with the mobile core network 140. In various embodiments, each mobile core network 140 belongs to a single mobile network operator (“MNO”). The present disclosure is not intended to be limited to the implementation of any particular wireless communication system architecture or protocol.

[0098] The mobile core network 140 includes several network functions (“NFs”). As depicted, the mobile core network 140 includes at least one UPF 141. The mobile core network 140 also includes a number of control plane (“CP”) functions, including but not limited to an access and mobility management function (“AMF”) 143, a session management function (“SMF”) 145, a location management function (“LMF”) 147, a unified data management function (“UDM”), and a user data repository (“UDR”), which serve the RAN 120. Although specific numbers and types of network functions are depicted in FIG. 1, one of skill would recognize there can be any number and types of network functions included in the mobile core network 140. Figure 1 Although specific numbers and types of network functions are depicted in FIG. 1, one of skill would recognize there can be any number and types of network functions included in the mobile core network 140.

[0099] In the 5G architecture, the UPF(s) 141 is responsible for packet routing and forwarding, packet inspection, QoS handling, and external PDU session for interworking with a data network (DN). The AMF 143 is responsible for termination of NAS signaling, NAS ciphering and integrity protection, registration management, connection management, mobility management, access authentication and authorization, security context management. The SMF 145 is responsible for session management (i.e., session establishment, modification, release) of the UPF 141, remote unit (i.e., UE) IP address allocation and management, DL data notification, and traffic steering configuration for proper traffic routing.

[0100] The LMF 147 receives measurements from the RAN 120 and the remote units 105 (e.g., via the AMF 143) and computes a location of a remote unit 105. The UDM is responsible for generating authentication and key agreement (“AKA”) credentials, user identification handling, access authorization, and subscription management. The UDR is a repository of subscriber information and can be used to serve multiple network functions. For example, the UDR can store subscription data, policy-related data, subscriber-related data that is allowed to be exposed to third party applications, etc. In some embodiments, the UDM is co-located with the UDR, depicted as the combined entity “UDM / UDR” 149.

[0101] In various embodiments, the mobile core network 140 can also include a policy control function (“PCF”), which provides policy rules to CP functions, a network repository function (“NRF”), which provides network function (NF) service registration and discovery, enabling NFs to identify appropriate services in each other and communicate with each other through application programming interfaces (“APIs”), a network exposure function (“NEF”), which is responsible for enabling customers and network partners to easily access network data and resources, an authentication server function (“AUSF”), or other NFs defined for the 5GC. When present, the AUSF can function as an authentication server and / or an authentication broker, allowing the AMF 143 to authenticate a remote unit 105. In certain embodiments, the mobile core network 140 can include an authentication, authorization, and accounting (“AAA”) server.

[0102] In various embodiments, the mobile core network 140 supports different types of mobile data connections and different types of network slices, where each mobile data connection utilizes a particular network slice. Here, a “network slice” refers to a portion of the mobile core network 140 that is optimized for a particular traffic type or communication service. For example, one or more network slices can be optimized for enhanced mobile broadband (“eMBB”) services. As another example, one or more network slices can be optimized for ultra-reliable low-latency communication (“URLLC”) services. In other examples, network slices can be optimized for machine-type communication (“MTC”) services, massive MTC (“mMTC”) services, Internet of Things (“IoT”) services. In still other examples, network slices can be deployed for particular application services, vertical services, particular use cases, etc.

[0103] A network slice instance can be identified by a single network slice selection assistance information (“S-NSSAI”), while a set of network slices for which a remote unit 105 is authorized to use is identified by network slice selection assistance information (“NSSAI”). Here, “NSSAI” refers to a vector value that includes one or more S-NSSAI values. In certain embodiments, various network slices can include separate instances of network functions, such as the SMF 145 and the UPF 141. In some embodiments, different network slices can share some common network functions, such as the AMF 143. For ease of illustration, different network slices are not shown in FIG. 1, but their support is assumed. Figure 1

[0104] As discussed in more detail below, the remote units 105 receive measurement configurations 125 from the network (e.g., from the LMF 147 via the RAN 120). In various embodiments, the remote units 105 perform positioning measurements, as described in more detail below, and send positioning reports 127 to the LMF 147 for certain steps of performing positioning calculations. In some embodiments, (e.g., in scenarios where a location server is not immediately available, a target UE is configured to perform local execution of sidelink positioning techniques).

[0105] Some UE positioning methods supported in REL-16 are listed in Table 2. The individual positioning techniques as indicated by Table 2 can be currently configured and performed based on requirements of LMF and / or UE capabilities. Note that Table 2 includes TBS positioning based on PRS signals, but only LTE signal based OTDOA is supported. E-CID includes Cell-ID for NR methods. Terrestrial Beacon System (“TBS”) methods refer to TBS positioning based on Metropolitan Beacon System (“MBS”) signals.

[0106] ​Transmission of positioning reference signals (“PRS”) enables the UE 205 to perform UE positioning-related measurements to enable computation of a position estimate of the UE and per transmission-reception point (“TRP”) configuration, where a TRP can transmit one or more beams.

[0107] Figure 3 is a block diagram illustrating an example 300 of NR beam-based positioning, in accordance with one or more embodiments of the present disclosure. According to Rel-16, PRS can be transmitted by different base stations (serving and neighboring) using narrow beams between frequency range #1 (“FR1”, i.e., frequencies from 410 MHz to 7125 MHz) and frequency range #2 (“FR2”, i.e., frequencies from 24.25 GHz to 52.6 GHz), which is relatively different compared to LTE where PRS is transmitted across an entire cell. As Figure 3 As illustrated in FIG. 3, the UE 205 can receive PRS from a first gNB (“gNB#1”) 310 that is serving and also from a second gNB (“gNB#2”) 315 that is neighboring and a third gNB (“gNB#3”) 320 that is neighboring. Here, PRS can be locally associated with a PRS resource ID and resource set ID for a base station (i.e., TRP). In the depicted embodiment, each gNB 310, 315, 320 is configured with a first resource set ID 325 and a second resource set ID 330. As depicted, the UE 205 receives PRS on transmission beams; here, PRS from gNB#1 310 is received on PRS resource ID #1 from the second resource set ID 330, PRS from gNB#2 315 is received on PRS resource ID #3 from the second resource set ID 330, and PRS from gNB#3 320 is received on PRS resource ID #3 from the first resource set ID 325. Within the 5G RAN, the NRPPa protocol uses services provided by the NGAP protocol. NRPPa messages 335 are carried within NGAP messages. The LMF 305 is connected to the NG-RAN nodes through the AMF 143. An NG-RAN node that is a base station unit 121 can control several TRPs. Both split and non-split NG-RAN architectures are supported (i.e., CU / DU). A full description of NRPPa can be found in 3GPP TS 38.455.

[0108] Some of the UE positioning methods supported in REL-16 are listed in Table 2. The individual positioning techniques as indicated in Table 2 can be currently configured and performed based on LMF and / or UE capability requirements. Note that Table 2 includes TBS positioning based on PRS signals, but only LTE signal based OTDOA is supported. E-CID includes Cell-ID for NR methods. Terrestrial Beacon System (“TBS”) methods refer to TBS positioning based on Municipal Beacon System (“MBS”) signals.

