Sidelink timing-based positioning

Abstract

One example of a user equipment (“UE”) device includes a target UE configured to receive sidelink (“SL”) positioning reference signals (“SL-PRS”) from a reference node and two or more additional UEs, measure SL reference signal timing differences (“RSTDs”) between the two or more additional UEs relative to the reference node, and determine an estimated position of the target UE using a time difference of arrival (“TDOA”) positioning technique based on the SL RSTDs. Another example of a UE device includes a target UE configured to transmit SL-PRS to one or more additional UEs, receive SL positioning reference signals from the one or more additional UEs, and determine an estimated position of the target UE based on a SL round trip time (“RTT”) positioning technique using the SL-PRS transmitted and received between the target UE and the additional UEs.

Description

[0001] Cross-referencing of related applications

[0002] This application claims priority to the following applications: U.S. Provisional Patent Application No. 63 / 063,836, filed August 10, 2020, entitled "Sidelink Timing-Based Positioning Methods"; U.S. Provisional Patent Application No. 63 / 063,854, filed August 10, 2020, entitled "Sidelink Angular-based and SL RRM-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 in this article generally relate to wireless communication, and more specifically to sidelink timing-based positioning methods. Background Technology

[0004] In some wireless communication systems, Radio Access Technology (“RAT”) related positioning using 3GPP New Radio (“NR”) technology has recently been supported in Release 16 of the 3GPP specification. Positioning features include: fifth-generation (“5C”) network core architecture and interface enhancements; and Radio Access Node (“RAN”) functionality supporting physical layer and Layer 2 / 3 signaling procedures to implement RAT-related positioning methods for the Uu interface in LTE and NR. However, various existing systems lack sufficient positioning features for the sidelink (“SL”) interface. Summary of the Invention

[0005] A process for performing sidelink timing-based positioning is disclosed. The process can be implemented by an apparatus, system, method, or computer program product. A user equipment (“UE”) apparatus for a communication network is disclosed, and in various embodiments includes a target UE to be located using sidelink (“SL”) timing-based positioning. The target UE includes a processor, memory, and program code that the processor can execute to cause the UE to receive SL positioning reference signal (“SL-PRS”) measurements from a reference node and two or more additional UEs, measure the SL reference signal timing difference (“RSTD”) between the two or more UEs relative to the reference node, and determine the estimated location of the target UE using SL RSTD-based time difference of arrival (“TDOA”) positioning technology.

[0006] Another UE device includes a target UE for positioning using side-link (“SL”) based on timing. The target UE includes a processor, memory, and program code executable by the processor to cause the target UE to: transmit an SL positioning reference signal (“PRS”) to one or more additional UEs; receive the SL positioning reference signal from one or more additional UEs; and measure the SL round-trip time (RTT) of the SL positioning reference signal (“PRS”) transmitted and received between the target UE and one or more additional UEs using the SL interface, wherein one or more SL UE Rx-Tx differences for determining the SL RTT are obtained by: measuring the reception timing of the SL subframe containing the PRS; measuring the difference between the transmission and reception timings of the SL subframe containing the PRS; and calculating one or more SL UE Rx-Tx timing differences.

[0007] A method for a location management function (“LMF”) in a communication network is disclosed, comprising determining an estimated location of a target UE to be located using one or more sidelink-based timing (SLT) positioning techniques selected from a first sidelink-based timing positioning technique and a second sidelink-based timing positioning technique. The first sidelink-based timing positioning technique includes: receiving a report from the target UE including a timing difference (“RSTD”) of two or more sidelink (“SL”) reference signals relative to a reference node between the target UE and two or more additional UEs, the SL RSTD being based on SL positioning reference signals (“PRS”) from the reference node and the two or more additional UEs; and using the SL RSTD to determine the estimated location of the target UE using a time difference of arrival (“TDOA”) positioning technique. The second sidelink-based timing positioning technique includes: receiving a report from the target UE including one or more SL RTT measurements between the target UE and one or more additional UEs; and using the SL-RTT positioning technique based on the UE Rx-Tx time difference measurement to determine the estimated location of the target UE. Attached Figure Description

[0008] A more detailed description of the embodiments briefly described above will be presented with reference to the specific embodiments shown in the accompanying drawings. It should be understood that these drawings depict only a few embodiments and should therefore not be considered as limiting the scope; these embodiments will be described and explained with additional specificity and detail using the drawings, in which: Figure 1 This is a schematic block diagram illustrating a wireless communication system for a side-link timing-based positioning method according to one or more embodiments of the present disclosure. Figure 2 This is a block diagram of a 5G New Radio (“NR”) protocol stack according to one or more embodiments of the present disclosure; Figure 3 This is a block diagram illustrating NR beam-based positioning according to one or more embodiments of the present disclosure; Figure 4 This is a diagram illustrating downlink (“DL”) time difference of arrival (“TDOA”) assistance data according to one or more embodiments of the present disclosure; Figure 5 This is a diagram illustrating a DL-TDOA measurement report according to one or more embodiments of the present disclosure; Figure 6 This is a diagram illustrating an example scenario with a fixed reference node and two additional UEs having sidelink SL time difference of arrival (“TDOA”) positioning for a target UE, according to one or more embodiments of this disclosure. Figure 7This is a diagram illustrating an example scenario having a mobile reference node for SL-TDOA positioning of a target UE and two additional UEs according to one or more embodiments of the present disclosure; Figure 8 This is a diagram illustrating an example scenario of using multiple beams of multiple UEs to perform round-trip time (“RTT”) positioning of a target UE according to one or more embodiments of the present disclosure; Figure 9 This is a diagram illustrating an example of capability signaling exchange for SL-TDOA and / or SL-RTT positioning according to one or more embodiments of the present disclosure; Figure 10 This is a diagram illustrating an example of assisted data signaling exchange for SL-TDOA and / or SL-RTT positioning according to one or more embodiments of the present disclosure; Figure 11 This is a block diagram illustrating a user equipment device that can be used in a sidelink timing-based positioning method according to one or more embodiments of the present disclosure; Figure 12 This is a block diagram illustrating a network device apparatus that can be used for a sidelink timing-based positioning method according to one or more embodiments of the present disclosure; Figure 13 This is a block diagram illustrating an example of a method for SL-TDOA positioning according to one or more embodiments of the present disclosure; and Figure 14 This is a block diagram illustrating an example of a method for a side-link timing-based positioning method using SL-RTT according to one or more embodiments of the present disclosure. Detailed Implementation

[0009] As those skilled in the art will understand, aspects of the embodiments can be embodied as a system, apparatus, method, or program product. Therefore, embodiments can take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware aspects.

[0010] For example, the disclosed embodiments can be implemented as hardware circuitry, including custom-designed very large-scale integration (“VLSI”) circuitry or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. The disclosed embodiments can also be implemented in programmable hardware devices such as field-programmable gate arrays, programmable array logic, programmable logic devices, etc. As another example, the disclosed embodiments may include one or more physical or logical blocks of executable code, which may, for example, be organized as objects, procedures, or functions.

[0011] Furthermore, embodiments may take the form of a program product embodied in one or more computer-readable storage devices that store machine-readable code, computer-readable code, and / or program code, hereinafter referred to as code. The storage device may be tangible, non-transitory, and / or non-transferable. The storage device may not embody signals. In one embodiment, the storage device uses only signals for accessing the code.

[0012] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable storage medium. A computer-readable storage medium may be a storage device for storing code. A storage device may be, for example, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, holographic, micromechanical, or semiconductor systems, apparatuses, or devices, or any suitable combination thereof.

[0013] More specific examples of storage devices (a non-exhaustive list) will include the following: electrical connections having one or more wires, portable computer floppy disks, hard disks, random access memory (“RAM”), read-only memory (“ROM”), erasable programmable read-only memory (“EPROM” or flash memory), portable compact disc read-only memory (“CD-ROM”), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium can be any tangible medium capable of containing or storing a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0014] The code used to perform the operations of the embodiments can be any number of lines and can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Python, Ruby, Java, Smalltalk, C++, and traditional procedural programming languages ​​such as the "C" programming language, and / or machine languages ​​such as assembly language. The code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer via any type of network, including a local area network ("LAN") or a wide area network ("WAN"), or it can be connected to an external computer (e.g., via the Internet provided by an Internet service provider).

[0015] Furthermore, the features, structures, or characteristics described in the embodiments can be combined in any suitable manner. Numerous specific details, such as examples of programming, software modules, user selection, network transactions, database queries, database structures, hardware modules, hardware circuits, hardware chips, etc., are provided in the following description to provide a thorough understanding of the embodiments. However, those skilled in the art will recognize that the embodiments can be practiced without one or more of these specific details, or using other methods, components, materials, etc. In other instances, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring aspects of the embodiments.

[0016] Throughout this specification, references to "an embodiment," "embodiment," or similar language mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Therefore, unless expressly stated otherwise, the phrases "in an embodiment," "in an embodiment," and similar language throughout this specification may, but do not necessarily, refer to the same embodiment, but rather mean "one or more, but not all, embodiments." Unless expressly stated otherwise, the terms "comprising," "including," "having," and variations thereof mean "including, but not limited to,". Unless expressly stated otherwise, the list of enumerated items does not imply that any or all items are mutually exclusive. Unless expressly stated otherwise, the terms "an," "a," and "the" also mean "one or more".

[0017] As used herein, a list containing the conjunction “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 term “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 term “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, “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 in this article, “selecting members of a group consisting of A, B, and C and their combinations” includes only A, only B, only C, combinations of A and B, combinations of B and C, combinations of A and C, or combinations of A, B, and C.

[0018] The aspects of the embodiments are described below with reference to schematic flowcharts and / or schematic block diagrams of methods, apparatus, systems, and program products according to the embodiments. It will be understood that individual blocks in the schematic flowcharts and / or schematic block diagrams, as well as combinations of blocks in the schematic flowcharts and / or schematic block diagrams, can be implemented by code. This code can be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to generate a machine, such that instructions executable by the processor of the computer or other programmable data processing apparatus create means for implementing the functions / actions specified in the flowcharts and / or block diagrams.

[0019] The code can also be stored in a storage device that can instruct a computer, other programmable data processing device or other device to operate in a particular manner, such that the instructions stored in the storage device produce an article of art including instructions that implement the functions / actions specified in the flowchart and / or block diagram.

[0020] The code may also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device, thereby producing a computer-implemented process, such that the code executing on the computer or other programmable apparatus provides a process for implementing the functions / actions specified in the flowchart and / or block diagram.

[0021] The flowcharts and / or block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and program products according to various embodiments. In this regard, each block in the flowcharts and / or block diagrams may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function.

