Global navigation satellite system precise positioning engine employing estimated ionosphere

Abstract

Various techniques for wireless communication are disclosed. In an aspect, a user equipment (UE) can receive a signal of a first frequency band from a satellite vehicle (SV), estimate a first ionospheric delay residual error based on the signal of the first frequency band, calculate a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric delay residual error, and estimate a position using the first pseudorange measurement and the first carrier phase measurement. In some aspects, the ionospheric delay residual error is estimated via a Klobuchar equation. In some aspects, the position is estimated using ultra-long baseline real-time kinematic (RTK) positioning.

Description

TECHNICAL FIELD

[0001] Aspects of the present disclosure generally relate to a global navigation satellite system (GNSS) precise positioning engine (PPE). BACKGROUND

[0002] Global navigation satellite systems (GNSS) are widely used for position and location applications. Precision is important for many of these applications, but there are delays in the ionosphere and troposphere that negatively impact the ability to reliably measure accurate GNSS position / pseudorange values. SUMMARY

[0003] The following presents a simplified summary relating to one or more aspects disclosed herein. Thus, the following summary should not be considered an extensive overview relating to all contemplated aspects, nor should the following summary be considered to identify key or critical elements relating to all contemplated aspects or to delineate the scope associated with any particular aspect. Accordingly, the following summary is merely presented in a simplified form as an advancement toward the disclosure of the aspects set forth herein, which is further described below in the detailed description.

[0004] Presented herein is a new precise point positioning (PPP) model that does not require dual-frequency measurements to estimate ionospheric delays and is thus applicable to situations where signals in L1 or L5 frequencies are not available, and a system using the new PPP model. Moreover, the new PPP model provides better performance than traditional methods in situations where both L1 and L5 are available.

[0005] In some embodiments, a method for precise point positioning (PPP) includes, at a user equipment (UE): receiving, from a satellite vehicle (SV), a signal of a first frequency band; estimating, based on the signal of the first frequency band, a first ionospheric delay residual error; calculating, based on the first ionospheric delay residual error, a first pseudorange measurement and a first carrier phase measurement; and estimating a position using the first pseudorange measurement and the first carrier phase measurement.

[0006] In some embodiments, a UE includes a memory, at least one transceiver, and at least one processor communicatively coupled to the memory and the at least one transceiver, the at least one processor configured to: receive, from a satellite vehicle (SV), a signal of a first frequency band; estimate, based on the signal of the first frequency band, a first ionospheric delay residual error; calculate, based on the first ionospheric delay residual error, a first pseudorange measurement and a first carrier phase measurement; and estimate a position using the first pseudorange measurement and the first carrier phase measurement.

[0007] In some implementations, a UE includes means for receiving signals of a first frequency band from a SV, means for estimating ionospheric delay residual errors based on the signals of the first frequency band, means for calculating a pseudorange measurement and a carrier phase measurement based on the estimated ionospheric delay residual errors, and means for estimating a position using the pseudorange measurement and the carrier phase measurement.

[0008] In some implementations, a non-transitory computer-readable medium stores a set of instructions, the set of instructions including one or more instructions that, when executed by one or more processors of a UE, cause the UE to: receive signals of a first frequency band from a SV, estimate ionospheric delay residual errors based on the signals of the first frequency band, calculate a pseudorange measurement and a carrier phase measurement based on the estimated ionospheric delay residual errors, and estimate a position using the pseudorange measurement and the carrier phase measurement.

[0009] Other objects and advantages associated with aspects disclosed herein will be apparent to those skilled in the art based on the accompanying drawings and detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings are included to provide illustration and a further understanding of the examples of one or more aspects of the disclosed subject matter and are incorporated in and constitute a part of this specification, illustrate embodiments of the aspects, and, together with the description, serve to explain the principles of the aspects.

[0011] Figure 1A and Figure 1B FIGURE 1 illustrates an example wireless communication system, according to various aspects.

[0012] Figure 2A and Figure 2B FIGURE 2 illustrates an example wireless network structure, according to various aspects.

[0013] Figures 3A-3C is a simplified block diagram of several example aspects of components that can be employed in a wireless communication node and configured to support communications as taught herein.

[0014] Figure 4 illustrates distance calculations based on signals received by a user on the Earth's surface from a SV, such as a GPS or other satellite vehicle (SV).

[0015] Figure 5 illustrates some elements used to calculate ionospheric delay.

[0016] Figure 6 is a flow diagram illustrating a method 600 for GNSS PPE employing estimated ionosphere, according to some aspects.

[0017] Figure 7 and Figure 8 is a chart comparing performance of a standard PPP model and a new PPP model, according to certain aspects. Detailed Implementation

[0018] Aspects of this disclosure are provided in the following description and accompanying drawings, which are provided for illustrative purposes. Alternative aspects may be devised without departing from the scope of this disclosure. Furthermore, well-known elements of this disclosure will not be described in detail or will be omitted so as not to obscure the relevant details of this disclosure.

[0019] Precise Point Positioning (PPP) for Global Navigation Satellite Systems (GNSS) is a technique that utilizes the frequency-dependent characteristics of ionospheric delay. The ionosphere is diffuse, meaning that signals at different frequencies are delayed by different amounts. PPP uses measurements at two different frequencies (e.g., L1 and L5) to determine the delay caused by the ionosphere. By measuring the delay difference between signals at different frequencies, the receiver can model and eliminate ionospheric delay. PPP use cases include autonomous driving, which requires positioning accuracy from centimeters (cm) to decimeters (dm) and a 95% circular error probability (CEP) of less than one meter, as well as some Internet of Things (IoT) and industrial applications.

[0020] Real-time kinematics (RTK) is a technique that provides relative positioning information with respect to a reference station. In traditional RTK, atmospheric delays, including ionospheric delay, are almost completely canceled out after RTK correction due to the very high spatial correlation between the reference station and the client equipment. Ultra-long baseline RTK also requires dual-frequency measurements to calculate and correct for ionospheric delay. Therefore, consumer-grade receivers typically must be able to perform high-quality carrier phase measurements and multi-constellation, multi-frequency (MCMF) operation.

[0021] However, not all GPS satellites support L1 and L5, meaning that mobile phones that require multiple frequencies to estimate ionospheric delay cannot provide accurate positioning via PPP or ultra-long baseline RTK.

[0022] This paper presents a novel Precise Point Positioning (PPP) model for Global Navigation Satellite System (GNSS) and a system using this model. The new PPP model does not require dual-frequency measurements to estimate ionospheric delay, thus making it suitable for situations where signals in either the L1 or L5 frequencies are unavailable. Furthermore, when both L1 and L5 frequencies are available, the new PPP model offers better performance than conventional methods.

[0023] As used herein, the terms “exemplary” and “example” mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” or “example” is not necessarily to be construed as superior to or advantageous to other aspects. Similarly, the term “aspects of this disclosure” does not require that all aspects of this disclosure include the features, advantages, or modes of operation discussed.

[0024] Those skilled in the art will appreciate that information and signals can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof, depending in part on the particular applications, in part on the underlying technology, in part on the particular design choices made by a designer, and the like.

[0025] Further, many aspects are described in terms of sequences of actions to be performed by, for example, elements of a computing device. It will be recognized that various actions described herein can be performed by specific circuits (e.g., application specific integrated circuits (ASICs)), by program instructions being executed by one or more processors, or by a combination of both. Additionally, the sequence(s) of actions described herein can be considered to be embodied entirely within any form of non-transitory computer readable storage medium having stored therein a corresponding set of computer instructions that, upon execution, would cause or instruct an associated processor of a device to perform the functionality described herein. Thus, the various aspects of the disclosure can be embodied in a number of different forms, all of which have been contemplated to fall within the scope of the claimed subject matter. In addition, for each of the aspects described herein, the corresponding form of any such aspects can be described herein in terms such as "logic configured to" perform the actions described, or other similar terminology. For the avoidance of doubt, the actions described herein are intended to be purely exemplary of the types of actions that can be performed by or in association with logic configured to perform the described actions, and the described actions can be modified, supplemented, or otherwise manipulated by the configuration of the configuration of the logic.

[0026] As used herein, the terms "user equipment" (UE) and "base station" are not intended to be specific or otherwise limited to any particular radio access technology (RAT), unless otherwise noted. In general, a UE can be any wireless communication device (e.g., a mobile phone, router, tablet computer, laptop computer, tracking device, wearable device (e.g., smartwatch, glasses, augmented reality (AR) / virtual reality (VR) headset, etc.), vehicle (e.g., automobile, motorcycle, bicycle, etc.), Internet of Things (IoT) device, etc.) used by a user to communicate over a wireless communications network. A UE can be mobile or can (e.g., at certain times) be stationary, and can communicate with a radio access network (RAN). As used herein, the term "UE" can be referred to as "access terminal" or "AT," "client device," "wireless device," "subscriber device," "subscriber terminal," "subscriber station," "user terminal" (UT), "mobile device," "mobile terminal," "mobile station," or variations thereof. Generally, UEs can communicate with a core network via a RAN, and through the core network, UEs can be connected to one or more external networks such as the Internet and / or other UEs. Of course, UEs can also connect to the core network and / or the Internet via wired connections (e.g., via Ethernet), wireless local area network (WLAN) networks (e.g., based on IEEE 802.11), etc.