[0109] Table 2: Supported Rel-16 UE Positioning Methods

[0110]

[0111] The individual positioning techniques as indicated in Table 2 can be currently configured and performed based on LMF and / or UE capability requirements. Transmission of Positioning Reference Signals (“PRS”) enables the UE to perform UE positioning related measurements to enable computation of a location estimate for the UE and is configured per Transmission Reception Point (“TRP”), where a TRP can transmit one or more beams.

[0112] Table 3 lists the RS to measurement mapping at the UE for each supported RAT dependent positioning technique. UE positioning measurements such as Reference Signal Time Difference (“RSTD”) and PRS RSRP measurements are taken between beams, rather than between different cells as is the case in LTE. In addition, there are additional UL positioning methods available for the network to utilize to facilitate computation of a location for a target UE. Table 3 lists the RS to measurement mapping at the UE for each supported RAT dependent positioning technique, and Table 4 (below) lists the RS to measurement mapping at the gNB for each supported RAT dependent positioning technique.

[0113] Table 1: UE Measurements Enabling RAT Dependent Positioning Techniques

[0114]

[0115]

[0116] RAT dependent positioning techniques involve performing a location estimate for a UE by 3GPP RAT and core network entities, which is distinguished from RAT independent positioning techniques that rely on Global Navigation Satellite System (“GNSS”), Inertial Measurement Unit (“IMU”) sensors, WLAN, and Bluetooth technologies for performing positioning of a target device (i.e., UE).

[0117] Table 4 lists the RS-to-measurement mapping at the gNB for each supported RAT-dependent positioning technology. RAT-dependent positioning technologies involve 3GPP RAT and core network entities to perform location estimation of the UE, which is distinguished from RAT-independent positioning technologies that rely on GNSS, IMU sensors, WLAN, and Bluetooth technologies for performing positioning of the target device (i.e., UE).

[0118] Table 4: gNB measurements for RAT-dependent positioning technologies

[0119]

[0120] PRS design

[0121] For 3GPP Rel-16, a DL PRS resource ID in a DL PRS resource set is associated with a single beam transmitted from a single TRP (a TRP can transmit one or more beams). A DL PRS occasion is a time window (one or more consecutive slots) of periodic repetition in which a DL PRS is expected to be transmitted. Regarding QCL relations for DL PRS resources beyond Type-D, one or more of the following options are supported:

[0122] Option 1: QCL-TypeC from an SSB from a TRP.

[0123] Option 2: QCL-TypeC from a DL PRS resource from a TRP.

[0124] Option 3: QCL-TypeA from a DL PRS resource from a TRP.

[0125] Option 4: QCL-TypeC from a CSI-RS resource from a TRP.

[0126] Option 5: QCL-TypeA from a CSI-RS resource from a TRP.

[0127] Option 6: No QCL relations beyond Type-D are supported.

[0128] Note that QCL-TypeA refers to Doppler shift, Doppler spread, average delay, delay spread; QCL-TypeB refers to Doppler shift, Doppler spread; QCL-TypeC refers to average delay, Doppler shift; and QCL-TypeD refers to spatial Rx parameters.

[0129] For DL PRS resources, QCL-TypeC from an SSB from a TRP is supported (Option 1). An ID is defined that can be associated with multiple DL PRS resource sets that can be associated with a single TRP. An ID is defined that can be associated with multiple DL PRS resource sets that can be associated with a single TRP. This ID can be used together with the DL PRS resource set ID and the DL PRS resource ID to uniquely identify a DL PRS resource. Each TRP should only be associated with one such ID.

[0130] DL PRS resource IDs are locally defined within a DL PRS resource set. DL PRS resource set IDs are locally defined within a TRP. The time duration spanned by one DL PRS resource set containing repeated DL PRS resources should not exceed the DL-PRS-Periodicity. The parameter DL-PRS-ResourceRepetitionFactor is configured for a DL PRS resource set and controls how many times each DL-PRS resource is repeated for a single instance of the DL-PRS resource set. Supported values can include: 1, 2, 4, 6, 8, 16, 32.

[0131] In some implementations, signaling can be defined to support any RAT-dependent positioning techniques including hybrid RAT-dependent positioning solutions.

[0132] As related to NR positioning, the term “positioning frequency layer” refers to a collection of DL PRS resource sets across one or more TRPs that have: the same SCS and CP type; the same center frequency; the same point A; all DL PRS resources of the DL PRS resource sets have the same bandwidth; and / or all DL PRS resource sets belonging to the same positioning frequency layer have the same values of DL-PRS-Bandwidth-DL and StartingPRB.

[0133] In case 272 PRBs allocation is assumed to be a UE capability, the duration of a DL PRS symbol in ms can be defined such that the UE is able to process every T ms. In case 272 PRBs allocation is assumed to be a UE capability, the UE is able to process every T ms of the duration of a DL PRS symbol in ms.

[0134] Measurement and reporting configuration

[0135] UE measurements applicable to DL-based positioning techniques are discussed below. For a conceptual overview, assistance data configuration (see Figure 9 ) and measurement information (see Figure 10 ) are provided for each supported positioning technique.

[0136] Figure 4An example of a DL-TDOA Assistance Data 400 including an NR-DL-TDOA- ProvideAssistanceData information element (“IE”) is depicted, which a location server can use to provide assistance data to enable UE-assisted and UE-based NR downlink TDOA. It can also be used to provide NR DL TDOA positioning specific error causes. However, as depicted, the NR-DL-TDOA- ProvideAssistanceData IE does not provide assistance data specific to SL-angle-based positioning such as SL-AoD / AoA or SL-RRM positioning techniques disclosed herein. Thus, to enable various embodiments of SL-angle-based and / or SL-RRM-based positioning disclosed herein, it can be useful to use a ProvideAssistanceData IE that includes information specific to SL-angle-based positioning such as SL-AoD / AoA or SL-RRM-based positioning.

[0137] Figure 5 An example of a DL-TDOA Measurement Report 500 including an NR-DL-TDOA- SignalMeasurementInformation IE is depicted, which a target device can use to provide NR-DL TDOA measurements to a location server. The measurements are provided as a list of TRPs, where the first TRP in the list is used as the reference TRP if RSTD measurements are reported. The first TRP in the list can or can not be the reference TRP indicated in the NR-DL-PRS- AssistanceData. In addition, the target device selects a reference resource per TRP and compiles measurements per TRP based on the selected reference resource. However, as depicted, the NR-DL-TDOA- SignalMeasurementInformation IE does not provide departure angle and / or angle of arrival measurement information specific to SL-angle-based or range-based positioning such as SL-AoD and / or SL-AoA disclosed herein. Thus, to enable various embodiments of SL-angle-based positioning disclosed herein, it can be useful to use a SignalMeasurementInformation IE that includes information specific to SL-angle-based positioning such as SL-AoD and / or SL-AoA or SL-RRM.

[0138] Further details regarding the types of information that can advantageously be included are described below with respect to Tables 6 and 7 for SL-TDOA-based positioning and Table 9 for SL-RRM-based positioning.

[0139] RAT-dependent positioning measurements

[0140] Table 5 lists various DL measurements for DL-based positioning methods. Different DL measurements include DL PRS-RSRP, DL RSTD, and UE Rx-Tx time difference required for the supported RAT-dependent positioning techniques shown in Table 5.

