Positioning systems that utilize map data collected by user devices

Abstract

In one aspect, the initiator sends a location reference signal. The initiator receives multiple responder location reference signals sent by each of the multiple responders. The initiator sends a measurement message including a first measurement set, which is determined based on the location reference signals and the multiple responder location reference signals. The initiator receives responder measurement messages sent by each of the multiple responders. The initiator receives updated map information from the anchor and updates pre-existing map information based on the updated map information.

Description

[0001] Cross-reference to related applications

[0002] This patent application claims the benefit of U.S. Provisional Application No. 17 / 187,556, filed February 26, 2021, entitled “POSITIONING SYSTEM TOLEVERAGE MAP DATA COLLECTED BY USER EQUIPMENT,” which has been assigned to the assignee of this application, and the entire contents of which are expressly incorporated herein by reference. Technical Field

[0003] Various aspects of this disclosure generally relate to determining precise location information, and specifically to determining precise location using map data collected by various user equipment (UEs). Background Technology

[0004] Currently, vehicles and other user equipment (UEs) use sensors (e.g., GPS, radar, lidar, etc.) and network infrastructure equipment (e.g., next-generation NodeB (gNB), location management function (LMF), etc.) to determine the location of static objects (e.g., buildings) and dynamic objects (e.g., other vehicles, pedestrians, etc.). However, if network infrastructure equipment is absent or the signals from network infrastructure equipment cannot provide accurate information in dense urban areas, the UE may not be able to determine accurate location information. Summary of the Invention

[0005] The following is a brief overview relating to one or more aspects disclosed herein. Therefore, this overview should not be considered a broad review relating to all anticipated aspects, nor should it be considered as identifying key or important elements relating to all anticipated aspects or depicting the scope associated with any particular aspect. Thus, the sole purpose of the following overview is to present, in a simplified form, certain concepts relating to one or more aspects involving the mechanisms disclosed herein, before the detailed descriptions that follow.

[0006] In the first aspect, the initiator sends a positioning reference signal. The initiator receives multiple responder positioning reference signals sent by each of the multiple responders. The initiator sends a measurement message including a first measurement set, which is determined based on the positioning reference signals and the multiple responder positioning reference signals. The initiator receives responder measurement messages sent by each of the multiple responders. The initiator receives updated map information from the anchor and updates pre-existing map information based on the updated map information.

[0007] In a second aspect, the method includes sending a location reference signal by an initiator. The method includes receiving multiple responder location reference signals sent by each of a plurality of responders. The method includes sending a measurement message including a first measurement set, the first measurement set being determined based on the location reference signals and the multiple responder location reference signals. The method includes receiving responder measurement messages sent by each of the plurality of responders. The method includes receiving updated map information from an anchor and updating pre-existing map information based on the updated map information.

[0008] In a third aspect, the initiator device includes a wireless transceiver, a memory, and one or more processors communicatively coupled to the wireless transceiver and the memory. The one or more processors are configured to transmit location reference signals; receive multiple responder location reference signals transmitted from each of the multiple responders; transmit measurement messages including a first measurement set determined based on the location reference signals and the multiple responder location reference signals; and receive responder measurement messages transmitted from each of the multiple responders.

[0009] In a fourth aspect, the initiator device includes components for transmitting positioning reference signals; components for receiving multiple responder positioning reference signals transmitted from each of the multiple responders; components for transmitting measurement messages including a first measurement set, the first measurement set being determined based on the positioning reference signals and the multiple responder positioning reference signals; components for receiving responder measurement messages transmitted from each of the multiple responders; components for receiving updated map information from the anchor; and components for updating pre-existing map information based on the updated map information.

[0010] In the fifth aspect, the responder device receives an initiator positioning reference signal from the initiator device and one or more responder positioning reference signals from one or more additional responder devices. The responder device transmits the positioning reference signal. The responder device transmits a measurement message including a first measurement set, the first measurement set being determined based on: the initiator positioning reference signal, one or more responder positioning reference signals, the transmitted positioning reference signal, or any combination thereof. The responder device receives an initiator measurement message from the initiator device and one or more responder measurement messages from one or more additional responder devices.

[0011] In a sixth aspect, the method includes receiving an initiator positioning reference signal from an initiator device by a responder device, and receiving one or more responder positioning reference signals from one or more additional responder devices. The method includes transmitting the positioning reference signal. The method includes transmitting a measurement message including a first measurement set, the first measurement set being determined based on: the initiator positioning reference signal, one or more responder positioning reference signals, the transmitted positioning reference signal, or any combination thereof. The method includes receiving an initiator measurement message from the initiator device, and receiving one or more responder measurement messages from one or more additional responder devices.

[0012] In a seventh aspect, the responder device includes a wireless transceiver, a memory, and one or more processors communicatively coupled to the wireless transceiver and the memory. The one or more processors are configured to receive an initiator positioning reference signal from the initiator device and to receive one or more responder positioning reference signals from one or more additional responder devices. The one or more processors are also configured to transmit the positioning reference signals and transmit measurement messages including a first set of measurements, the first set of measurements being determined based on: the initiator positioning reference signal, one or more responder positioning reference signals, the transmitted positioning reference signal, or any combination thereof. The one or more processors are also configured to receive initiator measurement messages from the initiator device and to receive one or more responder measurement messages from one or more additional responder devices.

[0013] In an eighth aspect, the responder device includes components for receiving an initiator positioning reference signal from an initiator device, and components for receiving one or more responder positioning reference signals from one or more additional responder devices. The responder device includes components for transmitting the positioning reference signal and for transmitting a measurement message including a first measurement set, the first measurement set being determined based on: the initiator positioning reference signal, one or more responder positioning reference signals, the transmitted positioning reference signal, or any combination thereof. The responder device includes components for receiving an initiator measurement message from the initiator device, and components for receiving one or more responder measurement messages from one or more additional responder devices.

[0014] In the ninth aspect, the anchor device receives multiple measurement messages from multiple participants in a positioning session. The participants include an initiating device and one or more responder devices. Each measurement message includes a set of measurements associated with: a positioning reference signal sent by the initiating device and positioning reference signals from one or more responders. The positioning reference signals from each responder device are received from their respective responders. The anchor device sends anchor map information to each of the multiple participants. The anchor map information includes one or more objects that have been classified, at least in part, using the anchor device's machine learning algorithm based on the measurement messages received from each of the multiple participants.

[0015] In a tenth aspect, the method includes receiving multiple measurement messages from multiple participants in a positioning session by an anchor device. The participants include an initiating device and one or more responder devices. Each of the multiple measurement messages includes a set of measurements associated with positioning reference signals transmitted by the initiating device and positioning reference signals from one or more responders. The positioning reference signals from each responder device are received from their respective responders. The method includes sending anchor map information to each of the multiple participants. The anchor map information includes one or more objects that have been classified, at least in part, using a machine learning algorithm of the anchor device based on measurement messages received from each of the multiple participants.

[0016] In the eleventh aspect, the anchor device includes a wireless transceiver, a memory, and one or more processors communicatively coupled to the wireless transceiver and the memory. The one or more processors are configured to receive multiple measurement messages from multiple participants in a positioning session. The participants include an initiator device and one or more responder devices. Each of the multiple measurement messages includes a set of measurements associated with positioning reference signals transmitted by the initiator device and positioning reference signals from one or more responders. The positioning reference signals from each responder device are received from the respective responder device of the one or more responders. The one or more processors are also configured to send anchor map information to each of the multiple participants. The anchor map information includes one or more objects that have been classified, at least in part, using a machine learning algorithm of the anchor device based on measurement messages received from each of the multiple participants.

[0017] In a twelfth aspect, the anchor device includes components for receiving multiple measurement messages from multiple participants in a positioning session. The participants include an initiator device and one or more responder devices. Each of the multiple measurement messages includes a set of measurements associated with: a positioning reference signal transmitted by the initiator device and positioning reference signals from one or more responders. The positioning reference signals from each responder device are received from their respective responders. The anchor device includes components for transmitting anchor map information to each of the multiple participants. The anchor map information includes one or more objects that have been classified, at least in part, using a machine learning algorithm of the anchor device based on the measurement messages received from each of the multiple participants.

[0018] Based on the accompanying drawings and detailed description, other objects and advantages associated with the aspects disclosed herein will be apparent to those skilled in the art. Attached Figure Description

[0019] The accompanying drawings are provided to help describe various aspects of this disclosure, and are provided solely for illustrative purposes and not to limit the scope of the disclosure. A more complete understanding of the disclosure can be obtained by referring to the following detailed description in conjunction with the accompanying drawings. In the drawings, the leftmost numeral of the reference numeral indicates the drawing in which that numeral first appears. Identical reference numerals in different drawings indicate similar or identical items.

[0020] Figure 1 This is a block diagram of a system including an initiator user equipment (UE) that transmits a pre-positioning reference signal (pre-PRS) message, according to various aspects of this disclosure.

[0021] Figure 2 This is a block diagram of a system including an initiator UE that transmits PRS signals, according to various aspects of this disclosure.