[0027] A base station can operate according to one of several RATs in communication with UEs depending on the network in which it is deployed, and can alternatively be referred to as an access point (AP), a network node, a NodeB, an evolved NodeB (eNB), a next generation eNB (ng-eNB), a New Radio (NR) Node B (also referred to as a gNB or gNodeB), etc. The base station can be used primarily to support wireless access by UEs 110, including supporting data, voice, signaling, or various combinations of these for the UEs 110. In some systems, the base station can provide purely edge node signaling functions, while in other systems it can provide additional control functions, network management functions, or both. A UE 110 can transmit and receive information from a base station via communication links, which in some systems can be referred to as physical channels. UEs 110 can communicate with each other via one or more device-to-device communication links, which in some systems can be described as sidelinks. These communication links can be established via the use of one or more wireless communication technologies and protocols. These communication links can be through one or more wireless communication devices of a base station, which can be referred to as transmission-reception points (TRPs). The communication links can be through one or more access networks, which can be a radio access network (RAN). The UEs 110 can be configured to transmit and receive information via the communication links over one or more frequency bands. In some systems, these frequency bands can be associated with different bandwidths and operating

[0028] The term“base station” can refer to a single physical transmission-reception point (TRP) or to multiple physical TRPs that can be co-located or not. For example, the term“base station” refers to a single physical TRP that can be an antenna of the base station for one cell (or multiple cell sectors) of the base station. Where the term“base station” refers to multiple co-located physical TRPs, the physical TRPs can be an array of antennas of the base station (e.g., as in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming). Where the term“base station” refers to multiple non-co-located physical TRPs, the physical TRPs can be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-co-located physical TRPs can be the serving base station from which a UE receives measurements reports and a neighbor base station whose reference radio frequency (RF) signals (or simply“reference signals”) the UE is measuring. Because the TRP is the point from which a base station transmits and receives wireless signals, as used herein, a reference to a transmission from a base station or reception at a base station will be understood to refer to a particular TRP of the base station.

[0029] In some implementations that support positioning of UEs, a base station can not support wireless access by UEs (e.g., can not support data, voice, signaling connections, or various combinations thereof for UEs), but can instead transmit reference signals to UEs to be measured by the UEs, can receive and measure signals transmitted by the UEs, or both. Such a base station can be referred to as a positioning beacon (e.g., when transmitting signals to UEs), a location measurement unit (e.g., when receiving and measuring signals from UEs), or both.

[0030] An “RF signal” comprises electromagnetic waves of a given frequency that transmit information across the space between a transmitter and a receiver. As used herein, a transmitter can transmit a single “RF signal” or multiple “RF signals” to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, the receiver can receive multiple “RF signals” corresponding to each transmitted RF signal. The same transmitted RF signal on different paths between the transmitter and receiver can be referred to as a “multipath” RF signal. As used herein, an RF signal can also be referred to as a “wireless signal” or simply a “signal,” where it is clear from the context that the term “signal” refers to both wireless and RF signals.

[0031] Figure 1A And Figure 1B FIG. 1 illustrates an example wireless communication system 100, in accordance with various aspects. In Figure 1A In some implementations that support positioning of UEs, a base station can not support wireless access by UEs (e.g., can not support data, voice, signaling connections, or various combinations thereof for UEs), but can instead transmit reference signals to UEs to be measured by the UEs, can receive and measure signals transmitted by the UEs, or both. Such a base station can be referred to as a positioning beacon (e.g., when transmitting signals to UEs), a location measurement unit (e.g., when receiving and measuring signals from UEs), or both.

[0032] The base stations 102 can collectively form a Radio Access Network (RAN) 106 and interface with a core network 108 (e.g., an evolved packet core (EPC) or 5G core (5GC)) through backhaul links 110, and through the core network 108 to one or more location servers 112, which can be part of core network 108 or can be external to core network 108. In addition to other functions, the base stations 102 can perform functions related to routing user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, non-access stratum (NAS) message transfer, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast service (MBMS), user and device tracking, radio access network (RAN) information management (RIM), paging, positioning, and delivery of warning messages. The base stations 102 can communicate with each other directly or indirectly (e.g., through the EPC / 5GC) over backhaul links 114, which can be wired or wireless.

[0033] The base stations 102 can wirelessly communicate with the UEs 104. Each of the base stations 102 can provide communication coverage for a respective geographic coverage area 116. In an aspect, one or more cells can be supported by the base stations 102 in the geographic coverage area 116. A “cell” is a logical communication entity used for communication to UEs under the same protocol type, such as E-UTRA, NR, or other protocol types, and can be associated with an identifier for distinct delineation of the cell from other cells operating in the same or different frequency, time, and / or code domains. In some scenarios, different protocol types can be configured according to different types of UEs to provide access to access a network, such as machine type communication (MTC), narrowband internet of things (NB-IoT), enhanced mobile broadband (eMBB), or others. The term “cell” can refer to either or both of a logical communication entity or a geographic coverage area partitioned by a base station depending on the context in which the term is used. In addition, a TRP can typically be a physical transmission point for a cell, and as such, the term “cell” and “TRP” can be used interchangeably. In some scenarios, the term “cell” can also refer to a geographic coverage area of a base station (e.g., a sector) as well, so long as a carrier frequency can be detected and used for communication within the geographic coverage area 116.

[0034] Although the geographic coverage area 116 for each of the base stations 102 can overlap in order to provide stronger indoor and / or outdoor coverage, the same frequencies can be reused, thus increasing system capacity. In some cases, the base stations 102 can be macro cells, small cells, home (femto) cells, or the like. A macro cell can be a cell larger in size than a small cell, and thus can provide less detailed coverage than a small cell. A small cell can be a cell that is smaller in size than a macro cell and / or a home cell, and thus can provide more detailed coverage than a macro cell and / or a home cell. The base stations 102 and the UEs 104 can utilize one or more sub- 1 GHz, 1.9 GHz, 2.1 GHz, 2.4 GHz, 3.5 GHz, 4 GHz, 5 GHz, or 7 GHz bands, among other bands.

[0035] The communication links 118 between the base stations 102 and the UEs 104 can include uplink (also referred to as reverse link) transmissions from a UE 104 to a base station 102, downlink (also referred to as forward link) transmissions from a base station 102 to a UE 104, or both. The communication links 118 can use MIMO antenna technology, including spatial multiplexing, beamforming, transmit diversity, or combinations thereof. The communication links 118 can be through one or more carrier frequencies. Allocation of carriers can be asymmetric with respect to downlink and uplink (e.g., more or less carriers can be allocated for downlink than for uplink).

[0036] The wireless communications system 100 can also include a wireless local area network (WLAN) access point (AP) 120 in communication with WLAN stations (STAs) 122 via communication links 124 in an unlicensed frequency spectrum (e.g., 5 GHz). When communicating in an unlicensed frequency spectrum, the WLAN STAs 122, WLAN AP 120, or various combinations thereof can perform clear channel assessment (CCA) or listen before talk (LBT) procedures prior to communicating in order to determine whether the channel is available.

[0037] The small cell base stations 102' can operate in a licensed frequency spectrum, an unlicensed frequency spectrum, or both. When operating in an unlicensed frequency spectrum, the small cell base stations 102' can employ LTE or NR technology and use the same 5 GHz unlicensed frequency spectrum as used by the WLAN AP 120. The small cell base stations 102' employing LTE / 5G in an unlicensed frequency spectrum can increase the overall throughput and offload the licensed frequency spectrum. NR in an unlicensed frequency spectrum can be referred to as NR-U. LTE in an unlicensed frequency spectrum can be referred to as LTE-U, Licensed Assisted Access (LAA), or MulteFire.

[0038] The wireless communications system 100 can also include millimeter wave (mmW) base stations 126 that can operate in mmW frequencies, near mmW frequencies, or combinations thereof in communication with UEs 128. Extremely high frequency (EHF) is a portion of the RF in the electromagnetic spectrum. EHF has a range from 30 GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters. Radio waves in this band can be referred to as a millimeter wave. Near mmW can extend down to a frequency of 3 GHz with a wavelength of 100 millimeters. The super high frequency (SHF) band extends between 3 GHz and 30 GHz, also referred to as centimeter wave. Communications using the mmW / near mmW radio frequency band have high path loss and a relatively short range. The mmW base stations 126 and the UEs 128 can utilize beamforming (for transmission, reception, or both) on the mmW communication links 130 to compensate for the extremely high path loss and short range. Further, it should be appreciated that in alternative configurations, one or more base stations 102 can also transmit using mmW or near mmW and beamforming. Thus, it should be appreciated that the previous description should not be construed as limiting the various aspects disclosed herein.

[0039] Transmit beamforming is a technique for focusing the RF signal in a specific direction. Traditionally, when a network node (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omni-directional). With transmit beamforming, the network node determines where a given target device (e.g., UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that specific direction, providing a faster (in terms of data rate) and stronger RF signal for the receiving device(s). To change the directionality of the RF signal when transmitting, the network node can control the phase and relative amplitude of the RF signal at each of the one or more transmitters that are broadcasting the RF signal. For example, a network node can use an array of antennas (referred to as a “phased-array” or “antenna array”) to create a RF wave that can be “steered” into a different direction without the physical system moving. Specifically, the RF current from the transmitter is fed to each of the individual antennas with the correct phase relationship to create a radio wave that

[0040] The transmit beams can be quasi co-located, meaning that they appear the same in terms of parameters to a receiver (e.g., a UE), regardless of whether the transmit antennas of the network node themselves are physically co-located. In NR, there are four types of quasi co-location (QCL) relationships. Specifically, a given type of QCL relationship means that certain parameters about a second reference RF signal on a second beam can be derived from information about a source reference RF signal on a source beam. Thus, if the source reference RF signal is QCL Type A, the receiver can use the source reference RF signal to estimate the Doppler shift, Doppler spread, average delay, and delay spread of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type B, the receiver can use the source reference RF signal to estimate the Doppler shift and Doppler spread of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type C, the receiver can use the source reference RF signal to estimate the Doppler shift and average delay of a second reference RF signal transmitted on the same channel. If the source reference RF signal is QCL Type D, the receiver can use the source reference RF signal to estimate the spatial receive parameters of a second reference RF signal transmitted on the same channel.

