Positioning when SPS information is spoofed

Abstract

Techniques for detecting anomalous signals such as spoofed satellite positioning system (SPS) signals and for transmitting accurate location estimates among user equipment (UEs) when SPS signals are unreliable are discussed herein. A UE determines a SPS-derived location estimate and determines an associated confidence level. The confidence level is determined based on time or location derived from SPS signals (e.g., relative to local time or non-SPS information such as stored previous location estimates, non-SPS sensor information, and location information from other UEs). The UE sends location information to other UEs, the location information including a selected location estimate, a confidence level, and a source of the location estimate, e.g., where the selected location estimate is SPS-derived if the confidence level is high and non-SPS-derived if the confidence level is low.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to U.S. non-provisional patent application No. 17 / 244,779, filed April 29, 2021, entitled “POSITIONING WHEN SPS INFORMATIONIS SPOOFED,” 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] The subject matter disclosed herein relates to wireless communication systems, and more specifically, to methods and apparatus for determining the location of user equipment in wireless communication systems and for communication when location information may be unreliable. Background Technology

[0004] Obtaining a reliable and accurate location for one or more mobile devices is useful for many applications, including, for example, emergency calls, personal navigation, asset tracking, locating friends or family members, etc. Existing positioning methods include those based on measuring radio signals transmitted from various devices or entities, including satellite spacecraft (SVs) and terrestrial wireless power sources in wireless networks such as base stations and access points. The standardization of 5G (fifth-generation) wireless networks is expected to include support for various positioning methods that can utilize reference signals transmitted by base stations, similar to how LTE (Long Term Evolution) wireless networks currently use Positioning Reference Signals (PRS) and / or Cell-Specific Reference Signals (CRS) for location determination. Obtaining accurate location information for user equipment (e.g., cellular phones or other wireless communication devices) is becoming increasingly common in the communications industry. For example, obtaining highly accurate locations of vehicles or pedestrians is essential for autonomous vehicle driving and pedestrian safety applications.

[0005] A common method for determining the location of devices is using a Satellite Positioning System (SPS), such as the well-known Global Positioning Satellite (GPS) or Global Navigation Satellite System (GNSS), which employs multiple satellites in orbit around the Earth. However, in some scenarios, location determination signals from SPS may be unreliable or unavailable, for example, during adverse weather conditions or in areas with poor satellite signal reception (such as tunnels or parking complexes). Furthermore, SPS signals can be spoofed by overpowering or replacing existing SPS signals or other location-related signals, causing mobile devices and / or other equipment to calculate incorrect locations or causing confusion, obstruction, or otherwise making reliable location determination difficult. It is desirable to ensure that location information transmitted between mobile devices can be trusted, especially for security-related applications. Summary of the Invention

[0006] This article discusses techniques for detecting anomalous signals such as spoofed Satellite Positioning System (SPS) signals and for transmitting accurate location estimates between User Equipments (UEs) when SPS signals are unreliable. For example, a UE may receive one or more anomalous signals. In various embodiments, a set of anomalous signals may exist that suppress or replace existing SPS signals, causing the UE and / or other devices to calculate incorrect locations or to confuse, obstruct, or otherwise make reliable location determination difficult. For example, anomalous signals can be used to spoof or otherwise cause incorrect location determination. Location spoofing can be used to deceive point-of-sale protections or other transaction-based security measures that are limited to a specific geographic area or require varying degrees of authentication depending on geographic needs. Anomalous signals and location spoofing can also be used to obstruct traffic or cause traffic accidents, or to direct autonomous vehicles to incorrect destinations or to prevent asset tracking attempts. Anomalous signals can be transmitted locally, such as in a shielded room or enclosed building, utilizing weak indoor SPS signals, or in a more global sense, such as via satellite constellations (e.g., satellite constellations of another country). A UE can detect anomalous signals by determining an SPS-derived location estimate and its confidence level from a received SPS signal. The confidence level can be based on the time or location derived from the SPS signal. Information based on non-SPS factors (such as local time, cached previous location estimates, non-SPS sensor information, and location information received from other UEs) can be used to determine the confidence level of the SPS-derived location estimate. The UE can transmit the location information to other UEs, for example, for service- or security-based applications. If the confidence level is high, the location information may include the SPS-derived location estimate, along with the confidence level and the identification of the source of the location estimate. If the confidence level is low, the location information may include non-SPS-derived location estimates, such as those based on non-SPS information like local time, cached previous location estimates, non-SPS sensor information, and location information received from other UEs, along with the confidence level and the source of the location estimate.

[0007] In one embodiment, a method for transmitting location information by a user equipment (UE) includes: receiving an SPS signal (Satellite Positioning System signal) at the UE; determining a first location estimate at the UE based on the SPS signal; determining a first confidence level of the first location estimate at the UE based on at least one of non-SPS-based information, the SPS time of the received SPS signal, and a local time, or a combination thereof; and transmitting a radio message from the UE to one or more UEs including the location information of the UE, the location information including the location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0008] In one embodiment, a user equipment (UE) configured to transmit location information includes: a radio transceiver configured to wirelessly communicate with entities in a wireless network; an SPS (Satellite Positioning System) receiver configured to receive SPS signals; at least one memory; and at least one processor coupled to the radio transceiver, the SPS receiver, and the at least one memory, wherein the at least one processor is configured to receive the SPS signals via the SPS receiver; determine a first location estimate based on the SPS signals; determine a first confidence level of the first location estimate based on at least one of non-SPS-based information, an SPS time from the received SPS signals, and a local time, or a combination thereof; and transmit a wireless message including location information of the UE, comprising a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0009] In one embodiment, a user equipment configured to transmit location information includes: components for receiving SPS signals (Satellite Positioning System signals); components for determining a first location estimate based on the SPS signals; components for determining a first confidence level of the first location estimate based on at least one of non-SPS-based information, SPS time from the received SPS signals, and local time; and components for transmitting a radio message including the location information of one or more UEs, the location information including the location estimate and an information source for generating the location estimate, wherein one of the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information.

[0010] In one embodiment, a non-transitory storage medium includes program code stored thereon operable to configure at least one processor in a user equipment for transmitting location information. The program code includes instructions for performing the following operations: receiving an SPS (Satellite Positioning System) signal; determining a first location estimate based on the SPS signal; determining a first confidence level of the first location estimate based on at least one of non-SPS-based information, an SPS time from the received SPS signal, and a local time; and transmitting a radio message to one or more UEs including location information of the UEs, the location information including a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0011] In one embodiment, a method for transmitting location information of a UE, performed by a first user equipment (UE), includes: receiving one or more radio messages, each message provided by a UE in an area within the radio range of the first UE, and each message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determining, based on the one or more radio messages, whether the SPS signals in the area within the radio range of the first UE are reliable; and when the SPS signals in the area within the radio range of the first UE are determined to be unreliable, providing a message indicating that the SPS signals are unreliable.

[0012] In one embodiment, a first user equipment (UE) configured to transmit location information of a UE includes: an external interface configured to wirelessly communicate with an entity in a wireless network; at least one memory; and at least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to: receive one or more wireless messages via the external interface, each wireless message being provided by a UE in an area within the wireless range of the first UE, and each wireless message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determine, based on the one or more wireless messages, whether the SPS signal in the area within the wireless range of the first UE is reliable; and when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, provide a message via the external interface indicating that the SPS signal is unreliable.

[0013] In one embodiment, a first user equipment (UE) configured to transmit location information of a UE includes: means for receiving one or more radio messages, each radio message being provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; means for determining, based on the one or more radio messages, whether the SPS signal in the area within the radio range of the first UE is reliable; and means for providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0014] In one embodiment, a non-transitory storage medium includes program code stored thereon operable to configure at least one processor in a first user equipment (UE) to transmit location information of the UE. The program code includes instructions to perform the following operations: receiving one or more radio messages, each provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determining, based on the one or more radio messages, whether the SPS signal in the area within the radio range of the first UE is reliable; and when the SPS signal in the area within the radio range of the first UE is determined to be unreliable, providing a message indicating that the SPS signal is unreliable.

[0015] In one embodiment, a method for transmitting location information of a first user equipment (UE) includes: receiving radio messages from a plurality of UEs in an area within the radio range of the first UE, each message including a location estimate derived from the SPS (Satellite Positioning System) of the corresponding UE; determining, at least based on the location estimate in each message, whether the SPS signal in the area within the radio range of the first UE is reliable; and providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0016] In one embodiment, a first user equipment (UE) configured to transmit location information of a UE includes: an external interface configured to wirelessly communicate with entities in a wireless network; at least one memory; and at least one processor coupled to the external interface transceiver and the at least one memory, wherein the at least one processor is configured to: receive wireless messages from a plurality of UEs in an area within the wireless range of the first UE, each wireless message including a location estimate derived from the SPS (Satellite Positioning System) of the respective UE; determine, at least based on the location estimate in each wireless message, whether the SPS signal in the area within the wireless range of the first UE is reliable; and when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, provide a message indicating that the SPS signal is unreliable.

[0017] In one embodiment, a first user equipment (UE) configured to transmit location information of a UE includes: means for receiving radio messages from a plurality of UEs in an area within the wireless range of the first UE, each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the corresponding UE; means for determining, at least based on the location estimate in each radio message, whether the SPS signal in the area within the wireless range of the first UE is reliable; and means for providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable.

[0018] In one embodiment, a non-transitory storage medium includes program code stored thereon, the program code being operable to configure at least one processor in a first user equipment (UE) to transmit location information of the UE, the program code including instructions for performing the following operations: receiving radio messages from a plurality of UEs in an area within the radio range of the first UE, each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the corresponding UE; determining, at least based on the location estimate in each radio message, whether the SPS signal in the area within the radio range of the first UE is reliable; and providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable. Attached Figure Description

[0019] Non-limiting and non-exhaustive aspects are described with reference to the following figures, wherein, unless otherwise stated, the same reference numerals refer to the same parts in the various figures.

[0020] Figure 1 This is a simplified diagram of an example wireless communication and satellite signaling environment.

[0021] Figure 2 yes Figure 1 The diagram shows the block diagram of the components of an example user device.

[0022] Figure 3 yes Figure 1 The diagram shows the components of an example send / receive point.

[0023] Figure 4 yes Figure 1 The diagram shows the components of the example server.

[0024] Figure 5 This is a flowchart illustrating the process of determining the confidence level of the location estimate derived from the SPS and selecting the location estimate to send to other UEs.

[0025] Figure 6 yes Figure 2 A simplified diagram of the environment in which user equipment receives abnormal and non-abnormal signals.

[0026] Figure 7 It refers to the signals and processing procedures used to identify abnormal signals.

[0027] Figure 8 It is a signaling and processing flow used to determine the confidence level of the location estimate derived by SPS and to send the location estimate with the estimation source to other UEs.

[0028] Figure 9 The illustration depicts a wireless communication system in which a UE sends a wireless location information message to provide the UE's location estimate and location information source to one or more other entities.