[0022] It should also be noted that in some alternative implementations, the functions marked in the boxes may not appear in the order shown in the figure. For example, depending on the functions involved, two boxes shown consecutively may actually be executed substantially simultaneously, or these boxes may sometimes be executed in reverse order. Other steps and methods that are equivalent in function, logic, or effect to one or more boxes or portions thereof shown in the figure can be contemplated.

[0023] While various arrow and line types may be used in flowcharts and / or block diagrams, they are not to be construed as limiting the scope of the corresponding embodiments. In fact, some arrows or other connectors may be used to indicate only the logical flow of the depicted embodiment. For example, an arrow may indicate a waiting or monitoring period of unspecified duration between enumerated steps of a depicted embodiment. It will also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented by a system based on dedicated hardware or a combination of dedicated hardware and code that performs the specified function or action.

[0024] The description of the elements in each figure can be referenced to the elements in the preceding figures. In all figures, the same reference numerals refer to the same elements, including alternative embodiments of the same elements.

[0025] General Overview

[0026] Generally, this disclosure describes systems, methods, and apparatuses for timing-based localization of sidelinks. More specifically, this disclosure discloses, for example, an improved signaling and measurement framework for NR, for achieving sidelink localization using timing-based SL-TDOA and SL-RTT RAT-dependent and RAT-independent localization techniques.

[0027] Radio access technology (“RAT”) related positioning methods, 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 3rd Generation Partnership Project (“3GPP”) New Radio (“NR”). Similarly, these positioning technologies show great potential for application in sidelinks, although no specific methods for implementing such implementations are currently available in 3GPP. Furthermore, aspects of sidelink positioning that should be beneficially addressed may include identifying use cases and requirements for sidelink positioning that may not be applicable to sidelinks in existing systems, for example, in potential operational scenarios and design considerations in the themes of vehicle-to-everything (“V2X”), public safety, commercial services, and network coverage, including: conditions within and outside coverage; candidate frequency bands; UE use cases and deployments; RAT-related and RAT-independent positioning and hybrid positioning; sidelink positioning based on mobility (performed by the UE) and mobility assistance (performed at least partially by the LMF); absolute and relative positioning; and architecture.

[0028] Another feature of SL positioning is its ability to achieve relative positioning, which can be beneficial for position estimation in moving vehicle scenarios. For example, relative positioning is a performance requirement for horizontal accuracy of devices in Industrial Internet of Things (“IIoT”) environments, where flexible and modular assembly areas are needed in smart factory environments.

[0029] This disclosure aims to address the lack of functionality in cellular V2X (“C-V2X”) positioning by developing a time-based mechanism to perform SL positioning. The proposed SL positioning technique is designed to provide high accuracy based on the scene and radio environment.

[0030] Figure 1A wireless communication system 100 for performing sidelink-based timing positioning according to 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 the mobile core network 140 form a mobile communication network. The RAN 120 may consist of a basic unit 121 to which the remote unit 105 communicates using a wireless communication link 115. Even in Figure 1 The document depicts a specific number of remote units 105, basic units 121, wireless communication links 115, RAN 120, and mobile core network 140, but those skilled in the art will recognize that the wireless communication system 100 may include any number of remote units 105, basic units 121, wireless communication links 115, RAN 120, and mobile core network 140.

[0031] In one implementation, RAN 120 conforms to a 5G system as specified in the 3rd Generation Partnership Project (“3GPP”) specifications. For example, RAN 120 may 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, RAN 120 may include a non-3GPP RAT (e.g., Wi-Fi® or IEEE 802.11 series compliant WLAN). In yet another implementation, RAN 120 conforms to an LTE system as specified in the 3GPP specifications. However, more generally, wireless communication system 100 may implement some other open or proprietary communication network, such as Global Microwave Access Interoperability (“WiMAX”) or the IEEE 802.16 series of standards and other networks. This disclosure is not intended to limit implementation to any particular wireless communication system architecture or protocol.

[0032] In one embodiment, remote unit 105 may include computing devices such as desktop computers, laptop computers, personal digital assistants (“PDAs”), tablet computers, smartphones, smart TVs (e.g., TVs connected to the Internet), smart appliances (e.g., appliances connected to the Internet), set-top boxes, game consoles, security systems (including security cameras), in-vehicle computers, network devices (e.g., routers, switches, modems), etc. In some embodiments, remote unit 105 includes wearable devices such as smartwatches, fitness bands, optical head-mounted displays, etc. Furthermore, remote unit 105 may be referred to as UE, subscriber unit, mobile device, mobile station, user, terminal, mobile terminal, fixed terminal, subscriber station, user terminal, wireless transmit / receive unit (“WTRU”), device, or other terms used in the art. In various embodiments, remote unit 105 includes a subscriber identity and / or identification module (“SIM”) and a mobile device (“ME”) that provides mobile terminal functions (e.g., radio transmission, handover, voice encoding and decoding, error detection and correction, signaling, and SIM access). In some embodiments, the remote unit 105 may include a terminal device (“TE”) and / or be embedded in an appliance or device (e.g., a computing device as described above).

[0033] Remote unit 105 can communicate directly with one or more basic units 121 in RAN 120 via uplink (“UL”) and downlink (“DL”) communication signals. Alternatively, UL and DL communication signals can be carried via wireless communication link 115. Here, RAN 120 is an intermediate network providing access to mobile core network 140 for remote unit 105. As described in more detail below, basic unit 121 can provide cells operating using a first frequency range and / or cells operating using a second frequency range.

[0034] In some embodiments, remote unit 105 communicates with application server 151 via a network connection to mobile core network 140. For example, an application 107 in remote unit 105 (e.g., a web browser, media client, telephone, and / or Voice over Internet Protocol (“VoIP”) application) can trigger remote unit 105 to establish a Protocol Data Unit (“PDU”) session (or other data connection) with mobile core network 140 via RAN 120. Mobile core network 140 then uses the PDU session to relay services between remote unit 105 and application server 151 in packet data network 150. The PDU session represents a logical connection between remote unit 105 and user plane function (“UPF”) 141.

[0035] To establish a PDU session (or PDN connection), remote unit 105 must register with mobile core network 140 (also referred to as "attached to mobile core network" in the context of fourth-generation ("4G") systems). Note that remote unit 105 may establish one or more PDU sessions (or other data connections) with mobile core network 140. Therefore, remote unit 105 may have at least one PDU session for communicating with packet data network 150. Remote unit 105 may establish additional PDU sessions for communicating with other data networks and / or other communication peers.

[0036] In the context of a 5G system (“5GS”), the term “PDU session” refers to a data connection that provides an end-to-end (“E2E”) user plane (“UP”) connection between a remote unit 105 and a specific data network (“DN”) via UPF 141. A PDU session supports one or more Quality of Service (“QoS”) streams. In some embodiments, there may be a one-to-one mapping between QoS streams and QoS profiles, such that all packets belonging to a particular QoS stream have the same 5G QoS identifier (“5QI”).

[0037] In the context of 4G / LTE systems such as Evolved Packet System (“EPS”), a Packet Data Network (“PDN”) connection (also known as an EPS session) provides an end-to-end (E2E) connection between a remote unit and the PDN. The PDN connection procedure establishes an EPS bearer, i.e., a tunnel between the remote unit 105 in the mobile core network 140 and the packet gateway (“PGW”, not shown). In some embodiments, a one-to-one mapping exists between the EPS bearer and the QoS profile, such that all packets belonging to a particular EPS bearer have the same QoS class identifier (“QCI”).

[0038] Basic unit 121 may be distributed across a geographical area. In some embodiments, basic unit 121 may also be referred to as an access terminal, access point, basic, base station, Node-B (“NB”), evolved Node B (abbreviated as eNodeB or “eNB”, also known as an evolved universal terrestrial radio access network (“E-UTRAN”) node B), 5G / NR node B (“gNB”), home node B, relay node, RAN node, or any other term used in the art. Basic unit 121 is typically part of a RAN such as RAN 120, which may include one or more controllers communicatively coupled to one or more corresponding basic units 121. These and other elements of the radio access network are not illustrated but are well known to those skilled in the art. Basic unit 121 is connected to mobile core network 140 via RAN 120.

[0039] Basic unit 121 can provide services to multiple remote units 105 within a service area, such as a cell or cell sector, via wireless communication link 115. Basic unit 121 can communicate directly with one or more of the remote units 105 via communication signals. Typically, basic unit 121 transmits DL communication signals to serve the remote units 105 in the time, frequency, and / or spatial domains. Furthermore, DL communication signals can be carried via wireless communication link 115. Wireless communication link 115 can be any suitable carrier in licensed or unlicensed radio spectrum. Wireless communication link 115 facilitates communication between one or more remote units 105 and / or one or more basic units 121. Note that during NR operation on unlicensed spectrum (referred to as "NR-U"), basic unit 121 and remote units 105 communicate via unlicensed (i.e., shared) radio spectrum.

[0040] In one embodiment, the mobile core network 140 is a 5GC or Evolved Packet Core (“EPC”), which may be coupled to a packet data network 150, such as the Internet and private data networks, as well as other data networks. The remote unit 105 may have a subscription or other account to the mobile core network 140. In various embodiments, each mobile core network 140 belongs to a single mobile network operator (“MNO”). This disclosure is not intended to limit implementation to any particular wireless communication system architecture or protocol.

[0041] Mobile core network 140 includes several network functions (“NFs”). As shown, mobile core network 140 includes at least one UPF 141. Mobile core network 140 also includes multiple control plane (“CP”) functions, including but not limited to Access and Mobility Management Functions (“AMF”) 143, Session Management Functions (“SMF”) 145, Location Management Functions (“LMF”) 147, Unified Data Management Functions (“UDM”), and User Data Repository (“UDR”) serving RAN 120. Although Figure 1 A specific number and type of network functions are described, but those skilled in the art will recognize that any number and type of network functions can be included in the mobile core network 140.

[0042] UPF 141 is responsible for external PDU sessions, packet routing and forwarding, packet inspection, and QoS handling for interconnecting the data network (DN) in the 5G architecture. AMF 143 is responsible for NAS signaling termination, NAS encryption and integrity protection, registration management, connection management, mobility management, access authentication and authorization, and security context management. SMF 145 is responsible for session management (i.e., session establishment, modification, and release), remote unit (i.e., UE) IP address allocation and management, DL data notification, and traffic bootstrapping configuration of UPF 141 for appropriate traffic routing.

[0043] LMF 147 receives measurements (e.g., via AMF 143) from RAN 120 and remote unit 105 and calculates the location of remote unit 105. UDM is responsible for generating authentication and key protocol (“AKA”) credentials, handling user identification, granting access, and managing subscriptions. UDR is a repository of subscriber information that can be used to provide services for multiple network functions. For example, UDR may store subscription data, policy-related data, subscriber-related data that can be exposed to third-party applications, etc. In some embodiments, UDM and UDR are co-located and depicted as a combined entity “UDM / UDR” 149.