[0041] In receive beamforming, a receiver uses a receive beam to amplify an RF signal detected on a given channel. For example, the receiver can increase a gain setting of an antenna array in a particular direction, adjust its phase setting, or a combination thereof, to amplify (e.g., increase its gain level) an RF signal received from that direction. Thus, when a receiver beamforms in a certain direction, it means that the beam gain in that direction is higher relative to the beam gain along other directions, or that the beam gain in that direction is the highest compared to the beam gain in that direction of all other receive beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal to interference plus noise ratio (SINR), etc.) of the RF signal received from that direction.

[0042] The receive beams can be spatially related. Spatially related means that parameters for a transmit beam for a second reference signal can be derived from information for a receive beam for a first reference signal. For example, a UE can use a particular receive beam to receive one or more reference downlink reference signals (e.g., positioning reference signals (PRSs), narrowband reference signals (NRSs), tracking reference signals (TRSs), phase tracking reference signals (PTRSs), cell-specific reference signals (CRSs), channel state information reference signals (CSI-RSs), primary synchronization signals (PSSs), secondary synchronization signals (SSSs), synchronization signal blocks (SSBs), etc.) from a base station. The UE can then form a transmit beam based on parameters of the receive beam to transmit one or more uplink reference signals (e.g., uplink positioning reference signals (UL-PRSs), sounding reference signals (SRSs), demodulation reference signals (DMRSs), PTRSs, etc.) to the base station.

[0043] Note that a “downlink” beam can be a transmit beam or a receive beam, depending on the entity forming it. For example, if a base station is forming a downlink beam to transmit a reference signal to a UE, the downlink beam is a transmit beam. However, if a UE is forming a downlink beam, it is a receive beam to receive a downlink reference signal. Similarly, an “uplink” beam can be a transmit beam or a receive beam, depending on the entity forming it. For example, if a base station is forming an uplink beam, it is an uplink receive beam, while if a UE is forming an uplink beam, it is an uplink transmit beam.

[0044] In 5G, the frequency spectrum in which wireless nodes (e.g., base stations 102 / 126, UEs 104 / 128) operate is divided into multiple frequency ranges, FR1 (from 450 to 6000 MHz), FR2 (from 24250 to 52600 MHz), FR3 (above 52600 MHz), and FR4 (between FR1 and FR2). In multi-carrier systems such as 5G, one of the carrier frequencies is referred to as the “primary carrier” or “anchor carrier” or “primary serving cell” or “PCell,” and the rest of the carrier frequencies are referred to as “secondary carriers” or “secondary serving cells” or “SCells.” In carrier aggregation, the anchor carrier is the carrier operating on the primary frequency (e.g., FR1) utilized by the UE 104 / 128 and on which the UE 104 / 128 performs an initial radio resource control (RRC) connection establishment procedure or initiates a RRC connection reestablishment procedure. The primary carrier carries all common and UE-specific control channels, and can be a carrier in a licensed frequency (however, this is not always the case). Secondary carriers are carriers operating on a second frequency (e.g., FR2) that can be configured once the RRC connection between the UE 104 and the anchor carrier is established and can be used to provide additional radio resources. In some cases, the secondary carrier can be a carrier in an unlicensed frequency. Secondary carriers can contain only necessary signaling information and signals, e.g., that UE-specific information and signals can not be present in secondary carriers, as both the primary uplink and downlink carriers are typically UE-specific. This means that different UEs 104 / 128 in a cell can have different downlink primary carriers. The same is true for the uplink primary carriers. The network is able to change the primary carrier for any UE 104 / 128 at any time. This is done, for example, to balance the load on different carriers. Because a “serving cell” (whether a PCell or an SCell) corresponds to a carrier frequency / component carrier on which a certain base station is communicating, the terms “cell,” “serving cell,” “component carrier,” “carrier frequency,” and the like can be used interchangeably.

[0045] For example, still referring to Figure 1A , one of the frequencies utilized by the macrocell base station 102 can be an anchor carrier (or “PCell”), and the other frequencies utilized by the macrocell base station 102, mmW base station 126, or a combination thereof can be secondary carriers (“SCells”). The simultaneous transmission, reception, or both, of multiple carriers enables the UE 104 / 128 to significantly increase its data transmission rate, reception rate, or both. For example, two 20 MHz aggregated carriers in a multi-carrier system would theoretically result in a doubling of the data rate (i.e., 40 MHz) as compared to the data rate achieved with a single 20 MHz carrier.

[0046] The wireless communications system 100 can also include one or more UEs, such as UE 132, that indirectly connect to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links, referred to as “sidelinks.” For example, the UE 132 can communicate directly with the UE 104 that has a wireless subscription with a network operator that serves the base station 102. Figure 1A In an example, the UE 132 has a D2D P2P link 134 with one of the UEs 104 connected to one of the base stations 102 (through which the UE 132 can indirectly obtain cellular connectivity) and a D2D P2P link 136 with a WLAN STA 122 connected to the WLAN AP 120 (through which the UE 132 can indirectly obtain WLAN-based Internet connectivity). In an example, the D2D P2P links 134 and 136 can be supported by any well-known D2D RAT, such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), Bluetooth®, Zigbee®, Z-Wave®, and the like.

[0047] The wireless communications system 100 can also include a UE 138 that can communicate with macro cell base station 102 over communication link 118, with mmW base station 126 over mmW communication link 130, or a combination thereof. For example, the macro cell base station 102 can support a PCell and one or more SCells for the UE 138, and the mmW base station 126 can support one or more SCells for the UE 138.

[0048] Figure 1B FIGURE illustrates another aspect of the wireless communications system 100, for example, the core network 108 includes an access and mobility management function (AMF) 140 and the UE 104 can communicate with one or more satellite vehicles (SVs), such as a global navigation satellite system (GNSS) vehicle 142, for example, in addition to the RAN 106, WAP 120, and the like.

[0049] Figure 2A ​An example wireless network structure 200 is illustrated in accordance with various aspects. For example, a 5GC 210 (also referred to as a Next Generation Core (NGC)) can be viewed functionally as control plane functions 214 (e.g., UE registration, authentication, network access, gateway selection, etc.) and user plane functions 212 (e.g., UE gateway function, access to data networks, IP routing, etc.) which operate cooperatively to form the core network. User and control plane interface (NG-U) 213 and control plane interface (NG-C) 215 connect the gNBs 222 to the 5GC 210, specifically to control plane functions 214 and user plane functions 212. In additional configurations, an ng-eNB gNB 224 can also be connected to the 5GC 210 via NG-C 215 to the control plane functions 214 and NG-U 213 to the user plane functions 212. Further, the ng-eNB 224 can directly communicate with gNBs 222 via backhaul connection 223. In certain configurations, the New RAN 220 can only have one or more gNBs 222, while other configurations include one or more of both ng-eNBs 224 and gNBs 222. The gNBs 222 or ng-eNB 224 can communicate with UEs 204 (e.g., Figure 1A Any of the UEs depicted in FIG. 1 can be configured to communicate using New Radio (NR) wireless communications technology. Any of the UEs 204 can also be configured to communicate using any combination of 5G NR technology, LTE technology, and / or other wireless technology. Another optional aspect can include a location server 112 that can be in communication with the 5GC 210 to provide location assistance for UEs 204. The location server 112 can be implemented as a plurality of separate servers (e.g., physically separate servers, different software modules on a single server, different software modules spread on multiple physical servers, etc.), or alternately can each correspond to a single server. The location server 112 can be configured to support one or more location services for UEs 204, which can connect to the location server 112 via core network 5GC 210, via the Internet (not illustrated), or via both. Further, the location server 112 can be integrated into a component of the core network, or alternately can be external to the core network.

[0050] Figure 2BAnother example wireless network structure 250 is illustrated in accordance with various aspects. For example, a 5GC 260 can be viewed functionally as control plane functions provided by access and mobility management function (AMF) 264, and user plane functions provided by user plane function (UPF) 262, which operate cooperatively with each other to form the core network (i.e., 5GC 260). User plane interface 263 and control plane interface 265 connect the ng-eNB 224 to the 5GC 260, specifically to UPF 262 and AMF 264, respectively. In additional configurations, gNBs 222 can also connect to the 5GC 260 via control plane interface 265 to AMF 264 and user plane interface 263 to UPF 262. Further, ng-eNB 224 can communicate directly with gNBs 222 via backhaul connection 223, with or without ng-eNB direct connectivity to the 5GC 260. In some configurations, the New RAN 220 can only include one or a subset of the gNBs 222, while other configurations include one or a subset of both ng-eNBs 224 and gNBs 222. A gNB 222 or ng-eNB 224 can communicate with UEs 204 (e.g., Figure 1A any of the UEs depicted in FIG. 13). The base stations of the New RAN 220 communicate with the AMF 264 over an N2 interface and with the UPF 262 over an N3 interface.

[0051] The functions of the AMF 264 include registration management, connection management, reachability management, mobility management, lawful intercept, transport for

[0052] The functions of the UPF 262 include acting as an anchor point for intra- / inter-RAT mobility (when applicable), acting as a external protocol data unit (PDU) session point of interconnect to data networks (not shown), providing packet routing and forwarding, packet inspection, and user plane policy rule enforcement (e.g., gating, redirection, traffic steering), lawful intercept (user plane collection), traffic usage reporting, quality of service (QoS) handling for user plane (e.g., uplink / downlink rate enforcement, reflective QoS marking in the downlink), uplink traffic verification (service data flow (SDF) to QoS flow mapping), transport level packet marking in the uplink and downlink, downlink packet buffering and downlink data notification triggering, and sending and forwarding of one or more “end markers” to the source RAN node. The UPF 262 can also support transfer of location service messages over a user plane between the UE 204 and a location server, such as the Secure User Plane Location (SUPL) Location Platform (SLP) 272.