[0022] Figure 3 This is a block diagram of a system including a responder UE that transmits measurements, according to various aspects of this disclosure.

[0023] Figure 4 This is a block diagram of a system for an anchor UE that includes sending updated map information, based on various aspects of this disclosure.

[0024] Figure 5 An example process is shown that includes (e.g., by the initiator UE) sending a PRS signal according to aspects of this disclosure.

[0025] Figure 6 An example process is shown that includes (e.g., by a responder UE) sending a responder PRS signal according to aspects of this disclosure.

[0026] Figure 7 An example process is shown that includes (e.g., by an anchor UE) sending updated map information according to aspects of this disclosure.

[0027] Figure 8A and Figure 8B It is a simplified block diagram of several example aspects of components that can be used in wireless communication nodes and configured to support communications as described herein. Detailed Implementation

[0028] Systems and techniques are disclosed for user equipment (UE) to determine environment-related map (e.g., location) information by collecting information from other UEs in the environment. This map information includes, for example, which objects are line-of-sight (LOS), which are non-line-of-sight (NLOS), which are static (e.g., buildings), and which are dynamic (e.g., vehicles, pedestrians, etc.). Vehicle-to-everything (V2X) refers to the ability of vehicles to communicate with other vehicles (e.g., vehicle-to-vehicle (V2V)) and other UEs (e.g., vehicle-to-infrastructure (V2I)) (e.g., pedestrians, cyclists, traffic lights, streetlights, buildings, etc.). These systems and techniques provide vehicle UEs and pedestrian UEs with a location system that does not rely on infrastructure equipment (e.g., next-generation NodeBs (gNBs), location management functions (LMFs), etc.).

[0029] A UE (e.g., a vehicle-based UE or a pedestrian-based UE) initiates a ranging session (also known as a positioning session) by broadcasting a pre-positioning reference signal (pre-PRS). In some cases, the initiating UE may use a pre-PRS request to indicate that the UE is requesting map information, including information about static reflectors, dynamic reflectors, etc. in the environment.

[0030] Nearby UEs (e.g., associated with other vehicles, pedestrians, cyclists, traffic lights, streetlights, buildings, etc.) respond to receiving a pre-PRS request from the initiating UE by becoming a responder UE. An anchor UE, typically a static UE, can participate as a responder UE. The responder UE broadcasts (e.g., sends) the pre-PRS request (e.g., to users without a gNB, LMF, or other infrastructure equipment). The exchange of pre-PRS requests between the initiating and responder UEs is a "handshake" used to determine which UEs are participating in the location session. The pre-PRS request may include information such as identifiers (e.g., Internet Protocol (IP) addresses, Media Access Control (MAC) addresses, or another type of identifier associated with the sending UE), the sending UE's bandwidth, the sending UE's capabilities (e.g., whether the UE can store maps), and whether the sending UE has available map information.

[0031] After the initiating UE and responding UE have sent pre-PRS requests to identify participating UEs, each participating UE sends a PRS signal. The PRS signal is a high-bandwidth pseudo-random noise (PN) sequence that enables each of the participating UEs to determine the measurements associated with the PRS signal, such as the time of arrival (ToA), time of departure (ToD), angle of arrival (AoA), and angle of departure (AoD) of the PRS signal. In post-PRS (e.g., after the PRS signal has been broadcast by each of the participating UEs), each participating UE determines various measurements, and the PRS period ends with each participating UE broadcasting the measurements determined by that participating UE. For example, a particular participating UE (i) broadcasts the ToA and AoA associated with each PRS signal received (by the particular UE) from other participating UEs, and (ii) broadcasts the ToD and AoD of the PRS signal broadcast by the particular UE to other participating UEs.

[0032] After these post-PRS messages have been broadcast (e.g., including measurement results), the initiating UE refers to the responding UE to determine its own location. Additionally, the responding UEs (e.g., those participating in the ranging session) determine their own location. If the initiating UE requested map information (e.g., in the pre-PRS message), the responding UE's post-PRS message includes map information, such as the locations of static and dynamic reflectors, and the location of the responding UE that sent the post-PRS message. The anchor UE identifies the participating UEs based on the pre-PRS message and collects map information from the participating UEs using information in the post-PRS messages (e.g., broadcast by the participating UEs). The anchor UE combines the map information broadcast using the post-PRS messages and determines which objects included in the map information are dynamic and which are static.

[0033] UEs (e.g., vehicle UEs or pedestrian UEs) may be equipped with sensors (radar, lidar, etc.) capable of detecting the surrounding environment (including, for example, the location of buildings). Environmental information collected by each UE using its sensors is shared with other UEs, enabling them to improve their own information (e.g., LOS, NLOS, static, dynamic). For example, some UEs may have the ability to collect and store environmental information based on sensor data from sensors such as lidar, radar, etc. An anchor UE, typically a static UE (e.g., fixed to a traffic light, lamppost, building, etc.), may participate as a responder UE, or the anchor UE may collect post-PRS measurements from participating UEs to determine updated map information, including which objects are LOS, which are NLOS, which are static (non-moving), which are dynamic (moving), etc. The updated map information may include not only the actual map but also environmental variables (e.g., PRS static reflectors, PRS dynamic reflectors) determined by sensors associated with each responder UE and inferred by the anchor UE. For example, an anchor UE can use machine learning, such as classifiers (e.g., support vector machines), to classify objects in a map into LOS, NLOS, static, dynamic, etc., based on map information and measurements collected from multiple participating UEs. Map information (including measurements) can be tagged and identified by timestamps and identifiers associated with the UE sending the map information (e.g., L2 identifiers), with the timestamp indicating when the UE sent the map information. For example, in V2X broadcasting, vehicles are periodically activated to indicate whether map information is available for the vehicle.

[0034] After merging map information from multiple participant UEs, the anchor UE creates updated map information and sends it to the initiating UE using, for example, unicast transmission, and in some cases, to the responding UE. The initiating and responding UEs use the updated map information received from the anchor UE to identify which objects in the environment are static (e.g., not moving) and which are dynamic (e.g., moving).

[0035] In this way, the accuracy of UE-based V2X positioning systems is improved without involving network elements such as gNB and LMF. The map information is a combination of information provided by the responder UE and the anchor UE, and can include detailed classifications of objects in the environment, such as dynamic, static, LOS, NLOS, etc.

[0036] Some aspects of this disclosure are provided in the following description and related drawings, which are intended for illustrative purposes and represent various examples. Alternative aspects may be devised without departing from the scope of this disclosure. Additionally, well-known elements of this disclosure will not be described in detail or will be omitted so as not to obscure relevant details of this disclosure.

[0037] The terms “exemplary” and / or “example” are used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” and / or “example” is not necessarily to be construed as preferred or superior 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.

[0038] Those skilled in the art will understand that the information and signals described below can be represented using any of a variety of different techniques and processes. For example, depending in part on the specific application, in part on the desired design, in part on the corresponding technology, etc., the data, instructions, commands, information, signals, bits, symbols, and chips referenced throughout the following description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0039] Furthermore, many aspects are described based on sequences of actions to be performed by elements of, for example, a computing device. It will be appreciated that the various actions described herein can be performed by a particular circuit (e.g., an application-specific integrated circuit (ASIC)), program instructions executed by one or more processors, or a combination of both. Additionally, the sequences of actions described herein can be considered to be implemented entirely in any form of non-transitory computer-readable storage medium storing a corresponding set of computer instructions that, when executed, will cause or instruct an associated processor of the device to perform the functions described herein. Therefore, various aspects of this disclosure can be implemented in a variety of different forms, all of which are considered to be within the scope of the claimed subject matter. Furthermore, for each aspect described herein, the corresponding form of any such aspect can be described herein as, for example, "logic" "configured" to perform the described actions.

[0040] As used herein, unless otherwise stated, the terms “User Equipment (UE)” and “base station” are not intended to be specific or otherwise limited to any particular radio access technology (RAT). Generally, a UE can be any wireless communication device used by a user to communicate over a wireless communication network (e.g., mobile phone, router, tablet computer, laptop computer, consumer asset tracking device, wearable device (e.g., smartwatch, glasses, augmented reality (AR) / virtual reality (VR) headset, etc.), vehicle (e.g., car, motorcycle, bicycle, etc.), Internet of Things (IoT) device, etc.). 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 interchangeably referred to as “access terminal” or “AT”, “client device”, “wireless device”, “user equipment”, “user terminal”, “user station”, “user terminal” or UT, “mobile device”, “mobile terminal”, “mobile station”, or variations thereof. Generally, a UE can communicate with a core network via the RAN, and through the core network, a UE can connect to external networks (such as the Internet) and other UEs. Of course, other mechanisms for the UE to connect to the core network and / or the Internet are also possible, such as wired access networks, wireless local area network (WLAN) networks (e.g., based on IEEE 802.11, etc.).