[0141] Table 5: DL measurements required for DL-based positioning methods

[0142]

[0143]

[0144] The following measurement configurations are specified:

[0145] Four pairs of DL RSTD measurements can be performed per pair of cells. Each measurement is performed between different pairs of DL PRS resources / resource sets with a single reference timing.

[0146] Eight DL PRS RSRP measurements can be performed on different DL PRS resources from the same cell.

[0147] Sidelink angle-based and SL RRM-based positioning

[0148] The present disclosure provides various solutions for SL RAT-dependent positioning techniques related to angle-based and SL RRM-based methods: one or more embodiments disclose a method for a target UE to estimate its own TX-RX distance with other proximal UEs based on angle characteristics of SL PRS signals, e.g., angle of departure, angle of arrival, and / or using SL PRS measurement metrics.

[0149] Beneficially, such embodiments enable multiple SL TRPs / beams from different UEs to be utilized to perform accurate angle measurements. Moreover, certain embodiments only require one anchor node with a known position, and in the case of non-anchor nodes, can exchange position assistance information with the anchor node or with the gNB / LMF (e.g., using Mode 1 operation). Furthermore, in one or more embodiments, a method is disclosed for a target UE and / or LMF to estimate the distance between the target UE and one or more UEs, as well as the absolute or relative position, using SL RRM measurements.

[0150] In such embodiments, advantageously, the target UE does not require SL-specific positioning-related reference signals for position or distance estimation, which reduces signaling overhead and complexity at the expense of position accuracy. Moreover, such embodiments can be applicable to Mode 2 operation for obtaining course accuracy of the target UE and are not dependent on network coverage (RAT-dependent positioning).

[0151] Multi-antenna systems have enabled implementations of positioning methods that utilize angle measurements at the transmitter (AoD) and receiver (AoA) to compute TX-RX distances. The use of angle-based positioning techniques in SL can greatly benefit distributed nodes, and the lack of synchronization between nodes can simplify the overall implementation of such positioning solutions. Using SL RRM measurements can reduce the complexity of the positioning method at the expense of accuracy, and thus can be applied to scenarios / applications that require line-of-sight accuracy.

[0152] Various examples of the disclosed subject matter are disclosed below and referred to herein as Embodiments 1, 2, and 3. Many aspects of Embodiments 1-3 can be implemented in combination with each other for certain reasons, e.g., to achieve improved position accuracy estimates. In addition, various aspects of the embodiments disclosed in U.S. Provisional Patent Application No. 63 / 063,836 entitled “Sidelink Timing-Based Positioning Methods” and / or U.S. Provisional Patent Application No. 63 / 063,824 entitled “Apparatuses, Methods, And System For SL PRS Transmission Methodology,” which are incorporated by reference herein, can be implemented in conjunction with the embodiments of the present disclosure.

[0153] Embodiment 1: SL-AoD / AoA Positioning

[0154] SL AoD / AoA can also be used to determine the absolute and relative position of a SL UE with respect to another reference UE. The advantage of this technique is that it can compute the distance / range using only one anchor node and the target UE. This embodiment describes additional enhancements to the SL angle-based positioning methods including SL-AoA and SL-AoD to enhance the overall position estimate accuracy at the target UE.

[0155] Embodiment 1a): SL-AoD / AoA Positioning UE Assistance Procedure

[0156] Embodiment 1a discloses certain scenarios where SL-AoD / AoA positioning can be performed with multiple SL TRPs originating from multiple UEs. This is mainly applicable to UE-assisted positioning and includes, in addition to SL-PRS RSRP measurements, a signaling mechanism for reporting the AoD / AoA measurements to the LMF.

[0157] Figure 6An example implementation of a SL-AoD procedure 600 for UE-assisted positioning is illustrated, which can also be extended to be configured with multiple TRPs or multiple beams 620a...620n, 625a...625n from multiple anchor nodes 610, 615.

[0158] It can be observed that for the SL-AoD procedure 600, UE-1 610 and UE-2 615 act as reference nodes with respect to the target UE 605.

[0159] According to Figure 6 , it can be noted that the target UE 605 performs a set of at least two SL-RSRP measurements with respect to UE-1 610 and UE-2 615. The target UE 605 then transmits a measurement report 640 to the LMF 635 (step 2), where the SL-AoD is derived based on the mapping between SL-RSRP and SL transmit beam information for SL TRP ID / SL PRS ID / SL PRS resource set ID (step 3). The SL TRP ID or SL PRS ID or SL PRS resource set ID describes the unique SL-PRS resource / resource set 622 that has been transmitted. The SL-AoD is obtained from the SL TRP ID / SL beam ID / SL PRS ID / SL PRS resource set ID with the best SL-PRS RSRP, and the AoD can correspond to the azimuth (A-AoD) or the zenith (Z-AoD). Before initiating the SL-AoD procedure, UE-1 610 and UE-2 615 can transmit their spatial direction information (e.g., beam information and / or antenna pattern configuration) to the LMF, as indicated in step 1 of Figure 6 .

[0160] The beam information from the associated TRP corresponding to the SL TRP ID / SL beam ID / SL PRS ID can be defined with respect to a global coordinate system (GCS) (e.g., PRS azimuth angle measured counterclockwise from geographic north, PRS elevation angle measured positive with respect to zenith and with respect to horizontal (elevation 0 degrees points to zenith, 90 degrees points to horizontal)) or a local coordinate system (LCS) (e.g., azimuth angle is measured counterclockwise from the x-axis of the LCS, elevation angle is measured with respect to the z-axis of the LCS (elevation 0 degrees points to z-axis, 90 degrees points to x-y plane) and the transformation information of the LCS to the GCS (e.g., using the angles a (quadrant angle), b (tilt angle) and g (tilt angle) for transforming a local coordinate system (LCS) into a global coordinate system (GCS) as defined in TR 38.901) and the beam information can be transmitted to the LMF 635.

[0161] In certain embodiments, the mapping procedure can be performed at the gNB / RSU and shared with the LMF via a dedicated interface, e.g., NRPPa. In some embodiments, the gNB TRPs can also be measured at the target UE 605 and can be reported to the LMF 635 in combination with the SL TRPs to improve the accuracy estimates.

[0162] In various embodiments, the target UE 605 measures the phase difference received at each antenna element, which can be translated into AoA measurements and the target UE can use these AoA measurements or report the AoA measurements to the LMF 635 per SL PRS ID / SL PRS ID / SL PRS Resource Set ID per UE. In some embodiments, the target UE 605 signals both the AoA measurements and the SL-PRS RSRP measurements to the LMF 625 or gNB 630 and the mapping between these two parameters per SL TRP ID / SL PRS ID / SL PRS Resource Set ID can be configured at the LMF or gNB side.

[0163] Embodiment 1b): SL-AoD / AoA UE-based procedure

[0164] Embodiment, 1b discloses SL-AoD / AoA positioning in the context of UE-based positioning, where the target UE performs angle-based measurements and computes a position estimate at the target UE relative to the LMF (as in embodiment 1a).

[0165] Figure 7 An example embodiment of a SL-AoD procedure 700 for UE-based positioning is illustrated, where the target UE 705 utilizes the measured angle of departure or angle of arrival or both to compute its own position estimate. This can also be extended to be configured with multiple beams 720a...720n and multiple reference anchor nodes 710, 715 or both. In various embodiments, UE-1 710 and UE-2 715 act as reference nodes relative to the target UE 705 of the SL-AoD procedure 700.