[0053] The functions of the SMF 266 include session management, UE Internet protocol (IP) address allocation and management, selection and control of user plane functions, configuration of traffic steering at the UPF 262 to route traffic to the proper destination, part of policy enforcement and QoS control, and downlink data notification. The interface by which the SMF 266 communicates with the AMF 264 is referred to as the N11 interface.

[0054] Another optional aspect can include an LMF 270, which can communicate with the 5GC 260 to provide location assistance for UEs 204. The LMF 270 can be implemented as a plurality of separate servers (e.g., physically separate servers, different software modules on a single server, different software modules spread across a plurality of physical servers, etc.), or alternately each corresponding to a separate server. The LMF 270 can be configured to support one or more location services for UEs 204, which can connect to the LMF 270 via core network 5GC 260, via the Internet (not illustrated), or via both. The SLP 272 can support similar functions to the LMF 270, but whereas the LMF 270 can communicate over the control plane with the AMF 264, new RAN 220, and UEs 204 (e.g., using interfaces and protocols intended to convey signaling messages, rather than voice or data), the SLP 272 can communicate with UEs 204 and external clients (not illustrated) over the user plane (e.g., using protocols intended to carry voice or data, such as the transmission control protocol (TCP) and / or IP). Figure 2B

[0055] In an aspect, the LMF 270, the SLP 272, or both, can be integrated into a base station, such as the gNB 222 or ng-eNB 224. When integrated into a gNB 222 or ng-eNB 224, the LMF 270 or the SLP 272 can be referred to as a location management component (LMC). However, as used herein, references to the LMF 270 and the SLP 272 include instances in which the LMF 270 and the SLP 272 are components of the core network (e.g., 5GC 260) as well as instances in which the LMF 270 and the SLP 272 are components of a base station.

[0056] Figure 3A Figure 3B and Figure 3C ​​A few example components (represented by corresponding blocks) are illustrated that can be incorporated into the UE 302 (which can correspond to any of the UEs described herein), the base station 304 (which can correspond to any of the base stations described herein), and the network entity 306 (which can correspond to or embody any of the network functions described herein, including the location server 112 and the LMF 270) to support file transfer operations as taught herein. It will be appreciated that these components can be implemented in different implementations in different types of apparatuses (e.g., in ASICs, in system-on-chips (SoCs), etc.). The components shown can also be incorporated into other apparatuses in a communication system. For example, other apparatuses in a system can include similar components to those described to provide similar functionality. Also, a given apparatus can contain one or more components. For example, an apparatus can include multiple transceiver components that enable the apparatus to operate on multiple carriers, to communicate via different technologies, or both.

[0057] The UE 302 and the base station 304 each include wireless wide area network (WWAN) transceiver, such as WWAN transceiver 310 and WWAN transceiver 350, configured to communicate via one or more wireless communication networks, such as an NR network, an LTE network, a GSM network, and / or the like (not shown). The WWAN transceivers 310 and 350 can connect to one or more antennas, such as antennas 316 and 356, respectively, for communicating in the wireless communication medium, e.g., a set of time / frequency resources in a particular frequency spectrum, via at least one designated RAT (for example, NR, LTE, GSM, etc.) with other network nodes, such as other UEs, access points, base stations (for example, eNBs, gNBs), and / or the like. The WWAN transceivers 310 and 350 can be variously configured for transmitting and encoding signals 318 and 358 (for example, messages, indications, information, and / or the like), respectively, and, conversely, for receiving and

[0058] The UE 302 and the base station 304 also include, at least in some cases, wireless local area network (WLAN) transceiver 320 and WLAN transceiver 360, respectively. The WLAN transceivers 320 and 360 can connect to one or more antennas, such as antennas 326 and 366, respectively, for communicating in the wireless communication medium via at least one designated RAT (for example, WiFi, LTE-D, Bluetooth®, Zigbee®, and / or the like) with other network nodes, such as other UEs, access points, base stations, and / or the like. The WLAN transceivers 320 and 360 can be variously configured for transmitting and encoding signals 328 and 368 (for example, messages, indications, information, and / or the like), respectively, and, conversely, for receiving and decoding signals 328 and 368 (for example, messages, indications, information, pilots, and / or the like). Specifically, the WLAN transceivers 320 and 360 include one or more transmitters, such as the transmitter 324 and the transmitter 364, respectively, for transmitting and encoding signals 328 and 368, respectively, and one or more receivers, such as the receiver 322 and the receiver 362, respectively, for receiving and decoding signals 328 and 368, respectively. The WLAN transceivers 320 and 360 can be variously configured depending on the specified RAT, respectively, for transmitting and encoding signals (e.g., messages, indications, information, and so on) such as the signals 328 and 368, and conversely for receiving and decoding signals such as the signals 328 and 368. Specifically, the WLAN transceivers 320 and 360 include one or more transmitters, such as the transmitter 324 and the transmitter 364, respectively, for transmitting and encoding signals such as the signals 328 and 368, and one or more receivers, such as the receiver 322 and the receiver 362, respectively, for receiving and decoding the signals 328 and 368.

[0059] Transceiver circuitry including at least one transmitter and at least one receiver can comprise an integrated device (e.g., embodied as a single communication device’s transmitter circuitry and receiver circuitry) in some implementations, can comprise a separate transmitter device and a separate receiver device in some implementations, or can be embodied in other manners in other implementations. In an aspect, a transmitter can include or be coupled to multiple antennas (e.g., antennas 316, 326, 356, 366), such as an antenna array, that allows the respective apparatus to perform transmit “beamforming,” as described herein. Similarly, a receiver can include or be coupled to multiple antennas (e.g., antennas 316, 326, 356, 366), such as an antenna array, that allows the respective apparatus to perform receive beamforming, as described herein. In an aspect, a transmitter and a receiver can share the same multiple antennas (e.g., antennas 316, 326, 356, 366), such that the respective apparatus can only receive or transmit at a given time, not both at the same time. The wireless communication device(s) of the UE 302, the base station 304, or both (e.g., one or both of the transceiver 310 and 320, the transceiver 350 and 360, or both) can also include a network listen module (NLM) or the like for performing various measurements.

[0060] The UEs 302 and the base stations 304 also include satellite positioning system (SPS) receivers, such as SPS receiver 330 and SPS receiver 370, in at least some aspects. The SPS receivers 330 and 370 can be connected to one or more antennas, such as antennas 336 and 376, respectively, used to receive SPS signals, such as SPS signals 338 and 378, such as Global Positioning System (GPS) signals, Global Navigation Satellite System (GLONASS) signals, Galileo signals, Beidou signals, Indian Regional Navigation Satellite System (NAVIC), Quasi-Zenith Satellite System (QZSS), etc. The SPS receivers 330 and 370 can comprise any suitable hardware, software, or both for receiving and processing SPS signals 338 and 378, respectively. The SPS receivers 330 and 370 request information and appropriate operations from other systems, and perform the necessary calculations to determine the location of the UE 302 and the base stations 304 using measurements obtained by any suitable SPS algorithm.

[0061] The base stations 304 and network entities 306 each include at least one network interface, such as network interface 380 and network interface 390, for communicating with other network entities. For example, the network interfaces 380 and 390 (e.g., one or more network access ports) can be configured to communicate with one or more network entities via a wired or wireless backhaul connection. In some aspects, the network interfaces 380 and 390 can be implemented as transceivers configured to support wired or wireless signal communication. This communication can involve, for example, sending and receiving messages, parameters, other types of information, or various combinations thereof.

[0062] The UEs 302, the base stations 304, and the network entities 306 also include other components that can be used in conjunction with the operations disclosed herein. The UE 302 includes processor circuitry implementing a processing system 332 for providing functionality relating to, for example, wireless positioning, and for providing other processing functionality. The base station 304 includes a processing system 384 for providing functionality relating to, for example, wireless positioning as disclosed herein, and for providing other processing functionality. The network entity 306 includes a processing system 394 for providing functionality relating to, for example, wireless positioning as disclosed herein, and for providing other processing functionality. In an aspect, the processing systems 332, 384, and 394 can include, for example, one or more general purpose processors, multi-core processors, ASICs, digital signal processors (DSPs), field programmable gate arrays (FPGA), or other programmable logic devices or processing circuitry.

[0063] The UE 302, the base stations 304, and the network entity 306 include memory circuitry implementing memory components 340, 386, and 396, respectively (e.g., each including a memory device) to maintain information (e.g., information indicative of reserved resources, thresholds, parameters, etc.). In some cases, the UE 302, the base stations 304, and the network entity 306 can include positioning components 342, 388, and 398, respectively. The positioning components 342, 388, and 398 can be hardware circuits that are part of, or coupled to, the processing systems 332, 384, and 394, respectively, which when executed, cause the UE 302, the base stations 304, and the network entity 306 to perform the functions described herein. In other aspects, the positioning components 342, 388, and 398 can be external to the processing systems 332, 384, and 394 (e.g., part of a modem processing system, integrated with another processing system, etc.). Alternatively, the positioning components 342, 388, and 398 can be memory modules stored in the memory components 340, 386, and 396, respectively, which when executed by the processing systems 332, 384, and 394 (or a modem processing system, another processing system, etc.), cause the UE 302, the base stations 304, and the network entity 306 to perform the functions described herein. Figure 3A Possible locations of the positioning component 342 are illustrated, which can be part of the WWAN transceiver 310, the memory component 340, the processing system 332, or any combination thereof, or can be a standalone component. Figure 3B Possible locations of the positioning component 388 are illustrated, which can be part of the WWAN transceiver 350, the memory component 386, the processing system 384, or any combination thereof, or can be a standalone component. Figure 3C Possible locations of the positioning component 398 are illustrated, which can be part of the network interface(s) 390, the memory component 396, the processing system 394, or any combination thereof, or can be a standalone component.