[0041] A base station can operate according to one of several RATs communicating with the UE, depending on the network in which it is deployed, and may be alternatively referred to as an Access Point (AP), Network Node, NodeB, Evolved NodeB (eNB), Next Generation eNB (ng-eNB), New Radio (NR) NodeB (also referred to as gNB or gNodeB), etc. The base station can primarily be used to support the UE's radio access, including supporting the data, voice, and / or signaling connections of the supported UE. In some systems, the base station may provide purely edge node signaling functions, while in others it may provide additional control and / or network management functions. The communication link through which the UE transmits radio frequency (RF) signals to the base station is referred to as an uplink (UL) channel (e.g., reverse traffic channel, reverse control channel, access channel, etc.). The communication link through which the base station transmits RF signals to the UE is referred to as a downlink (DL) or forward link channel (e.g., paging channel, control channel, broadcast channel, forward traffic channel, etc.). As used herein, the term Traffic Channel (TCH) can refer to an uplink / reverse or downlink / forward traffic channel.

[0042] The term "base station" can refer to a single physical transmit / receive point (TRP) or multiple physical TRPs, which may or may not be co-located. For example, when the term "base station" refers to a single physical TRP, the physical TRP may be the antenna of a base station corresponding to the cell (or several cell sectors) where the base station is located. When the term "base station" refers to multiple co-located physical TRPs, the TRP may be the antenna array of the base station (e.g., in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming). When the term "base station" refers to multiple non-co-located physical TRPs, the physical TRPs may be a distributed antenna system (DAS) (a spatially separated antenna network connected to a common source via a transmission medium) or a remote radio headend (RRH) (a remote base station connected to the serving base station). Alternatively, a non-co-located physical TRP may be the serving base station receiving measurement reports from the UE and a neighboring base station where the UE is measuring its reference RF signal (or simply "reference signal"). As used in this article, since the TRP is the point at which a base station transmits and receives wireless signals, references to transmissions from or receptions at a base station should be understood to refer to the specific TRP of the base station.

[0043] In some implementations that support UE positioning, the base station may not support the UE's radio access (e.g., it may not support the UE's data, voice, and / or signaling connections), but may instead transmit reference signals to the UE for measurement by the UE, and / or receive and measure signals transmitted by the UE. Such a base station may be referred to as a positioning beacon (e.g., when transmitting signals to the UE) and / or a location measurement unit (e.g., when receiving and measuring signals from the UE).

[0044] An “RF signal” comprises electromagnetic waves of a given frequency that transmit information through space between a transmitter and a receiver. As used herein, a transmitter may send a single “RF signal” or multiple “RF signals” to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, a receiver may 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 may also be referred to as a “wireless signal,” “radar signal,” “radio wave,” “waveform,” etc., or simply “signal,” where, from the context, it is clear that the term “signal” refers to a wireless signal or an RF signal.

[0045] Figure 1This is a block diagram of system 100 according to various aspects of this disclosure, which includes an initiator user equipment (UE) that transmits a pre-positioning reference signal (pre-PRS) message. In system 100, the initiator UE 102 (e.g., a vehicle, a cyclist, a pedestrian, etc.) can transmit a pre-PRS message 104. The initiator UE 102 may have an associated identifier 106 that uniquely identifies the initiator UE 102. For example, the identifier 106 may be an Internet Protocol (IP) address, a Media Access Control (MAC) address, a serial number, a service tag, or another type of identifier that uniquely identifies the UE 102. The initiator UE 102 may have various capabilities 108, including in some cases the ability to collect and store map information 110. For example, the map information 110 may be derived from sensor data received from one or more sensors 126 associated with the initiator UE 102. Sensors 126 may include, for example, GPS sensors, radar sensors, lidar sensors, ultrasonic sensors, another type of sensor, or any combination thereof. The pre-PRS message 104 may include an identifier 106 and a capability 108 associated with the initiator UE 102.

[0046] Multiple UEs 112(1) to 112(N) (N>0) may respond to the pre-PRS message 104 and are referred to as responder UE 112. Of course, in some cases, an additional UE 124 may be present but may not respond to the pre-PRS message 104. In response to receiving the pre-PRS message 104, each responder UE 112 may send a pre-PRS response 114. Each of the responder UEs 112 may include a corresponding identifier 116, capabilities 118, map information 120, and sensor 128. The identifier 116 may uniquely identify each of the responder UEs 112. The capabilities 118 may identify various capabilities of each of the responder UEs 112, such as whether each responder UE 112 is capable of storing map information 120. Map information 120 may be derived from sensor data provided by the sensor 128 (e.g., a GPS sensor, radar sensor, lidar sensor, ultrasonic sensor, another type of sensor, or any combination thereof). Each of the pre-PRS responses 114 may include a corresponding identifier 116 and capability 118 associated with each of the responder UEs 112.

[0047] System 100 may include an anchor UE 122. Anchor UE 122 is static and may be mounted, for example, on a traffic light, lamppost, building, or other non-moving object. In some cases, anchor UE 122 may respond to pre-PRS message 104 by sending a pre-PRS response 115. In other cases, anchor UE 122 may respond to pre-PRS message 104 without sending a pre-PRS response 115. Anchor UE 122 may include an identifier 132, capabilities 134, map information 136, and sensors 138.

[0048] System 100 may include various objects, including static objects such as building 125, and dynamic objects such as pedestrian 127 and vehicle 130. Although not shown, system 100 may include other types of static and dynamic objects (e.g., a person riding a bicycle, a person riding a motorcycle, a person riding a scooter, etc.).

[0049] The pre-PRS message 104 and the subsequent pre-PRS response 114 (and, in some cases, pre-PRS response 115) are a handshake protocol used to establish participants in a PRS positioning (ranging) session. In this example, the participants in the positioning session include the initiator UE 102, the responder UE 112, and the anchor UE 122. Figure 2 As described in more detail, the initiator UE 102 and the responder UE 112 can use the pre-PRS message 104 and the pre-PRS response 114 to synchronize the transmission of PRS signals at specific times.

[0050] Therefore, the initiating UE (e.g., associated with a vehicle or pedestrian) can send a pre-PRS message. The pre-PRS message may include an identifier associated with the initiating UE and capabilities associated with the initiating UE, such as whether the initiating UE is able to collect and store map information based on sensor data (e.g., received from sensors associated with the initiating UE). At least some of the UEs receiving the pre-PRS message may send a pre-PRS response and may be referred to as the responding UE. In some cases, the pre-PRS response may include identifiers identifying the responding UE and its capabilities (including whether the responding UE is able to collect and store map information). In some cases, the anchor UE may respond to the pre-PRS message, while in other cases, the anchor UE may not respond.

[0051] Figure 2FIG. 200 is a block diagram of a system 200 including an initiating UE that transmits a PRS signal, in accordance with various aspects of the present disclosure. In system 200, initiating UE 102 transmits PRS signal 202. Each of responder UEs 112 transmits a corresponding PRS signal 204. Each of PRS signals 202, 204 is a high bandwidth pseudo-random noise sequence that is designed such that UEs 102, 112 can measure time of arrival (ToA), time of departure (ToD), angle of arrival (AoA), angle of departure (AoD), etc.

[0052] Each particular UE among UEs 102, 112 knows the ToD and AoD of the PRS signal transmitted by that particular UE and can determine the ToA and AoA of the PRS signal transmitted by each of the other UEs. For example, initiating UE 102 knows the ToD and AoD of PRS signal 202, and responder UE 112(N) knows the ToD and AoD of PRS signal 204(N). Each UE can determine the ToA and AoA of each received PRS signal. For example, initiating UE 102 can calculate (e.g., determine) the ToA and AoA of each of PRS signals 204(1) to 204(N), and each responder UE 112 can determine the ToA and AoA of PRS signal 202. In this manner, initiating UE 102 can determine a portion of measurement 206, and each responder UE 112 can determine a portion of measurement 208. As Figure 4 discussed in more detail below, UEs 102, 112 exchange measurements with each other such that UEs 102, 112 can determine all of measurements 206, 208.

[0053] For example, measurement 206 can include sender identifiers 210(1) to 210(M) (where 0 < M <= N), ToAs 212(1) to ToA212(M), ToDs 214(1) to ToD214(M), AoAs 216(1) to AoA216(M), and AoDs 218(1) to AoD218(M). Prior to exchanging measurements 206, 208 with UE 112, measurement 206 includes ToD214 and AoD 218 associated with PRS signal 202 and ToA212 and AoA216 associated with each of PRS signals 204.

[0054] Sender identifiers 210(1) to 210(M) can be a subset of identifiers 116 (e.g., 0 < M <= N) because initiating UE 102 may not receive all N PRS signals 204(1) to PRS(N) due to reflections, blockages, or other signal interference.