[0044] In various embodiments, the mobile core network 140 may also include a Policy Control Function (“PCF”) 144 (which provides policy rules to the CP function), a Network Repository Function (“NRF”) (which provides network function (“NF”) service registration and discovery, enabling NFs to identify appropriate services to each other and communicate with each other via an application programming interface (“API”), a Network Exposure Function (“NEF”) (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 may act as an authentication server and / or authentication proxy, thereby allowing the AMF 143 to authenticate remote unit 105. In some embodiments, the mobile core network 140 may include an Authentication, Authorization, and Accounting (“AAA”) server.

[0045] In various embodiments, the mobile core network 140 supports different types of mobile data connections and different types of network slices, wherein each mobile data connection utilizes a specific network slice. Here, a "network slice" refers to a portion of the mobile core network 140 optimized for a specific traffic type or communication service. For example, one or more network slices may be optimized for enhanced mobile broadband ("eMBB") service. As another example, one or more network slices may be optimized for ultra-reliable low-latency communication ("URLLC") service. In other examples, network slices may be optimized for machine-type communication ("MTC") service, massive MTC ("mMTC") service, and Internet of Things ("IoT") service. In yet another example, network slices may be deployed for specific application services, vertical services, specific use cases, etc.

[0046] Network slice instances can be identified by a single network slice selection assistance information (“S-NSSAI”), while the set of network slices authorized for use by remote unit 105 is identified by network slice selection assistance information (“NSSAI”). Here, “NSSAI” refers to a vector value including one or more S-NSSAI values. In some embodiments, various network slices may include individual instances of network functions, such as SMF 145 and UPF 141. In some embodiments, different network slices may share some common network functions, such as AMF 143. For ease of illustration, Figure 1 Different network slices are not shown, but it is assumed that they are supported.

[0047] As discussed in more detail below, remote unit 105 receives measurement configuration 125 from the network (e.g., from LMF 147 via RAN 120). In various embodiments, remote unit 105 performs location measurements, as described in more detail below, and sends location report 127 to LMF 147 for use in performing certain steps of location calculations. In some embodiments (e.g., where a location server is not immediately available), the target UE is configured to perform sidelink positioning locally.

[0048] Although Figure 1 The components of the 5G RAN and 5G core network are described, but the embodiments described for performing sidelink timing-based positioning are applicable to other types of communication networks and RATs, including IEEE 802.11 variants, Global System for Mobile Communications (“GSM”, i.e., 2G digital cellular networks), General Packet Radio Service (“GPRS”), General Mobile Telecommunications System (“UMTS”), LTE variants, CDMA 2000, Bluetooth, ZigBee, Sigfox, etc.

[0049] Furthermore, in the LTE variant of the EPC where the mobile core network 140 is the network function described, the network functions can be replaced by appropriate EPC entities such as the Mobility Management Entity (“MME”), Serving Gateway (“SGW”), PGW, Home Subscriber Server (“HSS”), etc. For example, AMF 143 can be mapped to the MME, SMF 145 can be mapped to the control plane portion of the PGW and / or the MME, UPF 141 can be mapped to the SGW and the user plane portion of the PGW, UDM / UDR 149 can be mapped to the HSS, etc.

[0050] In the following description, the term "RAN node" is used for a base station, but it can be replaced by any other radio access node such as a gNB, ng-eNB, eNB, base station ("BS"), access point ("AP"), etc. Furthermore, these operations are described primarily in the context of 5G NR. However, the proposed solution / method is equally applicable to other mobile communication systems that support timing-based positioning of sidelinks.

[0051] Table 1 lists various positioning performance requirements for different scenarios in IIoT or indoor factory environments. For IIoT in version 17 (“Rel-17”), some positioning requirements are particularly stringent in terms of accuracy, latency, and reliability.

[0052] The apparatus, methods, and systems disclosed herein are designed to enable sidelink timing-based positioning with high accuracy, low latency, and high reliability.

[0053] Table 1: IIoT Positioning Performance Requirements

[0054] This disclosure describes a mechanism for performing sidelink-based timing-based positioning. Advantageously, time-difference-based measurement and location estimation facilitates high resolution for the target UE in terms of accuracy. Furthermore, configuring TDoA measurement and location estimation to enable both anchored and non-anchored UEs helps achieve high-precision positioning in out-of-coverage scenarios, which may be particularly beneficial for public safety and V2X scenarios.

[0055] 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 calculation using multiple beams between multiple pairs of UEs in a side link. The disclosed RTT measurements for TX-RX distance calculation can be easily configured without network assistance and can be applied to Mode 2 SL operations. Furthermore, accurate RTT measurements can be performed in unicast scenarios using multiple SL beams, and RTT measurements from multiple UEs can also enable mapping of the target UE's direct surrounding environment.

[0056] Figure 2 An NR protocol stack 200 according to one or more embodiments of this disclosure is depicted. Although Figure 2The diagram illustrates UE 205, RAN node 210, and AMF 215 in a 5G core network (“5GC”), but they represent a collection of remote units 105 that interact with basic unit 121 and mobile core network 140. As shown, protocol stack 200 includes user plane protocol stack 201 and control plane protocol stack 203. User plane protocol stack 201 includes physical (“PHY”) layer 220, media access control (“MAC”) sublayer 225, radio link control (“RLC”) sublayer 230, packet data convergence protocol (“PDCP”) sublayer 235, and service data adaptation protocol (“SDAP”) layer 240. Control plane protocol stack 203 includes physical layer 220, MAC sublayer 225, RLC sublayer 230, and PDCP sublayer 235. Control plane protocol stack 203 also includes radio resource control (“RRC”) layer 245 and non-access stratum (“NAS”) layer 250.

[0057] The AS layer (also referred to as the "AS protocol stack") of the user plane protocol stack 201 consists of at least the SDAP, PDCP, RLC, and MAC sublayers and the physical layer. The AS layer of the control plane protocol stack 203 consists of at least the RRC, PDCP, RLC, and MAC sublayers and the physical layer. Layer-2 ("L2") is divided into SDAP, PDCP, RLC, and MAC sublayers. Layer-3 ("L3") includes the RRC layer 245 and NAS layer 250 for the control plane, 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 (e.g., transport layer, application layer) are referred to as "higher layers" or "upper layers."

[0058] Physical layer 220 provides a transport channel to MAC sublayer 225. Physical layer 220 may perform clear channel assessment and / or listen-before-tell (“CCA / LBT”) procedures. In some embodiments, physical layer 220 may send a notification of UL listen-before-tell (“LBT”) failure to the MAC entity at MAC sublayer 225. MAC sublayer 225 provides a logical channel to RLC sublayer 230. RLC sublayer 230 provides an RLC channel to PDCP sublayer 235. PDCP sublayer 235 provides radio bearers to SDAP layer 240 and / or RRC layer 245. SDAP layer 240 provides QoS flows to the core network (e.g., 5GC). RRC layer 245 provides carrier aggregation and / or dual connectivity addition, modification, and release. RRC layer 245 also manages the establishment, configuration, maintenance, and release of signaling radio bearers (“SRB”) and data radio bearers (“DRB”).

[0059] NAS layer 250 exists between UE 205 and AMF 215 of the core network (e.g., 5GC). NAS messages are transparently transmitted through the RAN. NAS layer 250 is used to manage the establishment of communication sessions and to maintain continuous communication with UE 205 when UE 205 moves between different cells in the RAN. Conversely, AS layer exists between UE 205 and the RAN (i.e., RAN node 210) and carries information through the radio portion of the network.

[0060] System 100 can support the following RAT-related positioning technologies: DL-TDoA: The DL-TDoA positioning method utilizes the DL RS time difference (“RSTD”) (and optionally the DL PRS RS Receive Quality (“RSRQ”) of downlink signals received at UE 205 (i.e., Remote Unit 105) from multiple TPs. UE 205 uses assistance data received from the positioning server to measure the DL RSTD (and optionally the DL PRS RSRP) of the received signals, and the resulting measurements, along with other configuration information, are used to position UE 205 relative to adjacent transmission points (“TPs”).

[0061] DL-AoD: The DL-AoD (“AoD”) positioning method utilizes the DL PRS RSRP measured from downlink signals received at UE 205 from multiple TPs. UE 205 uses assist data received from the positioning server to measure the DL PRS RSRP of the received signals, and the resulting measurement, along with other configuration information, is used to position UE 205 relative to neighboring TPs.

[0062] Multiple RTT: The multiple round-trip time (“multiple RTT”) positioning method utilizes UE receive-transmit (“Rx-Tx”) measurements and DL PRS RSRP and gNB Rx-Tx measurements of downlink signals received from multiple TRPs by UE 205 (i.e., measured by RAN node 210) and UL SRS-RSRP at multiple TRPs of uplink signals transmitted from UE 205.

[0063] UE 205 uses assisted data received from the location server to measure UE Rx-Tx measurements (and optionally DL PRS RSRP of the received signal), and TRP uses assisted data received from the location server to measure gNB Rx-Tx measurements (and optionally UL SRS-RSRP of the received signal). These measurements are used to determine the round-trip time (“RTT”) at the location server, which is used to estimate the location of UE 205.

[0064] E-CID / NR E-CID: Enhanced Cell ID (CID) location method. The location of UE 205 is estimated with knowledge of its serving ng-eNB, gNB, and cell, and is 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) location refers to techniques that improve UE location estimation using NR signals by using additional UE measurements and / or NR radio resources and other measurements.

[0065] Although NR E-CID positioning can utilize some of the same measurements as the measurement control system in the RRC protocol, it is generally not expected that the UE 205 will perform additional measurements for the sole purpose of positioning; that is, the positioning process does not provide measurement configuration or measurement control messages, and the UE 205 reports its available measurements rather than being required to take additional measurement actions.

[0066] UL-TDoA: The UL TDOA positioning method uses UL TDOA (and optional UL SRS-RSRP) at multiple RPs on the uplink signal transmitted from UE 205. The RP uses assist data received from the positioning server to measure the UL TDOA (and optional UL SRS-RSRP) of the received signal, and the resulting measurements, along with other configuration information, are used to estimate the location of UE 205.

[0067] UL-AoA: The UL Angle of Arrival (“AoA”) positioning method utilizes the azimuth and zenith angles of arrival measured at multiple RPs on the uplink signal transmitted from UE 205. The RPs use assist data received from the positioning server to measure the A-AoA and Z-AoA of the received signal, and the resulting measurements are used with other configuration information to estimate the position of UE 205.