[0029] Figure 10 The diagram illustrates the signaling and processing flow for detecting unreliable SPS signals based on location information messages received from other UEs.

[0030] Figure 11 The diagram illustrates the signaling and processing flow for identifying unreliable or anomalous SPSs based at least in part on location information derived from SPSs from other UEs.

[0031] Figure 12 This is a flowchart illustrating the method by which the UE sends location information.

[0032] Figure 13 This is a flowchart illustrating the method by which the UE sends location information.

[0033] Figure 14 This is a flowchart illustrating the method by which the UE sends location information. Detailed Implementation

[0034] Device-to-device communication can be used for safety applications, such as in situations involving collaboration or automated operation. For example, vehicle-to-vehicle communication can be used for autonomous driving and vehicle safety applications. Vehicle-to-vehicle communication can be direct, such as vehicle-to-vehicle, or indirect, such as via infrastructure components such as roadside units (RSUs), access points, or base stations. Vehicle-to-vehicle communication can include messages and information elements (IEs) that vehicles can use to provide the information needed for autonomous driving.

[0035] For example, for the safe operation of autonomous mobile devices (such as vehicles), it is necessary to determine the relative location of the device and transmit it to other mobile devices. The location information of the device (e.g., user equipment (UE) in a vehicle (sometimes referred to as V-UE)) can be sent to other V-UEs and / or infrastructure (e.g., RSU) or UEs held by pedestrians using direct communication systems such as Dedicated Short Range Communication (DSRC), Cellular Vehicle-to-Everything (C-V2X) communication, and 5G New Radio (NR) communication.

[0036] This allows entities in a wireless communication system to continuously send and receive messages that include location information. For example, a C-V2X-enabled vehicle can continuously send and receive Basic Safety Messages (BSMs) at a rate of 10 Hz. The BSM includes the location information of the sending vehicle and may also include other information such as speed, heading, and any other indications such as whether the vehicle is braking, experiencing a malfunction, etc. The safety features in a vehicle using such C-V2X messages can be highly dependent on the location of the received message.

[0037] Communication systems that rely on communication between entities within the system for secure operation can include well-defined security mechanisms to ensure reliable communication. For example, in the C-V2X ecosystem, each sending vehicle signs its transmitted BSM messages with a certificate. The receiving vehicle's security system checks the signature in the received BSM message to ensure the message originates from a legitimate vehicle. Additionally, the receiving vehicle's security system can check the time and location in the BSM message to ensure the message was generated at the relevant time and location and is not a replay message with a valid certificate but generated at another location or at a different time. Current security mechanisms are designed to prevent trust in messages from malicious vehicles (i.e., vehicles sending fraudulent or illegitimate messages).

[0038] Potential attack sources in communication systems (e.g., the C-V2X ecosystem) can cause vehicles to incorrectly determine their location, for example, by using forged Satellite Positioning System (SPS) signals. For instance, an attack using forged SPS signals could employ a set of anomalous signals that suppress or replace existing SPS or other location-related signals, causing the mobile device to calculate the wrong location or obstructing or otherwise making reliable location determination difficult. For example, a vehicle could receive a forged SPS signal and calculate an incorrect location by the vehicle sending a BSM message signed with a legitimate certificate.

[0039] The receiving vehicle, by checking the signature in the received BSM message, will determine that it has a valid certificate. Furthermore, while the time and location in the BSM message may be incorrect, they may be close enough to the expected values ​​that the security mechanisms in the receiving vehicle might fail to detect that the BSM message is a replay. Therefore, the BSM message can be accepted, and the location information will be trusted and relied upon by the receiving vehicle, even though the location information is actually incorrect. Attacks using anomalous signals to cause incorrect location transmissions can be used to disrupt traffic, such as blocking traffic, causing accidents, or directing autonomous vehicles to incorrect destinations or hindering asset tracking attempts. In non-vehicle devices, attacks using anomalous signals to cause incorrect location transmissions between devices can be used to spoof location-enabled point-of-sale protections or other security measures based on transactions limited to a specific geographic area or requiring varying levels of authentication depending on the geographic location.

[0040] Alternatively, if the receiving vehicle detects an incorrect location or time in a sent message, it can consider the sending vehicle a "rogue" vehicle and discard the message from it. The receiving vehicle can also additionally report the sending vehicle as a "rogue" vehicle, causing the sending vehicle to lose its certificate, which can disable the vehicle's operational capabilities.

[0041] Therefore, it is important that the sending vehicle is aware of SPS spoofing attacks (or otherwise aberrant SPS signals) and does not transmit locations determined based on spoofed or otherwise aberrant SPS signals. For example, basic security applications and advanced applications such as cooperative driving depend on the sending vehicle's location information, and the transmission of incorrect location information could disrupt these applications.

[0042] Therefore, in implementations, as discussed herein, the UE can determine a location estimate based on the received SPS signal and can determine a confidence level for the SPS-determined location estimate, the SPS time, or a combination thereof. The confidence level of the location estimate can be determined based on non-SPS information (e.g., cached location, sensor information, received location information from one or more other UEs, or a combination thereof). In some implementations, for example, a second location estimate can be generated based on non-SPS information, and the SPS-determined location estimate can be compared with the second location estimate to determine if there is consistency. The confidence level of the SPS time can be determined based on local time, for example, by comparing times to determine if there is consistency. The UE can send a message along with its location information, including the location estimate, the confidence level of the location estimate, and an information source used to generate the location estimate. For example, if the confidence level is high (e.g., greater than a threshold), then the UE can send the SPS-determined location estimate and can identify the information source as an SPS signal. If the confidence level is low, for example below a threshold, the UE can send a second location estimate (e.g., determined based on non-SPS information) and the information source can be identified as non-SPS-based location information.

[0043] Figure 1An exemplary wireless communication and satellite signaling environment 100 is illustrated, including a wireless communication system 110, mobile SPS-enabled devices 161, 162, 163, a satellite signal emulator 170, and satellite constellations 180, 190. The wireless communication system 110 includes user equipment (UE) 112, UE 113, UE 114, UE 115, UE 116, base transceiver stations (BTS) 120, 121, 122, 123, a network 130, a core network 140, and external clients 150. The core network 140 (e.g., a 5G core network (5GC)) may include backend equipment, including access and mobility management functions (AMF) 141, session management functions (SMF) 142, a server 143, and a gateway mobile location center (GMLC) 144, etc. AMF 141, SMF 142, server 143, and GMLC 144 are communicatively coupled to each other. Server 143 may provide location management functions (LMF) for, for example, supporting the positioning of UEs 112 to 116 (e.g., using technologies such as Assisted Global Navigation Satellite System (A-GNSS), OTDOA (Observation Time Difference of Arrival, such as Downlink (DL) OTDOA and / or Uplink (UL) OTDOA), Round Trip Time (RTT), Multi-Cell RTT, RTK (Real-Time Dynamic), PPP (Precise Point Positioning), DGNSS (Differential GNSS), E-CID (Enhanced Cell ID), AoA (Angle of Arrival), AoD (Angle of Departure), etc.). Communication system 110 may include additional or alternative components. Satellite signal emulator 170 may be configured to provide erroneous (e.g., spoofed) SPS (Satellite Positioning System) signals that appear to originate from satellites, which could lead to erroneous location determinations, for example, by one or more of devices 161 to 163 and / or one or more of UEs 112 to 116. Devices 161 to 163 and UEs 112 to 116 can be configured to, for example, determine when a location estimate derived from SPS might be unreliable based on a certain confidence level generated from non-SPS information, and provide transmission messages to other devices (devices 161 to 163 and UEs 112 to 116) whose location information includes the location estimate (determined using SPS signals or non-SPS information), the confidence level of the location estimate, and the information source used to generate the location estimate.

[0044] LMF can also be referred to as Location Manager (LM), Location Function (LF), Commercial LMF (CLMF), or Value-Added LMF (VLMF). Server 143 (e.g., LMF) and / or one or more other devices of system 110 (e.g., one or more of UEs 112-116) can be configured to determine the location of UEs 112-116. Server 143 can communicate directly with BTS 121 (e.g., gNB) and / or one or more other BTSs, and can be integrated with BTS 121 and / or one or more other BTSs. SMF 142 can be used as the initial contact point for Service Control Function (SCF) (not shown) to create, control, and delete media sessions. Server 143 (e.g., LMF) can be co-located or integrated with gNB or TRP (transmit / receive point), or can be located remotely from gNB and / or TRP settings and configured to communicate directly or indirectly with gNB and / or TRP.

[0045] AMF 141 can be used as a control node to process signaling between UEs 112-116 and the core network 140 and provide QoS (Quality of Service) flow and session management. AMF 141 can support the mobility of UEs 112-116, including cell changes and handovers, and can participate in supporting signaling connections with UEs 112-116.

[0046] System 110 is capable of wireless communication because its components can communicate directly or indirectly (at least sometimes using wireless connections) with each other, for example, via BTS 120-123 and / or network 130 (and / or one or more other devices not shown, such as one or more other base transceivers). For indirect communication, the communication can be altered during transmission from one entity to another, for example, by changing the header information of data packets, changing the format, etc. The UEs 112-116 shown are smart devices, such as smartphones or smartwatches, tablet computers, and vehicle-based devices; however, these are merely examples, as UEs 112-116 need not be any of these configurations and other configurations of the UE can be used. For example, a smart device can be any electronic device that can typically connect to other devices or networks via different wireless protocols (such as Bluetooth, Zigbee, NFC, Wi-Fi, LiFi, 5G, etc.) and can operate interactively and autonomously to some extent. UEs 112 and 113 shown are mobile wireless communication devices including mobile phones (including smartphones) and tablet computers (although they can communicate wirelessly and via wired connections). UEs 114 and 115 shown are vehicle-based mobile wireless communication devices (although UE 114 can communicate wirelessly and via wired connections). UE 116 is shown as a general UE and can be one or more types of UEs, whether mobile or not, and whether or not it is the type shown. For example, UE 116 may include one or more UEs that are entities or can be associated with entities that are typically static or stationary devices, such as roadside units (RSUs), cash registers, ATMs, restaurants, or other buildings. Other types of UEs may include wearable devices (e.g., smartwatches, smart jewelry, smart glasses, or headphones). Other UEs, whether currently existing or developed in the future, may also be used. In addition, other wireless devices (whether mobile or not) can be implemented within system 110 and can communicate with each other and / or with UEs 112-116, BTS 120-123, network 130, core network 140, and / or external clients 150. For example, such other devices may include Internet of Things (IoT) devices, medical devices, home entertainment and / or automation devices, etc. Core network 140 can communicate with external clients 150 (e.g., computer systems), for example, to allow external clients 150 to request and / or receive location information about UEs 112-116 (e.g., via GMLC 144).