[0055] Figure 3This is a block diagram of a system 300 including a responder UE that transmits measurements, according to various aspects of this disclosure. In system 300, initiator UE 102 may transmit a measurement message 302 that includes at least a portion of measurement 206. For example, measurement 206 may include ToD 214 and AoD 218 associated with PRS signal 202 and ToA 212 and AoA 216 associated with each of PRS signals 204. Responder UE 112(1) transmits a measurement message 304(1) that includes measurement 208(1), and responder UE 112(N) transmits a measurement message 304(N) that includes measurement 208(N). Measurement 208(N) may include ToD and AoD associated with PRS signal 204(N), ToA and AoA associated with PRS signal 202, and ToA and AoA associated with each of PRS signals 204(1) to 204(N-1). In some cases, measurement message 302 may include map information 110, and measurement message 304 may include map information 120.

[0056] By sending measurement messages 302 and 304 to each other, UEs 102 and 112 are able to complete the second (e.g., the remaining) set of measurements in measurements 206 and 208. For example, the initiating UE 102 can calculate (e.g., determine)... Figure 2 The ToA 212 and AoA 216 of each of the PRS signals 204(1) to 204(N), and the responder UE 112 is able to determine the ToA and AoA of the PRS signal 202 respectively.

[0057] Anchor UE 122 can receive measurement message 302 sent by initiator UE 102 and measurement message 304 sent by responder UE 112. In some cases, anchor UE 122 can receive map information 110, 120 in measurement messages 302, 304. Anchor UE 122 can use machine learning 306 (e.g., a classifier such as a support vector machine) to perform data classification 308 on measurements 206, 208 provided by measurement messages 302, 304. Anchor UE 122 can update based on measurements 206, 208 provided in measurement messages 302, 304 and, in some cases, map information 110, 120. Figure 1 and Figure 2 The map information 136 is used to create updated map information 310. In this way, the anchor UE 122 can use measurements 206, 208, and in some cases, map information 110, 120 stored in each of UEs 102, 112 to create updated map information 310. Compared to map information 136, updated map information 310 can include more accurate information.

[0058] Therefore, the anchor UE can participate in or monitor the positioning session between the initiating UE and the responding UE. After the participating UEs (e.g., the initiating UE, the responding UE, and in some cases, the anchor UE) have sent a PRS signal, the participating UEs determine various measurements (e.g., ToA, AoA, etc.) associated with the PRS signal. The participating UEs send measurements (including measurements associated with their own PRS signals, such as ToD, AoD) to other participating UEs. In some cases, the measurements may include map information local to each participating UE. The anchor UE uses the measurements from each of the participating UEs to update the map information stored by the anchor UE (e.g., increasing its accuracy). Figure 4 As described in more detail, the anchor UE sends updated map information to the initiating UE, and in some cases, to the responding UE.

[0059] Figure 4 This is a block diagram of a system 400 including the transmission of updated map information by an anchor UE, according to various aspects of this disclosure. After the anchor UE 122 has created updated map information 310, including using machine learning 306 to classify objects in the updated map information 310 into LOS, NLOS, static, dynamic, etc., the anchor UE 122 transmits the updated map information 310 to the initiating UE 102, and in some cases, to the responding UE 112. The anchor UE 122 may use unicast (or similar) messages to transmit the updated map information 310. In this way, the initiating UE 102 can obtain the updated map information 310 using other UEs (e.g., UEs 112, 122) located nearby (e.g., close enough to receive and respond to pre-PRS messages 104). The advantage of this approach is that the initiating UE 102 can obtain the updated map information 310 without using network infrastructure devices such as gNBs, LMFs, etc. Therefore, the system and techniques described herein can be used in situations where network infrastructure devices are unavailable for providing detailed map information.

[0060] The technical advantages of the system and technology described in this article include improved accuracy of UE-based V2X positioning systems without involving network components such as gNBs and LMFs. The initiator can obtain map information provided by the responder UE and the anchor UE, which may include detailed classifications of objects in the environment (e.g., dynamic, static, LOS, NLOS, etc.) to aid navigation.

[0061] exist Figure 5 , Figure 6 and Figure 7In the flowchart, each box represents one or more operations that can be implemented using hardware, software, or a combination thereof. In the context of software, a box represents computer-executable instructions that, when executed by one or more processors, cause the processors to perform the operations. Typically, computer-executable instructions include routines, programs, objects, modules, components, data structures, etc., that perform a specific function or implement a specific abstract data type. The order in which the boxes are described is not intended to be construed as limiting, and any number of the described operations can be implemented in any order and / or in any parallel combination. For purposes of discussion, as described above, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 Processes 500, 600, and 600 are described, but other models, frameworks, systems, and environments can be used to implement these processes.

[0062] Figure 5 An example procedure 500 is shown, according to aspects of this disclosure, including (e.g., by the initiator UE) transmitting a PRS signal. Procedure 500 can be performed by... Figure 1 , Figure 2 , Figure 3 and Figure 4 The initiator, UE 102, will execute this.

[0063] At 502, process 500 sends a PRS signal. At 504, process 500 receives multiple responder positioning reference signals sent from each of the multiple responders. For example, in Figure 1 In this process, the initiating UE 102 can send a pre-PRS message 104, and in response, the responding UE 112 can send a pre-PRS response 114. In some cases, the anchor UE 122 can send a pre-PRS response 115. In this way, the participating UEs in the ranging session are established. Not all UEs can respond. For example, the additional UE 124 may not respond to the pre-PRS message 104. Figure 2 In this process, the initiator UE 102 sends a PRS signal 202, and each of the responders UE 112 sends a corresponding PRS signal 204. The initiator UE 102 receives at least a portion of the PRS signals 204(1) to 204(N) sent by the responders UE 112(1) to 112(N).

[0064] At 506, process 500 sends a measurement message, which includes a first set of measurements determined based on the PRS signal and multiple responder positioning reference signals. At 508, process 500 receives responder measurement messages sent from each of the multiple responders. For example, in Figure 3In this process, the initiating UE 102 determines at least a portion of the measurement 206, such as the ToD and AoD of the PRS signal 202 received from the responding UEs 112(1) to 112(N) and the ToA and AoA of the PRS signals 204(1) to 204(N). The initiating UE 102 sends a measurement message 302 to the responding UE 112. The measurement message 302 includes the ToD and AoD associated with the PRS signal 202 and the ToA and AoA associated with each of the PRS signals 204. Each of the responding UEs 112 sends a corresponding measurement message 304. For example, the responding UE 112(N) sends a measurement message 304(N) that includes the ToD and AoD of the PRS signal 204(N), the ToA and AoA of the PRS signal 202, and the ToA and AoA of each of the PRS signals 204(1) to 204(N-1). In this manner, the initiating UE 102 has measurements 206 including ToA, ToD, AoA, and AoD associated with each of the PRS signals 204, and each responding UE 112 has measurements 208 including ToA, ToD, AoA, and AoD associated with the PRS signals 202 and the other PRS signals 204. In some cases, measurement messages 302 may include map information 110, and each of the measurement messages 304 may include map information 120. In this manner, participants in the ranging session share different measurements (and map information) with each other and with the anchor UE 122.

[0065] At point 510, process 500 receives updated map information from the anchor. At point 512, process 500 can update pre-existing map information accessible to the initiator based on the updated map information. For example, in Figure 4 In this context, anchor UE 122 can receive measurement message 302 sent by initiator UE 102 and measurement message 304 sent by responder UE 112. In some cases, anchor UE 122 can receive map information 110 and 120 in measurement messages 302 and 304, respectively. Anchor UE 122 can use machine learning 306 (e.g., a classifier) ​​to perform data classification 308 on measurements 206 and 208 provided by measurement messages 302 and 304. Anchor UE 122 can update map information 136 based on measurements 206 and 208 provided in measurement messages 302 and 304, and in some cases, map information 110 and 120, to create updated map information 310. Compared to map information 136, the updated map information 310 can include more accurate information.

[0066] Therefore, the initiating UE can obtain updated map information from nearby UEs without using network infrastructure equipment such as gNB and LMF.

[0067] Figure 6 An example procedure 600 according to aspects of this disclosure is illustrated, including (e.g., by a responder UE) transmitting a responder PRS signal. Procedure 600 can be performed by... Figure 1 , Figure 2 , Figure 3 and Figure 4 Each responder UE 112 performs this action.

[0068] At 602, process 600 receives an initiator positioning reference signal from the initiator device. At 604, process 600 receives one or more responder positioning reference signals from one or more additional responder devices. At 606, process 600 transmits the positioning reference signal. For example, in Figure 1 In this process, each of the responder UEs 112 can receive the pre-PRS message 104, and in response, each of the responder UEs 112 can send a pre-PRS response 114. The transmission of pre-PRS messages 104 and 114 can be used as a handshake that occurs before PRS signaling and establishes the participating UEs in the ranging session. Figure 2 In this process, each of the responder UEs 112 receives PRS signals 202 from the initiator UE 102 and other UEs 112. Each of the responder UEs 112 transmits a corresponding PRS signal 204. For example, responder UE 112(N) receives PRS signals 202 from the initiator UE 102 and PRS signals 204(1) to 204(N-1) from responder UEs 112(1) to 112(N-1). Responder UE 112(N) transmits PRS signals 204(N) to other UEs participating in the ranging (e.g., positioning) session.