[0166] Similar to embodiment 1a), the target UE 705 measures SL PRS from each of the SL TRPs / beams 720a...720n, 725a...725n from different UEs (UE-1 710) and (UE-2 715). In such embodiments, UE-1 710 and UE-2 715 signal the respective AoD beam information corresponding to their SL PRS transmissions with the target UE 705 so that a position estimate can be computed at the target UE 705. It can be noted that this positioning procedure can also operate in a RAT dependent manner, i.e., outside the coverage scenario. The target UE 705 uses the SL TRP ID / SL beam ID / SL PRS ID mapping with the best SL-PRS RSRP to derive the SL-AoD and the derived SL-AoD can correspond to the azimuth (A-AoD) or the zenith (Z-AoD) plane.

[0167] In some implementations, the target UE 705 measures the phase difference received at each antenna element and converts these into AoA measurements to compute the TX-RX distance with these AoA measurements and subsequently compute its absolute position (for an anchor node) or relative position (for a non-anchor node). Alternatively, the target UE 705 can signal the AoA measurements and SL-PRS RSRP measurements to the LMF 635 or the gNB 630 or to both and the mapping between the AoA and SL-PRS RSRP parameters per SL TRP ID can be configured at the LMF 635 or gNB 630 side.

[0168] Embodiment 1c): SL-AoD configuration and reporting

[0169] Embodiment 1c discloses selected SL configuration parameters that can be utilized to implement embodiments 1a and 1b.

[0170] Table 6 illustrates the various SL-AoD / AoA configuration parameters transmitted by the LMF 635 that are required at the target UE 605, 705. These parameters are further distinguished based on whether the LMF 635 (UE-assisted) or the SL target UE 605, 705 (UE-based) needs these parameters to perform the position estimate.

[0171] Table 6: SL-AoD / AoA configuration parameters from LMF to UE

[0172]

[0173] The RSU ID will provide additional information in identifying which RSU will transmit the SL, while the Zone ID provides free of charge assistance information for finding the target UE 605, 705 using the V2X Zone concept where the cells are segmented into a rectangular grid based on geographical reference.

[0174] Table 7 illustrates various SL-AoD / AoA measurement reporting parameters from the UE to the LMF. Exemplary reporting parameters for the target UE 605, 705 for the SL-AoD / AoA positioning procedure are shown. If the target UE 605, 705 is not in coverage, it can signal this report to the LMF 635 as soon as it enters the network coverage area.

[0175] Table 7: SL-AoD and / or SL-AoA measurement reporting parameters from the UE to the LMF

[0176]

[0177] When the LMF 635 transmits the SL positioning configuration (or SL positioning request), it can also include the source L2 ID of the target UE 605, 705 and then transmit the destination L2 ID for the anchor UE to transmit PRS. The SL PRS resource set 622, 722 is configured per destination L2 ID. The target UE’s report to the LMF 635 includes the source L2 ID and the destination L2 ID for which the positioning request is transmitted. Furthermore, the report 640 from the target UE 605, 705 can multiplex multiple reports from multiple source / destination L2 IDs.

[0178] Embodiment 2: SL-RRM based positioning

[0179] Figure 8 FIG. 1 is a diagram illustrating an example process 800 of user equipment (“UE”) assisted SL radio resource management (“RRM”) based positioning with one or more UEs serving as reference nodes, in accordance with one or more embodiments of the present disclosure.

[0180] Example 2 describes a positioning process using the SL interface, which utilizes SL-RRM measurements to calculate the estimated location of the target UE 805. The disclosed process can also be referred to as SL-Enhanced Cell Area ID (SL-ECZID) positioning. Advantageously, various implementations of this SL positioning technique are low-complexity and do not require SL-PRS transmission, instead utilizing SL RRM measurements from sidelink signals from one or more anchored or non-anchored UEs 810, 815. In some implementations, the SL-RRM measurements are reported to the LMF 835 (in the case of UE-assisted positioning) or calculated at the target UE 805 (in the case of UE-based positioning). For certain V2X / positioning applications requiring low latency and heading accuracy, the LMF 835 or the target UE 805 can utilize and be configured to use SL positioning with RRM.

[0181] In some implementations, the target UE 805 can use, for example, Figure 8 The illustration shows existing SL-RRM measurements for unicast, multicast, or broadcast sessions, or combinations thereof. A cell identifier at the cell level can be used to locate the target UE 805, and advantageously, in the case of SL positioning, a region ID can be used to add further granularity, which complements the cell-based techniques employed in the Uu interface. In various examples, SL-RRM measurements can be used to estimate the TX-RX distance between reference nodes (i.e., UE-1 810 and UE-2 815), and thus derive the absolute position (for anchored nodes) and relative position (for non-anchored nodes) relative to each of these UEs.

[0182] In some embodiments, LMF 835 can trigger the reporting of SL-RRM measurement 820 from target UE 805. In one or more embodiments, if target UE 805 has already reported this information to serving gNB / RSU 830, LMF 835 can also request SL-RRM measurement 820 from serving gNB / RSU 830.

[0183] In various embodiments, the LMF 835 can also be configured to report multiple SL-RRM measurements from multiple anchored / non-anchored nodes.

[0184] Table 8 depicts various SL-RRM measurements 820 (also referred to as metrics) for position estimation, e.g., certain SL-RRM measurements to be reported. Other SL metrics or measurements, such as SL Reference Signal Received Quality (“RSRQ”) and Signal to Interference and Noise Ratio (“SINR”) can also be utilized in certain embodiments. Certain SL RRM measurements 820 are shown in Table 8, which the LMF 835 or the target UE 805 or both can use to implement a received signal strength dependent TX-RX distance estimation algorithm, which can not provide the best accuracy when compared to timing based positioning techniques, but is less complex. In some embodiments, the SL RRM measurements 820 are reported per source-UE’s SL TRP ID / SL PRS ID / SL PRS Resource Set ID to facilitate associating the correct measurements with the correct source.

[0185] Table 8: SL-RRM metrics for position estimation

[0186]

[0187] Various embodiments of embodiment 2 disclose a low complexity SL-ECZID (SL-RRM based) positioning technique that relies on existing SL measurements to find the target UE 805. In certain embodiments, the SL-RRM measurements 820 to be reported can originate from multiple SL TRPs from multiple anchor UEs or non-anchor UEs for absolute and / or relative position estimation.

[0188] Embodiment 3: SL positioning capability exchange signaling

[0189] Figure 9 An example of a signaling procedure 900 between a target UE 905 and a location server (LMF) 910 is depicted. Prior to performing SL positioning, the LMF 910 can exchange capability signaling with the target UE 905, which inquires whether the target UE 905 to be found has the required UE features necessary to perform SL-AoD / AoA or SL-ECZID positioning. For example, in some embodiments, the target UE 905 receives 915 a request from a sidelink configuration source, such as the LMF 910, to provide capability information related to SL AoD and / or SL AoA positioning, and in response, the target UE 905 transmits 920 the requested capability information related to SL AoD and / or SL AoA, angle-based positioning, to the sidelink configuration source.