[0047] UE 112-116 or other devices can be configured to communicate in various networks and / or for various purposes and / or using various technologies (e.g., 5G, Wi-Fi communication, multiple frequencies of Wi-Fi communication), satellite positioning, one or more types of communication (e.g., GSM (Global System for Mobile Communications), CDMA (Code Division Multiple Access), LTE (Long Term Evolution), V2X (vehicle-to-everything, e.g., V2P (vehicle-to-pedestrian), V2I (vehicle-to-infrastructure), V2V (vehicle-to-vehicle), etc.), IEEE 802.11p, etc.). V2X communication can be cellular (Cellular-V2X (C-V2X)) and / or WiFi (e.g., DSRC (Dedicated Short Range Connectivity)). System 110 can support operation on multiple carriers (waveform signals of different frequencies). A multi-carrier transmitter can simultaneously transmit modulated signals on multiple carriers. Each modulated signal can be a Code Division Multiple Access (CDMA) signal, Time Division Multiple Access (TDMA) signal, Orthogonal Frequency Division Multiple Access (OFDMA) signal, Single Carrier Frequency Division Multiple Access (SC-FDMA) signal, etc. Each modulated signal can be transmitted on a different carrier and can carry pilot information, overhead information, data, etc. Figure 1 The communication links shown are examples and not limitations of this disclosure. UEs 112-116 can communicate with base stations, other UEs, etc.

[0048] BTS120-123 can wirelessly communicate with UEs 112-116 in system 110 via one or more antennas. A BTS may also be referred to as a base station, access point, g-Node B (gNB), access node (AN), node B, evolved Node B (eNB), etc. For example, each of BTS120 and 121 can be a gNB or a transmitting gNB, BTS122 can be a macro cell (e.g., a high-power cellular base station) and / or a small cell (e.g., a low-power cellular base station), and BTS123 can be an access point (e.g., configured to utilize technologies such as WiFi, WiFi-Direct (WiFi-D)). Low energy (Short-range base stations for communication using short-range technologies such as BLE and Zigbee). One or more of BTS120-123 can be configured to communicate with UE112-116 via multiple carriers. Each of BTS120 and 121 can provide communication coverage for a corresponding geographic area (e.g., a cell). Each cell can be divided into multiple sectors based on the base station antennas. A BTS can be any of a variety of forms, such as a desktop unit, a roadside unit (RSU), etc.

[0049] BTS120-123 each includes one or more Transmit / Receive Points (TRPs). For example, each sector within a BTS cell may include a TRP, although multiple TRPs may share one or more components (e.g., a shared processor but with separate antennas). System 110 may include only macro TRPs, or system 110 may have different types of TRPs, such as macro TRPs, pico TRPs, and / or femto TRPs. Macro TRPs can cover a relatively large geographic area (e.g., a radius of several kilometers) and can allow unrestricted access by terminals with service subscriptions. Pico TRPs can cover a relatively small geographic area (e.g., a pico cell) and can allow unrestricted access by terminals with service subscriptions. Femto or home TRPs can cover a relatively small geographic area (e.g., a femto cell) and can allow restricted access by terminals associated with the femto cell (e.g., terminals of users in a home).

[0050] UE 112-116 may be referred to as a terminal, access terminal (AT), mobile station, mobile device, subscriber unit, etc. UE 112-116 may include various devices as listed above and / or other devices. UE 112-116 can be configured to indirectly connect to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. D2D P2P links can use any suitable D2D radio access technology (RAT) (such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), etc.). (etc.) to support this. One or more UEs in a group of UEs 112-116 utilizing D2D communication can be within the geographical coverage area of ​​the TRP of one or more BTSs such as BTS120-123. Other UEs in such a group may be outside such geographical coverage area or otherwise unable to receive transmissions from the base station. The group of UEs 112-116 communicating via D2D communication can utilize a one-to-many (1:M) system, where each UE can transmit to other UEs in the group. The TRP of BTS120-123 can facilitate the scheduling of resources for D2D communication. In other cases, D2D communication can be performed between UEs without involving the TRP.

[0051] UEs 112-116 (such as V-UEs 114 and 115) can use V2X communication standards, where information is exchanged between the vehicle and other entities within the wireless communication network, such as the RSU 116. V2X standards are designed to develop autonomous or semi-autonomous driving systems, such as Advanced Driver Assistance Systems (ADAS), which assist drivers in making decisions such as lane changes, speed changes, and overtaking speeds, and can be used to assist parking, as discussed herein. UEs 112-116 can communicate directly, such as through peer-to-peer messaging, or via one or more intermediary entities, such as via the RSU 116 or BTS 120-123 or network 130 in infrastructure-based messaging.

[0052] Typically, there are two operating modes for V2X services, as defined in 3GPP TS23.285. When V2X entities are involved, one operating mode uses direct wireless communication between the V2X entities, sometimes referred to as sidelink communication. The other operating mode uses network-based wireless communication between entities. The two operating modes can be combined, or other operating modes can be used if needed.

[0053] Entities using V2X communications (such as UEs 114 and 115) can operate using direct or indirect wireless communications. For example, wireless communications can be over a proximity-based service direction (ProSe) communication (PC5) reference point as defined in 3GPP TS23.303, and can be over the 5.9 GHz ITS band using IEEE 1609, wireless access in vehicular environments (WAVE), intelligent transportation systems (ITS), and wireless communications under IEEE 802.11p, or other wireless connections directly between entities.

[0054] Thus, as illustrated, UEs 114 and 115 can communicate directly using a vehicle-to-vehicle (V2V) communication link. Similarly, UEs 114 and 115 can communicate directly with a roadside unit (RSU) (e.g., UE 116) via a vehicle-to-infrastructure (V2I) communication link. RSU 116 can be, for example, a fixed infrastructure entity that supports V2X applications and can exchange messages with other entities that support V2X applications. An RSU can be a logical entity that combines V2X application logic with the functionality of base stations in the RAN (such as eNB, ng-eNB, or eLTE (referred to as eNB-type RSU), gNB, or UE (referred to as UE-type RSU)). UEs 114, 115, and 116 can communicate directly with other entities, such as those held by pedestrians (e.g., other vehicles, RSUs) or with UE 113 via direct communication links.

[0055] During direct communication with one or more entities in the V2X wireless communication system 100, each entity may provide V2X information (such as the identifier of the V2X entity) and other information in messages (such as Common Aware Messages (CAM) and Distributed Notification Messages (DENM) or Basic Security Messages (BSM)), which may be used for, for example, ADAS or security use cases.

[0056] In other implementations, UEs 114 and 115 may communicate indirectly with each other, for example, via a V2I communication link through RSU 116 or through other network infrastructure such as BTS120-123 and network 130, such as using cellular vehicle-to-everything (C-V2X). For example, vehicles may communicate via base stations in a radio access network (RAN), such as evolved Node B (eNB) or next-generation evolved Node B (ng-eNB) in LTE radio access and / or NR Node B (gNB) in evolved LTE (eLTE) radio access or fifth-generation (5G) radio access.

[0057] Mobile SPS-enabled devices 161-163 are configured with SPS capabilities (e.g., location determination based on received SPS signals). One or more of the SPS-enabled devices 161-163 may be configured with other capabilities similar to those of UEs 112-116, such as communication capabilities. Device 161 is an aircraft, and device 162 is an unoccupied aircraft (UAV), but these are merely examples and do not limit this disclosure. Mobile SPS-enabled device 163 is shown as a general SPS-enabled device. Device 163 may be one or more mobile SPS-enabled devices, such as one or more land-based items (e.g., trains, trucks, tanks, etc.), one or more water-based items (e.g., ships, jet skis, etc.), and / or one or more air-based items (e.g., missiles, spacecraft, etc.). These examples are not limiting to this disclosure, and other SPS-enabled devices may be used.

[0058] Communication system 110 may utilize information from constellation 180 of artificial satellites (SVs) 181, 182, 183 and / or constellation 190 of SVs 191, 192, 193. Each of constellations 180 and 190 may correspond to a corresponding Global Navigation Satellite System (GNSS) (i.e., Satellite Positioning System (SPS)) (such as Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo, BeiDou) or some other local or regional SPS (such as the Indian Regional Navigation Satellite System (IRNSS), European Geostationary Navigation Coverage Service (EGNOS), or Wide Area Augmentation System (WAAS)). Only three SVs are shown for each of constellations 180 and 190, but the constellation of GNSS SVs will include more than three SVs.

[0059] Knowing the location of a UE is important for many applications and / or in many situations. Furthermore, knowing the locations of other nearby UEs can be important in many applications, such as in vehicle operation. A UE can send messages to other nearby UEs, such as CAM and DENM, and BSM messages that can be used in ADAS or other safety use cases. For example, these messages include the sending UE's current location, which can be derived using SPS signals. Current V2X standards, such as SAE (Society of Automotive Engineers) specifications J2945, J3161, J3224, J3186, etc., promote the sharing of location information with other UEs and include the accuracy of the location information. For example, the accuracy of location information is the uncertainty of the measured location. However, if the sending UE determines an incorrect location based on an abnormal SPS signal, the UE may believe that the measured location has high accuracy (e.g., low uncertainty), but the location measurement may actually be incorrect. If the sending UE sends an incorrect location to other UEs, there can be significant consequences, including traffic accidents, and may undermine trust in the UE's operational capabilities and security.

[0060] Incorrect locations can be identified based on erroneous input information (e.g., incorrect SPS signals), regardless of whether the inaccuracy of the SPS signal is unintentional (e.g., attributed to SV errors) or intentional (e.g., attributed to an entity providing one or more spoofed signals). Spoofed signals are signals that appear to originate from a specific source (e.g., a known trusted source) but actually originate from a different source. For example, a spoofed signal might have characteristics of a signal originating from GPS SV but originating from GLONASS SV or an SPS simulator (e.g., a ground-based SPS signal generator). Identifying unreliable SPS-based location estimates, such as those due to anomalous SPS signals, and providing other UEs with location information including reliable location estimates, their confidence levels, and the source of the location estimates, can help UEs mitigate the consequences of receiving such signals and ensure continued secure operation of the UE.

[0061] For example, in one implementation, a UE (such as a V-UE) may examine its SPS-based location information against non-SPS information, such as cached location information and location information derived from other (non-SPS) sensors. Examining the location information allows the UE to determine a confidence level of the location estimate. It should be understood that the confidence level is an indication of the statistical probability that the estimated location is accurate; that is, the confidence level is based on non-abnormal SPS signals, in contrast to the uncertainty of the estimated location. The UE may additionally use non-SPS-based location information (e.g., reliable earlier known locations and information from non-SPS sensors) to determine approximate location estimates. The UE also uses location information received from other UEs to assist in determining approximate locations. In some implementations, the UE may determine the confidence level of an SPS-derived location estimate by comparing it with an approximate location estimate determined using non-SPS-based location information. In other implementations, the UE may use non-SPS-based location information to determine an approximate location estimate only if the confidence level of the SPS-based location estimate is low.