[0069] At 608, process 600 sends a measurement message including a first set of measurements, the first set of measurements being determined based on: an initiator location reference signal, one or more responder location reference signals, a transmitted location reference signal, or any combination thereof. At 610, process 600 receives an initiator measurement message from the initiator device. At 612, process 600 receives one or more responder measurement messages from one or more additional responder devices. For example, responder UE 112(N) determines ToD and AoD associated with PRS signal 204(N), determines ToA and AoA associated with PRS signal 202, and determines ToA and AoA associated with other PRS signals 204(1) to 204(N-1). Responder UE 112(N) sends these measurements to initiator UE 102 and other UEs 112(1) to 112(N-1) in measurement message 304(N). The responder UE 112(N) receives measurement 206 in measurement message 302 from the initiator UE 102, and receives measurements 208(1) to 208(N-1) in measurement messages 304(1) to 304(N-1) from the other UEs 112(1) to 112(N-1). Based on measurements 206 and 208(1) to 208(N-1), UE 112(N) determines the remaining measurements 208(N), such as ToD and AoD of PRS signal 202 at the initiator UE 102 and at each of the other UEs 112(1) to 112(N-1), ToD and AoD of PRS signal 204(1) to 204(N-1), and ToA and AoA of PRS signal 204(N). In some cases, measurement messages 302 and 304 received from the initiating UE and from other responding UEs 112(1) to 112(N-1) may include map information 110 and map information 120(1) to 120(N-1), respectively.

[0070] Figure 7 An example process 700 is shown, according to aspects of this disclosure, including (e.g., by an anchor UE) sending updated map information to an initiating UE. Process 700 can be performed by... Figure 1 , Figure 2 , Figure 3 and Figure 4 The anchor UE 122 is used to execute.

[0071] At 702, process 700 receives multiple measurement messages from multiple participants in the positioning session, including an initiator device and one or more responder devices. For example, in Figure 1In this process, anchor UE 122 determines that initiator UE 102 has sent a pre-PRS message 104, and that each of the multiple responder UEs 112 has sent its corresponding pre-PRS response 114. In some cases, anchor UE 122 may send a pre-PRS response 115, while in other cases, UE 122 may not send a pre-PRS response 115. Figure 3 In this process, anchor UE 122 receives measurement message 302 from initiator UE 102 and measurement message 304 from each responder UE 112. Measurement message 302 may include measurement 206. In some cases, measurement message 302 may include map information 110. Each of measurement messages 304 may include a corresponding measurement 208. In some cases, measurement message 304 may include corresponding map information 120.

[0072] At 704, process 700 sends anchor map information to each of the multiple participants. The anchor map information (e.g., updated map information) is created based on measurement messages, where the updated map information includes objects categorized as LOS, NLOS, static, dynamic, etc. For example, in Figure 3 In this context, anchor UE 122 updates map information 136 based on measurement messages 302 and 304 to create updated map information 310. Anchor UE 122 can use machine learning 306 to perform data classification 308 to classify at least a portion of the objects in the updated map information 310. For example, objects in the updated map information 310 can be classified as LOS, NLOS, static, dynamic, or another attribute. Figure 4 In this process, anchor UE 122 broadcasts updated map information 310 to initiator UE 102, and in some cases, broadcasts updated map information 310 to responder UE 112. Anchor UE 122 may use unicast (or similar) messages to broadcast updated map information 310.

[0073] Therefore, the anchor UE can determine that the initiating UE has sent a pre-PRS message to initiate a location session. After both the initiating and responding UEs have sent PRS signals, performed measurements, and broadcast measurement messages including the measurements, the anchor UE can receive the measurement messages and update its locally stored map information to create updated map information. Based on these measurements, the anchor UE can use machine learning to classify one or more objects in the map as LOS, NLOS, dynamic, static, etc. The anchor UE sends the updated map information to the initiating UE via, for example, a unicast message, and in some cases, to the responding UE. In this way, both the initiating and responding UEs receive updated map information without using network components such as gNBs or LMFs.

[0074] The technical advantages of the system and technology described in this article include improved accuracy of UE-based V2X positioning systems without involving network components such as gNBs and LMFs. The initiator can obtain map information provided by the responder UE and the anchor UE, which may include detailed classifications of objects in the environment (e.g., dynamic, static, LOS, NLOS, etc.) to aid navigation.

[0075] refer to Figure 8A and Figure 8B The diagram illustrates several example components (represented by corresponding boxes) that can be incorporated into a UE, a base station (which may correspond to any base station described herein), and a network entity (which may correspond to or embody any network function described herein) to support file transfer operations. It will be understood that these components can be implemented in different types of devices in different implementations (e.g., in an ASIC, in a system-on-a-chip (SoC), etc.). The components shown can also be incorporated into other devices in a communication system. For example, other devices in the system may include components similar to those described to provide similar functionality. Similarly, a given device may contain one or more of these components. For example, a device may include multiple transceiver components that enable the device to operate on multiple carriers and / or communicate via different technologies.

[0076] The UE, base station, or network entity may include Wireless Wide Area Network (WWAN) transceivers 810 and 850, respectively, configured to communicate via one or more wireless communication networks (not shown), such as NR networks, LTE networks, GSM networks, etc. WWAN transceivers 810 and 850 may be connected to one or more antennas 816 and 856, respectively, for communicating with other network nodes (such as other UEs, access points, base stations (e.g., eNB, gNB)) via at least one designated RAT (e.g., NR, LTE, GSM, etc.) through a wireless communication medium of interest (e.g., a set of time / frequency resources in a specific spectrum). Depending on the designated RAT, WWAN transceivers 810 and 850 may be configured differently to transmit and encode signals 818 and 858 (e.g., messages, indications, information, etc.), and conversely, to receive and decode signals 818 and 858 (e.g., messages, indications, information, pilots, etc.), respectively. Specifically, transceivers 810 and 850 each include one or more transmitters 814 and 854 for transmitting and encoding signals 818 and 858 respectively, and one or more receivers 812 and 852 for receiving and decoding signals 818 and 858 respectively.

[0077] In at least some cases, the UE and the base station also include wireless local area network (WLAN) transceivers 820 and 860, respectively. WLAN transceivers 820 and 860 can be connected to one or more antennas 826 and 866, respectively, for communicating with other network nodes (such as other UEs, access points, base stations, etc.) via at least one designated RAT (e.g., WiFi, LTE Direct (LTE-D), Bluetooth, etc.) through a wireless communication medium of interest. Depending on the designated RAT, WLAN transceivers 820 and 860 can be configured differently to transmit and encode signals 828 and 868 (e.g., messages, indications, information, etc.), and conversely, to receive and decode signals 828 and 868 (e.g., messages, indications, information, pilots, etc.), respectively. Specifically, transceivers 820 and 860 include one or more transmitters 824 and 864 for transmitting and encoding signals 828 and 868, respectively, and one or more receivers 822 and 862 for receiving and decoding signals 828 and 868, respectively.

[0078] Transceiver circuitry including at least one transmitter and at least one receiver may, in some embodiments, comprise an integrated device (e.g., transmitter and receiver circuitry embodied as a single communication device), in some embodiments, comprise separate transmitter and separate receiver devices, or in other embodiments, may be embodied in other ways. In one aspect, the transmitter may include or be coupled to multiple antennas (e.g., antennas 816, 826, 856, 866), such as an antenna array, which allows the corresponding device to perform transmit “beamforming,” as described herein. Similarly, the receiver may include or be coupled to multiple antennas (e.g., antennas 816, 826, 856, 866), such as an antenna array, which allows the corresponding device to perform receive beamforming, as described herein. In one aspect, the transmitter and receiver may share the same multiple antennas (e.g., antennas 816, 826, 856, 866), such that the corresponding device can only receive or transmit at a given time, and cannot receive or transmit simultaneously. The wireless communication equipment of the UE and / or base station (e.g., one or both of transceivers 810 and 820 and / or 850 and 860) may also include network eavesdropping modules (NLMs) for performing various measurements.

[0079] In at least some cases, the UE and base station may include Satellite Positioning System (SPS) receivers 830 and 870. SPS receivers 830 and 870 may be connected to one or more antennas 836 and 876, respectively, to receive SPS signals 838 and 878, 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. SPS receivers 830 and 870 may include any suitable hardware and / or software for receiving and processing SPS signals 838 and 878, respectively. SPS receivers 830 and 870 request appropriate information and operation from other systems and perform calculations required to determine the positioning of the UE and base station using measurements obtained through any suitable SPS algorithm.

[0080] Both the base station and the network entity may each include at least one network interface 880 for communicating with other network entities. For example, the network interface 880 (e.g., one or more network access ports) may be configured to communicate with one or more network entities via a wired or wireless backhaul connection. In some aspects, the network interface 880 may be implemented as a transceiver configured to support wired or wireless signal communication. For example, such communication may include sending and receiving messages, parameters, and / or other types of information.