[0190] Figure 10An example of a signaling procedure 1000 between a target UE 1005 and an LMF 1010 is depicted. The target UE 1005 can also request positioning assistance data information for performing SL-AoD / AoA or SL-ECZID positioning. For example, in certain implementations, the target UE 1005 transmits 1015 a request for assistance data information related to SL AoD and / or SL AoA positioning to a sidelink configuration source, such as the LMF 1010, and the target UE 1005 receives 1020 the requested assistance data information related to SL AoD and / or SL AoA, angle-based positioning from the sidelink configuration source (e.g., LMF 1010). In some embodiments, an entity other than an LMF, such as a UE, RSU, gNB, etc., can be used as a sidelink configuration source.

[0191] As one example illustration of improvements over existing systems, various implementations of Embodiment 3 include necessary capabilities and assistance data information exchange for respective SL-AoD / AoA and SL-ECZID (SL-RRM based) positioning techniques.

[0192] Figure 11 A user equipment apparatus 1100 that can be used for sidelink angle-based and SL RRM-based positioning in accordance with embodiments of the present disclosure is depicted. In various embodiments, the user equipment apparatus 1100 is used to implement one or more of the above described solutions. The user equipment apparatus 1100 can be one embodiment of the remote units 105 and / or UEs described above. Additionally, the user equipment apparatus 1100 can include a processor 1105, a memory 1110, an input device 1115, an output device 1120, and a transceiver 1125.

[0193] In some embodiments, the input device 1115 and the output device 1120 are combined into a single device, such as a touch screen. In certain embodiments, the user equipment apparatus 1100 can not include any input device 1115 and / or output device 1120. In various embodiments, the user equipment apparatus 1100 can include one or more of the processor 1105, the memory 1110, and the transceiver 1125, and can not include the input device 1115 and / or the output device 1120.

[0194] In one embodiment, the processor 1105 can include any known controller capable of executing computer-readable instructions and / or capable of performing logical operations. For example, the processor 1105 can be a microcontroller, a microprocessor, a central processing unit (“CPU”), a graphics processing unit (“GPU”), an auxiliary processing unit, a field programmable gate array (“FPGA”), or similar programmable controller. In some embodiments, the processor 1105 executes instructions stored in the memory 1110 to perform methods and routines described herein. The processor 1105 is communicatively coupled to the memory 1110, the input device 1115, the output device 1120, and the transceiver 1125.

[0195] In various embodiments, the processor 1105 controls the user equipment apparatus 1100 to implement UE behavior in accordance with one or more of the above-described embodiments.

[0196] In one embodiment, the memory 1110 is a computer readable storage medium. In some embodiments, the memory 1110 includes both volatile and nonvolatile computer storage media. For example, the memory 1110 can include both a RAM (including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and / or static RAM (“SRAM”)), and non-volatile memory (NVM). In some embodiments, the memory 1110 includes mass storage for storing data and / or instructions. This mass storage can include, for example, flash memory, solid-state memory, a hard disk, or any other suitable nonvolatile, computer storage media.

[0197] In some embodiments, the memory 1110 stores data relating to sidelink angle-based and SL RRM-based positioning. For example, the memory 1110 can store various parameters, configurations, policies, and the like as described above. In certain embodiments, the memory 1110 also stores program code and related data, such as an operating system or other controller algorithms operating on the apparatus 1100.

[0198] In one embodiment, the input device 1115 can include any known computer input device including a touch panel, buttons, a keyboard, a pen, a microphone, etc. In some embodiments, the input device 1115 can be integrated with the output device 1120, for example, as a touch screen or similar touch-sensitive display. In some embodiments, the input device 1115 includes a touch screen such that text can be input using a virtual keyboard displayed on the touch screen and / or by handwriting on the touch screen. In some embodiments, the input device 1115 includes two or more different devices, such as a keyboard and a touch panel.

[0199] In one embodiment, output device 1120 is designed to output visual, audible, and / or tactile signals. In some embodiments, output device 1120 includes an electronically controllable display or display device capable of outputting visual data to a user. For example, output device 1120 can include, but is not limited to, a liquid crystal display (“LCD”), a light emitting diode (“LED”) display, an organic LED (“OLED”) display, a projector, or similar display device capable of outputting images, text, etc., to a user. As another, non limiting, example, output device 1120 can include a wearable display separate from, but communicatively coupled to, the rest of user equipment apparatus 1100, such as a smartwatch, smartglasses, a heads-up display, etc. Further, output device 1120 can be a component of a smart phone, a personal digital assistant, a television, a table computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, etc.

[0200] In certain embodiments, output device 1120 includes one or more speakers for producing sound. For example, output device 1120 can produce an audible alert or notification (e.g., a beep or chime). In some embodiments, output device 1120 includes one or more haptic devices for producing vibrations, motion, or other haptic feedback. In some embodiments, all or portions of output device 1120 can be integrated with input device 1115. For example, input device 1115 and output device 1120 can form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1120 can be located near input device 1115.

[0201] Transceiver 1125 communicates with one or more network functions of a mobile communication network via one or more access networks. Transceiver 1125 operates under the control of processor 1105 to transmit and to receive messages, data, and other signals. For example, processor 1105 can selectively activate transceiver 1125 (or portions thereof) at particular times in order to send and receive messages.

[0202] Transceiver 1125 includes at least transmitter 1130 and at least one receiver 1135. The one or more transmitters 1130 can be used to provide UL communication signals to base unit 121, such as the UL transmissions described herein. Similarly, the one or more receivers 1135 can be used to receive DL communication signals from base unit 121, as described herein. Although only one transmitter 1130 and one receiver 1135 are illustrated, user equipment apparatus 1100 can have any suitable number of transmitters 1130 and receivers 1135. Further, transmitter(s) 1130 and receiver(s) 1135 can be any suitable type of transmitters and receivers.

[0203] In one embodiment, the transceiver 1125 includes a first transmitter / receiver pair for communicating with a mobile communication network over licensed radio spectrum and a second transmitter / receiver pair for communicating with a mobile communication network over unlicensed radio spectrum. In certain embodiments, the first transmitter / receiver pair for communicating with a mobile communication network over licensed radio spectrum and the second transmitter / receiver pair for communicating with a mobile communication network over unlicensed radio spectrum can be combined into a single transceiver unit, e.g., a single chip that performs functions for both licensed and unlicensed radio spectrum. In some embodiments, the first transmitter / receiver pair and the second transmitter / receiver pair can share one or more hardware components. For example, certain transceivers 1125, transmitters 1130, and receivers 1135 can be implemented as physically separate components that access shared hardware and / or software resources, such as, for example, the network interface 1140.

[0204] In various embodiments, one or more transmitters 1130 and / or one or more receivers 1135 can be implemented and / or integrated into a single hardware component, such as a multi-transceiver chip, a system-on-a-chip, an ASIC, or other type of hardware component. In certain embodiments, one or more transmitters 1130 and / or one or more receivers 1135 can be implemented and / or integrated into a multi-chip module. In some embodiments, other components such as the network interface 1140 or other hardware components / circuitry can be integrated with any number of transmitters 1130 and / or receivers 1135 into a single chip. In such embodiments, the transmitters 1130 and receivers 1135 can be logically configured as a transceiver 1125 that uses one or more common control signals or as modular transmitters 1130 and receivers 1135 that are implemented in the same hardware chip or in a multi-chip module.