[0064] The UE 302 can include one or more sensors 344 coupled to the processing system 332 to provide motion information, position information, or both, that are independent of motion data derived from signals received from the WWAN transceiver 310, the WLAN transceiver 320, or the SPS receiver 330. For example, the sensor(s) 344 can include an accelerometer (e.g., a micro-electrical-mechanical system (MEMS) device), a gyroscope, a geomagnetic sensor (e.g., a compass), an altimeter (e.g., a barometric pressure altimeter), any other type of motion-detecting sensor, or combinations thereof. Moreover, the sensor(s) 344 can include multiple different types of devices and combine their outputs to provide motion information. For example, the sensor(s) 344 can use a combination of a multi-axis accelerometer and a position sensor to provide the ability to calculate a position in a 2D or 3D coordinate system.

[0065] Further, the UE 302 includes a user interface 346 for providing indications (e.g., audible, visual, or both) to a user, for receiving user input (e.g., on a touch screen, keypad, microphone, etc.), or both. Although not shown, the base station 304 and the network entity 306 can also include user interfaces.

[0066] Referring to the processing system 384 in more detail, in the downlink, IP packets from the network entity 306 can be provided to the processing system 384. The processing system 384 can implement functionality of the RRC layer, packet data convergence protocol (PDCP) layer, radio link control (RLC) layer, and medium access control (MAC) layer. The processing system 384 can provide RRC layer functionality associated with broadcasting of system information (e.g., master information block (MIB), system information blocks (SIBs)), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), inter-RAT mobility and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs), error correction through automatic repeat request (ARQ), concatenation, segmentation, and reassembly of RLC service data units (SDUs), re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, scheduling information reporting, error correction, priority handling, and logical channel prioritization.

[0067] The transmitter 354 and the receiver 352 can implement Layer 1 functionality associated with various signal processing functions. Layer 1, which includes a physical (PHY) layer, can include error detection on the transport channels, forward error correction (FEC) coding / decoding of the transport channels, interleaving, rate matching, mapping to physical channels, modulation / demodulation of physical channels, and MIMO antenna processing. The transmitter 354 handles mapping to signal constellations based on various modulation schemes (e.g., binary phase-shift keying (BPSK), quadrature phase-shift keying (QPSK), M-phase-shift keying (M-PSK), M-quadrature amplitude modulation (M-QAM)). The coded and modulated symbols can then be split into parallel streams. Each stream can then be mapped to a orthogonal frequency division multiplexing (OFDM) subcarrier, multiplexed with a reference signal (e.g., pilot) in the time domain, and then combined together using an inverse fast Fourier transform (IFFT) to produce a physical channel carrying a time domain OFDM symbol stream. The OFDM symbol stream is spatially precoded to produce multiple spatial streams. Channel estimates from a channel estimator can be used to determine the coding and modulation schemes, as well as for spatial processing. The channel estimate can be derived from a reference signal or from feedback from the UE 302, or both. Each spatial stream can then be provided to one or more different antennas 356. The transmitter 354 can modulate an RF carrier with a respective spatial stream for transmission.

[0068] At the UE 302, the receiver 312 receives a signal through its respective antenna(s) 316. The receiver 312 recovers information modulated onto an RF carrier and provides the information to the processing system 332. The transmitter 314 and the receiver 312 implement Layer 1 functionality associated with various signal processing functions. The receiver 312 can perform spatial processing on the information to recover any spatial streams destined for the UE 302. If multiple spatial streams are destined for the UE 302, they can be combined into a single OFDM symbol stream. The receiver 312 then converts the OFDM symbol stream from the time-domain to the frequency domain using a fast Fourier transform (FFT). The frequency domain signal comprises a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier, and the reference signal, are recovered and demodulated by determining the most likely signal constellation points transmitted by the base station 304. These soft decisions can be based on channel estimates computed by a channel estimator. The soft decisions are then decoded and de-interleaved to recover the data and control signals that were originally transmitted by the base station 304 on the physical channel. The data and control signals are then provided to the processing system 332, which implements Layer 3 and Layer 2 functionality.

[0069] In the uplink, the processing system 332 provides header decompression, control signal processing, and error detection for IP packets recovered from the core network. The processing system 332 is also responsible for error detection.

[0070] Similar to the functionality described in connection with the downlink transmission by the base station 304, the processing system 332 provides RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting; PDCP layer functionality associated with header compression / decompression, and security (ciphering, deciphering, integrity protection, integrity verification); RLC layer functionality associated with the transfer of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing / de-multiplexing of MAC SDUs onto / from transport blocks (TBs), scheduling information reporting, error correction through hybrid automatic repeat request (HARQ), priority handling, and logical channel prioritization.

[0071] Channel estimates derived by the channel estimator from a reference signal or feedback transmitted by the base station 304 can be used by the transmitter 314 to select the appropriate coding and modulation schemes, and to facilitate spatial processing. The spatial streams generated by the transmitter 314 can be provided to different antennas 316. The transmitter 314 can modulate an RF carrier with a respective spatial stream for transmission.

[0072] The uplink transmission is processed at the base station 304 in a manner similar to that described in connection with the receiver function at the UE 302. The receiver 352 receives information from the respective antenna(s) 356. The receiver 352 recovers information modulated onto an RF carrier and provides the information to the processing system 384.

[0073] In the uplink, the processing system 384 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, control signal processing to recover IP packets from the UE 302. IP packets from the processing system 384 can be provided to the core network. The processing system 384 is also responsible for error detection.

[0074] For convenience, the UE 302, base station 304, and network entity 306 are shown Figures 3A-3C as including various components configured to perform various functions in accordance with various examples described herein. However, it is understood that the shown blocks can have different functions from those described herein, and that the blocks can be grouped in different ways.

[0075] Various components of UE 302, base station 304 and network entity 306 can communicate with each other through data bus 334, data bus 382 and data bus 392 respectively. Figures 3A-3C The components can be implemented in various ways. In some real-time approaches, Figures 3A-3C The components can be implemented in one or more circuits, such as, for example, one or more processors, one or more ASICs (which may include one or more processors), or both. Here, each circuit may use or combine at least one memory component to store information or executable code used by the circuit to provide that functionality. For example, some or all of the functions represented by boxes 310-346 can be implemented by the processor and(s) memory components of UE 302 (e.g., by executing appropriate code, by proper configuration of the processor components, or by both). Similarly, some or all of the functions represented by boxes 350-388 can be implemented by the processor and(s) memory components of base station 304 (e.g., by executing appropriate code, by proper configuration of the processor components, or by both). Furthermore, some or all of the functions represented by boxes 390-398 can be implemented by the processor and(s) memory components of network entity 306 (e.g., by executing appropriate code, by proper configuration of the processor components, or by both). For simplicity, various operations, actions, or functions are described herein as being performed "by the UE," "by the base station," "by the positioning entity," etc. However, as will be understood, such operations, actions, or functions can actually be performed by specific components or combinations of components of the UE, base station, positioning entity, etc., such as processing systems 332, 384, 394, transceivers 310, 320, 350 and 360, memory components 340, 386, 396, positioning components 342, 388, 398, etc.

[0076] NR supports multiple cellular network-based positioning techniques, including downlink-based, uplink-based, and downlink-and-uplink-based positioning methods. Downlink-based positioning methods include observed time difference of arrival (OTDOA) in LTE, downlink time difference of arrival (DL-TDOA) in NR, and downlink angle of departure (DL-AoD) in NR. In an OTDOA or DL-TDOA positioning procedure, a UE measures the difference between the times of arrival (ToAs) of reference signals (e.g., PRS, TRS, narrowband reference signal (NRS), CSI-RS, SSB, etc.) received from pairs of base stations (referred to as reference signal time difference (RSTD) or time difference of arrival (TDOA) measurements) and reports them to a positioning entity. More specifically, the UE receives identifiers of reference base stations (e.g., a serving base station) and multiple non-reference base stations in assistance data. The UE then measures the RSTD between the reference base station and each non-reference base station. Based on the known locations of the involved base stations and the RSTD measurements, the positioning entity can estimate the location of the UE. For DL-AoD positioning, base stations measure the angle and other channel properties (e.g., signal strength) of downlink transmit beams used to communicate with the UE to estimate the location of the UE.

[0077] Uplink-based positioning methods include uplink time difference of arrival (UL-TDOA) and uplink angle of arrival (UL-AoA). UL-TDOA is similar to DL-TDOA but is based on uplink reference signals (e.g., SRS) transmitted by the UE. For UL-AoA positioning, base stations measure the angle and other channel properties (e.g., gain level) of uplink receive beams used to communicate with the UE to estimate the location of the UE.

[0078] Downlink- and uplink-based positioning methods include Enhanced Cell-ID (E-CID) positioning and Multilateration (also known as “Multi-Cell RTT”). In an RTT procedure, an initiator (either a base station or a UE) transmits an RTT measurement signal (e.g., PRS or SRS) to a responder (either a UE or a base station), which transmits an RTT response signal (e.g., SRS or PRS) back to the initiator. The RTT response signal includes a difference between the ToA of the RTT measurement signal and the transmission time of the RTT response signal, referred to as a Receive-To- Transmit (Rx-Tx) measurement. The initiator calculates a difference between the transmission time of the RTT measurement signal and the ToA of the RTT response signal, referred to as a “Tx-Rx” measurement. The propagation time (also referred to as “time of flight”) between the initiator and the responder can be computed from the Tx-Rx and Rx-Tx measurements. From the propagation time and the known speed of light, the distance between the initiator and the responder can be determined. For Multi-RTT positioning, a UE performs RTT procedures with multiple base stations to enable its position to be triangulated based on the known locations of the base stations. RTT and Multi-RTT methods can be combined with other positioning techniques, such as UL-AoA and DL-AoD, to improve positioning accuracy.