[0062] As discussed in this paper, if a UE determines that an SPS-based location estimate may be compromised (e.g., the confidence level is less than a predetermined threshold), the UE can send a non-SPS-based location estimate along with an indication of how to derive the location estimate to other UEs. The UE can also send the confidence level of the non-SPS-based location estimate and may additionally provide an indication that the UE is receiving a spoofed SPS signal. With all UEs sending estimated locations, each UE will know the "confidence level" of the location information it is receiving from all other UEs, using the indication of how to determine the estimated location and the confidence level of the estimated location.

[0063] In practice, an SPS spoofing target can be a group of vehicles at a specific location, or a single or group of target vehicles. A vehicle under an SPS spoofing attack can receive "good" SPS-based location information from other vehicles that are receiving valid SPS signals (e.g., unspoofed SPS signals). The vehicle can then use the accurate location information from other vehicles to help estimate its own location. Additionally, the vehicle will be able to map the movement of vehicles in areas under SPS spoofing attacks or where SPS signals are unreliable. The vehicle can transmit this information to a traffic management server to warn of potential spoofing of specific vehicles or areas. The traffic management server can provide vehicles with warnings of unreliable SPS signals (e.g., in specific identified areas), which can also be used by the UE when determining the confidence level of the SPS-derived location estimate.

[0064] Figure 2The illustration shows a UE 200, which can be an example of any of UEs 112-116, and includes a computing platform comprising at least one processor 210, a memory 211 including software (SW) 280, one or more sensors 213, a transceiver interface 214 for a transceiver 215, a user interface 216, a satellite positioning system (SPS) receiver 217, and a camera 218. If the UE 200 is a V-UE, it may include a vehicle interface 270. The processor 210, memory 211, sensor(s)(s), transceiver interface 214, user interface 216, SPS receiver 217, camera 218, and vehicle interface 270 can be communicatively coupled to each other via a bus 220 (which can be configured for, for example, optical and / or electrical communications). One or more of the devices shown (e.g., camera 218, vehicle interface 270, and / or one or more of sensor(s)(s) 213, etc.) may be omitted from the UE 200. Processor 210 may include one or more smart hardware devices, such as a central processing unit (CPU), microcontroller, application-specific integrated circuit (ASIC), etc. Processor 210 may include multiple processors, including a general-purpose / application processor 230 (which may be configured to operate as a dedicated processor as discussed herein), a digital signal processor (DSP) 231, a modem processor 232, a video processor 233, a sensor processor 234, and / or a location processor 235 (which may sometimes be referred to as a location engine 235). One or more of processors 230-235 may include multiple devices (e.g., multiple processors). For example, sensor processor 234 may include processors for radar, sonar, ultrasonic, and / or lidar, etc. Modem processor 232 may support dual SIM / dual connectivity (or even more SIMs). For example, a SIM (Subscriber Identity Module or Subscriber Identification Module) may be used by an original equipment manufacturer (OEM), and another SIM may be used by the end user of UE 200 for connectivity. Memory 211 is a non-transitory storage medium, which may include random access memory (RAM), flash memory, disk storage, and / or read-only memory (ROM), etc. Memory 211 stores software 280, which may be processor-readable, processor-executable software code including instructions configured to, when executed, cause processor 210 to operate as a dedicated computer programmed to perform the various functions described herein. Alternatively, software 280 may not be directly executed by processor 210, but may be configured (e.g., when compiled and executed) to cause processor 210 to perform these functions. This description may refer only to processor 210 performing functions, but this includes other implementations, such as those in which processor 210 performs software and / or firmware. The description may refer to processor 210 performing a function as an abbreviation for one or more of processors 230-235 performing that function.This description may refer to the UE 200 performing the function as an abbreviation for one or more appropriate components of the UE 200 performing the function. In addition to and / or in place of memory 211, processor 210 may include memory with stored instructions. The functionality of processor 210 is discussed more fully below.

[0065] Figure 2 The configuration of UE 200 shown is exemplary and not limiting of all aspects of this disclosure (including the claims), and other configurations may be used. For example, an exemplary configuration of the UE includes one or more of processors 230-235 of processor 210, memory 211, and wireless transceiver 240. Other exemplary configurations include one or more of processors 230 to 235 of processor 210, memory 211, wireless transceiver 240, and one or more of sensors 213, user interface 216, SPS receiver 217, camera 218, and / or wired transceiver 250.

[0066] UE 200 may include a modem processor 232, which is capable of performing baseband processing on signals received and down-converted by transceiver 215 and / or SPS receiver 217. Modem processor 232 may also perform baseband processing on signals to be up-converted for transmission by transceiver 215. Alternatively, baseband processing may be performed by processor 230 and / or DSP 231. However, other configurations may be used to perform baseband processing.

[0067] UE 200 may include multiple sensors 213, which may include one or more of various types of sensors, such as one or more inertial sensors, one or more magnetometers, one or more environmental sensors, one or more optical sensors, one or more weight sensors, and / or one or more radio frequency (RF) sensors. An inertial measurement unit (IMU) may include, for example, one or more accelerometers (e.g., collectively responding to acceleration of UE 200 in three dimensions) and / or one or more gyroscopes. Multiple sensors 213 may include one or more magnetometers to determine orientation (e.g., relative to magnetic north and / or true north) for any purpose that can be used for a variety of purposes, for example, to support one or more compass applications. Multiple environmental sensors may include, for example, one or more temperature sensors, one or more barometric pressure sensors, one or more ambient light sensors, one or more camera imagers, and / or one or more microphones. Multiple sensors 213 may include RADAR (radio detection and ranging) sensors, LIDAR (light detection and ranging) sensors, SONAR (sound navigation and ranging) sensors, ultrasonic ranging, etc., for determining distance to objects. Multiple sensors 213 may also include a local oscillator for tracking time. Sensor 213 may include one or more vision systems (e.g., including camera 218), and / or one or more device sensors, such as one or more vehicle sensors (e.g., odometer, speedometer, tachometer, wheel rotation counter, etc.), and / or one or more other sensors. Sensors 213 may generate analog and / or digital signals, the indications of which may be stored in memory 211 and processed by DSP 231 and / or processor 230 to support one or more applications, such as applications for positioning and / or navigation operations.

[0068] Multiple sensors 213 can be used for relative location measurement, relative location determination, motion determination, etc. Information detected by the multiple sensors 213 can be used for motion detection, relative displacement, dead reckoning, sensor-based location determination, and / or sensor-assisted location determination. The multiple sensors 213 can be used to determine whether the UE 200 is stationary or moving and / or whether to report certain useful information about the UE 200's mobility to the server 143. For example, based on information obtained / measured by the sensors, the UE 200 can notify / report to the server 143 that the UE 200 has detected movement or that the UE 200 has moved, and report relative displacement / distance (e.g., via dead reckoning, sensor-based location determination, or sensor-assisted location determination enabled by the multiple sensors 213). In another example, for relative positioning information, the sensors / IMU can be used to determine the angle and / or azimuth of another device relative to the UE 200, etc.

[0069] The IMU can be configured to provide measurements of the direction and / or velocity of motion of the UE 200, which can be used for relative location determination. For example, one or more accelerometers and / or one or more gyroscopes of the IMU can detect the linear acceleration and rotational velocity of the UE 200, respectively. The linear acceleration and rotational velocity measurements of the UE 200 can be integrated over time to determine the instantaneous direction of motion and the displacement of the UE 200. The instantaneous direction of motion and displacement can be integrated to track the location of the UE 200. For example, the reference location of the UE 200 can be determined at a certain moment, for example, using the SPS receiver 217 (and / or by some other device), and measurements from the accelerometer(s) and gyroscope(s) after this moment can be used for dead reckoning to determine the current location of the UE 200 based on the movement (direction and distance) of the UE 200 relative to the reference location.

[0070] Multiple magnetometers can determine the magnetic field strength in different directions, which can be used to determine the orientation of the UE 200. For example, the orientation can be used to provide a digital compass for the UE 200. The magnetometers can be two-dimensional magnetometers configured to detect and provide indications of magnetic field strength in two orthogonal dimensions. Alternatively, the magnetometers can be three-dimensional magnetometers configured to detect and provide indications of magnetic field strength in three orthogonal dimensions. The magnetometers can provide units for sensing magnetic fields and, for example, providing indications of magnetic fields to the processor 210.

[0071] Transceiver 215 may include a wireless transceiver 240 and a wired transceiver 250, configured to communicate with other devices via wireless and wired connections, respectively. For example, wireless transceiver 240 may include a transmitter 242 and a receiver 244 coupled to one or more antennas 246 for transmitting (e.g., on one or more uplink channels) and / or receiving (e.g., on one or more downlink channels) wireless signals 248 and converting signals from wireless signals 248 to wired (e.g., electrical and / or optical) signals and vice versa. Therefore, transmitter 242 may include multiple transmitters that may be discrete components or combined / integrated components, and / or receiver 244 may include multiple receivers that may be discrete components or combined / integrated components. The wireless transceiver 240 can be configured to support various radio access technologies (RATs) (e.g., 5G New Radio (NR), GSM (Global System for Mobile Communications), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Telephone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, and WiFi Direct (WiFi-D). The wireless transceiver 240 can be configured to transmit signals in one or more of various types of networks, including WWAN (Wireless Wide Area Network), WLAN (Wireless Local Area Network), etc. The new radio can use millimeter wave frequencies and / or frequencies below 6 GHz. The wired transceiver 250 can include a transmitter 252 and a receiver 254 configured for wired communication with network 130, for example, to send and receive communications to and from UE 200. The transmitter 252 can include multiple transmitters that may be discrete components or combined / integrated components, and / or the receiver 254 can include multiple receivers that may be discrete components or combined / integrated components. The wired transceiver 250 can be configured for, for example, optical and / or electrical communication. The transceiver 215 can be communicatively coupled to the transceiver interface 214, for example, via optical and / or electrical connections. Transceiver interface 214 can be at least partially integrated with transceiver 215.

[0072] User interface 216 may include one or more of a plurality of devices, such as, for example, a speaker, a microphone, a display device, a vibration device, a keyboard, a touch screen, etc. User interface 216 may include more than one of any of these devices. User interface 216 may be configured to enable a user to interact with one or more applications hosted by UE 200. For example, user interface 216 may store indications of analog and / or digital signals in memory 211 for processing by DSP 231 and / or general-purpose processor 230 in response to actions from the user. Similarly, applications hosted on UE 200 may store indications of analog and / or digital signals in memory 211 to present output signals to the user. User interface 216 may include audio input / output (I / O) devices, including, for example, a speaker, a microphone, digital-to-analog circuitry, analog-to-digital circuitry, an amplifier, and / or gain control circuitry (including more than one of any of these devices). Other configurations of audio I / O devices may be used. Additionally or alternatively, user interface 216 may include one or more touch sensors responsive to touch and / or pressure, for example, on the keyboard and / or touch screen of user interface 216.