[0081] The UE, base station, and network entity may include other components that can be used in conjunction with the operations disclosed herein. The UE may include processor circuitry implementing processing system 832 for providing, for example, RF sensing-related functions, and for providing other processing functions. The base station may include processing system 884 for providing, for example, RF sensing-related functions disclosed herein, and for providing other processing functions. The network entity may include a processing system for providing, for example, Wi-Fi radar or RF sensing-related functions disclosed herein, and for providing other processing functions. In one aspect, for example, processing systems 832, 884 may include one or more general-purpose processors, multi-core processors, ASICs, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), or other programmable logic devices or processing circuitry.

[0082] The UE, base station, and network entity may each include memory circuitry implementing memory components 840, 886 (e.g., each including a memory device) for maintaining information (e.g., information indicating reserved resources, thresholds, parameters, etc.). In some cases, the UE, base station, and network entity may each include radar components 842, 888. Radar components 842, 888 may be hardware circuitry that is part of or coupled to processing systems 832 and 884, respectively, and when executed, these radar components enable the UE, base station, and network entity to perform the functions described herein. In other aspects, radar components 842, 888 may be external to processing systems 832 and 884 (e.g., part of a modem processing system, integrated with another processing system, etc.). Alternatively, radar components 842, 888 may be memory modules (e.g., stored in memory components 840, 886, respectively) Figure 8A , Figure 8B As shown), when executed by processing systems 832, 884 (or modem processing system, another processing system, etc.), these components enable the UE, base station, and network entities to perform the functions described herein.

[0083] The UE may include one or more sensors 844 coupled to the processing system 832 to provide motion and / or orientation information independent of motion data derived from signals received by the WWAN transceiver 810, WLAN transceiver 820, and / or SPS receiver 830. For example, sensor 844 may include an accelerometer (e.g., a microelectromechanical system (MEMS) device), a gyroscope, a geomagnetic sensor (e.g., a compass), an altimeter (e.g., a barometric altimeter), and / or any other type of motion detection sensor. Furthermore, sensor 844 may include various different types of devices and combine their outputs to provide motion information. For example, sensor 844 may use a combination of a multi-axis accelerometer and an orientation sensor to provide the ability to calculate position in 2D and / or 3D coordinate systems.

[0084] In addition, the UE may include a user interface 846 for providing instructions to the user (e.g., auditory and / or visual instructions) and / or for receiving user input (e.g., when the user activates a sensing device such as a keypad, touchscreen, microphone, etc.). Although not shown, base stations and network entities may also include user interfaces.

[0085] Referring more specifically to processing system 884, in the downlink, IP packets from network entities can be provided to processing system 884. Processing system 884 can implement the functions of the Radio Resource Control (RRC) layer, Packet Data Convergence Protocol (PDCP) layer, Radio Link Control (RLC) layer, and Media Access Control (MAC) layer. The processing system 884 provides RRC layer functions associated with broadcasting system information (e.g., Master Information Block (MIB), System Information Block (SIB)), 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 functions associated with header compression / decompression, security (encryption, decryption, integrity protection, integrity verification), and handover support functions; RLC layer functions associated with transmission of upper-layer packet data units (PDUs), error correction via automatic repeat request (ARQ), concatenation, segmentation, and reassembly of RLC service data units (SDUs), resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functions associated with mapping between logical channels and transport channels, scheduling information reporting, error correction, priority processing, and logical channel priority ordering.

[0086] Transmitter 854 and receiver 852 can implement Layer-1 functions associated with various signal processing functions. Layer-1, including the physical (PHY) layer, can include error detection on the transport channel, forward error correction (FEC) encoding / decoding of the transport channel, interleaving, rate matching, mapping to the physical channel, modulation / demodulation of the physical channel, and MIMO antenna processing. Transmitter 854 processes the mapping to the signal constellation 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 encoded and modulated symbols can then be divided into parallel streams. Each stream can then be mapped to orthogonal frequency division multiplexing (OFDM) subcarriers, multiplexed with a reference signal (e.g., pilot) in the time and / or frequency domains, and then combined using 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. The channel estimate from the channel estimator can be used to determine the coding and modulation scheme, as well as for spatial processing. The channel estimate can be derived from the reference signal transmitted by the UE and / or channel condition feedback. Each spatial stream can then be provided to one or more different antennas 856. The transmitter 854 can use the corresponding spatial stream to modulate the RF carrier for transmission.

[0087] At the UE, receiver 812 receives signals through its corresponding antenna 816. Receiver 812 recovers the information modulated onto the RF carrier and provides this information to processing system 832. Transmitter 814 and receiver 812 implement Layer-1 functions associated with various signal processing functions. Receiver 812 can perform spatial processing on this information to recover any spatial streams destined for the UE. If multiple spatial streams are destined for the UE, they can be combined by receiver 812 into a single OFDM symbol stream. Receiver 812 then uses a Fast Fourier Transform (FFT) to transform the OFDM symbol stream from the time domain to the frequency domain. The frequency domain signal comprises a separate OFDM symbol stream for each subcarrier of the OFDM signal. Symbols and reference signals on each subcarrier are recovered and demodulated by determining the most probable signal constellation points transmitted by the base station. These soft decisions can be based on channel estimates calculated by a channel estimator. The soft decisions are then decoded and deinterleaved to recover the data and control signals originally transmitted by the base station on the physical channel. Then, data and control signals are provided to the processing system 832, which implements layer-3 and layer-2 functions.

[0088] In the uplink, processing system 832 provides demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transport and logical channels to recover IP packets from the core network. Processing system 832 is also responsible for error detection.

[0089] Similar to the functions described in the downlink transmission description of the base station, the processing system 832 provides RRC layer functions associated with system information (e.g., MIB, SIB) acquisition, RRC connectivity, and measurement reporting; PDCP layer functions associated with header compression / decompression and security (encryption, decryption, integrity protection, integrity verification); RLC layer functions associated with transmission of upper-layer PDUs, error correction via ARQ, concatenation, segmentation and reassembly of RLC SDUs, resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functions associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction via Hybrid Automatic Repeat Request (HARQ), priority processing, and logical channel priority ordering.

[0090] Transmitter 814 can use channel estimation derived from a reference signal transmitted from the base station or from feedback by a channel estimator to select an appropriate coding and modulation scheme, and this also facilitates spatial processing. The spatial stream generated by transmitter 814 can be provided to different antennas 816. Transmitter 814 can use the corresponding spatial stream to modulate an RF carrier for transmission.

[0091] Uplink transmissions are processed at the base station in a manner similar to that described in conjunction with the receiver function at the UE. Receiver 852 receives signals via its corresponding antenna 856. Receiver 852 recovers the information modulated onto the RF carrier and provides this information to the processing system 884.

[0092] In the uplink, the processing system 884 provides demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transport and logical channels to recover IP packets from the UE. IP packets from the processing system 884 can be provided to the core network. The processing system 884 is also responsible for error detection.

[0093] For convenience, the UE, base station and / or network entity in Figure 8A , Figure 8B The blocks shown are intended to include various components that can be configured according to the various examples described herein. However, it will be understood that the blocks shown may have different functionalities in different designs.

[0094] Various components of the UE, base station, and network entity can communicate with each other via data buses 834 and 882, respectively. Figure 8A , Figure 8B The components can be implemented in various ways. In some implementations, Figure 8A , Figure 8B The components can be implemented in one or more circuits, such as one or more processors and / or one or more ASICs (which may include one or more processors). Here, each circuit may use and / or combine at least one memory component for storing information or executable code used by that circuit to provide the functionality. For example, some or all of the functions represented by boxes 810 to 846 can be implemented by the processor and memory components of the UE (e.g., by executing appropriate code and / or by appropriate configuration of the processor components). Similarly, some or all of the functions represented by boxes 850 to 888 can be implemented by the processor and memory components of the base station (e.g., by executing appropriate code and / or by appropriate configuration of the processor components). For simplicity, various operations, actions, and / or functions are described herein as being performed "by the UE", "by the base station", "by the positioning entity", etc. However, it will be understood that such operations, actions and / 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 832, 884, transceivers 810, 820, 850 and 860, memory components 840, 886, radar components 842, 888, etc.

[0095] It should be noted that although specific frequencies, integrated circuits (ICs), hardware, and other features are described in this document, alternative aspects may vary. That is, alternative aspects may utilize additional or alternative frequencies (e.g., in addition to the 60 GHz and / or 28 GHz bands), antenna elements (e.g., arrays of antenna elements with different sizes / shapes), scan periods (including static and dynamic scan periods), electronic devices (e.g., WLAN APs, cellular base stations, smart speakers, IoT devices, mobile phones, tablets, personal computers (PCs), etc.), and / or other features. These variations will be understood by those skilled in the art.

[0096] It should also be understood that any reference to elements using names such as "first," "second," etc., herein does not generally limit the number or order of these elements. Rather, these names may be used herein as a convenient way to distinguish two or more elements or instances of elements. Therefore, referring to a first element and a second element does not imply that only two elements can be used, or that the first element must somehow precede the second element. Furthermore, unless otherwise stated, a group of elements may include one or more elements. Additionally, the terminology used in the specification or claims, such as "at least one of A, B, or C," or "one or more of A, B, or C," or "at least one of the group consisting of A, B, and C," signifies "A or B or C, or any combination of these elements." For example, the term may include A, B, C, A and B, A and C, A and B and C, 2A, 2B, 2C, and so on.