[0205] Figure 12A network equipment apparatus 1200 that can be used for sidelink angle-based and SL RRM-based positioning in accordance with embodiments of the disclosure is depicted. The network equipment apparatus 1200 can be one embodiment of the base station units 121, RAN nodes, AMFs, and / or location servers described above. Additionally, the base station network equipment apparatus 1200 can include a processor 1205, a memory 1210, an input device 1215, an output device 1220, and a transceiver 1225. In some embodiments, the input device 1215 and the output device 1220 are combined into a single device, such as a touch screen. In certain embodiments, the network equipment apparatus 1200 can not include any input device 1215 and / or output device 1220. In various embodiments, the network equipment apparatus 1200 can include one or more of: the processor 1205, the memory 1210, and the transceiver 1225, and can not include the input device 1215 and / or the output device 1220.

[0206] In one embodiment, the processor 1205 can include any known controller capable of executing computer-readable instructions and / or capable of performing logical operations. For example, the processor 1205 can be a microcontroller, a microprocessor, a CPU, a GPU, an auxiliary processor, a FPGA, or similar programmable controller. In some embodiments, the processor 1205 executes instructions stored in the memory 1210 to perform methods and routines described herein. The processor 1205 is communicatively coupled to the memory 1210, the input device 1215, the output device 1220, and the transceiver 1225.

[0207] In various embodiments, the network equipment apparatus 1200 is a RAN node. Here, the processor 1205 controls the network equipment apparatus 1200 to perform the gNB / RAN behavior described herein.

[0208] In various embodiments, the network equipment apparatus 1200 is an AMF. Here, the processor 1205 controls the network equipment apparatus 1200 to perform the AMF behavior described herein.

[0209] In various embodiments, the network equipment apparatus 1200 is a location server. Here, the processor 1205 controls the network equipment apparatus 1200 to perform the location server behavior described herein.

[0210] In one embodiment, the storage 1210 is a computer readable storage medium. In some embodiments, the storage 1210 includes both volatile and nonvolatile computer storage media. For example, the storage 1210 can include both dynamic random access memory (DRAM) and non-volatile memory (NVM). In some embodiments, the storage 1210 includes volatile and / or nonvolatile computer storage media.

[0211] In some embodiments, the storage 1210 stores data relating to sidelink angle-based and SL RRM-based positioning. For example, the storage 1210 can store various parameters, configurations, policies, and the like, as described above. In certain embodiments, the storage 1210 also stores program code and related data, such as an operating system or other controller algorithms operating on the network equipment apparatus 1200.

[0212] In one embodiment, the input device 1215 can include any known computer input device including a touch panel, a button, a keyboard, a pen, a microphone, or the like. In some embodiments, the input device 1215 can be integrated with the output device 1220, for example, as a touch screen or similar touch-sensitive display. In some embodiments, the input device 1215 includes a touch screen such that text can be input using a virtual keyboard displayed on the touch screen and / or by handwriting on the touch screen. In some embodiments, the input device 1215 includes two or more different devices, such as a keyboard and a touch panel.

[0213] In one embodiment, the output device 1220 is designed to output visual, audible, and / or tactile signals. In some embodiments, the output device 1220 includes an electronically controlled display or display device capable of outputting visual data to a user. For example, the output device 1220 can include, but is not limited to, an LCD display, a LED display, an OLED display, a projector, or similar display device capable of outputting images, text, etc., to a user. As another non-limiting example, the output device 1220 can include a wearable display separate from, but communicatively coupled to, the remainder of the network equipment apparatus 1200, such as a smart watch, smart glasses, a heads-up display, etc. Further, the output device 1220 can be a component of a smart phone, a personal digital assistant, a television, a table computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, etc.

[0214] In certain embodiments, output device 1220 includes one or more speakers for producing sound. For example, output device 1220 can produce an audible alert or notification (e.g., a beep or chime). In some embodiments, output device 1220 includes one or more haptic devices for producing vibrations, motion, or other haptic feedback. In some embodiments, all or portions of output device 1220 can be integrated with input device 1215. For example, input device 1215 and output device 1220 can form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1220 can be located proximate to input device 1215.

[0215] Transceiver 1225 includes at least one transmitter 1230 and at least one receiver 1235. One or more transmitters 1230 can be used to communicate with UEs, as described herein. Similarly, one or more receivers 1235 can be used to communicate with network functions in a PLMN and / or RAN, as described herein. Although only one transmitter 1230 and one receiver 1235 are illustrated, network device apparatus 1200 can have any suitable number of transmitters 1230 and receivers 1235. Further, transmitter(s) 1230 and receiver(s) 1235 can be any suitable type of transmitters and receivers.

[0216] In various embodiments, one or more transmitters 1230 and / or one or more receivers 1235 can be implemented and / or integrated into a single hardware component, such as a multi- transceiver chip, a system-on-a-chip, an ASIC, or other type of hardware component. In certain embodiments, one or more transmitters 1230 and / or one or more receivers 1235 can be implemented and / or integrated into a multi-chip module. In some embodiments, other components, such as network interface 1240 or other hardware components / circuitry, can be integrated with any number of transmitters 1230 and / or receivers 1235 into a single chip. In such embodiments, transmitters 1230 and receivers 1235 can be logically configured as a transceiver 1225 using one or more common control signals or as modular transmitters 1230 and receivers 1235 implemented in the same hardware chip or multi-chip module.

[0217] Figure 13One embodiment of a method 1300 for sidelink angle-based positioning in accordance with one or more embodiments of the present disclosure is depicted. In various embodiments, the method 1300 is performed by at least one target UE, target user equipment (UE), at least one reference node, in a communication network including a base station, and an LMF, which can be implemented in a location server. In some embodiments, one or more reference nodes and one target UE are configured to transmit SL PRS or other SL signals through multiple SL TRPs.

[0218] In one or more examples, the method 1300 includes receiving 1305 SL PRS assistance data associated with a plurality of SL signal transmissions, such as beam transmissions, antenna panel transmissions, or a combination of the two, used as reference signal transmissions transmitted from one or more SL signal transmitting devices, such as UEs, RSUs, and the like, from a sidelink configuration source. The method 1300 continues and includes receiving 1310 a plurality of SL signal transmissions used as reference signals from the one or more SL signal transmitting devices. In some embodiments, the method 1300 continues and includes performing 1315 SL signal angle of arrival (“AoA”) measurements of the received SL reference signal transmissions, and in various embodiments, performing SL reference signal reference signal received power (“RSRP”) measurements for use in AoD or SL AoA positioning techniques or a combination thereof to determine an estimated position of the target UE.

[0219] While the method 1300 is described from the perspective of a UE, corresponding steps can be performed by other entities in the communication network, such as a location server, LMF, gNB, RSU, and the like. In some embodiments, the method 1300 is performed by one or more processors, such as a microcontroller, a microprocessor, a CPU, a GPU, an auxiliary processing unit, a FPGA, or the like.

[0220] Figure 14 An example of a method 1400 for SL RRM-based positioning in accordance with one or more embodiments of the present disclosure is depicted. In some embodiments, the method is for a location server in a communication network including at least a base station, at least one anchor / non-anchor reference node, at least one target UE to be looked up, and a location server, where the anchor reference nodes and / or non-anchor reference nodes transmit SL beam-based unicast and / or groupcast and / or broadcast signals via PSBCH, PSCCH, and / or PSSCH for providing control and / or data and / or positioning.