[0073] SPS receiver 217 (e.g., a Global Positioning System (GPS) receiver) may be able to receive and acquire SPS signal 260 via SPS antenna 262. Antenna 262 is configured to convert the radio signal 260 into a wired signal, such as an electrical signal or an optical signal, and may be integrated with antenna 246. SPS receiver 217 may be configured to process the acquired SPS signal 260, in whole or in part, for estimating the location of UE 200. For example, SPS receiver 217 may be configured to use SPS signal 260 to determine the location of UE 200 using a multilateral method. SPS signal 260 may come from one or more SPS constellations, such as constellations 180, 190, and SPS receiver 217 may be configured as a multi-SPS (multi-GNSS) receiver to process SPS signals from multiple SPSs. SPS signal 260 may include signals from various SPS frequency bands, and SPS receiver 217 may be configured as a multi-band SPS receiver to receive and process SPS signals from multiple frequency bands. At least one processor 230, memory 211, DSP 231, and / or one or more additional dedicated processors (not shown) may be used to process the acquired SPS signals, either wholly or in part, and / or in conjunction with SPS receiver 217 to calculate the estimated location of UE 200. Any processor of SPS receiver 217 used to process signals received by SPS receiver 217 may be considered part of processor 210, and therefore the description herein may refer to the processor of the UE (e.g., processor 210 of UE 200) as processing one or more SPS signals (e.g., determining one or more measurements of one or more SPS signals). Memory 211 may store indications (e.g., measurements) of SPS signal 260 and / or other signals (e.g., signals acquired from wireless transceiver 240) for use in performing location operations. The general-purpose processor 230, DSP 231, and / or one or more dedicated processors, and / or memory 211 configured to operate as a dedicated computer may provide or support a location engine for use in processing measurements to estimate the location of UE 200.

[0074] UE 200 may include a camera 218 for capturing still or moving images. Camera 218 may include, for example, an imaging sensor (e.g., a charge-coupled device or a CMOS imager), a lens, analog-to-digital circuitry, a frame buffer, etc. Additional processing, conditioning, encoding, and / or compression of signals representing the captured images may be performed by a general-purpose processor 230 and / or a DSP 231. Alternatively, a video processor 233 may perform conditioning, encoding, compression, and / or manipulation of signals representing the captured images. The video processor 233 may decode / decompress stored image data for presentation on a display device (not shown), such as user interface 216.

[0075] The location engine 235 may be configured to determine the location of the UE 200, the movement of the UE 200, and / or the relative position and / or time of the UE 200. For example, the location engine 235 may communicate with and / or include some or all of the SPS receivers 217. The location engine 235 may, as appropriate, work with one or more other processors in the processor 210 and memory 211 to perform at least a portion of one or more positioning methods, but the description herein refers only to the location engine 235 configured to perform or execute according to the positioning method(s). Furthermore, the location engine 235 may be part of or integrated with any processor in the processor 210, such as the application processor 230. Location engine 235 may also, or alternatively, be configured to use non-SPS information to determine the location of UE 200, such as terrestrial signals (e.g., at least some of signals 248, such as received cellular or LAN signals, like WiFi, or other shortwave signals, such as ultra-wideband (UWB), millimeter wave, etc.) used for multilateral measurements to assist in obtaining and using SPS signal 260, or both. Location engine 235 may be configured to use one or more other techniques (e.g., relying on the UE's self-reported location (e.g., a portion of the UE's location beacon)) to determine the location of UE 200, and may use a combination of techniques (e.g., SPS and terrestrial positioning signals) to determine the location of UE 200. The location engine 235 may also be configured to use non-SPS information to determine the location of the UE 200, such as previously (cached) location information, sensor information obtained from one or more of sensors 213 (e.g., multiple gyroscopes, multiple accelerometers, multiple magnetometers, etc.) that can sense the orientation and / or motion of the UE 200 and provide indications thereof, and the processor 210 (e.g., the location engine 235 or the processor 230 and / or DSP 231) may be configured to use the indications to determine the motion of the UE 200 (e.g., velocity vector and / or acceleration vector). The location engine 235 may further use location information received from one or more UEs (e.g., estimated locations of other UEs and determined distances to the UEs) to determine the location of the UE. The location engine 235 may be configured to provide an indication of the uncertainty and / or error of the determined location and / or motion.

[0076] The UE 200 can use the vehicle interface 270 to provide an interface for and control of the autonomous driving of a vehicle in which the UE 200 may be located. For example, the vehicle interface 270 can provide commands for the autonomous driving of the vehicle, such as control over acceleration, deceleration, speed, trajectory, etc.

[0077] Memory 211 may store software 280 including executable program code or software instructions that, when executed by processor 210, enable processor 210 to operate as a dedicated computer programmed to perform the functions disclosed herein. The description herein may refer to the UE 200 performing functions as a shortened form of one or more suitable components of the UE 200 performing functions (e.g., processor 210 configured by executable program code stored in memory 211). As shown, memory 211 may include one or more components or modules that can be implemented by processor 210 to perform the disclosed functions. Although components or modules are shown as software 280 executable by processor 210 in memory 211, it should be understood that components or modules may be stored in another computer-readable medium or may be dedicated hardware within or outside processor 210. Multiple software modules and data tables may reside in memory 211 and be utilized by processor 210 to manage both the communications and functions described herein. It should be understood that the organization of the contents of the memory 211 shown in the figure is merely exemplary, and therefore the functionality of the modules and / or data structures can be combined, separated, and / or constructed in different ways depending on the implementation.

[0078] Memory 211 may include, for example, a location determination module 282, which, when implemented by one or more processors 210 (e.g., processor 230 or location engine 235), configures one or more processors 210 to determine the location of UE 200 in one or more ways. For example, one or more processors 210 may be configured to determine the location estimate of UE 200 based on an SPS signal received by SPS receiver 217, which may include anomaly signals that would generate an incorrect location estimate. One or more processors 210 may also be configured to determine the estimated location of UE 200 based on non-SPS information (e.g., previously estimated location (i.e., cached location information stored in memory 211)), sensor information obtained from sensor 213, and (e.g.) location information received via transceiver 240 from other nearby UEs, or a combination thereof. For example, one or more processors 210 may be configured to determine a location estimate using cellular signals and / or wireless LAN signals from base transceivers (BTS) 120, 121, 122, 123 or from other UEs in sidelink signaling (e.g., using Time Difference of Arrival (TDOA), Angle of Arrival (AoA), Received Signal Strength (RSS), or other known measurements). For example, one or more processors 210 may be configured to determine a time-filtered location of UE 200 by using a filter (e.g., a Kalman filter) to calculate the location using measurements over time. One or more processors 210 may be configured to perform dead reckoning from a previously estimated location using sensor information received from sensor 213. One or more processors 210 may be configured to determine the estimated location using sidelink positioning (e.g., using locations received from several different entities (e.g., UEs)) and ranging to the entities (e.g., from radar, lidar, sonar, or wireless ranging techniques, such as round-trip time measurements) (e.g., using multipoint positioning techniques). One or more processors 210 may be configured to use a variety of different technologies and data sources to determine location estimates, for example, using different weights based on the confidence levels of various data sources or technologies. For example, one or more processors 210 may be configured to adjust the weighting of various data sources (e.g., applying a weighting factor between 0 and 1) or to adjust the weighted positioning techniques (e.g., dead reckoning and RTT / multilateral measurement) used to determine the location of the UE 200 based on the confidence levels of the data sources. One or more processors 210 may also be configured to determine the confidence level of non-SPS-derived location estimates, for example, based on the type of data used to determine the location estimate and the confidence level associated with the data used.

[0079] For example, memory 211 may include an anomaly detection module 284, which, when implemented by one or more processors 210, configures one or more processors 210 to determine whether a received SPS signal is reliable or anomalous (e.g., spoofed) and to generate an unreliable location estimate. For example, one or more processors 210 may be configured to determine a confidence level of the SPS-derived location estimate. For example, the confidence level may be determined by comparing the time derived from the SPS signal with a local time (e.g., determined from a local oscillator in sensor 213 or from a radio signal received from the BTS via transceiver 240), where a close-match time provides a higher confidence level than a mismatch time. One or more processors 210 may additionally or alternatively be configured to determine the confidence level based on the SPS-derived location estimate and non-SPS information (e.g., previously estimated locations (i.e., cached location information stored in memory 211), sensor information obtained from sensor 213, and (e.g.) location information received from other nearby UEs via transceiver 240, or a combination thereof). For example, one or more processors 210 may be configured to determine the degree of alignment between the SPS-derived location estimate and a cached location estimate and / or location received from a nearby UE. One or more processors 210 may be configured to determine whether a change in the location of the UE 200, as indicated by the SPS-derived location estimate, relative to a previous location estimate corresponds to data obtained from sensor 213, such as acceleration, velocity, or orientation. One or more processors 210 may be configured to determine the difference between the SPS-derived location estimate and, for example, a non-SPS-derived location estimate generated using non-SPS information, where closely matching locations provide a higher confidence level than mismatched locations. In generating the confidence level, one or more processors 210 may be configured to assign different weights to different types of disparity; for example, a noisy sensor may be given a lower weight than a sensor with little noise. Additionally, one or more processors 210 may be configured to compare the confidence level with a predetermined threshold, for example, to determine whether the SPS-based positioning estimate is reliable (if the confidence level is greater than the threshold) or unreliable (if the confidence level is less than the threshold). One or more processors 210 may be configured to determine the reliability of an SPS signal, and thus determine a location estimate based on, at least in part, information received from other UEs or service location servers (e.g., whether the location information source of other UEs is non-SPS information, the confidence level of the estimated location from other UEs, or a warning that a nearby UE has detected an abnormal SPS signal). For example, one or more processors 210 may be configured to determine whether an SPS signal is reliable based on location information messages received from one or more V-UEs.For example, one or more processors 210 may be configured to determine the reliability of an SPS signal based on multiple V-UEs that use non-SPS information for location estimation, associate low confidence levels with SPS-based location estimation, provide an indication that an SPS signal received by a V-UE is determined to be anomalous, etc. In an implementation where UE 200 is an RSU, one or more processors 210 may be configured to determine the reliability of an SPS signal for a V-UE, for example, based on location estimation provided by the V-UEs and, in some implementations, based on additional information (e.g., a defined range between V-UEs).