[0079] E-CID positioning methods are based on radio resource management (RRM) measurements. In E-CID, a UE reports the serving cell ID, timing advance (TA), and identifiers, estimated timing, and signal strength of detected neighbor base stations. The UE’s position is then estimated based on this information and the known locations of the base stations.

[0080] To assist in positioning operations, a location server (e.g., location server 112, LMF 270, SLP 272) can provide assistance data to a UE. For example, the assistance data can include identifiers of base stations (or cells / TRPs of base stations) from which to measure reference signals, reference signal configuration parameters (e.g., number of consecutive positioning slots, periodicity of positioning slots, muting sequence, frequency hopping sequence, reference signal identifier (ID), reference signal bandwidth, slot offset, etc.), other parameters applicable to a particular positioning method, or combinations thereof. Alternatively, the assistance data can originate directly from the base stations themselves (e.g., in periodically broadcasted overhead messages, etc.). In some cases, a UE can be able to detect neighboring network nodes themselves without the use of assistance data.

[0081] A location estimate can be referred to by other names, such as a position estimate, a location, a position, a position fix, a fix, etc. A location estimate can be geodetic and include coordinates (e.g., latitude, longitude, and possibly altitude) or can be civic and include a street address, postal address, or some other verbal description of a location. A location estimate can be further defined relative to some other known location or defined in absolute terms (e.g., using latitude, longitude, and possibly altitude). A location estimate can include an expected error or uncertainty (e.g., by including a region or volume within which the location estimate is expected to be included with some specified or default level of confidence).

[0082] Figure 4 A distance calculation 400 based on signals received by a user on the surface of the Earth from satellite vehicles (SVs) such as GPS or other SVs is illustrated. The distance to an SV is calculated based on the time it takes for a signal to travel from the SV to the receiver. The SV signal includes a ranging code, a time stamp, or other content that the receiver can use to determine an apparent distance to the SV (called a pseudorange) based on the apparent travel time of the signal and the speed of light.

[0083] However, the apparent travel time assumes that the transmitted signal is not delayed, that the received signal is not delayed, and that there are no delays between the transmitter and the receiver. Thus, to obtain an accurate distance, the time delays caused by various elements must be considered and accounted for. Some potential sources of delay and thus pseudorange measurement error include satellite clock bias 402 relative to the receiver clock, relativistic clock corrections 404, delays caused by the satellite transmitter circuitry 406, ionospheric delay 408, tropospheric delay 410, receiver clock bias 412, and receiver circuitry delays 414. Once these delays are considered, the Euclidean distance - geometric range (p) 416 between the satellite and receiver coordinates at the time of transmission and reception, respectively, can be determined. The tropospheric delay depends on the signal path through the neutral atmosphere and thus can be modeled as a function of satellite elevation angle. The tropospheric effect is independent of the frequency of the GNSS signal.

[0084] Figure 5 Some elements used to calculate the ionospheric delay are illustrated. In Figure 5 A user 500 on the surface of the Earth is receiving a signal 502 from a satellite vehicle 504. The signal 502 is passing through the ionosphere 506. If the user 500 is directly below the satellite vehicle 504, i.e., has a zenith angle = 0, then the signal 502 will travel the shortest distance through the ionosphere 506, resulting in the smallest delay, i.e.,Figure 5 The vertical delay is shown. Because the zenith angle of user 500 is not zero, signal 502 must pass through the ionosphere 506 at an angle, resulting in slant delay. Ionosphere 506 is modeled as a surface 350 km around the Earth's surface, and the point where signal 502 intersects this layer is called the ionospheric pierece point (IPP).

[0085] To provide accurate positioning, traditional PPP relies on two general sources of information: direct observables and ephemerides.

[0086] Direct observables are data that a GPS receiver can measure itself. Besides pseudorange, another direct observable in PPP is carrier phase, which includes not only the timing message encoded in the GNSS signal but also whether the wave of that signal is "rising" or "falling" at a given moment. Roughly speaking, phase can be thought of as the decimal part of the wave number between a given GNSS satellite and the receiver. On its own, phase measurements cannot even provide a rough location, but once other methods narrow the location estimate to within a diameter (approximately 20 cm) corresponding to a single wavelength, phase information can improve the estimation.

[0087] Ephemeris tables are precise measurements of GNSS satellite orbits and clocks, performed by the geodetic community (the International GNSS Service and other public and private organizations) using a global network of ground stations. Satellite navigation works on the premise that a satellite's position at any given time is known, but in reality, orbits are not entirely predictable. Ephemeris tables broadcast by satellites are early forecasts, up to several hours in advance, and are less accurate than carefully processed observations of the satellite's actual position (by a few meters at most). Therefore, if a GNSS receiver system stores raw observations, it can later process them based on ephemeris tables that are more accurate than those in the GNSS message, resulting in position estimates that are potentially more accurate than standard real-time calculations.

[0088] One challenge of PPP is ionospheric delay 408 (e.g., Figure 5 The tilt delay shown is not constant and varies depending on factors such as solar activity. Therefore, to provide accurate positioning, various delays must be compensated for, including those caused by the ionosphere. The ionosphere is dispersive, meaning that signals of different frequencies are slowed down to varying degrees.

[0089] Traditional PPP implementations utilize the frequency-dependent nature of ionospheric delay to provide such compensation. By measuring the difference in delay between different frequency signals, receiver software (or later post-processing) can model and remove the delay for any frequency. This process is only approximate, and there are still non-dispersive delay sources (particularly from water vapor moving around in the troposphere), but it significantly improves accuracy. The traditional PPP model defines the following equations:

[0090]

[0091]

[0092] where,

[0093]

[0094] where R P is the code-based measurement

[0095]

[0096] where, Φ L is the carrier phase measurement

[0097] p = geometric range (meters)

[0098] dT = receiver clock error, determined from ionosphere-free pseudorange combination (L1 / L5) (meters)

[0099] dTrop = tropospheric delay residual error, which is the difference between modeled tropospheric delay and true tropospheric delay (meters)

[0100] A IF = non-integer ambiguity term for ionosphere-free carrier phase combination (L1 / L5) (meters)

[0101] e = noise and multipath error (meters)

[0102] However, traditional PPP techniques have technical deficiencies. For example, in traditional PPP, the values of P IF and Φ IF are determined based on measurements of both frequencies L1 and L5. Thus, unless both L1 and L5 are available, the standard PPP equations above cannot be used.

[0103] To overcome the technical problem of computing precise point positions when only one frequency is available (e.g., in the case of L1 or L5, but not both), a new PPP method is presented that estimates the ionospheric delay residual error dlono using observable data without any ionosphere-free combinations.

[0104] On the other hand, when only a single frequency f0is available, the precise point position is calculated using the following equation:

[0105]

[0106]

[0107] where,

[0108] P = pseudorange measurement (meters)

[0109] Φ = carrier phase measurement (meters)

[0110] ρ = geometric range (meters)

[0111] dT = receiver clock error determined from f0pseudorange (meters)

[0112] dTrop = tropospheric delay residual error, which is the difference between modeled tropospheric delay and true tropospheric delay (meters)

[0113] dIono = ionospheric delay residual error, which is the difference between modeled ionospheric delay and true ionospheric delay (meters)

[0114] λ = wavelength of transmitted signal (meters / cycle)

[0115] N = integer ambiguity term (cycles)

[0116] r = ambiguous receiver fractional bias term (cycles)

[0117] s = ambiguous satellite fractional bias term (cycles)

[0118] ∈ P ,∈ Φ = noise and multipath error (meters)

[0119] Examples of f0include, but are not limited to, a frequency in the L1 band, a frequency in the L2 band, a frequency in the L5 band, a frequency in the E1 band, or a frequency in the E5 band.

[0120] This method can also be used where two frequencies are available. For example, if L1 or L5 are available, but not necessarily both, then the following equations are used:

[0121]

[0122]

[0123]

[0124]

[0125] where,

[0126] P = pseudorange measurement (meters)

[0127] Φ = carrier phase measurement (meters)

[0128] ρ = geometric range (meters)

[0129] dT = receiver clock error determined from Ll pseudorange (meters)

[0130] ISTB = inter-system time bias to be estimated (meters)

[0131] dTrop = tropospheric delay residual error, which is the difference between modeled tropospheric delay and true tropospheric delay (meters)

[0132] dIono = ionospheric delay residual error, which is the difference between modeled ionospheric delay and true ionospheric delay (meters)

[0133] λ = wavelength of transmitted signal (meters / cycle)

[0134] N = integer ambiguity term (cycles)

[0135] r = ambiguous receiver fractional bias term (cycles)

[0136] s = ambiguous satellite fractional bias term (cycles)

[0137] ∈ P ,∈ Φ = noise and multipath error (meters)

[0138] ISTB is the offset between receiver clocks between different signal bands, used to compensate for timing differences between data received on one frequency and data received on another frequency. In the above equations, dT is the receiver clock estimate for the Ll band, so the receiver clock for the L5 band will be dT + ISTB L5 . (The above equations can also be considered to include ISTB L1 , although the delay is zero.) If, on the other hand, dT is determined from L5 pseudorange measurements, then the equations for P l1 and Φ L1 will include an ISTB L1 term with a non-zero value, and ISTB L5 will be zero. In certain aspects, ISTB will be an estimated state in an extended Kalman filter (EKF) estimate. ISTB values are assumed to be the same for all SVs within the same signal type, and do not change significantly over time; thus, it is feasible to estimate ISTB.