[0068] Table 2 lists some UE positioning methods supported in 3GPP Release 16 (“Rel-16”). Currently, the individual positioning technologies indicated in Table 2 can be configured and implemented based on LMF requirements and / or UE capabilities. Note that Table 2 includes TBS positioning based on PRS signals, but only OTDOA based on LTE signals is supported. The E-CID includes the cell ID used for the NR method. The Terrestrial Beacon System (“TBS”) method refers to TBS positioning based on Urban Beacon System (“MBS”) signals.

[0069] The transmission of the Positioning Reference Signal (“PRS”) enables the UE 205 to perform measurements related to the UE's positioning so as to be able to calculate the UE's position estimate, and is configured for each Transmitting Receiver Point (“TRP”), wherein the TRP may transmit one or more beams. Figure 3A system 300 for NR beam-based positioning is described. According to Rel-16, PRS can be transmitted by different base stations (serving base station and neighboring base stations) using narrow beams between frequency range #1 ("FR1", i.e., frequencies from 410MHz to 7125MHz) and frequency range #2 ("FR2", i.e., frequencies from 24.25GHz to 52.6GHz), which is relatively different from LTE, which transmits PRS across the entire cell.

[0070] like Figure 3 As shown, UE 205 can receive PRS from a first gNB (“gNB#1”) 310, which serves as a gNB, and also from an adjacent second gNB (“gNB#2”) 315 and an adjacent third gNB (“gNB#3”) 320. Here, the PRS can be associated locally with the base station’s PRS resource ID and resource set ID (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, UE 205 receives PRS on a transmission beam; here, it receives PRS from gNB#1 310 on PRS resource ID #1 from the second resource set ID 330, from gNB#2 315 on PRS resource ID #3 from the second resource set ID 330, and from gNB#3 320 on PRS resource ID #3 from the first resource set ID 325. Within the 5G RAN, NR Positioning Protocol A (“NRPPa”) 335 utilizes services provided by the Next Generation (“NG”) Application Protocol (“NGAP”). NRPPa messages 335 are carried within NGAP messages. The LMF 305 connects to the NG-RAN node via the AMF143. An NG-RAN node, as a basic unit 121, can control several TRPs. Split NG-RAN architectures are supported, namely centralized unit (“CU”) / distributed unit (“DU”) and non-split NG-RAN architectures. A more detailed description of NRPPa can be found in 3GPP TS38.455.

[0071] Table 2 lists the positioning technologies supported in 3GPP Release 16 (“Rel-16”). Note that Table 2 includes TBS positioning based on PRS signals, but only OTDOA based on LTE signals is supported in Rel-16. The E-CID includes the cell ID used for the NR method. The Terrestrial Beacon System (“TBS”) method refers to TBS positioning based on Urban Beacon System (“MBS”) signals.

[0072] Table 2: Supported Rel-16 UE positioning methods

[0073] Currently, individual positioning techniques, as shown in Table 2, can be configured and executed according to the requirements of LMF and UE functionality. The transmission of the Positioning Reference Signal (PRS) enables the UE to perform measurements related to UE positioning to calculate UE location estimation, and is configured for each Transmitter Receiver Point (TRP), where the TRP may transmit one or more beams.

[0074] Table 3 lists the RS-to-measurement mapping for each of the RAT-related positioning technologies supported at the UE.

[0075] Similar to LTE, UE positioning measurements, such as Reference Signal Time Difference (“RSTD”) and PRS RSRP measurements, are performed between beams relative to different cells. Additionally, the network can utilize additional UL positioning methods to calculate the location of the target UE. Table 3 lists the required RS pair measurement mappings for each of the supported RAT-related positioning techniques at the UE.

[0076] Table 3: UE Measurements Used to Implement RAT-Related Positioning Technologies

[0077] Table 4 lists the RS-to-measurement mapping for each of the RAT-related positioning technologies supported at the gNB. RAT-related positioning technologies involve 3GPP RAT and core network entities to perform UE location estimation, which differs from RAT-independent positioning technologies that rely on GNSS, IMU sensors, WLAN, and Bluetooth technologies to perform target device (UE) positioning.

[0078] Table 4: gNB Measurements Enabling RAT-Related Positioning Technology

[0079] RAT-related positioning technologies involve 3GPP RATs and core network entities to perform UE location estimation, which differs from RAT-independent positioning technologies that rely on Global Navigation Satellite System (“GNSS”), Inertial Measurement Unit (“IMU”) sensors, WLAN and Bluetooth technologies to perform target device (i.e. UE) positioning.

[0080] PRS Design

[0081] For 3GPP Rel-16, the DL PRS resource ID in a DL PRS resource set is associated with a single beam transmitted from a single TRP (a TRP may transmit one or more beams). The DL PRS timing is an instance of a periodically repeating time window (consecutive time slots) in which the DL PRS is expected to be transmitted. Regarding QCL relationships other than Type-D for DL ​​PRS resources, support for such QCL relationships may include one or more of the following options: Option 1: QCL-TypeC from SSB of TRP.

[0082] Option 2: QCL-TypeC from DL PRS resources from TRP.

[0083] Option 3: QCL-TypeA from DL PRS resources from TRP.

[0084] Option 4: QCL-TypeC from the CSI-RS resource from TRP.

[0085] Option 5: QCL-Type A from the CSI-RS resource from TRP.

[0086] Option 6: QCL relationships other than Type-D are not supported.

[0087] Note that QCL-TypeA refers to Doppler frequency shift, Doppler spread, average delay, and delay spread; QCL-TypeB refers to Doppler frequency shift and Doppler spread; QCL-TypeC refers to average delay and Doppler frequency shift; and QCL-TypeD refers to the spatial Rx parameter.

[0088] For DL ​​PRS resources, QCL-TypeC (Option 1) from the SSB of the TRP is supported. An ID is defined, which can be associated with multiple DL PRS resource sets, and multiple DL PRS resource sets can be associated with a single TRP. This ID, along with the DL PRS resource set ID and the DL PRS resource ID, is used to uniquely identify the DL PRS resource. The name can be defined by RAN2. Each TRP should be associated with only one such ID.

[0089] The DL PRS resource ID is defined locally within the DL PRS resource set. The DL PRS resource set ID is defined locally within the TRP. The duration spanned by a DL PRS resource set containing duplicate DL PRS resources should not exceed the DL-PRS-periodicity. Configure the DL-PRS resource set with the DL-... PRS - Resource Repetition FactorThis parameter controls how many times each DL-PRS resource is repeated for a single instance of the DL-PRS resource set. Supported values ​​include: 1, 2, 4, 6, 8, 16, and 32.

[0090] In some implementations, signaling can be defined to support any RAT-related positioning technology, including hybrid RAT-related positioning solutions.

[0091] In relation to NR positioning, the term "positioning frequency layer" refers to a set of DL PRS resource sets spanning one or more TRPs that have: the same SCS and CP types; the same center frequency; the same point A; all DL PRS resources in the DL PRS resource set have the same bandwidth; and / or, all DL PRS resource sets belonging to the same positioning frequency layer have the same DL PRS bandwidth and starting PRB value.

[0092] The duration of a DL PRS symbol in milliseconds can be defined, such that, assuming a 272 PRB allocation is a UE capability, the UE can process every T ms.

[0093] Measurement and Reporting Configuration

[0094] The following discussion applies to UE measurements using DL-based positioning technologies. For a conceptual overview, assistive data configuration is provided for each of the supported positioning technologies (see [link to documentation]). Figure 9 ) and measurement information (see Figure 10 ).

[0095] Figure 4 An example of DL-TDOA Assisted Data 400 is depicted, including NR-DL-TDOA- ProvideAssistanceData The Information Element (“IE”) is used by the location server to provide assistance data to enable UE assistance and UE-based NR downlink TDOA. It can also be used to provide NR DL TDOA to pinpoint specific error causes. However, as depicted, NR-DL-TDOA-ProvideAssistanceData The IE does not provide assistance data specific to SL-time-based positioning—such as the SL-TDOA or SL-RTT techniques disclosed herein. Therefore, in order to implement the various embodiments of SL-time-based positioning disclosed herein, it may be useful to use an IE that provides assistance data, which includes information specific to SL-time-based positioning such as SL-TDOA or SL-RTT.

[0096] Figure 5 It shows including NR-DL-TDOA-SignalMeasurementInformationThis is an example of IE's DL-TDOA measurement report 500, 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 when reporting RSTD measurements. The first TRP in the list may or may not be... NR-DL-PRS-AssistanceData The reference TRP is indicated in the diagram. Furthermore, the target device selects a reference resource for each TRP and compiles measurements for each TRP based on the selected reference resource. However, as depicted, NR-DL- TDOA-SignalMeasurementInformation The IE does not provide arrival time difference measurement information and is specific to SL-based timing positioning, such as SL-TDOA or SL-RTT disclosed herein. Therefore, in order to implement the various embodiments of SL-based timing positioning disclosed herein, the following methods are used: TDOA-SignalMeasurementInformation IE can be useful, as it includes SL-based timing location information specific to SL-TDOA or SL-RTT.

[0097] Tables 6 and 7 below, concerning SL-TDOA-based positioning, and Table 9 below, concerning SL-RTT-based positioning, describe further details regarding the types of information that can be beneficially included.

[0098] RAT-related positioning measurements

[0099] Table 5 lists the various DL measurements used for DL-based positioning methods. The different DL measurements include the DL PRS-RSRP, DL RSTD, and UE Rx-Tx time difference required for supported RAT-related positioning technologies, as shown in Table 5.

[0100] Table 5: DL Measurements Required for DL-Based Localization Methods

[0101] Certain measurement configurations can also be specified, such as, for example, four pairs of DL RSTD measurements can be performed per cell pair. Each measurement is performed between different pairs of DL PRS resources / resource sets with a single reference timing.

[0102] Eight DL PRS RSRP measurements can be performed on different DL PRS resources from the same cell.

[0103] Sidelink time-based positioning

[0104] This disclosure provides various solutions for SL RAT-related positioning techniques associated with timing-based methods. In one embodiment, a method for configuring and signaling to enable SL time difference-based positioning using fixed and / or mobile references for scenarios outside coverage, partially covered, and within coverage is described. Time difference-based measurements and location estimation provide the highest possible resolution in terms of accuracy for the target UE. Enabling anchored and non-anchored UE configuration for high-precision positioning in out-of-coverage scenarios is particularly beneficial for public safety and V2X scenarios.

[0105] In some embodiments, a technique is described for a target UE to autonomously perform round-trip time (RTT) measurements using multiple beams between multiple pairs of UEs in a side link for TX-RX distance / range calculation. In various embodiments, the RTT measurement for TX-RX distance calculation can be configured, and it requires network assistance and can be adapted to mode 2 SL operation. Accurate RTT measurements can be performed in unicast scenarios using multiple SL beams, and RTT measurements from multiple UEs can also enable mapping of the target UE's direct surrounding environment.