[0097] As can be seen in the detailed description above, different features are grouped together in the examples. This manner of disclosure should not be construed as having more features than explicitly mentioned in each clause. Rather, aspects of this disclosure may include fewer features than those explicitly mentioned in the individual example clauses. Therefore, the following clauses should be considered as included in the specification, whereby each clause may serve as a separate example. Although each dependent clause may refer in its clause to a specific combination with one of the other clauses, the aspect of that dependent clause is not limited to that specific combination. It should be understood that other example clauses may also include combinations of aspects of a dependent clause with the subject matter of any other dependent or independent clause, or any feature combined with other dependent and independent clauses. The aspects disclosed herein explicitly include these combinations unless explicitly stated or readily inferred that a particular combination is not intended (e.g., contradictory aspects, such as defining an element as both an insulator and a conductor). Furthermore, it is intended that aspects of a clause may be included in any other independent clause, even if that clause does not directly depend on that independent clause.

[0098] As can be seen in the detailed description above, different features are grouped together in the examples. This manner of disclosure should not be construed as having more features than explicitly mentioned in each clause. Rather, aspects of this disclosure may include fewer features than those explicitly mentioned in the individual example clauses disclosed. Therefore, the following clauses should be considered as included in the specification, wherein each clause may serve as a separate example. Although each dependent clause may refer in its clause to a specific combination of clauses with one of the other clauses, the aspect of that dependent clause is not limited to that specific combination. It should be understood that other example clauses may also include combinations of aspects of a dependent clause with the subject matter of any other dependent or independent clause, or any feature combined with other dependent and independent clauses. The aspects disclosed herein explicitly include these combinations unless explicitly stated or readily inferred that a particular combination is not intended (e.g., contradictory aspects, such as defining an element as both an insulator and a conductor). Furthermore, it is intended that aspects of a clause may be included in any other independent clause, even if that clause does not directly depend on that independent clause. The following numbered clauses describe examples of implementation:

[0099] Clause 1. A method comprising: sending a location reference signal by an initiator; receiving responder location reference signals sent by the initiator from each of a plurality of responders; sending a measurement message including a first measurement set, the first measurement set being determined based on the location reference signal and the plurality of responder location reference signals; receiving responder measurement messages sent by the initiator from each of the plurality of responders; receiving updated map information from an anchor by the initiator; and updating pre-existing map information accessible to the initiator by the initiator based on the updated map information.

[0100] Clause 2. The method according to Clause 1, wherein, before the initiator sends the location reference signal, the method further includes: sending a pre-location request to initiate a location session; and receiving a plurality of pre-location responses, each of the plurality of pre-location responses being sent from a plurality of responders.

[0101] Clause 3. The method according to any one of Clauses 1 to 2, wherein the first set of measurements is determined based on a positioning reference signal and a responder positioning reference signal by the following steps: determining a departure time associated with the positioning reference signal; determining a departure angle associated with the positioning reference signal; determining an arrival time associated with each of the plurality of responder positioning reference signals; and determining an angle of arrival associated with each of the responder positioning reference signals.

[0102] Clause 4. The method according to any one of Clauses 1 to 3 further includes determining a second set of measurements based on receiving multiple responder measurement messages by the following steps: determining the time of arrival associated with the positioning reference signal at each of the multiple responders; determining the angle of arrival associated with the positioning reference signal at each of the multiple responders; determining the departure time associated with each of the multiple responder positioning reference signals; and determining the departure angle associated with each of the multiple responder positioning reference signals.

[0103] Clause 5. According to any one of Clauses 1 to 4, wherein the measurement message further includes: pre-existing map information accessible to the initiator.

[0104] Clause 6. The method of any one of Clauses 1 to 5, wherein the updated map information includes at least one object classified as either sight-to-sight or non-sight-to-sight.

[0105] Clause 7. The method according to any one of Clauses 1 to 6, wherein the updated map information includes at least one object classified as a dynamic object or a static object.

[0106] Clause 8. A method comprising: receiving an initiator location reference signal from an initiator device by a responder device; receiving one or more responder location reference signals from one or more additional responder devices by the responder device; transmitting the location reference signal by the responder device; transmitting a measurement message including a first measurement set by the responder device, the first measurement set being determined based on: the initiator location reference signal; one or more responder location reference signals; the transmitted location reference signal; or any combination thereof; receiving an initiator measurement message from the initiator device by the responder device; and receiving one or more responder measurement messages from one or more additional responder devices by the responder device.

[0107] Clause 9. The method pursuant to Clause 8 further includes: sending a second set of measurements, the second set of measurements being determined based on: an initiator measurement message; one or more responder measurement messages; or any combination thereof.

[0108] Clause 10. The method according to any one of Clauses 8 to 9, wherein: the measurement message includes map information.

[0109] Clause 11. The method according to any one of Clauses 8 to 10 further includes: the responder device receiving a pre-location request from the initiator device to initiate a location session; and the responder device sending a pre-location response.

[0110] Clause 12. The method according to any one of Clauses 8 to 11, wherein the first set of measurements comprises: departure time; departure angle; arrival time; arrival angle; or any combination thereof.

[0111] Clause 14. The method of any one of Clauses 8 to 12, wherein the initiator device is associated with a vehicle or pedestrian.

[0112] Clause 15. A method comprising: receiving, by an anchor device, a plurality of measurement messages from a plurality of participants in a positioning session, the participants including an initiator device and one or more responder devices, each of the plurality of measurement messages including a set of measurements associated with: positioning reference signals transmitted by the initiator device; and one or more responder positioning reference signals, wherein each responder positioning reference signal is received from each of the one or more responder devices; and sending anchor map information by the anchor device to each of the plurality of participants, wherein the anchor map information includes one or more objects in the anchor map information, the one or more objects being classified at least in part based on the measurement messages received from each of the plurality of participants using a machine learning algorithm of the anchor device.

[0113] Clause 16. The method according to Clause 15, wherein: at least one of the plurality of measurement messages includes participant map information associated with a specific participant among the plurality of participants; anchor map information is updated at least in part based on the participant map information to create updated anchor map information; and the updated anchor map information is sent by the anchor device to each of the plurality of participants.

[0114] Clause 17. The method according to any one of Clauses 15 to 16 further includes: classifying at least one of the one or more objects as line-of-sight or non-line-of-sight by the anchoring device.

[0115] Clause 18. The method according to any one of Clauses 15 to 17 further includes: classifying at least one of the one or more objects as a dynamic object or a static object by the anchor device.

[0116] Clause 19. The method according to any one of Clauses 15 to 18 further includes: the anchor device determining that the initiating device sent a pre-location request to initiate a location session; and the anchor device sending a pre-location response.

[0117] Clause 20. The measurement set shall include, according to any one of Clauses 15 to 19, the departure time; departure angle; arrival time; and arrival angle.

[0118] Clause 21. The method according to any one of Clauses 15 to 20, wherein the anchoring device is static.

[0119] Clause 22. The method according to any one of Clauses 15 to 21, wherein the initiator device is associated with a vehicle or pedestrian.

[0120] In light of the foregoing description and explanation, those skilled in the art will understand that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in connection with the aspects disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps have been generally described above in accordance with their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and design constraints on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of this disclosure.

[0121] Therefore, it will be understood that, for example, a device or any component of a device can be configured (or operable or suitable for) to provide the functionality taught herein. This can be achieved, for example, by fabricating (e.g., manufacturing) the device or component such that it will provide functionality; by programming the device or component to provide functionality; or by using some other suitable implementation technique. As an example, an integrated circuit can be fabricated to provide the necessary functionality. As another example, an integrated circuit can be fabricated to support the necessary functionality and then configured (e.g., via programming) to provide the necessary functionality. As yet another example, processor circuitry can execute code to provide the necessary functionality.

[0122] Furthermore, the methods, sequences, and / or algorithms described in conjunction with the aspects disclosed herein can be implemented directly in hardware, as a software module executed by a processor, or a combination of both. The 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 disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. Example storage media are coupled to a processor such that the processor can read information from and write information to the storage medium. Alternatively, the storage medium can be integrated into the processor (e.g., cache memory).

[0123] While the foregoing disclosure illustrates various illustrative aspects, it should be noted that various changes and modifications may be made to the illustrated examples without departing from the scope defined by the appended claims. This disclosure is not intended to be limited to the specifically illustrated examples. For example, unless otherwise stated, the functions, steps, and / or actions of the method claims according to the aspects of the disclosure described herein need not be performed in any particular order. Furthermore, although particular aspects may be described or declared in the singular, plural forms are also contemplated unless expressly stated to be limited to the singular.