[0139] In certain aspects, the value of dlono can be estimated using the Klobuchar model or other models, such as the NeQuick-G model. In certain aspects, the model-calculated ionospheric values will be scaled according to the signal frequency.

[0140] For example, if the SV has only an Ll signal available, the equations for P L1 and Φ L1 will be used; if the SV has only an L5 signal available, the equations for P L5 and Φ L5 will be used; if both Ll and L5 signals are available for the SV, the equations for P L1 , Φ L1 , P L5 and Φ L5 can all be used.

[0141] In some aspects, after applying the modeled slant ionospheric values, the slant ionospheric residual errors will be different for different SVs. In one approach, the slant ionospheric residual errors are estimated directly for each SV in the EKF estimation. In another approach, the vertical ionospheric residual errors are estimated directly for each SV in the EKF estimation, and the ionospheric mapping function will be determined from the SV line-of-sight information and the location of the pierce point at the ionosphere. It is assumed that the estimated slant ionospheric residual errors or the vertical ionospheric residual errors do not change significantly over time; therefore, it is feasible to estimate dlono.

[0142] Figure 6 is a flowchart illustrating a method 600 for GNSS PPE employing estimated ionosphere in accordance with some aspects. In some aspects, Figure 6 one or more process blocks of the method 600 can be performed by a user equipment (UE) (e.g., the user equipment (UE) 302). In some aspects, Figure 6 one or more process blocks of the method 600 can be performed by another device or a group of devices separate from or including the user equipment (UE). Additionally or alternatively, Figure 6 one or more process blocks of the method 600 are performed by one or more components of the device 3A00, such as the processor 3A20, the memory 3A30, the storage component 3A40, the input component 3A50, the output component 3A60, and / or the communication interface 3A70.

[0143] As Figure 6As shown, the method 600 can include, at a user equipment (UE): receiving a signal of a first frequency band from a satellite vehicle (SV) (block 610); estimating ionospheric delay residual errors based on the signal of the first frequency band (block 620); calculating a pseudorange measurement and a carrier phase measurement based on the estimated ionospheric delay residual errors (block 630); estimating a position using the pseudorange measurement and the carrier phase measurement (block 640). For example, the UE is any of the UEs described herein.

[0144] The method 600 can include additional aspects, such as any single aspect or any combination of aspects described below and / or in connection with one or more other processes described elsewhere herein.

[0145] In an aspect, calculating the pseudorange measurement or the carrier phase measurement includes calculating the pseudorange measurement or the carrier phase measurement based on the estimated ionospheric delay and a geometric range, a receiver clock timing, an inter-system time bias, a tropospheric delay residual error, an ambiguity term, a noise or a multipath delay, or a combination thereof.

[0146] In an aspect, calculating the pseudorange measurement includes calculating the pseudorange measurement according to any of the new pseudorange equations disclosed herein and using the first frequency band. In some aspects, calculating the pseudorange measurement includes calculating the pseudorange measurement using at least one additional frequency band.

[0147] In an aspect, calculating the carrier phase measurement includes calculating the carrier phase measurement according to any of the new carrier phase measurement equations disclosed herein and using the first frequency band. In some aspects, calculating the carrier phase measurement includes calculating the carrier phase measurement using at least one additional frequency band.

[0148] In an aspect, estimating the ionospheric delay residual errors based on the signal of the first frequency band includes estimating the ionospheric delay residual errors based on a Klobuchar equation.

[0149] In an aspect, the first frequency band includes an LI frequency band, an L2 frequency band, an L5 frequency band, an El frequency band, or an E5 frequency band.

[0150] Although Figure 6 Example blocks of the method 600 are illustrated, but in some aspects, the method 600 can include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in Figure 6 In some aspects, the method 600 can include one or more other processes as

[0151] Figure 7 and Figure 8 A chart comparing performance of a standard PPP model to a new PPP model according to certain aspects, in a case where both LI and L5 are available.

[0152] Figure 7is a plot 700 of horizontal error (HE) over time comparing the performance of the standard PPP model 702 and the new PPP model 704. For example, the new PPP model 704 is seen to perform better than the standard PPP model 702 by exhibiting lower HE and reaching lower HE values faster than the standard PPP model.

[0153] Figure 8 is a plot 800 of the cumulative distribution function (CDF) of the horizontal error (HE) for the standard PPP model 802 and the new PPP model 804. The standard model 802 exhibits 68% HE at 0.48 and 95% HE at 0.90, while the new model 804 exhibits better performance, reaching 68% HE at 0.24 and 95% HE at 0.59.

[0154] Those skilled in the art will appreciate that information and signals can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0155] Further, those skilled in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the aspects disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0156] The various illustrative logical blocks, modules, and circuits described in connection with the aspects disclosed herein can be implemented or performed with a general purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0157] The methods, sequences, and / or algorithms described in connection with the aspects disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal (e.g., an UE). In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0158] In one or more exemplary aspects, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0159] The following numbered clauses describe implementations:

[0160] Clause 1. A method for precise point positioning (PPP), the method comprising: at a user equipment (UE): receiving a signal of a first frequency band from a satellite vehicle (SV); estimating a first ionospheric delay residual error based on the signal of the first frequency band; calculating a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric delay residual error; and estimating a position using the first pseudorange measurement and the first carrier phase measurement.

[0161] Clause 2. The method of clause 1, wherein calculating the first pseudorange measurement or the first carrier phase measurement based on the ionospheric delay residual error comprises calculating the first pseudorange measurement or the first carrier phase measurement based on the first ionospheric delay residual error and at least one of: a geometric range, a receiver clock timing, an inter-system time bias, a tropospheric delay residual error, an ambiguity term, a noise, or a multipath delay, or a combination thereof.

[0162] Clause 3. The method of clause 1 or clause 2, wherein calculating the first pseudorange measurement comprises calculating the first pseudorange measurement according to the equation where P f1 includes a pseudorange measurement based on the first frequency f1, p includes a geometric range, dT includes a receiver clock error determined by P f1 , dTrop includes a tropospheric delay residual error, dIono includes an ionospheric delay residual error, and e P includes a noise and a multipath error.

[0163] Clause 4. The method of any of clauses 1-3, wherein calculating the first carrier phase measurement comprises calculating the first carrier phase measurement according to the equation where F f1 includes a carrier phase measurement based on the first frequency f1, p includes a geometric range, dT includes a receiver clock error determined by P f1 , dTrop includes a tropospheric delay residual error, dIono includes an ionospheric delay residual error, l includes a wavelength of the received signal, N includes an integer ambiguity term, r includes an ambiguous receiver fractional bias term, s includes an ambiguous satellite fractional bias term, and e Φ includes a noise and a multipath error.

[0164] Clause 5. The method of any of clauses 1-4, wherein estimating the first ionospheric delay residual error based on the signal of the first frequency band comprises estimating the first ionospheric delay residual error based on a Klobuchar equation.

[0165] Clause 6. The method of any of clauses 1-5, wherein the first frequency band comprises an LI frequency band, an L2 frequency band, an L5 frequency band, an El frequency band, or an E5 frequency band.

[0166] Clause 7. The method according to any one of Clauses 1-6, wherein estimating the position using a first pseudorange measurement and a first carrier phase measurement includes performing ultra-long baseline real-time kinematic (RTK) positioning.

[0167] Clause 8. The method according to any one of Clauses 1-7 further comprises: receiving a signal from the SV in a second frequency band; estimating a second ionospheric delay residual error based on the signal in the second frequency band; calculating a second pseudorange measurement and a second carrier phase measurement based on the second ionospheric delay residual error; wherein estimating the position using the first pseudorange measurement and the first carrier phase measurement includes estimating the position using the first pseudorange measurement, the first carrier phase measurement, the second pseudorange measurement, and the second carrier phase measurement.

[0168] Clause 9. The method according to Clause 8, wherein calculating the second pseudorange measurement includes according to the equation To calculate the second pseudorange measurement, where P f2 Includes pseudorange measurements based on the second frequency f2, ρ includes the geometric range, and dT includes measurements by P. f1 The determined receiver clock error, dTrop, includes the tropospheric delay residual error, dIono includes the ionospheric delay residual error, and ∈ P This includes noise and multipath error.

[0169] Clause 10. The method according to Clause 9, wherein calculating the second carrier phase measurement includes according to the equation To calculate the second carrier phase measurement, where Φ f2 Includes carrier phase measurements based on a second frequency f2, ρ includes the geometric range, and dT includes measurements by P. f1 The determined receiver clock error, dTrop includes the tropospheric delay residual error, dIono includes the ionospheric delay residual error, λ includes the wavelength of the received signal, N includes the integer ambiguity term, r includes the ambiguity receiver fractional bias term, s includes the ambiguity satellite fractional bias term, and ∈ Φ This includes noise and multipath error.

[0170] While the foregoing disclosure illustrates aspects of this disclosure, it should be noted that various changes and modifications may be made herein without departing from the scope of this disclosure as defined by the appended claims. The functions, steps, and / or actions of the method claims according to the aspects of the disclosure described herein do not need to be performed in any particular order. Furthermore, although elements of this disclosure may be described or claimed in the singular, the plural form may be considered unless expressly stated as singular.

Claims

1. A method for precise point positioning (PPP), the method comprising: at a user equipment (UE): receiving signals of a first frequency band from a satellite vehicle (SV); estimating a first ionospheric residual error based on the signals of the first frequency band, wherein the first ionospheric residual error is a difference between a modeled ionospheric delay and a true ionospheric delay; calculating a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric residual error; and estimating a position using the first pseudorange measurement and the first carrier phase measurement, wherein calculating the first pseudorange measurement comprises calculating the first pseudorange measurement according to an equation wherein: P f1 is a pseudo-range measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric residual error; dIono is an ionospheric residual error; and ∈ P is the noise and multipath error.