[0106] In some communication networks, location estimation of a target UE using TDOA requires at least three anchored nodes with known locations, where at least one of these nodes acts as a reference node. One or more embodiments of this disclosure describe different SL-TDOA location estimation scenarios involving fixed reference nodes (Embodiment 1) and moving reference nodes (Embodiment 2). Embodiments 1-5 or portions thereof can be combined to achieve improved location accuracy estimation.

[0107] Furthermore, various aspects of embodiments 1-5 can be implemented in combination with each other for certain reasons, such as, for example, to achieve improved position accuracy estimation. Additionally, embodiments disclosed in U.S. Provisional Patent Application No. 63 / 063,854 entitled "Sidelink Angular-Based And SL RRM-Based Positioning" and / or U.S. Provisional Patent Application No. 63 / 063,824 entitled "Apparatuses, Methods, and System For SL PRS Transmission Methodology" are incorporated herein by reference.

[0108] Example 1 – SL-TDOA using a fixed reference node

[0109] Figure 6This is a diagram illustrating an example scenario 600 of a side-link SL time difference of arrival (“TDOA”) positioning technique for target UE 605, a fixed reference node 620, and two additional SL UEs (referred to as UE-1 610 and UE-2 615) according to one or more embodiments of the present disclosure.

[0110] In example scenario 600, the target UE 605 may communicate with the LMF 635, for example, via a gNB or RSU 630, and with two or more additional UEs 610 and 615. It can be noted that, as used in this disclosure, the LMF 635 may be implemented as a standalone core network entity or included in a location server. In various embodiments, the LMF 635 configures the SL target UE 605 with an SL PRS configuration corresponding to a TRP originating from at least one fixed anchor reference node 620, such as a serving / neighboring base station (gNB), roadside unit (RSU), or location measurement unit (LMU), vulnerable road user (VRU), wherein this TRP may be based on a Uu or SL interface. Although Figure 6 The two attached UEs are described as mobile UEs, but TRPs from two or more attached nodes (e.g., two or more attached UEs) may originate from one or more of the following: A moving anchor node with known absolute 2D / 3D position, heading, and / or velocity; Fixed anchor nodes with known absolute 2D / 3D positions; and Moving unanchored nodes with unknown absolute position, heading, and / or speed, wherein the moving unanchored nodes are identified and then converted into anchored nodes by determining their respective absolute positions.

[0111] For example, in some embodiments conforming to example scenario 600, the serving base station 630 (e.g., gNB or RSU) can use RRC signaling from at least two non-anchored SL nodes in the immediate vicinity of the target UE 605 (e.g., UE-1 610, UE-2 615) (e.g., using... LocationInfo The message IE triggers a request for location report 645. The location report 645 of non-anchored nodes provides their location using RAT-independent technologies such as GNSS or IMU-based positioning technologies, enabling them to act as anchored nodes for SL-based timing positioning. The serving gNB 630 can share its location information with the LMF 635 via an appropriate interface, such as NRPPa, before transmitting updated SL PRS configurations for the three nodes acting as anchored nodes.

[0112] In another example, depending on one or more, the serving base station 630 (e.g., gNB) can estimate the location of two or more non-anchored SL nodes (e.g., UE-1 610, UE-2 615) in the immediate vicinity of the target UE 605 based on gNB measurement RAT-related positioning techniques (e.g., uplink SRS transmissions from non-anchored SL nodes, as shown in Table 4).

[0113] Before the SL PRS configuration of the three anchor nodes is updated, the serving gNB can share this location information with the LMF 635 via the NRPPa interface.

[0114] Other scenarios conforming to one or more embodiments of this disclosure may include: A moving anchor node with a known absolute 2D / 3D position, heading, and / or speed, and another fixed anchor node with a known absolute 2D / 3D position; A moving anchored node with known absolute 2D / 3D position, heading, and / or velocity, and another moving non-anchored node with unknown absolute position, heading, and velocity; and A fixed anchored node with a known absolute 2D / 3D position and another moving non-anchored node with unknown absolute position, heading, and velocity. For UE-assisted localization, the LMF 635 uses the 2D (x, y) coordinates of the anchor node with transmit SL PRS and transmit time offset to locate the target UE 605.

[0115] Table 6 shows the various SL PRS configuration parameters transmitted by the LMF 635 for use at the target UE 605.

[0116] Table 6: SL-TDOA Configuration Parameters from LMF to UE

[0117] These parameters can be further differentiated based on whether LMF 635 (UE-assisted) or two or more additional SL UE 610, 615 (UE-based) requires these parameters to perform location estimation.

[0118] The SL TRP ID, SL-PRS ID, or SL-PRS resource set ID describes a unique SL-PRS resource / resource set that has been transmitted by an anchor node or a non-anchor node. The RSU ID provides additional information in identifying which RSU will transmit the SL, while the area ID provides supplementary assisting information for locating the target UE using the V2X area concept, where cells are divided into rectangular grids based on a geographic reference.

[0119] Although various combinations of fixed and / or mobile nodes as anchor nodes and / or non-anchor nodes may be used according to certain embodiments of this disclosure, example scenario 600 illustrates an example of a fixed reference node 620 and two mobile anchored / non-anchored UEs (UE-1 610 and UE-2 615) for SL-TDOA positioning.

[0120] In various implementations, it can be noted that the target UE 605 performs at least two different RSTD measurements 655 relative to the reference node (gNB-3 / RSU-3), which involve the true time difference (“RTD”) and the observed time difference (“OTD”) (τ). i -τ3), based on the synchronous transmission time offset of the SL PRS transmitter ((T i -T3) = 0, for perfect synchronization) and measurement error ε, for example in Figure 6 The scene depicted in the illustration 600.

[0121] Table 7 below shows examples of measurements reported by target UE 605.

[0122] Table 7: SL-TDOA Measurement Report Parameters from UE to LMF

[0123] In some example implementations, the LMF 635 can be used at specific time instances (t0, t1, ..., t) corresponding to the trajectory 650 of the target UE 605. n The target UE 605 is provided with a periodic SL PRS configuration. A set of RSTD measurements can then be performed at each configured time instance. The period and length of the SL PRS time interval measurement can be configured by the LMF 635.

[0124] In some example implementations, if configured, the target UE 605 may also provide additional non-reference RSTD measurements between node 1 (UE-1 610) and node 2 (UE-2 615) to assist the LMF 635 in improving position estimation accuracy. This provides additional hyperbolic estimation, resulting in three unique RSTD measurements for improved 2D position accuracy.

[0125] In various embodiments, the target UE 605 can provide There are several different RSTD measurements, where N is the number of identified and configured anchor nodes that can transmit the SL PRS 640. Typically, for 3D location estimation, TDOA resolution can be addressed with five or more anchor nodes, and some implementations allow the LMF 635 (network) to configure more anchor nodes depending on the type of location estimation—2D or 3D—and the required accuracy. The trade-offs in increasing accuracy through more measurements on more anchor nodes in various implementations involve increased SL PRS scheduling complexity and processes involving ensuring time synchronization of all nodes, as the number of anchor nodes scales proportionally.

[0126] When the LMF 635 transmits an SL positioning configuration (or SL positioning request), it may also include the source L2 ID of the target UE, and then the destination L2 ID is transmitted for the anchor UE to transmit PRS 640. The PRS resource set is configured per destination L2 ID. The report 645 from the target UE to the LMF 635 includes the source L2 ID and destination L2 ID to which the positioning request is targeted. Furthermore, the report 645 from the target UE 605 can reuse multiple reports from multiple source / destination L2 IDs.

[0127] Example 2 – SL-TDOA using a moving reference node

[0128] Figure 7 This is a diagram illustrating an example scenario 700 of SL-TDOA positioning for a target UE 705, having a mobile reference node 720 and two or more additional UEs UE-1 710 and UE-2 715, according to one or more embodiments of the present disclosure.

[0129] Example 2 describes SL-TDOA technology for determining the position of a target UE 705 relative to a mobile reference node 720. LMF / V2X applications can trigger the V2X layer for locating related services, and this can involve a group of UEs, where the target UE is a member of the group, and the remaining members can be assumed to be anchor nodes performing the SL-TDOA. Two scenarios based on example scenario 700 are described below: 1) For SL-TDOA with a known absolute position of the moving anchor node LMF / V2X applications can trigger location-related multicast communication services with the V2X layer, where the V2X layer can assign a member ID to each group member. The V2X layer can assist the LMF 735 in providing the absolute location of each anchor node. The LMF 735 configures the SL target UE 705 with an SL PRS configuration corresponding to the SL TRP originating from at least one mobile anchor reference node 720—e.g., UE-3—(or the mobile reference node can be a vulnerable road user (“VRU”)). According to 13, the target UE performs at least two different RSTD measurements relative to the mobile reference node (UE-3), including RTD measurements and errors caused by synchronization and clock errors.

[0130] 2) For SL-TDOA with a moving, non-anchored node having an unknown absolute position

[0131] LMF / V2X applications can trigger location-related multicast communication services at the V2X layer, where the V2X layer can assign a member ID to each group member. The V2X layer can assist LMF in providing the relative position of each non-anchored node relative to the reference anchored node.

[0132] Mode 1 :LMF is configured for the target UE of SL and originates from a mobile non-anchored reference node 720—such as UE-3—( Figure 7 The SL PRS configuration corresponding to the SL TRP of the UE (as shown) and other non-anchored UEs (UE-1 and UE-2); the UE can be a V2X user and / or a vulnerable road user (VRU).

[0133] Mode 2 : Refer to the non-anchored node 720 for the SL target UE 705 configuration and the SL PRS configuration corresponding to the SL TRP from all non-anchored nodes (UE-1710, UE-2 715 and UE-3 720).

[0134] In various implementations, the target UE 705 performs at least two different RSTD measurements 755 relative to the mobile reference node (UE-3), which involve the true time difference (“RTD”) and the observation time difference (“OTD”) (τ). i - τ3), Transmission time offset based on SL PRS transmitter synchronization (for perfect synchronization, (T i -T3) = 0) and measurement error ε, for example, Figure 7As depicted in scenario 700. In various implementations, target UE 705 transmits a report 745 of RSTD measurement 755 to LMF 735 via a serving base station (e.g., gNB or RSU 730) to determine the estimated location of target UE 705. In some example implementations, SLPRS received by target UE is configured and measured at multiple time instances corresponding to points along trajectory 750 of target UE 705.

[0135] Example 3: SL-TDOA Synchronization

[0136] In a perfectly synchronized network, the RTD parameter, which consists of the transmit time offset, will be zero. However, in practice, the LMF 735 uses this RTD information to calculate the final location estimate of the target UE 705. In some embodiments of the SL-TDOA positioning technology implementation, tight nanosecond-level synchronization between the anchored / non-anchored nodes transmitting the SL PRS 740 can be very important.