Claims

1. A method comprising: The initiator sends a location reference signal; The initiator receives multiple responder location reference signals sent by each of multiple responders, the initiator being a participant in a location session with multiple participants, including a nearby initiator, multiple responders, and a static anchor. The initiator sends a measurement message including a first measurement set, which is determined based on the positioning reference signal and the positioning reference signals of the plurality of responders; The initiator receives responder measurement messages sent from each of the plurality of responders; The initiator receives updated map information from the anchor storing map information, the updated map information including one or more objects classified at least in part based on initiator measurement information and responder measurement information; as well as The initiator updates the pre-existing map information accessible to the initiator based on the updated map information.

2. The method according to claim 1, wherein, Before the initiator sends the positioning reference signal, the method further includes: Send a pre-location request to initiate a location session; and Receive multiple preposition responses, each of the multiple preposition responses being sent from each of the multiple responders.

3. The method according to claim 1, wherein, The first measurement set is determined based on the positioning reference signal and the plurality of responder positioning reference signals through the following steps: Determine the departure time associated with the positioning reference signal; Determine the departure angle associated with the positioning reference signal; Determine the arrival time associated with each of the plurality of responder location reference signals; and Determine the angle of arrival associated with each of the plurality of responder positioning reference signals.

4. The method of claim 1, further comprising determining a second measurement set based on receiving multiple responder measurement messages by the following steps: The arrival time associated with the positioning reference signal is determined at each of the plurality of responders; Determine the angle of arrival associated with the positioning reference signal at each of the plurality of responders; Determine the departure time associated with each of the plurality of responder location reference signals; as well as Determine the departure angle associated with each of the plurality of responder positioning reference signals.

5. The method according to claim 1, wherein, The measurement message also includes: The initiator has access to the pre-existing map information.

6. The method according to claim 1, wherein, The updated map information includes at least one object classified as either line-of-sight or non-line-of-sight.

7. The method according to claim 1, wherein, The updated map information includes at least one object that is classified as a dynamic object or a static object.

8. The method according to claim 1, wherein: The initiator equipment is included in the vehicle.

9. An initiator device configured to participate in a location session with multiple participants, the multiple participants including a nearby initiator device, multiple responders, and a static anchor, the initiator device comprising: Wireless transceiver; Memory; as well as One or more processors, communicatively coupled to the wireless transceiver and the memory, are configured to: The positioning reference signal is sent. Receive multiple responder location reference signals, wherein each responder location reference signal is sent from each of the multiple responders; Send a measurement message including a first measurement set, the first measurement set being determined based on the positioning reference signal and the plurality of responder positioning reference signals; Receive multiple responder measurement messages, wherein each responder measurement message in the multiple responder measurement messages is sent from each of the multiple responders; Receive updated map information from the anchor storing map information, the updated map information including one or more objects classified at least in part based on initiator measurement information and responder measurement information; as well as Based on the updated map information, the pre-existing map information accessible to the initiator device is updated.

10. The initiator device according to claim 9, wherein, The one or more processors are also configured to: before transmitting the positioning reference signal: Send a pre-location request to initiate a location session; and Receive prepositioning responses, each of the prepositioning responses being sent from one of the plurality of responders.

11. The initiator device according to claim 9, wherein, The first measurement set is determined based on the positioning reference signals, and the plurality of responder positioning reference signals include one or more processors configured to: Determine the departure time associated with the positioning reference signal; Determine the departure angle associated with the positioning reference signal; Determine the arrival time associated with each of the plurality of responder location reference signals; and Determine the angle of arrival associated with each of the plurality of responder positioning reference signals.

12. The initiator device according to claim 9, wherein, The one or more processors are configured to determine a second measurement set based on the plurality of responder measurement messages, including the one or more processors being configured to: The arrival time associated with the positioning reference signal is determined at each of the plurality of responders; Determine the angle of arrival associated with the positioning reference signal at each of the plurality of responders; Determine the departure time associated with each of the plurality of responder location reference signals; as well as Determine the departure angle associated with each of the plurality of responder positioning reference signals.

13. The initiator device according to claim 9, wherein, The measurement message also includes: The initiator device has access to the pre-existing map information.

14. The initiator device according to claim 9, wherein, The updated map information includes: The first object is classified as either visual distance or non-visual distance.

15. The initiator device according to claim 9, wherein, The updated map information includes: A second object that is classified as either a dynamic object or a static object.

16. The initiator device according to claim 9, wherein: The initiator device is included in the vehicle.

17. A method comprising: The responder device receives an initiator location reference signal from the initiator device, wherein the initiator device and the responder device are participants in a location session with multiple participants, including the nearby initiator device, multiple responder devices, and an anchor device; The responder device receives one or more responder location reference signals from one or more additional responder devices; The responder device sends a positioning reference signal; The responder device sends a measurement message including a first measurement set to the anchor device storing map information, the first measurement set being determined based on the following: The initiator's location reference signal; The one or more responders locate the reference signal; The transmitted positioning reference signal; or Any combination thereof; The responder device receives the initiator measurement message from the initiator device; and The responder device receives one or more responder measurement messages from the one or more additional responder devices.

18. The method of claim 17, further comprising: Send a second measurement set, which is determined based on the following: The initiator measures the message; The one or more responder measurement messages; or Any combination thereof.

19. The method of claim 17, wherein: The measurement message includes map information.

20. The method of claim 17, further comprising: The responder device receives a pre-location request from the initiator device to initiate a location session; as well as The responder device sends a prepositioning response.

21. The method according to claim 17, wherein, The first measurement set includes: Departure time; Leave the corner; Arrival time; Angle of arrival; or Any combination thereof.

22. The method according to claim 17, wherein, The initiator device is associated with a vehicle or pedestrian.

23. A method comprising: The anchor device receives multiple measurement messages from multiple participants in a positioning session, including a nearby initiator device, multiple responder devices, and a static anchor device. Each of the multiple measurement messages includes a set of measurements associated with the following: The positioning reference signal sent by the initiator device; as well as One or more responder location reference signals, wherein each responder location reference signal is received from each of the plurality of responder devices; and The anchor device storing map information sends anchor map information to each of the plurality of participants, wherein the anchor map information includes one or more objects in the anchor map information, and wherein the one or more objects are classified using a machine learning algorithm of the anchor device based at least in part on the measurement messages received from each of the plurality of participants.

24. The method according to claim 23, wherein: At least one of the plurality of measurement messages includes participant map information associated with a specific participant among the plurality of participants; The anchor map information is updated at least in part based on the participant map information to create updated anchor map information; and The method also includes sending the updated anchor map information from the anchor device to each of the plurality of participants.

25. The method of claim 23, further comprising: The anchoring device classifies at least one of the one or more objects as either line-of-sight or non-line-of-sight.

26. The method of claim 23, further comprising: The anchor device classifies at least one of the one or more objects as a dynamic object or a static object.

27. The method of claim 23, further comprising: The anchor device determines that the initiator device sent a pre-location request to initiate a location session; as well as The anchoring device sends a pre-positioning response.

28. The method of claim 23, wherein the measurement set comprises: Departure time; Leave the corner; Arrival time; as well as Angle of arrival.

29. The method according to claim 23, wherein, The anchoring device is static.

30. The method according to claim 23, wherein, The initiator device is associated with a vehicle or pedestrian.

31. A responder device configured to participate in a location session having multiple participants, the multiple participants including a nearby initiator device, multiple responder devices, and an anchor device, the responder device comprising: Wireless transceiver; Memory; as well as One or more processors, communicatively coupled to the wireless transceiver and the memory, are configured to: Receive the initiator's location reference signal from the initiator's device; Receive one or more responder location reference signals from one or more additional responder devices; Send a positioning reference signal; A measurement message including a first measurement set is sent to the anchor device storing map information, the first measurement set being determined based on the following: The initiator's location reference signal; The one or more responders locate the reference signal; The transmitted positioning reference signal; or Any combination thereof; Receive initiator measurement messages from the initiator device; and Receive one or more responder measurement messages from the one or more additional responder devices.

32. An anchoring device, comprising: Wireless transceiver; Memory; as well as One or more processors, communicatively coupled to the wireless transceiver and the memory, are configured to: Multiple measurement messages are received from multiple participants in a location session, including a nearby initiator device, multiple responder devices, and a static anchor device. Each measurement message includes a set of measurements associated with the following: The positioning reference signal sent by the initiator device; as well as One or more responder location reference signals, wherein each responder location reference signal is received from each of the plurality of responder devices; and Anchor map information stored in an anchor device is sent to each of the plurality of participants, wherein the anchor map information includes one or more objects in the anchor map information, and wherein the one or more objects are classified using a machine learning algorithm of the anchor device based at least in part on the measurement messages received from each of the plurality of participants.

33. A non-transitory computer-readable storage medium storing program code that, when executed by one or more processors of the device, causes the processors to perform the method of any one of claims 1-8.

34. A non-transitory computer-readable storage medium storing program code that, when executed by one or more processors of the device, causes the processors to perform the method of any one of claims 17-22.

35. A non-transitory computer-readable storage medium storing program code that, when executed by one or more processors of the device, causes the processors to perform the method of any one of claims 23-30.

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