2. The method of claim 1, wherein, calculating the first carrier phase measurement comprises according to the equation to compute the first carrier phase measurement, wherein: Φ f1 is a carrier phase measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric residual error; dIono is an ionospheric residual error; l is a wavelength of the signals; N is an integer ambiguity term; r is an ambiguous receiver fractional bias term; s is an ambiguous satellite fractional bias term; and ∈ Φ is the noise and multipath error.

3. The method of claim 1, wherein, estimating a first ionospheric residual error based on the signals of the first frequency band comprises estimating the first ionospheric residual error based on a Klobuchar equation.

4. The method of claim 1, wherein, the first frequency band comprises an LI frequency band, an L2 frequency band, an L5 frequency band, an El frequency band, or an E5 frequency band.

5. The method of claim 1, wherein, using the first pseudorange measurement and the first carrier phase measurement to estimate a position comprises performing a long-baseline real-time kinematic (RTK) positioning.

6. The method of claim 1, further comprising: receiving signals of a second frequency band from the SV; estimating a second ionospheric residual error based on the signals of the second frequency band; and calculating a second pseudorange measurement and a second carrier phase measurement based on the second ionospheric residual error; wherein using the first pseudorange measurement and the first carrier phase measurement to estimate the position comprises using the first pseudorange measurement, the first carrier phase measurement, the second pseudorange measurement, and the second carrier phase measurement to estimate the position.

7. The method of claim 6, wherein, calculating the second pseudorange measurement comprises according to the equation to calculate the second pseudorange measurement, wherein: P f2 is a pseudo-range measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric residual error; dIono is an ionospheric residual error; and ∈ P is the noise and multipath error.

8. The method of claim 7, wherein, calculating the second carrier phase measurement comprises according to the equation to compute the second carrier phase measurement, wherein: Φ f2 is a carrier phase measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric residual error; dIono is an ionospheric residual error; l is a wavelength of the signals; N is an integer ambiguity term; r is an ambiguous receiver fractional bias term; s is an ambiguous satellite fractional bias term; and ∈ Φ is the noise and multipath error.

9. A user equipment (UE) comprising: a memory; at least one transceiver; and at least one processor communicatively coupled to the memory and the at least one transceiver, the at least one processor configured to: receive signals of a first frequency band from a satellite vehicle (SV); estimate a first ionospheric residual error based on the signals of the first frequency band, wherein the first ionospheric residual error is a difference between a modeled ionospheric delay and a true ionospheric delay; calculate a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric residual error; and p is a geometric range; estimating a position using the first pseudorange measurement and the first carrier phase measurement, wherein the one or more processors, when calculating the first pseudorange measurement, are configured to calculate the first pseudorange measurement according to an equation wherein: P f1 is a pseudo-range measurement based on the first frequency f1; dTrop is a tropospheric residual error; dT is the receiver clock error determined by P f1 the determined receiver clock error; dIono is an ionospheric residual error; and calculating the first carrier phase measurement comprises according to the equation p is a geometric range; dTrop is a tropospheric residual error; dIono is an ionospheric residual error; l is a wavelength of the signals; N is an integer ambiguity term; r is an ambiguous receiver fractional bias term; s is an ambiguous satellite fractional bias term; and estimating a first ionospheric residual error based on the signals of the first frequency band comprises estimating the first ionospheric residual error based on a Klobuchar equation. dIono is an ionospheric delay residual error; and ∈ P is the noise and multipath error.

10. The UE of claim 9, wherein, the one or more processors, in computing the first carrier phase measurement, are configured to compute the first carrier phase measurement according to the equation to compute the first carrier phase measurement, wherein: Φ f1 is a carrier phase measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric delay residual error; dIono is an ionospheric delay residual error; l is a wavelength of the signal; N is an integer ambiguity term; r is a fractional bias term for the ambiguous receiver; s is a fractional bias term for the ambiguous satellite; and ∈ Φ is the noise and multipath error.

11. The UE of claim 9, wherein, the one or more processors, in estimating an ionospheric delay residual error based on the signal of the first frequency band, are configured to estimate the ionospheric delay residual error based on a Klobuchar equation.

12. The UE of claim 9, wherein, the first frequency band comprises an LI frequency band, an L2 frequency band, an L5 frequency band, an El frequency band, or an E5 frequency band.

13. The UE of claim 9, wherein, the one or more processors, in estimating a position using the first pseudorange measurement and the first carrier phase measurement, are configured to perform ultra-long baseline real-time kinematic (RTK) positioning.

14. The UE of claim 9, wherein, the one or more processors are further configured to: receive, from the SV, a signal of a second frequency band; estimate a second ionospheric delay residual error based on the signal of the second frequency band; and compute a second pseudorange measurement and a second carrier phase measurement based on the second ionospheric delay residual error; wherein estimating the position using the first pseudorange measurement and the first carrier phase measurement comprises estimating the position using the first pseudorange measurement, the first carrier phase measurement, the second pseudorange measurement, and the second carrier phase measurement.

15. The UE of claim 14, wherein, the one or more processors, in computing the second pseudorange measurement, are configured to compute the second pseudorange measurement according to the equation to calculate the second pseudorange measurement, wherein: P f2 is a pseudo-range measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric delay residual error; dIono is an ionospheric delay residual error; and ∈ P is the noise and multipath error.

16. The UE of claim 15, wherein, the one or more processors, in computing the second carrier phase measurement, are configured to compute the second carrier phase measurement according to the equation to compute the second carrier phase measurement, wherein: Φ f2 is a carrier phase measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric delay residual error; dIono is an ionospheric delay residual error; l is a wavelength of the signal; N is an integer ambiguity term; r is a fractional bias term for the ambiguous receiver; s is a fractional bias term for the ambiguous satellite; and ∈ Φ is the noise and multipath error.

17. A user equipment (UE), comprising: means for receiving, from a satellite vehicle (SV), a signal of a first frequency band; means for estimating a first ionospheric delay residual error based on the signal of the first frequency band, wherein the first ionospheric delay residual error is a difference between a modeled ionospheric delay and a true ionospheric delay; means for computing a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric delay residual error; and A component for estimating position using the first pseudorange measurement and the first carrier phase measurement, wherein calculating the first pseudorange measurement includes according to the equation To calculate the first pseudorange measurement, where: P f1 is a pseudo-range measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric delay residual error; dIono is an ionospheric delay residual error; and ∈ P is the noise and multipath error.

18. The UE of claim 17, wherein, computing the first carrier phase measurement comprises computing the first carrier phase measurement according to the equation to calculate the first carrier phase measurement, wherein: v f1 is a carrier phase measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric delay residual error; dIono is an ionospheric delay residual error; l is a wavelength of the signal; N is an integer ambiguity term; r is a fractional bias term for the ambiguous receiver; s is a fractional bias term for the ambiguous satellite; and ∈ Φ is the noise and multipath error.

19. The UE of claim 17, wherein, estimating a first ionospheric delay residual error based on the signals of the first frequency band includes estimating the first ionospheric delay residual error based on a Klobuchar equation.

20. The UE of claim 17, wherein, The first frequency band includes an L1 frequency band, an L2 frequency band, an L5 frequency band, an El frequency band, or an E5 frequency band.

21. The UE of claim 17, wherein, estimating a position using the first pseudorange measurement and the first carrier phase measurement includes performing a long-baseline real-time kinematic (RTK) positioning.

22. The UE of claim 17, further comprising: means for receiving signals of a second frequency band from the SVs; means for estimating a second ionospheric delay residual error based on the signals of the second frequency band; and means for calculating a second pseudorange measurement and a second carrier phase measurement based on the second ionospheric delay residual error; wherein estimating the position using the first pseudorange measurement and the first carrier phase measurement includes estimating the position using the first pseudorange measurement, the first carrier phase measurement, the second pseudorange measurement, and the second carrier phase measurement.

23. The UE of claim 22, wherein, calculating the second pseudorange measurement includes according to the equation to calculate the second pseudorange measurement, wherein: P f2 is a pseudo-range measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric delay residual error; dlo no is an ionospheric delay residual error; and ∈ P is the noise and multipath error.

24. The UE of claim 23, wherein, calculating the second carrier phase measurement includes according to the equation to compute the second carrier phase measurement, wherein: Φ f2 is a carrier phase measurement based on the second frequency f2; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; ISTB f2 is the inter-system time bias; dTrop is a tropospheric delay residual error; dlo no is an ionospheric delay residual error; l is a wavelength of the signals; N is an integer ambiguity term; r is an ambiguous receiver fractional bias term; s is an ambiguous satellite fractional bias term; and ∈ Φ is the noise and multipath error.

25. A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising one or more instructions that, when executed by one or more processors of a user equipment (UE), cause the UE to: receive signals of a first frequency band from satellite vehicles (SVs); estimating ionospheric delay residual errors based on the signal of the first frequency band, wherein the ionospheric delay residual error is a difference between a modeled ionospheric delay and a true ionospheric delay; calculate a pseudorange measurement and a carrier phase measurement based on the ionospheric delay residual error; and estimating a position using the pseudorange measurement and the carrier phase measurement, wherein the one or more processors cause the UE to calculate the pseudorange measurement according to an equation where: P f1 is a pseudo-range measurement based on the first frequency f1; p is a geometric range; dT is the receiver clock error determined by P f1 the determined receiver clock error; dTrop is a tropospheric delay residual error; dlo no is an ionospheric delay residual error; and ∈ P is the noise and multipath error.

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