[0137] According to Embodiments 1 and 2, fixed and mobile reference nodes 620, 720, together with mobile anchored / non-anchored nodes (e.g., 710, 715) transmitting SL PRS 740, are configured to synchronize with a common clock, preferably based on GNSS time. In Embodiment 1 with fixed reference node 620, mobile anchored / non-anchored nodes (e.g., 610, 615) may also have the option to synchronize with base station 630. In some examples, the common synchronization source can be configured based on priority index and network coverage. For reference nodes 620, 720 and / or mobile anchored / non-anchored nodes 610, 615, 710, 715, the network coverage status can be within coverage, partially covered, or outside coverage. Table 8 below shows exemplary details related to the priority-to-synchronization-source mapping to be implemented between UEs involved in performing the SL-TDOA / SL timing-based positioning method.

[0138] According to Table 8 below, due to the stringent synchronization requirements of SL's timing-based positioning method, GNSS is preferred as a synchronization source compared to base station synchronization. Base stations can include centralized radio access nodes, such as eNBs / gNBs. Furthermore, base station source synchronization may only be considered within or partially within coverage areas.

[0139] Table 8: Priority Index Mapping to Synchronization Source

[0140] Furthermore, nodes transmitting SL PRS, such as nodes 610, 615, 620, 710, 715, and 720, are configured to periodically report transmission times to the LMF to assist the LMF in compensating for RTD offsets, especially for Mode 1 operation. In the case of UE-based positioning for Mode 2 scenarios, the RTD offset can be calculated by the target UEs 605 and 705 based on the SL PRS transmission timestamp associated with the SL PRS transmission.

[0141] Example 4: SL-RTT

[0142] Figure 8 This is a diagram illustrating an example scenario 800 of using multiple beams of multiple UEs 810, 815 to perform round-trip time (“RTT”) localization of a target UE 805 according to one or more embodiments of the present disclosure. The round-trip time (RTT) of the SL-PRS 840 forming each SL beam 850 can also be used to determine the absolute and relative position of the SL UE relative to another UE. An advantage of this technique is that distance / range can be calculated using only one anchor node 810 and the target UE 805. This disclosure describes an example embodiment with additional enhancements to the SL-RTT to improve the overall position estimation accuracy of the target UE 805.

[0143] For simplicity, Figure 8 The diagram depicts the use of a single beam 850 to perform SL-RTT positioning technology for each SL TRP, which can also be extended to be configured to perform using multiple beams and multiple anchor nodes. It can be observed that UE-1810 and UE-2 act as reference nodes relative to the target UE 805 in the SL-RTT process.

[0144] LMF / V2X applications can trigger a location-related unicast communication session at the V2X layer to initiate an SL-RTT procedure with the target UE 805. The SL-RTT procedure is similar for both SL Mode 1 and Mode 2 operations, but the execution of SL-PRS configuration and reporting may differ between modes. Triggering can be event-based, aperiodic, or periodic, depending on application requirements. In Mode 1, the SL UE is assisted by the gNB, and they use dedicated radio resources for data transmission. In Mode 2, the SL UE randomly selects radio resources from a resource pool previously sent by the gNB.

[0145] Mode 1In various embodiments, the LMF 835 uses SL-PRS configuration to configure UE-1 810, UE-2 815, and the target UE. UE-1 and UE-2 can be RSU / SL-UE or VRU. One or more additional nodes, UE-1 810, UE-2 815, and the target UE 805, report their respective UE Rx-Tx difference measurements per beam / SL TRP to the LMF, primarily for UE-assisted localization. The LMF 835 can be based on... Calculate the distance, where, c It is the speed of light and SL-RTT Based on the round-trip time reported.

[0146] Mode 2 In some example implementations, the LMF 835 can transmit the SL-PRS configuration to the gNB 830 for broadcasting using positioning system information. In some implementations, a default SL-PRS configuration can be pre-configured for the UE. In such implementations, UE-1 810, UE-2 815, and the target UE 805 use stored, pre-configured, or broadcast SL PRS configurations to perform SL-RTT positioning. UE-1 810 and UE-2 815 report their respective per-beam / SLTRP UE Rx-Tx difference measurements to the target UE 805 for UE-based positioning. Tables 9 and 10 below list certain SL PRS configuration parameters and corresponding reporting parameters for each UE, indicating whether these parameters are used for SL positioning performed by the LMF-assisted UE or for SL-based UE positioning where the target UE calculates its estimated location using SL RTT positioning technology.

[0147] Table 9: SL-RTT Configuration Parameters Pre-configured from LMF to UE / UE

[0148] Table 10: Parameters for SL-RTT Reporting to LMF / Target UE

[0149] Example 5: SL Positioning Capability Switching Signaling

[0150] Figure 9This is a diagram illustrating example 900 of capability signaling exchange for SL-TDOA and / or SL-RTT according to one or more embodiments of the present disclosure. In various embodiments, prior to performing SL positioning, target UE 905 may receive a request 915 from LMF 910, inquiring whether the target UE 905 to be positioned has the required UE characteristics necessary to perform SL-TDOA and / or SL-RTT positioning techniques. The target UE may transmit a response 920, which provides the LMF 910 with information regarding the target UE's SL-TDOA and / or SL-RTT capabilities.

[0151] Figure 10 This is a diagram illustrating example 1000 of assist data signaling exchange for SL-TDOA and / or SL-RTT according to one or more embodiments of the present disclosure. In various embodiments, prior to performing SL positioning, target UE 1005 may transmit a request 1015 to LMF 1010 to request SL-TDOA and / or SL-RTT assist data. Target UE receives a transmit response 1020 from LMF 1010, which provides the requested assist data.

[0152] User equipment

[0153] Figure 11 User equipment device 1100, which can be used in a sidelink timing-based positioning method according to one or more embodiments of the present disclosure, is described. In various embodiments, user equipment device 1100 is used to implement one or more of the above-described schemes. User equipment device 1100 may be an embodiment of the remote unit 105 and / or UE described above. In addition, user equipment device 1100 may include processor 1105, memory 1110, input device 1115, output device 1120, and transceiver 1125.

[0154] In some embodiments, input device 1115 and output device 1120 are combined into a single device, such as a touchscreen. In some embodiments, user equipment device 1100 may not include any input device 1115 and / or output device 1120. In various embodiments, user equipment device 1100 may include one or more of processor 1105, memory 1110, and transceiver 1125, and may not include input device 1115 and / or output device 1120.

[0155] In one embodiment, processor 1105 may include any known controller capable of executing computer-readable instructions and / or performing logical operations. For example, processor 1105 may be a microcontroller, microprocessor, central processing unit (“CPU”), graphics processing unit (“GPU”), coprocessor unit, field-programmable gate array (“FPGA”), or similar programmable controller. In some embodiments, processor 1105 executes instructions stored in memory 1110 to perform the methods and routines described herein. Processor 1105 is communicatively coupled to memory 1110, input device 1115, output device 1120, and transceiver 1125.

[0156] In various embodiments, processor 1105 controls user equipment device 1100 to implement UE behaviors according to one or more of the above embodiments.

[0157] In one embodiment, memory 1110 is a computer-readable storage medium. In some embodiments, memory 1110 includes volatile computer storage media. For example, memory 1110 may include RAM, including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and / or static RAM (“SRAM”). In some embodiments, memory 1110 includes non-volatile computer storage media. For example, memory 1110 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, memory 1110 includes both volatile and non-volatile computer storage media.

[0158] In some embodiments, memory 1110 stores data related to the sidelink timing-based positioning method. For example, memory 1110 may store various parameters, configurations, strategies, etc., as described above. In some embodiments, memory 1110 also stores program code and related data, such as an operating system or other controller algorithms operating on device 1100.

[0159] In one embodiment, input device 1115 may include any known computer input device, including a touch panel, button, keyboard, stylus, microphone, etc. In some embodiments, input device 1115 may be integrated with output device 1120 to serve as, for example, a touchscreen or similar touch-sensitive display. In some embodiments, input device 1115 includes a touchscreen, enabling text input using a virtual keyboard displayed on the touchscreen and / or by handwriting on the touchscreen. In some embodiments, input device 1115 includes two or more different devices, such as a keyboard and a touch panel.

[0160] In one embodiment, output device 1120 is designed to output visual, auditory, 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 may include, but is not limited to, LCD displays, LED displays, OLED displays, projectors, or similar display devices capable of outputting images, text, etc., to a user. As another non-limiting example, output device 1120 may include a wearable display, such as a smartwatch, smart glasses, head-up display, etc., that is separate from but communicatively coupled to the rest of user equipment device 1100. Furthermore, output device 1120 may be a component of a smartphone, personal digital assistant, television, desktop computer, laptop computer, personal computer, vehicle dashboard, etc.

[0161] In some embodiments, output device 1120 includes one or more speakers for generating sound. For example, output device 1120 may generate an audible alarm or notification (e.g., a buzzer or beep). In some embodiments, output device 1120 includes one or more haptic devices for generating vibration, motion, or other haptic feedback. In some embodiments, all or part of output device 1120 may be integrated with input device 1115. For example, input device 1115 and output device 1120 may form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1120 may be located near input device 1115.

[0162] 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 receive messages, data, and other signals. For example, processor 1105 may selectively activate transceiver 1125 (or a portion thereof) at specific times to send and receive messages.

[0163] Transceiver 1125 includes at least a transmitter 1130 and at least one receiver 1135. 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, 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 device 1100 can have any suitable number of transmitters 1130 and receivers 1135. Furthermore, transmitters 1130 and receivers 1135 can be of any suitable type.

[0164] In one embodiment, transceiver 1125 includes a first transmitter / receiver pair for communicating with a mobile communication network on licensed radio spectrum and a second transmitter / receiver pair for communicating with a mobile communication network on unlicensed radio spectrum. In some embodiments, the first transmitter / receiver pair for communicating with a mobile communication network on licensed radio spectrum and the second transmitter / receiver pair for communicating with a mobile communication network on unlicensed radio spectrum may be combined into a single transceiver unit, such as a single chip performing functions for use on both licensed and unlicensed radio spectrum. In some embodiments, the first transmitter / receiver pair and the second transmitter / receiver pair may share one or more hardware components. For example, some transceivers 1125, transmitters 1130, and receivers 1135 may be implemented as physically separate components accessing shared hardware and / or software resources—such as, for example, network interface 1140.