[0080] For example, memory 211 may include a location information reporting module 286, which, when implemented by one or more processors 210, configures one or more processors 210 to generate and transmit messages including location information of UE 200, or to receive location information of other UEs via transceiver 240. The location information includes a determined location estimate and the source of the location estimate. For example, if the location estimate derived from SPS has high confidence, i.e., the received SPS signal is not determined to be abnormal, then the location estimate may be an SPS-derived location estimate; or if the location estimate derived from SPS has low confidence, then the location estimate may be a non-SPS-derived location estimate. The source of the location estimate may be an identifier of a data source, such as an SPS signal or non-SPS data. In some embodiments, the data source may be further refined to an SPS constellation, carrier frequency, etc., or the type of sensor data or technology used to generate non-SPS-based location estimates, such as SPS signals, cellular signals, LAN signals, sidelink signals, TDOA measurements, AoA measurements, and RSS measurements. The transmitted or received location information may also include a determined confidence level associated with the location estimate in the location information message. One or more processors 210 may be additionally configured to receive similar location information from one or more other UEs via transceiver 240. The message may be a V2X type message or other direct or indirect message to other nearby UEs. The message may be, for example, a CAM, DENM, or BSM message, for example, used for safety applications such as ADAS. In some implementations, for example, if UE 200 is a non-vehicle-related UE, other types of message transmission between UEs may be used. One or more processors 210 may be additionally configured to send an indication via transceiver 240 to a service location server or other UE of when a received SPS signal has been determined to be abnormal, for example, along with location information, such as the determined location estimate and optionally the source and / or confidence level of the location estimate. One or more processors 210 may be additionally configured to receive, via transceiver 240, a warning from a service location server or other UE with an indication that an SPS signal in the area of ​​UE 200 has been determined to be abnormal by other UEs.

[0081] The methods described herein can be implemented by various means depending on the application. For example, these methods can be implemented in hardware, firmware, software, or any combination thereof. In a hardware implementation, one or more processors 210 may be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or combinations thereof.

[0082] For firmware and / or software implementations, methods can be implemented using modules (e.g., processes, functions, etc.) that perform the functions described herein. Any machine-readable medium that tangibly embodies the instructions can be used to implement the methods described herein. For example, software code can be stored in a non-transitory computer-readable medium (such as memory 211) connected to and executed by one or more processors 210. Memory can be implemented within one or more processors or outside one or more processors. As used herein, the term "memory" means any type of long-term, short-term, volatile, non-volatile, or other memory, and is not limited to any particular type of memory or any particular amount of memory or type of storage medium.

[0083] If implemented in firmware and / or software, the functionality can be stored as one or more instructions or program code on a non-transitory computer-readable medium (e.g., memory 211). Examples include computer-readable media encoded with data structures and computer-readable media encoded with computer programs. For example, a non-transitory computer-readable medium including program code stored thereon may include program code for determining the source of an abnormal SPS signal and transmission location information along with the location information in a manner consistent with the disclosed embodiments. Non-transitory computer-readable media include physical computer storage media. Storage media can be any available medium accessible by a computer. By way of example and not limitation, such non-transitory computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer; as used herein, magnetic disks and optical disks include compact optical discs (CDs), laser optical discs, optical discs, digital versatile optical discs (DVDs), floppy disks, and Blu-ray discs, wherein magnetic disks typically reproduce data magnetically, while optical discs reproduce data optically using lasers. The above combinations should also be included within the scope of computer-readable media.

[0084] In addition to being stored on a computer-readable medium such as memory 211, instructions and / or data may be provided as signals on a transmission medium included in the communication apparatus. For example, the communication apparatus may include a transceiver 240 or 250 having signals indicating instructions and data. The instructions and data are configured to cause one or more processors to perform the functions outlined in the claims. That is, the communication apparatus includes a transmission medium having signals indicating information for performing the disclosed functions.

[0085] Memory 211 can represent any data storage device. Memory 211 may include, for example, main memory and / or secondary memory. Main memory may include, for example, random access memory, read-only memory, etc. Although shown in this example as separate from one or more processors 210, it should be understood that all or part of the main memory may be located within one or more processors 210 or otherwise co-located / coupled with one or more processors 210. Secondary memory may include, for example, memory of the same or similar type as the main memory and / or one or more data storage devices or systems, such as disk drives, optical disk drives, tape drives, solid-state drives, etc.

[0086] In some embodiments, the auxiliary storage is operable to receive or otherwise configurable to be coupled to a non-transitory computer-readable medium. Thus, in some example embodiments, the methods and / or apparatus presented herein may take the form of all or part of a computer-readable medium, which may include computer-implementable code stored thereon, which, if executed by one or more processors 210, is operable to perform all or part of the example operations as described herein. The computer-readable medium may be part of memory 211.

[0087] Figure 3 An example of a TRP 300 of BTS120-123 is illustrated, which includes a computing platform comprising at least one processor 310, a memory 311 including software (SW) 312, and a transceiver 315. The processor 310, memory 311, and transceiver 315 are communicatively coupled to each other via a bus 320 (which can be configured for, for example, optical and / or electrical communication). One or more of the devices shown in the TRP 300 (e.g., a wireless interface) may be omitted. The processor 310 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, an application-specific integrated circuit (ASIC), etc. The processor 310 may include multiple processors (e.g., including... Figure 2(This refers to one or more of the application processor, DSP, modem processor, video processor, and / or sensor processor shown). Memory 311 is a non-transitory storage medium, which may include random access memory (RAM), flash memory, disk storage, and / or read-only memory (ROM), etc. Memory 311 stores software 312, which may be processor-readable, processor-executable software code including instructions configured to cause processor 310 to operate as a dedicated computer programmed to perform the various functions described herein when executed. Alternatively, software 312 may not be directly executed by processor 310, but may be configured to cause processor 310 (e.g., when compiled and executed) to operate as a dedicated computer programmed to perform functions. This description may refer only to processor 310 performing functions, but this includes other implementations, such as those in which processor 310 performs software and / or firmware. This description may refer to processor 310 performing functions as an abbreviation for one or more processors included in processor 310 performing the function. This description may refer to the TRP 300 that performs the function as a shorthand for one or more suitable components of the TRP 300 (and therefore one of the BTSs in BTS120-123) that performs the function. In addition to and / or in place of memory 311, processor 310 may include memory with stored instructions. The functionality of processor 310 is discussed more fully below.

[0088] Transceiver 315 may include a wireless transceiver 340 and a wired transceiver 350, configured to communicate with other devices via wireless and wired connections, respectively. For example, wireless transceiver 340 may include a transmitter 342 and a receiver 344 coupled to one or more antennas 346 for transmitting (e.g., on one or more uplink channels) and / or receiving (e.g., on one or more downlink channels) wireless signals 348 and converting signals from wireless signals 348 into wired (e.g., electrical and / or optical) signals and vice versa. Therefore, transmitter 342 may include multiple transmitters, which may be discrete components or combined / integrated components, and / or receiver 344 may include multiple receivers, which may be discrete components or combined / integrated components. The wireless transceiver 340 can be configured to support various standards such as 5G New Radio (NR), GSM (Global System for Mobile Communications), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Telephone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, and WiFi Direct (WiFi-D). Various radio access technologies (RATs) such as Zigbee are used to transmit signals (e.g., with UE 200, one or more other UEs, and / or one or more other devices). Wired transceiver 350 may include transmitter 352 and receiver 354, configured for wired communication, for example, with network 130, to send and receive communications to server 143, for example. Transmitter 352 may include multiple transmitters, which may be discrete components or combined / integrated components, and / or receiver 354 may include multiple receivers, which may be discrete components or combined / integrated components. Wired transceiver 350 may be configured for, for example, optical communication and / or electrical communication.

[0089] Figure 3 The configuration of TRP 300 shown herein is illustrative and not limiting of all aspects of this disclosure (including the claims), and other configurations may be used. For example, the description herein discusses TRP 300 being configured to perform or perform several functions, but one or more of these functions may be performed by server 143 and / or UE 200 (i.e., server 143 and / or UE 200 may be configured to perform one or more of these functions).

[0090] Figure 4 The illustration shows a server 400 as an example of server 143, which includes a computing platform comprising at least one processor 410, a memory 411 including software (SW) 412, and a transceiver 415. For example, server 400 may be a service control server configured to receive an indication from a UE when an SPS signal is determined to be abnormal, and to provide a warning to UEs in the area where the abnormal SPS signal has been detected. Processor 410, memory 411, and transceiver 415 may be communicatively coupled to each other via bus 420 (which may be configured for, for example, optical and / or electrical communication). One or more of the devices shown (e.g., wireless interfaces) may be omitted from server 400. Processor 410 may include one or more intelligent hardware devices, such as a central processing unit (CPU), microcontroller, application-specific integrated circuit (ASIC), etc. Processor 410 may include multiple processors (e.g., including similar...). Figure 2(At least one of the application processor, DSP, modem processor, video processor, and / or sensor processor shown). Memory 411 is a non-transitory storage medium, which may include random access memory (RAM), flash memory, disk storage, and / or read-only memory (ROM), etc. Memory 411 stores software 412, which may be processor-readable, processor-executable software code including instructions configured to cause processor 410 to operate as a dedicated computer programmed to perform the various functions described herein when executed. Alternatively, software 412 may not be executed directly by processor 410, but may be configured to cause processor 410 (e.g., when compiled and executed) to operate as a dedicated computer programmed to perform functions. This description may refer only to processor 410 performing functions, but this includes other implementations, such as those in which processor 410 performs software and / or firmware. This description may refer to processor 410 performing functions as an abbreviation for one or more processors included in processor 410 performing the function. This description may refer to server 400 performing functions as an abbreviation for one or more suitable components of server 400 performing the function. In addition to and / or in place of memory 411, processor 410 may include memory containing stored instructions. The functionality of processor 410 is discussed more fully below.

[0091] Transceiver 415 may include a wireless transceiver 440 and a wired transceiver 450, configured to communicate with other devices via wireless and wired connections, respectively. For example, wireless transceiver 440 may include a transmitter 442 and a receiver 444 coupled to one or more antennas 446 for transmitting (e.g., on one or more uplink channels) and / or receiving (e.g., on one or more downlink channels) wireless signals 448 and converting signals from wireless signals 448 into wired (e.g., electrical and / or optical) signals and vice versa. Therefore, transmitter 442 may include multiple transmitters, which may be discrete components or combined / integrated components, and / or receiver 444 may include multiple receivers, which may be discrete components or combined / integrated components. The wireless transceiver 440 can be configured to support various radio access technologies (RATs) (e.g., 5G New Radio (NR), GSM (Global System for Mobile Communications), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Telephone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, and WiFi Direct (WiFi-D). The wired transceiver 450 may include a transmitter 452 and a receiver 454 configured for wired communication with, for example, network 130, to send and receive communications to, for example, TRP 300. The transmitter 452 may include multiple transmitters, which may be discrete components or combined / integrated components, and / or the receiver 454 may include multiple receivers, which may be discrete components or combined / integrated components. The wired transceiver 450 may be configured for, for example, optical communication and / or electrical communication.

[0092] Figure 4 The configuration of server 400 shown is exemplary and not limiting of all aspects of this disclosure (including the claims), and other configurations may be used. For example, wireless transceiver 440 may be omitted. Alternatively or additionally, the description herein discusses server 400 being configured to perform or perform several functions, but one or more of these functions may be performed by TRP 300 and / or UE 200 (i.e., TRP 300 and / or UE 200 may be configured to perform one or more of these functions).