[0221] For example, in various embodiments, the method 1400 includes performing 1405 one or more sidelink (“SL”) radio resource management (“RRM”) measurements, such as measurements of: a physical sidelink broadcast channel (“PSBCH”) reference signal received power (“RSRP”), a physical sidelink shared channel (“PSSCH”) RSRP, a physical sidelink control channel (“PSCCH”) RSRP, a SL channel state reference signal (“CSI-RS”), a SL synchronization signal (“SLSS”), and combinations thereof. The method 1400 can include performing 1405 measurements of other SL parameters, such as a SL channel occupancy, a SL channel busy rate, or other SL measurements. The method 1400 continues and includes determining 1410 an estimated location of the target UE based on the selected SL-RRM measurements. In certain implementations, in response to being configured for SL range-based positioning with UE assistance, the method includes reporting the selected RRM measurements to an LMF that is configured to estimate a location of the target UE based on the reported RRM measurements.

[0222] The method 1400 begins with a location server configuring 1405 a target UE to report SL-RRM metrics, if configured with SL-RRM based (SL-ECZID) positioning techniques. The method 1400 continues and the location server processes 1410 SL-RRM measurements from the target UE to compute an absolute location and / or a relative location with respect to other anchor and / or non-anchor UEs. The method 1400 ends. Although this method 1400 is depicted from the perspective of a UE, corresponding steps can be performed by other entities in the communication network, such as a location server, an LMF, a gNB, an RSU, etc. In various embodiments, the method 1400 is performed by a processor, such as a microcontroller, a microprocessor, a CPU, a GPU, an auxiliary processing unit, a FPGA, or the like.

[0223] The various actions of the method 1300 and the method 1400 can be performed by one or more devices similar to the devices shown or described in one or more examples of the present disclosure.

[0224] An apparatus for finding a target UE in a communication network using sidelink (“SL”) positioning, the apparatus comprising a target UE including a processor, a memory, and program code, the program code executable by the processor to cause the target UE to: receive, from a sidelink configuration source, a plurality of SL PRS assistance data associated with a plurality of SL signal transmissions transmitted from one or more SL signal transmitting devices, the plurality of SL signal transmissions used as reference signal transmissions, such as beam transmissions, antenna panel transmissions, or combinations thereof. The apparatus can receive SL reference signal transmissions from the one or more SL signal transmitting devices and can perform SL signal angle of arrival (“AoA”) measurements of the received SL reference signal transmissions and can perform SL reference signal received power (“RSRP”) measurements for out- departure angle (AoD) calculations mapped to the received SRSRP measurements for determining an estimated position of the target UE using SL AoD or SL AoA positioning techniques or combinations thereof.

[0225] In certain embodiments, the sidelink configuration source is selected from a road side unit (“RSU”), a location management function (“LMF”), or a UE other than the target UE, and the one or more sidelink transmitting devices are selected from the RSU and the UE other than the target UE.

[0226] In some embodiments, in response to being configured for UE-based SL angle-based positioning, the target UE determines its estimated position based on the configured SL AoA measurements and / or derived SL AoD calculations mapped to the SL RSRP measurements. In one or more embodiments, in response to being configured for UE-assisted SL angle-based positioning, the target UE reports the SL AoA measurements and / or SL RSRP measurements to an LMF configured to estimate the position of the target UE based on the SL AoA measurements or based on derived SL AoD calculations mapped to the reported SL RSRP measurements or combinations thereof.

[0227] In various embodiments, the received SL signal transmissions comprise SL signals such as SL synchronization signals (“SLSS”), SL channel state information reference signals (SL CSI-RS), SL positioning reference signals (“SL PRS”), and combinations thereof. In some embodiments, the target UE is configured with a set of IDs selected from: a RSU ID configured to uniquely identify SL reference signal resources to be measured and / or reported by the target UE, a source UE-ID, a destination UE-ID; a zone ID; a SL TRP ID; a SL PRS ID; and combinations thereof.

[0228] In certain embodiments, the estimated position of the target UE is computed based on the derived AoD using further spatial direction information selected from the group consisting of: azimuth, elevation, zenith, and combinations thereof corresponding to the received SL signal transmissions. In some embodiments, the estimated position of the target UE is determined for a configured SL AoA based positioning technique using measured phase differences of the SL signal transmissions received at multiple receive antenna elements of the target UE.

[0229] In various embodiments, the SL signal transmissions received by the target UE are configured and measured at multiple time instances corresponding to points along the trajectory of the target UE. In one or more embodiments, in response to being configured for UE-assisted angle-based positioning, the target UE reports SL beam indices corresponding to the multiple SL-PRS resource sets to the LMF.

[0230] Yet another apparatus for finding a communication network of a target UE includes a target UE including a processor, a memory, and program code, the program code executable by the processor to cause the target UE to perform one or more sidelink (“SL”) radio resource management (“RRM”) measurements such as measurements of: physical sidelink broadcast channel (“PSBCH”) reference signal received power (“RSRP”), physical sidelink shared channel (“PSSCH”) RSRP, physical sidelink control channel (“PSCCH”) RSRP, SL channel state reference signal (“CSI-RS”), SL synchronization signal (“SLSS”), and combinations thereof. In various embodiments, in response to being configured for UE-based SL range-based positioning, the target UE determines its estimated position based on the selected RRM measurements. In some embodiments, in response to being configured for UE-assisted SL range-based positioning, the selected RRM measurements are reported to an LMF configured to estimate the position of the target UE based on the reported RRM measurements.

[0231] In some embodiments, the target UE distinguishes the selected RRM measurements based on an identity such as a RSU ID, a source UE ID, a destination UE ID, or combinations thereof. In one or more embodiments, the granularity of the estimated position computation of the target UE is enhanced by using a zone ID corresponding to the target UE at the time of receiving the SL reference signal transmissions.

[0232] In various embodiments, the target UE performs one or more of the following actions: receiving a request from the sidelink configuration source to provide capability information related to SL AoD and / or SL AoA positioning, and in response, transmitting the requested capability information related to SL AoD and / or SL AoA, angle-based positioning to the sidelink configuration source; and transmitting a request to the sidelink configuration source for assistance data information related to SL AoD and / or SL AoA positioning, and receiving the requested assistance data information related to SL AoD and / or SL AoA, angle-based positioning from the sidelink configuration source.

[0233] In certain embodiments, the target UE performs one or more of the following actions: receiving a request from the sidelink configuration source to provide capability information related to SL RRM range-based positioning, and in response, transmitting the requested capability information related to SL RRM-based positioning to the sidelink configuration source; and transmitting a request to the sidelink configuration source for assistance data information related to SL RRM range-based positioning, and receiving the requested assistance data information related to SL RRM range-based positioning from the sidelink configuration source.

[0234] A method for sidelink-based positioning for a target UE in a communication network, the method selected from a first set of sidelink angle-based positioning techniques, which can be selected from SL AoA positioning, SL AoD positioning, or a combination thereof, and a second set of sidelink positioning techniques based on SL radio resource management (“RRM”) measurements, as a first sidelink positioning technique based on SL angle, comprises: receiving a plurality of SL PRS assistance data associated with a plurality of SL signal transmissions transmitted from one or more SL signal transmitting devices, the plurality of SL signal transmissions used as reference signal transmissions, and selected from beam transmissions, antenna panel transmissions, or a combination thereof; receiving SL reference signal transmissions from the one or more SL signal transmitting devices; and performing configured measurements selected from: SL angle of arrival (“AoA”) measurements of the received SL reference signal transmissions for determining an estimated position of the target UE using SL AoA positioning techniques; SL reference signal received power (“RSRP”) measurements for deriving angle of departure (AoD) calculations mapped to the received SL reference signals for determining an estimated position of the target UE using SL AoD positioning techniques; and combinations thereof.