[0165] In various embodiments, one or more transmitters 1130 and / or one or more receivers 1135 may be implemented and / or integrated into a single hardware component, such as a multi-transceiver chip, system-on-a-chip, ASIC, or other type of hardware component. In some embodiments, one or more transmitters 1130 and / or one or more receivers 1135 may be implemented and / or integrated into a multi-chip module. In some embodiments, other components, such as network interface 1140 or other hardware components / circuits, may be integrated with any number of transmitters 1130 and / or receivers 1135 into a single chip. In such embodiments, transmitters 1130 and receivers 1135 may be logically configured as transceivers 1125 using one or more common control signals, or logically configured as modular transmitters 1130 and receivers 1135 implemented in the same hardware chip or multi-chip module.

[0166] Network equipment

[0167] Figure 12A network device apparatus 1200, which can be used for a sidelink-based timing-based positioning method according to one or more embodiments of the present disclosure, is described. The network device apparatus 1200 may be an embodiment of the aforementioned basic unit 121, RAN node, LMF, and / or location server. Furthermore, the basic network device apparatus 1200 may 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 touchscreen. In some embodiments, the network device apparatus 1200 may not include any input device 1215 and / or output device 1220. In various embodiments, the network device apparatus 1200 may include one or more of the processor 1205, memory 1210, and transceiver 1225, and may not include the input device 1215 and / or output device 1220.

[0168] In one embodiment, processor 1205 may include any known controller capable of executing computer-readable instructions and / or performing logical operations. For example, processor 1205 may be a microcontroller, microprocessor, CPU, GPU, coprocessor unit, FPGA, or similar programmable controller. In some embodiments, processor 1205 executes instructions stored in memory 1210 to perform the methods and routines described herein. Processor 1205 is communicatively coupled to memory 1210, input device 1215, output device 1220, and transceiver 1225.

[0169] In various embodiments, network device 1200 is a RAN node. Here, processor 1205 controls network device 1200 to perform the gNB / RAN behavior described herein.

[0170] In various embodiments, network device 1200 is an AMF (Active Flow Function). Here, processor 1205 controls network device 1200 to perform the AMF behavior described herein.

[0171] In various embodiments, network device 1200 is a location server. Here, processor 1205 controls network device 1200 to perform the location server behaviors described herein.

[0172] In one embodiment, memory 1210 is a computer-readable storage medium. In some embodiments, memory 1210 includes volatile computer storage media. For example, memory 1210 may include RAM, including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and / or static RAM (“SRAM”). In some embodiments, memory 1210 includes non-volatile computer storage media. For example, memory 1210 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, memory 1210 includes both volatile and non-volatile computer storage media.

[0173] In some embodiments, memory 1210 stores data related to the sidelink timing-based positioning method. For example, memory 1210 may store various parameters, configurations, policies, etc., as described above. In some embodiments, memory 1210 also stores program code and related data, such as an operating system or other controller algorithms operating on network device device 1200.

[0174] In one embodiment, input device 1215 may include any known computer input device, including a touch panel, button, keyboard, stylus, microphone, etc. In some embodiments, input device 1215 may be integrated with output device 1220 as, for example, a touchscreen or similar touch-sensitive display. In some embodiments, input device 1215 includes a touchscreen, enabling text input using a virtual keyboard displayed on the touchscreen and / or by handwriting on the touchscreen. In some embodiments, input device 1215 includes two or more different devices, such as a keyboard and a touch panel.

[0175] In one embodiment, output device 1220 is designed to output visual, auditory, and / or tactile signals. In some embodiments, output device 1220 includes an electronically controllable display or display device capable of outputting visual data to a user. For example, output device 1220 may include, but is not limited to, an LCD display, an LED display, an OLED display, a projector, or similar display devices capable of outputting images, text, etc., to a user. As another non-limiting example, output device 1220 may include a wearable display, such as a smartwatch, smart glasses, a head-up display, etc., that is separate from but communicatively coupled to the rest of network device 1200. Furthermore, output device 1220 may be a component of a smartphone, personal digital assistant, television, desktop computer, laptop computer, personal computer, vehicle dashboard, etc.

[0176] In some embodiments, output device 1220 includes one or more speakers for generating sound. For example, output device 1220 may generate an audible alarm or notification (e.g., a buzzer or beep). In some embodiments, output device 1220 includes one or more haptic devices for generating vibration, motion, or other haptic feedback. In some embodiments, all or part of output device 1220 may be integrated with input device 1215. For example, input device 1215 and output device 1220 may form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1220 may be located near input device 1215.

[0177] Transceiver 1225 includes at least a transmitter 1230 and at least one receiver 1235. One or more transmitters 1230 can be used to communicate with a UE, 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 shown, the network device 1200 can have any suitable number of transmitters 1230 and receivers 1235. Furthermore, transmitters 1230 and receivers 1235 can be of any suitable type. In some embodiments, other components such as network interface 1240 or other hardware components / circuitets 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 transceivers 1225 using one or more common control signals, or configured as modular transmitters 1230 and receivers 1235 implemented in the same hardware chip or multi-chip module.

[0178] method

[0179] Figure 13 This is a block diagram illustrating an example of a method for SL-TDOA positioning according to one or more embodiments of the present disclosure. In various embodiments, method 1300 is performed in a communication network that includes at least a base station, a user equipment (UE), and a location server. In some embodiments, method 1300 is performed by one or more processors, such as a microcontroller, microprocessor, CPU, GPU, coprocessor unit, FPGA, etc.

[0180] In various embodiments, method 1300 begins and, from the perspective of the target UE, includes: for UE-based positioning, the target UE receiving 1305 Positioning Reference Signal (“SL-PRS”) measurements from a reference node and two or more additional UEs. Method 1300 continues and includes measuring 1310 the SL reference signal timing difference (“RSTD”) between the two or more additional UEs relative to the reference node. In some embodiments, positioning is UE-assisted (e.g., the LMF calculates the target estimated location of the target UE based on measurements reported from the target UE). In some embodiments, SL positioning is UE-based (e.g., the UE calculates its own estimated location). In various embodiments, method 1300 also includes determining 1315 the estimated location of the target UE using SL RSTD-based Time Difference of Arrival (“TDOA”) positioning techniques. In some embodiments (e.g., UE-assisted), method 1300 may include reporting the SL reference signal time difference measurements to a location server using a Uu interface and / or an SL interface. In some embodiments, method 1300 may also include receiving a location estimate of the target UE from the location server using the time difference of arrival measured using SL-PRS. Method 1300 ends.

[0181] In one or more embodiments, method 1300 may be implemented using various reference and anchored nodes or non-anchored nodes, configurations, techniques, etc., such as those described above. Figure 6 and Figure 7 Those described. Furthermore, this can be seen from the above regarding... Figure 11 The described UE device 1100 executes method 1300. The corresponding method 1300 can be executed by network device 1200, which may include a location server and / or an LMF that assists in executing one or more method steps of method 1300 or a variant thereof.

[0182] Figure 14 This is a block diagram illustrating an example of a sidelink-based timing-based positioning method using SL-RTT according to one or more embodiments of the present disclosure. In some embodiments, method 1400 is performed by a UE, such as a remote unit 105 communicating with a base station, one or more anchored or non-anchored reference nodes and / or a location server, as described above. In various embodiments, the steps of method 1400 may be performed by a processor such as a microcontroller, microprocessor, CPU, GPU, auxiliary processing unit, FPGA, etc.

[0183] In an example implementation, method 1400 begins and, in various embodiments, includes the target UE transmitting a 1405 SL Positioning Reference Signal (“PRS”) to one or more additional UEs. Method 1400 continues and includes the target UE receiving a 1410 SL Positioning Reference Signal from one or more additional UEs and determining an estimated location of the target UE based on SL Round-Trip Time (RTT) positioning technology using the SL Positioning Reference Signal (“PRS”) transmitted and received between the target UE and one or more additional UEs, wherein: one or more SL UE Rx-Tx differences for determining the SL RTT are obtained by: measuring the reception timing of the SL subframe containing the PRS; measuring the difference between the transmission and reception timings of the SL subframe containing the PRS; and calculating one or more SL UE Rx-Tx timing differences.

[0184] In one or more embodiments, method 1400 can be implemented using various reference and anchored nodes or non-anchored nodes, configurations, techniques, etc., such as those described above. Figure 6 and Figure 7 Those described above. Furthermore, method 1400 can be derived from the above regarding... Figure 11 The described UE device 1100 performs the method. The corresponding method 1400 can be performed by network device 1200, which may include a location server and / or an LMF that helps perform one or more method steps of method 1400 or a variant thereof.

[0185] Various example implementations include a UE device for a communication network, the UE device comprising: a target UE to be located using sidelink (“SL”) time-based positioning, the target UE including a processor, memory, and program code executable by the processor to cause the UE to perform the following operations: receiving SL positioning reference signal (“SL-PRS”) measurements from a reference node and two or more additional UEs; measuring the SL reference signal timing difference (“RSTD”) between the two or more additional UEs relative to the reference node; and determining the estimated location of the target UE using SL RSTD-based time difference of arrival (“TDOA”) positioning technology. In some UE-based example implementations, the target UE determines the estimated location by locally calculating the estimated location using SL RSTD-based time difference of arrival (“TDOA”) positioning technology. In one or more UE-assisted example implementations, the target UE determines the estimated location by: reporting the SL RSTD measurements to a location server (or to an LMF implemented as a core network function) using an interface selected from a Uu interface, an SL interface, or both; and receiving the estimated location from the location server (or LMF) using the SL RSTD measurements calculated by the location server-based time difference of arrival (“TDOA”) positioning technology.

[0186] In various example implementations, the target UE receives location information from two or more additional UEs, the location information being selected from: absolute location information received from an anchored UE included in the two or more additional UEs; absolute location information received from an LMF after determining the absolute location of each of the non-anchored UEs via a location management function (“LMF”) of a communication network for non-anchored UEs included in the two or more additional UEs; and combinations thereof.

[0187] In some example implementations, the reference node is a fixed node selected from base stations, roadside units (“RSUs”), SL-UEs, and vulnerable road users (“VRUs”), and the reference node transmits an SL positioning reference signal (“PRS”). In some example implementations, the target UE measures the RSTD based on the received positioning reference signal.

[0188] In one or more example implementations, the reference node is a non-anchored mobile node selected from the SL-UE and VRU. In some implementations, two or more additional UEs are non-anchored nodes. In various implementations, the target UE receives from the non-anchored mobile reference node an SL PRS configuration corresponding to the SL Transmit Receive Point (TRP) originating from the non-anchored mobile reference node and the two or more additional UEs.