[0093] Figure 5 The diagram illustrates a flowchart 500 in which a UE (e.g., UE 200) determines the confidence level of its location information and uses the confidence level to warn nearby UEs and correct the location information provided to nearby UEs in the event of an SPS spoofing attack.

[0094] As shown in the figure, the UE receives an SPS signal at block 502, the SPS signal being used to... Figure 2 The location engine 235 generates location information. The SPS signal may be non-anomaly, and therefore the resulting location information at box 502 may include a correct location estimate. Alternatively, the SPS signal may be anomaly (e.g., spoofed), and the resulting location information at box 502 may include an incorrect location estimate.

[0095] UE also, for example, via Figure 2 The transceiver 240 shown receives radio messages from one or more other UEs, and at block 504, the location of the sending UE can be determined from the radio messages. The radio messages may also include a confidence level of the sending UE's location and the source of the location estimate, as indicated in block 504. As an example, the radio messages may be Common Awareness Messages (CAM), Distributed Notification Messages (DENM), or Basic Safety Messages (BSM) for use with Advanced Driver Assistance Systems (ADAS), for example, via C-V2X or other types of communication.

[0096] As illustrated in box 506, the UE can maintain its own cache of location information. The cached location information may be, for example, the last known location, which can be used, for example, in the event of a power outage. The cached location information may include previously determined location estimates, which can be derived from SPS information (if reliable) or non-SPS information, such as information from non-SPS sensors, as well as previously cached location information and location information received from other UEs. The cached location information may also include additional information, such as the confidence level of the location estimate, an indication of the source of the location estimate, or a combination thereof.

[0097] At box 508, the UE can access a non-SPS sensor (e.g., Figure 2 The location information is derived from the sensors 213, camera 218, and wireless transceiver 240. For example, the location information may include IMU data indicating acceleration, orientation, wheel rotation counts, radar data, lidar data, image information, etc. The location information may also include location information received from other UEs or indications that the received SPS signal may be unreliable; for example, it may be obtained via… Figure 2 The wireless transceiver 240 in the system receives data from other UEs or from the service management server.

[0098] At block 510, the UE determines the confidence level of the location information determined using the SPS signal at block 502. For example, the UE may determine whether the received SPS signal is abnormal, and therefore the confidence level of the location information determined using the SPS signal is correspondingly low. In some implementations, the UE may compare changes in location and time determined using the SPS signal with information derived from non-SPS information (including cached location information, sensor information, and location information received from other UEs). For example, a spoofed SPS signal may carry a time different from the actual SPS time. When spoofing occurs, the local time (e.g., from...) is changed. Figure 3 The difference between the local oscillator derived from sensor 213 and the received SPS time in the SPS signal can undergo sudden changes that do not normally occur, and observation of this change can indicate anomalous SPS signals and low confidence in the location estimate derived from SPS.

[0099] Furthermore, anomalous SPS signals can generate incorrect location estimates. Therefore, anomalous SPS signals can be detected, for example, by determining, based on non-SPS information, that the location estimate derived from the received SPS signal is incorrect. For instance, a sudden change in location will necessarily require corresponding signals from non-SPS sensors in the UE, such as rapid acceleration to adapt to a sudden change in location; radar and lidar should observe rapid changes in the surrounding environment; radar will have to detect a sudden rise in Doppler signal; steering column sensors will have to record changes in yaw; and wheel sensors will have to record changes in vehicle speed. In the absence of a corresponding indication of a sudden change in location from non-SPS sensors, a sudden change in the location estimate derived from SPS can indicate that the SPS signal is anomalous and suspicious, and may require necessary remedial steps.

[0100] Therefore, the location estimate derived from the SPS can be compared with, for example, non-SPS information from non-SPS sensors, cached locations, and locations received from one or more other UEs. In some implementations, the non-SPS-based information compared with the location estimate derived from the SPS can be another location estimate derived from a non-SPS source, such as a non-SPS sensor, cached locations, or locations of other UEs, as determined, for example, as specified in block 516. This comparison will allow determining the confidence level of the estimated location derived from the SPS signal. For example, if the SPS signal is spoofed, there may be a significant location difference between the cached location information and the location derived from the SPS, which is inconsistent with the non-SPS sensor information. Similarly, if the SPS signal is spoofed, the location estimate derived from the SPS can differ significantly from location information received from other UEs.

[0101] The confidence level of the location estimate derived from SPS can be determined based on the magnitude and type of the difference between the SPS-derived location estimate and the non-SPS information. For example, if the non-SPS information differs only slightly from the SPS-derived location estimate, or if the data from only a single non-SPS sensor differs while the rest of the non-SPS sensors closely match, then the confidence level can be relatively high. Conversely, if the difference is large or all non-SPS sensors indicate a significant difference, then the confidence level can be relatively low. In determining the confidence level, data from different sensors can be weighted differently. If the SPS-derived location estimate is compared to a non-SPS-derived location estimate (e.g., generated in box 516), then if the location estimates closely match or are within the corresponding uncertainty range, then the confidence level of the SPS-derived location estimate can be high, and conversely, if the location estimates differ or are outside the uncertainty range, then the confidence level can be low.

[0102] In some implementations, the SPS-derived location estimate (from box 502) can be continuously compared with cached location information (from box 506), and in some implementations with location information from sensors (from box 508). For example, the SPS-derived location estimate can be generated continuously at a rate of, for example, 10 Hz, and each SPS-derived location estimate can be compared with a previously cached location from box 506. The previously cached location (box 508) can be updated based on the estimated movement of the vehicle (e.g., vehicle speed and direction) obtained from location information from sensors (e.g., dead reckoning). The difference between the SPS-derived location estimate and the updated cached location (e.g., dead reckoning location) can be compared with a predetermined threshold to determine whether they match sufficiently. In some implementations, the predetermined threshold can be based on the vehicle speed. If the comparison is successful, a high confidence level (e.g., 0.90) can be set based on this filter, and if the comparison fails, a low confidence level (e.g., 0.20) can be set based on this filter. In some implementations, the confidence level can be a function of the difference in the comparison; for example, multiple predetermined thresholds can be used to generate different confidence levels.

[0103] In some implementations, additional filtering steps may be performed to further increase or decrease the confidence level. For example, if the initial comparison between the SPS-derived location estimate and the updated cached location (e.g., dead reckoning location) fails, additional factors (e.g., locations derived from other sensors and locations received from other UEs (from box 504)) may be used to modify the confidence level. For example, the SPS-derived location estimate may be compared with a non-SPS-derived location estimate, which may be determined using multipoint positioning based on locations received from other UEs (from box 504) and ranges to other UEs (from box 508), or, for example, a cellular-based location estimate, or any other location information, such as vision-based positioning, WLAN-based positioning, WPAN-based positioning, etc. In some implementations, the comparison between the SPS-derived location estimate and the non-SPS-derived location estimate may be compared with predetermined thresholds (or multiple thresholds) to determine whether a match has failed or succeeded and the corresponding confidence level. For example, the thresholds (multiple) may be based on vehicle speed. If (multiple) matches in subsequent filters fail, the confidence level can be further reduced, or conversely, if (multiple) matches in subsequent filters succeed, the confidence level can be increased.

[0104] In some implementations, instead of performing multiple filters, a single non-SPS-derived location estimate can be generated based on all available information (e.g., cached locations (box 506), sensor information (box 508), and the locations of other UEs (box 504)), which can be compared with the SPS-derived location estimate. The resulting difference can be compared with one or more thresholds to generate corresponding confidence levels. The thresholds can be based, for example, on vehicle speed.

[0105] As an example, Table 1 shows various confidence levels and related descriptions that can be generated based on a comparison of location estimates derived from SPS with location information not derived from SPS. Additional confidence levels may be used if needed, and additional confidence levels may be included to reflect different actions taken in response to the comparison.

[0106]

[0107]

[0108] Table 1

[0109] At box 512, the confidence level determined at box 510 can be compared with a predetermined threshold, for example, as shown in Table 1. If the confidence level in the location estimate derived from the SPS is higher than the predetermined threshold, then at box 514, the UE can send location information including the location estimate derived from the SPS, along with the source of the location estimate, to other UEs. In some implementations, the location information may also include the confidence level of the location estimate. This message may, for example, be a CAM, DENM, or BSM message sent via C-V2X or other types of communication. The cached location information at box 506 can be updated accordingly.

[0110] On the other hand, if the confidence level of the location estimate derived from SPS at box 512 is lower than a predetermined threshold, then the location estimate derived from SPS is considered unreliable, and the UE will not send the location estimate derived from SPS to other UEs. Alternatively, the UE may send location information, including location estimates determined from non-SPS information, to other UEs.

[0111] For example, at box 516, the UE can derive a location estimate using non-SPS information, including cached location information from box 506, non-SPS sensor information at box 508 (e.g., using dead reckoning or other location determination techniques), and location information received from other UEs, such as at box 504. For example, in the case of receiving location information from multiple trusted UEs, this crowdsourced information can be used to help estimate the UE's current location, for example, using ranging information from trusted UEs derived using radar, lidar, or wireless ranging techniques (e.g., round-trip time measurement). For example, the location estimate can be generated by location engine 235 and implementations. Figure 2 One or more processors 210 of the location determination module 282 in the UE determine the confidence level in the non-SPS derived location estimate. The confidence level in the non-SPS derived location estimate can be determined, for example, based on the confidence level of the non-SPS data used (e.g., the confidence level in cached location information and the confidence level in location information received from other UEs). In some embodiments, the confidence level in the non-SPS derived location estimate can be derived in a manner similar to that for a SPS derived location estimate, as discussed above. For example, a non-SPS derived location estimate can be generated and compared with a previously cached location, which can be updated using dead reckoning based on the estimated movement of a vehicle (e.g., vehicle speed and direction). The differences can be compared with one or more predetermined thresholds to determine if they sufficiently match and generate corresponding confidence levels. At block 514, the UE can send location information including the non-SPS derived location estimate, along with the source of the location estimate, to other UEs. In some embodiments, the location information may also include the confidence level of the location estimate. The cached location information at block 506 can be updated accordingly.

[0112] Additionally, the UE may send a message via the RSU or BTS to, for example, a traffic management server to provide an indication that the received SPS signal is abnormal and unreliable. This message may include location information, such as a non-SPS derived location estimate, and in some implementations, the source and confidence level of the location estimate, enabling the traffic management server to identify whether the abnormal SPS signal is associated with a specific area or vehicle. For example, if the abnormal SPS signal is associated with a specific area, the traffic management server may issue a warning to vehicles in that specific area.

[0113] A UE receiving location information from a sending UE that indicates the source of the location estimate is non-SPS information (or otherwise indicates that the SPS-derived location estimate is unreliable) may mark the sending UE as transmitting location information that may be forged or otherwise unreliable. The receiving UE may discount or weight the location information accordingly. Furthermore, a UE receiving an indication that the SPS-derived location estimate is unreliable may use this information to lower the confidence level of its own SPS-derived location estimates.