[0235] In certain embodiments, the second sidelink positioning technique based on SL RRM includes performing one or more sidelink (“SL”) radio resource management (“RRM”) measurements such as measurements of: a physical sidelink broadcast channel (“PSBCH”) reference signal received power (“RSRP”), a physical sidelink shared channel (“PSSCH”) RSRP, a physical sidelink control channel (“PSCCH”) RSRP, a SL channel state reference signal (“CSI-RS”), a SL synchronization signal (“SLSS”), and combinations thereof. The method further includes determining an estimated position of the target UE based on the selected RRM measurements.

[0236] Embodiments can be practiced in other specific forms. The described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the application is, therefore, indicated by the appended claims rather than by the foregoing description. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims

1. A user equipment ("UE") apparatus, comprising: processor; as well as A memory coupled to the processor, the memory including instructions executable by the processor to cause the UE device to: Receive from a sidelink configuration source multiple SL positioning reference signal ("SL PRS") auxiliary data associated with multiple SL signal transmissions transmitted from one or more sidelink ("SL") signal transmitting devices, which serve as reference signal transmissions and are selected from beam transmissions, antenna panel transmissions, or combinations thereof; Receive the SL reference signal transmission from the one or more SL signal transmitting devices; as well as Perform an SL signal angle of arrival ("AOA") measurement on the received SL reference signal transmission, or perform an SL reference signal RSRP measurement to derive an SL reference signal received angle ("AoD") calculation mapped to a received SL reference signal received power ("RSRP") measurement, for determining the estimated location of the UE device using SL AoD positioning technology, SL AoA positioning technology, or a combination thereof. The UE device is configured with the following set of identifiers ("IDs"): SL PRS IDs configured to uniquely identify SL reference signal resources to be measured and / or reported by the UE device.

2. The UE device according to claim 1, wherein: The side link configuration source is selected from the roadside unit ("RSU"), the location management function ("LMF"), or a UE other than the UE device; The one or more side-link transmitting devices are selected from the RSU and the UE other than the UE device, wherein: In response to being configured for UE-based SL angle-based positioning, the instructions are further executable by the processor to cause the UE device to determine its estimated position based on the configured SL AoA measurement and / or the derived SLAoD calculation mapped to the SL RSRP measurement; and In response to SL angle-based positioning configured for UE assistance, the instruction can further be executed by the processor to cause the UE device to report the SL AoA measurement and / or the SL RSRP measurement to the LMF.

3. The UE device according to claim 1, wherein, The received SL signal transmissions include SL signals selected from the following: SL synchronization signal ("SLSS"), SL channel state information reference signal ("SL CSI-RS"), SL PRS, or combinations thereof.

4. The UE device according to claim 2, wherein, The UE device is further configured with a set of identifiers ("IDs") selected from the following: RSU ID, source UE-ID, destination UE-ID, area ID, SL transmit / receive point ("TRP") ID, or combinations thereof, configured to uniquely identify SL reference signal resources to be measured and / or reported by the UE device.

5. The UE device according to claim 2, wherein, The estimated position of the UE device is based on an AoD calculation derived using further spatial orientation information selected from the following: azimuth, elevation, zenith, or a combination thereof, corresponding to the received SL signal transmission.

6. The UE device according to claim 1, wherein, The estimated position of the UE device is determined using the measured phase difference of the SL signal transmission received at multiple receiving antenna elements of the UE device for a configured SL AoA-based positioning technique.

7. The UE device according to claim 1, wherein, The SL signal transmission received by the UE device is configured and measured at multiple time instances corresponding to points along the trajectory of the UE device.

8. The UE device according to claim 1, wherein, In response to angle-based positioning configured for UE assistance, the UE device reports SL beam indices corresponding to multiple SL-PRS resource sets to the location management function ("LMF").

9. A method for performing sidelink-based localization of a target user equipment ("UE") in a communication network, the method being selected from a first set of localization techniques based on sidelink ("SL") angles and a second set of sidelink localization techniques based on SL radio resource management ("SLRRM") measurements, wherein the sidelink-based angle localization techniques are selected from SL angle of arrival (AoA) localization, SL angle of departure (AoD) localization, or a combination thereof, wherein: First-side link localization technologies based on the SL angle include: Receive multiple SL positioning reference signals ("SL PRS") auxiliary data associated with multiple SL signal transmissions transmitted from one or more SL signal transmitting devices, which are used as reference signal transmissions and are selected from beam transmissions, antenna panel transmissions, or combinations thereof; Receive the SL reference signal transmission from the one or more SL signal transmitting devices; Perform measurements selected from the following configurations: The received SL reference signal transmission of SL AoA measurement is used to determine the estimated location of the target UE using SL AoA positioning technology; The SL Reference Signal Received Power ("RSRP") measurement is used to derive the AoD calculation mapped to the received SL reference signal transmission, and is used to determine the estimated location of the target UE using SL AoD positioning technology; or combinations thereof, The target UE is configured with the following set of identifiers ("IDs"): SL PRS IDs configured to uniquely identify SL reference signal resources to be measured and / or reported by the target UE.

10. The method of claim 9, wherein, Second-side link localization technologies based on SL RRM include: Perform one or more sidelink ("SL") radio resource management ("RRM") measurements selected from the following: Physical Sidelink Broadcast Channel ("PSBCH") Reference Signal Received Power ("RSRP"), Physical Sidelink Shared Channel ("PSSCH") RSPR, Physical Sidelink Control Channel ("PSCCH") RSRP, SL Channel State Reference Signal ("CSI-RS"), SL Synchronization Signal ("SLSS"), or a combination thereof; and The estimated location of the target UE is determined based on the selected RRM measurement.

11. The method of claim 10, wherein, The target UE distinguishes the selected RRM measurement based on an identifier selected from the following: Roadside Unit ("RSU") identifier ("ID"), source UE ID, destination UE ID, or a combination thereof.

12. The method according to claim 9, wherein, The received SL signal transmissions include SL signals selected from the following: SL synchronization signal ("SLSS"), SL channel state information reference signal ("SL CSI-RS"), SL PRS, or combinations thereof.

13. The method according to claim 9, in, The estimated position of the target UE is based on an AoD calculation derived using further spatial orientation information selected from: azimuth, elevation, zenith, or a combination thereof, corresponding to the received SL signal transmission; and Specifically, the estimated position of the target UE is determined using the measured phase difference of the SL signal transmission received at multiple receiving antenna elements of the target UE for a configured SL AoA-based positioning technology.

14. The method according to claim 9, wherein, The SL signal transmission received by the target UE is configured and measured at multiple time instances corresponding to points along the trajectory of the target UE.

15. The method according to claim 9, wherein, In response to angle-based positioning configured for UE assistance, the target UE reports SL beam indices corresponding to multiple SL-PRS resource sets to the location management function ("LMF").

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