[0189] In various implementations, a multicast communication session is initiated between the Vehicle-to-Everything (“V2X”) layer and the Location Management Function (“LMF”) to perform the configured SL-TDOA positioning technology. In some example implementations, the reference node is a mobile reference node selected from the SL-UE and VRU; two or more additional UEs are non-anchored nodes; and the target UE receives from the LMF an SL PRS configuration and certain identities corresponding to the SL Transmit Receive Points (TRPs) originating from the mobile reference node and the two or more additional UEs; and the relative positions of the two or more additional UEs relative to the mobile reference node are based on the multicast communication session initiated between the V2X layer and the LMF.

[0190] In some example implementations, the UE receives an SL-PRS transmitted using one or more SL channels selected from the Physical Sidelink Control Channel (“PSCCH”), Physical Sidelink Broadcast Channel (“PSBCH”), and Physical Sidelink Shared Channel (“PSSCH”), and combinations thereof. In some example implementations, the SL PRS received by the target UE is configured and measured at multiple time instances corresponding to points along the trajectory of the target UE. In one or more example implementations, two or more additional UEs transmitting the SL PRS and a node in the reference node are configured to periodically report the transmission time to compensate for real-time difference (“RTD”) offsets in performing TDOA positioning techniques.

[0191] Another example user equipment for a communication network includes a target UE to be located using sidelink (“SL”) time-based positioning. The target UE includes a processor, memory, and program code executable by the processor to cause the target UE to perform the following operations: transmitting an SL positioning reference signal (“PRS”) to one or more additional UEs; receiving the SL positioning reference signal from one or more additional UEs; and determining an estimated location of the target UE based on SL round-trip time (RTT) positioning technology using the SL positioning reference signal (“PRS”) transmitted and received between the target UE and one or more additional UEs. In some example implementations, one or more SL UE Rx-Tx differences for determining the SL RTT are obtained by: measuring the reception timing of an SL subframe containing the PRS; measuring the difference between the transmission and reception timings of an SL subframe containing the PRS; and calculating one or more SL UE Rx-Tx timing differences. In some example implementations, the target UE receives SL-RTT configuration based on a unicast communication session and transmits an Rx-Tx difference measurement report to the location management function (“LMF”) of the communication network for use with corresponding Rx-Tx difference measurement reports from one or more additional UEs that are mobile UEs to perform the configured SL-RTT positioning technology.

[0192] In some example implementations, the target UE performs one or more actions selected from: receiving a request from a location server or location management function (“LMF”) to provide capability information related to SL-based timing positioning, and transmitting the requested SL-based timing positioning capability information to the location server or LMF; and transmitting a request to the location server or location management function (“LMF”) to provide assistance data related to SL-based timing positioning, and receiving the requested SL-based timing positioning assistance data from the location server or LMF.

[0193] In various example implementations of UE-assisted sidelink-based timing-based positioning, a location server or an LMF implemented on the location server or as a core network function receives reports from a target UE and / or one, two or more additional UEs, which may include anchored or non-anchored nodes.

[0194] In one or more example implementations, a method for a location management function (“LMF”) for a location server or implemented on a location server as a standalone core network function of a communication network includes: determining an estimated location of a target UE to be located using one or more sidelink-based timing positioning techniques selected from sidelink-based timing positioning techniques, the one or more techniques including: receiving from the target UE a report including a timing difference (“RSTD”) of two or more sidelink (“SL”) reference signals relative to a reference node between the target UE and two or more additional UEs, the SL RSTD being based on SL positioning reference signals (“PRS”) from the reference node and the two or more additional UEs; and determining the estimated location of the target UE using a time difference of arrival (“TDOA”) positioning technique based on the SL RSTD.

[0195] In some example implementations, a method for a location management function (“LMF”) implemented on a location server or as a standalone core network function of a communication network includes: receiving a report from a target UE to be located, the report including one or more SL RTT measurements between the target UE and one or more additional UEs; and determining an estimated location of the target UE using an SL-RTT positioning technique based on UE Rx-Tx time difference measurements. As described above, various non-anchored nodes can be transformed into anchored nodes using any apparatus, system, or method disclosed herein, and using the specific steps described above.

[0196] The apparatus, system, or method disclosed herein improves UE positioning technology to provide more accurate and SL-based low-latency positioning technologies, including SL TDOA and SL RTT, which can be UE-assisted when timely access to a location server or LMF is available, and may be UE-based where timely access to a location server or LMF is not available for a specific time period.

[0197] Other specific embodiments may be implemented. The described embodiments should be considered illustrative rather than restrictive in all respects. Therefore, the scope of the invention is indicated by the appended claims rather than the foregoing description. All variations falling within the meaning and scope of the equivalents of the claims should be included within their scope.

Claims

1. A user equipment (UE) for wireless communication, comprising: At least one memory; At least one processor, coupled to the at least one memory, and configured to cause the UE to: The set of reference reference signals SL-PRS measurements received from the reference node and two or more additional UEs via the side link SL; Measure the set of at least one SL reference signal timing difference (RSTD) between the two or more additional UEs relative to the reference node; The transmission time information is received from the reference node or the two or more additional UEs to compensate for the real-time difference (RTD) offset in the Time Difference of Arrival (TDOA) positioning technology. as well as The estimated location of the UE is determined using the set of SL RSTDs based on the TDOA positioning technology.

2. The UE according to claim 1, wherein, To determine the estimated location, the at least one processor is configured to cause the UE to: Using the SL RSTD, the estimated location is calculated locally based on the TDOA positioning technology.

3. The UE according to claim 1, wherein, To determine the estimated location, the at least one processor is configured to cause the UE to: Using an interface selected from the Uu interface, SL interface, or a combination thereof, the location server is provided with a combination of the SL RSTD measurements; and The estimated location is determined at least in part based on the response received from the location server.

4. The UE according to claim 1, wherein, The at least one processor is configured to cause the UE to receive location information from the two or more additional UEs, the location information including: First absolute location information received from one or more anchored UEs among the two or more additional UEs, wherein the first absolute location information includes the respective absolute locations of the one or more anchored UEs; Second absolute location information received from the location management function (LMF) for one or more non-anchored UEs among the two or more additional UEs, wherein the second absolute location information includes the corresponding absolute locations of the one or more anchored UEs.

5. The UE according to claim 1, The reference node is a fixed node selected from a base station, a roadside unit (RSU), an SL-UE, or a vulnerable road user (VRU); and The processor is configured to cause the UE to measure the RSTD at least in part based on the SL-PRS received from the reference node.

6. The UE according to claim 1, The reference node is a non-anchored mobile reference node selected from SL-UE and VRU (Voluntary Road User Unit). Wherein, the two or more additional UEs are non-anchored nodes; and The processor is configured to cause the UE to receive from the non-anchored mobile reference node one or more SL-PRS configurations corresponding to a set of SL Transmission Receive Points (TRPs) originating from the non-anchored mobile reference node and the two or more additional UEs.

7. The UE according to claim 1, wherein, The processor is configured to enable the UE to initiate a multicast communication session between the vehicle-to-all V2X layer and the location management function (LMF) to perform the TDOA positioning technology.

8. The UE according to claim 7, The reference node is a mobile reference node selected from the SL-UE and VRU; Wherein, the two or more additional UEs are non-anchored nodes; and The processor is configured to cause the UE to receive from the LMF: The SL-PRS configuration and identifier corresponding to the SL Transmission Receive Point (TRP) set originating from the mobile reference node and the two or more additional UEs; and The relative positions of the two or more additional UEs with respect to the mobile reference node, based on the multicast communication session initiated between the V2X layer and the LMF.

9. The UE according to claim 1, wherein, The at least one processor is configured to cause the UE to receive the set of SL-PRS using one or more SL channels selected from the Physical Side Link Control Channel (PSCCH), Physical Side Link Broadcast Channel (PSBCH), and Physical Side Link Shared Channel (PSSCH) and combinations thereof.

10. The UE according to claim 1, wherein, The set of SL-PRS is configured and measured at multiple time instances corresponding to points along the trajectory of the UE.

11. A method performed by a user equipment (UE), the method comprising: The set of reference reference signals SL-PRS measurements received from the reference node and two or more additional UEs via the side link SL; Measure the set of at least one SL reference signal timing difference (RSTD) between the two or more additional UEs relative to the reference node; The transmission time information is received from the reference node or the two or more additional UEs to compensate for the real-time difference (RTD) offset in the Time Difference of Arrival (TDOA) positioning technology. as well as The estimated location of the UE is determined using the set of SL RSTDs based on the TDOA positioning technology.

12. The method according to claim 11, wherein, Determining the estimated location includes: Using the SL RSTD, the estimated location is calculated locally based on the TDOA positioning technology.

13. The method according to claim 11, wherein, Determining the estimated location includes: Using an interface selected from the Uu interface, SL interface, or a combination thereof, the location server is provided with a combination of the SL RSTD measurements; and The estimated location is determined at least in part based on the response received from the location server.

14. The method of claim 11, further comprising receiving location information of the two or more additional UEs, the location information including: First absolute location information received from one or more anchored UEs among the two or more additional UEs, wherein the first absolute location information includes the respective absolute locations of the one or more anchored UEs; Second absolute location information received from the location management function (LMF) for one or more non-anchored UEs among the two or more additional UEs, wherein the second absolute location information includes the corresponding absolute locations of the one or more anchored UEs.

15. The method according to claim 11, The reference node is a fixed node selected from a base station, a roadside unit (RSU), an SL-UE, or a vulnerable road user (VRU); and The method further includes: The RSTD is measured at least in part based on the SL-PRS received from the reference node.

16. The method according to claim 11, The reference node is a non-anchored mobile reference node selected from SL-UE and VRU (Voluntary Road User Unit). The two or more additional UEs mentioned therein are non-anchored nodes; as well as The method further includes receiving from the non-anchored mobile reference node one or more SL-PRS configurations corresponding to the SL Transmission Receive Point (TRP) set originating from the non-anchored mobile reference node and the two or more attached UEs.

17. The method of claim 11, further comprising: Initiate a multicast communication session between the vehicle and all V2X layers and the location management function (LMF) to perform the TDOA positioning technology.

18. The method according to claim 17, The reference node is a mobile reference node selected from the SL-UE and VRU; Wherein, the two or more additional UEs are non-anchored nodes; and The method further includes receiving from the LMF: The SL-PRS configuration and identifier corresponding to the SL Transmission Receive Point (TRP) set originating from the mobile reference node and the two or more additional UEs; and The relative positions of the two or more additional UEs with respect to the mobile reference node, based on the multicast communication session initiated between the V2X layer and the LMF.

19. The method of claim 11, further comprising: The set of SL-PRS is received using one or more SL channels selected from the Physical Side Link Control Channel (PSCCH), Physical Side Link Broadcast Channel (PSBCH), and Physical Side Link Shared Channel (PSSCH), and combinations thereof.

20. The method according to claim 11, wherein, The set of SL-PRS is configured and measured at multiple time instances corresponding to points along the trajectory of the UE.

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