[0114] Figure 6 The illustration depicts an example environment 600 where UE 200 can receive one or more anomalous SPS signals attributable to various scenarios and can provide location information to UE 114, including non-SPS derived location estimates, the source of the location estimates, and the confidence level of the location estimates. For example, SV 183 can send an anomalous SPS signal 680 to UE 200. The anomalous SPS signal 680 can be anomalous in one or more ways. For example, signal 680 could be a forged signal generated in a format associated with SV 183 but inaccurate (e.g., with incorrect timing), which could lead to inaccurate determination of the distance from UE 200 to SV 183. As another example, signal 680 could be a forged signal with a format associated with another SV (e.g., another SV that includes the same constellation as SV 183 (i.e., constellation 180) or another SV that is different from the constellation (e.g., constellation 190)). In this scenario, the pseudorange determined for signal 680 may correspond to a range from UE 200 to SV 183, but UE 200 will use this range as the expected location from UE 200 to SV 191 (e.g., as indicated by ephemeris data). In either of these scenarios (i.e., inaccurate information in a signal in the format of SV 183 or simulating the format of another SV), if UE 200 does not recognize signal 680 as anomalous and therefore does not take appropriate action (e.g., determine a non-SPS-derived location estimate and provide it to the UE) and an indication of the source of the location estimate, then UE 200 may calculate an incorrect location for UE 200. The anomalous SPS signal 680 has a carrier frequency, and the carrier frequency may be a frequency frequently used by the UE to determine location using SPS signals, such as the L1 frequency (1575.42 MHz) of a GPS system. SV 183 can also transmit one or more non-abnormal SPS signals, such as non-abnormal SPS signal 683, especially if abnormal SPS signal 680 was transmitted due to an operational error of SV 183. Non-abnormal SPS signal 683 may have a different carrier frequency than abnormal SPS signal 680.

[0115] As another example of UE 200 receiving abnormal SPS signals, UE 200 may receive one or more abnormal SPS signals 615, 625 from satellite signal emulators 610, 620, respectively. Satellite signal emulators 610, 620 may be SPS signal emulators configured to generate and transmit analog SPS signals. Therefore, abnormal SPS signals 615, 625 may respectively simulate signals from SVs (e.g., SV 191, 192) (e.g., having a format corresponding to SVs (e.g., pseudo-random codes)). When received by UE 200, abnormal SPS signals 615, 625 may have significantly higher power than non-abnormal SPS signals 691, 692 from SVs 191, 192, which may cause UE 200 to lock onto abnormal SPS signals 615, 625 instead of (instead of) the non-abnormal SPS signals 691, 692 actually transmitted by SVs 191, 192.

[0116] As discussed, UE 200 may use one or more other entities in environment 600 to help identify anomalous signals as anomalous, for example, by determining whether the anomalous signal is consistent or inconsistent with other information. For example, UE 200 may further use non-SPS information (e.g., cached location information, non-SPS sensor information, locations of other UEs, or any combination thereof) to determine the reliability of received SPS signals. For example, UE 200 may determine that the time derived from the SPS signal is inconsistent with the time determined from a local oscillator or other local source. For example, UE 200 may determine a non-SPS derived location estimate from non-SPS information, which may be compared with an SPS derived location estimate to generate a confidence level. In another example, UE 200 may compare any change in location with non-SPS sensor information that should correspond to the change in location (e.g., an indication of acceleration, etc.). In another example, UE 200 may be configured to use signaling 630 (e.g., radar signals, sonar signals, and / or lidar signals) to determine the distance to UE 114. UE 200 may, for example, use the distance information provided to UE 200 by UE 114 and the location of UE 114 to help determine the consistency between one or more SPS signals and the approximate location of UE 200. UE 200 may be configured to use visual information (e.g., light 642 reflected from landmark 640) to determine the approximate location of UE 200. UE 200 may, for example, use camera 218 to capture one or more images of landmark 640, identify landmark 640, find the location of landmark 640 in a landmark and location lookup table (or by querying the information from another entity such as server 400), and use the location of landmark 640 as the approximate location of UE 200.

[0117] If UE 200 determines that the location estimate derived from SPS has a low confidence level (e.g., below a predetermined threshold), then the UE may transmit location information to UE 114 (and other UEs), which includes a non-SPS derived location estimate, the source of the location estimate (i.e., non-SPS information), and the confidence level in the location estimate.

[0118] Figure 7 The diagram illustrates a signaling and process flow 700 in which a UE 200 receives one or more abnormal SPS signals and identifies the abnormal SPS signals as abnormal. This flow may correspond to, for example... Figure 5 Boxes 510 and 512 in the diagram. Process 700 includes the stages shown, but is only an example, as stages can be added, rearranged, and / or removed. Furthermore, a limited number of SPS signals are shown for ease of understanding, but the UE 200 can receive many other signals, some of which are discussed.

[0119] In phase 710, UE 200 receives aberrant SPS signals 680 and 625 from SV 183 and satellite signal emulator 620, respectively. Aberrant SPS signal 680 may (for example) have a format corresponding to SV 183, but may be inaccurate in some way (e.g., timing, power, etc.). As another example, signal 680 may have the format of another SV, i.e., an SV other than the source of signal 680, in this example, SV 183. Aberrant SPS signal 625 may have the format of an SPS signal corresponding to SV (SV 191 in this example).

[0120] At stage 720, UE 200 may perform a sky aperture test to determine whether a received signal is expected and / or whether the received signal originates from an expected area of ​​the sky. For example, anomaly detection module 284 may be configured to use an estimate of UE 200's location to determine which SVs should be visible to UE 200 and / or which SVs should not be visible to UE 200. The estimate of UE 200's location may be determined using one or more of various techniques, such as dead reckoning based on a previously determined location, or using a known location of the serving base station as the estimated location, or another technique. Module 284 may be configured to determine expected visibility based on ephemeris data of one or more SV constellations (indicating current and future SV locations) and the approximate location of UE 200. The approximate location of UE 200 may be based on, for example, the known locations of the base station signal received and the base station transmitting the signal, the UE's previously determined location, and the time since that location was determined. Anomaly detection module 284 may be configured to identify a signal as an anomaly if the signal corresponds to an SV that should not be visible at the current approximate location of UE 200. Alternatively, the anomaly detection module 284 may be configured to determine the approximate direction of the transmitted and received signals (possibly corresponding to an area of ​​the sky). For example, module 284 may use sensor information from one or more of the sensors 213 regarding the azimuth of the UE 200 and the angle of arrival of the received signal relative to the UE 200 to determine the area from which the received signal originates relative to the location of the UE 200 (i.e., the source region). The source region may be an angular range relative to the location of the UE 200, such as multiple combinations of θ and φ in spherical coordinates. For example, the source region may be a source direction determined based on the angle of arrival and azimuth of the UE 200 and uncertainties surrounding the source direction, such as any direction within the source direction and a threshold angle (e.g., 5°) of the source direction. Module 284 may be configured to determine whether the source region corresponds to (including) the expected location (e.g., based on ephemeris data) of the SV corresponding to the received signal (e.g., the SV transmitting a signal having the same format as the received signal). Module 284 can be configured to identify a received signal as an anomalous SPS signal if the signal does not originate from the expected location of the SV, for example, if the expected location is not within the defined source area. Figure 6 In the exaggerated example shown, module 284 can determine that for anomalous signal 615, the source region (which will include satellite signal simulator 610) does not include SV191, so module 284 can mark anomalous signal 615 as anomalous.

[0121] At stage 730, non-abnormal SPS signals 682, 683, 691, and 692 are transmitted by SVs 182, 183, 191, and 192 and received by UE 200. The timing of the SPS signals shown is illustrative, and SPS signals may be received at times other than those shown or at times that substitute for the shown times. For example, before abnormal SPS signal 615 is transmitted by satellite signal emulator 620 and received by UE 200, non-abnormal SPS signal 691 may be transmitted by SV 191 and received by UE 200. Non-abnormal SPS signal 683 may, for example, have a different carrier frequency than abnormal SPS signal 680. Non-abnormal SPS signal 691 may, for example, have the same carrier frequency as abnormal SPS signal 615. Non-abnormal SPS signals 682 and 692 may, for example, have the same carrier frequency as non-abnormal SPS signals 683 and 691, respectively.

[0122] At stage 740, UE 200 may perform location determination from non-SPS information, such as dead reckoning location determination. For example, processor 210 may use one or more motion sensor measurements to determine the amount of movement (and possible direction) of UE 200 since the time of a previously determined location. Processor 210 may be configured to use the determined movement of UE 200 and one or more previous SPS signal measurements (e.g., one or more raw measurements (e.g., time of arrival) and / or one or more processed measurements (e.g., pseudorange)) to determine one or more expected current SPS signal measurements. For example, processor 210 may be configured to use the determined movement (e.g., magnitude and direction) and the previously determined location of UE 200 to determine an approximate current location of UE 200. Processor 210 may be configured to use the approximate current location of UE 200 and the time since the previously determined location to determine the expected current SPS signal measurement. Processor 210 may be configured to trigger a consistency check in response to a difference between the expected current SPS signal measurement and the corresponding actual current SPS signal measurement exceeding a threshold amount. Thresholds can take various forms (e.g., percentages, quantities in units of measurement (e.g., power)) and can have various values.

[0123] At stage 750, UE 200 may check SPS signal consistency to determine if the SPS signal is abnormal. Anomaly detection module 284 may be configured to determine whether there are one or more inconsistencies with respect to one or more expected SPS signals received by UE 200. SPS signal inconsistencies may be, for example, relative to one or more other SPS signals from the same SV and / or relative to one or more other SPS signals from one or more other SVs (from the same constellation diagram and / or one or more other constellation diagrams) and / or unexpected signal measurements determined based on determined location approximations. For example, anomaly detection module 284 may be configured to determine whether there are inconsistencies between SPS signals in different frequency bands (carrier frequencies in different frequency bands) and / or between SPS signals in different SVs (intra-constellation and / or inter-constellation). Other examples for determining SPS signal inconsistencies are possible.

[0124] Anomaly detection module 284 can be configured to determine whether an SPS signal has a received power inconsistent with one or more expectations. For example, module 284 can be configured to detect a received power that differs significantly from the power of another received signal by an amount greater than expected. Anomaly detection module 284 can be configured to determine the actual power difference between the received signals and the corresponding expected power difference, and to determine whether the actual power difference differs from the expected power difference by more than a power threshold. The analyzed SPS signals may correspond to the same SV and may have the same or different carrier frequencies, or the analyzed SPS signals may correspond to different SVs (within the same constellation or in different constellations). For example, anomaly detection module 284 can, in response to an anomalous signal 615 having a format corresponding to (similar to or the same as) the format of the signal transmitted by SV 191, determine the actual power difference between the anomalous SPS signal 615 (from satellite signal simulator 620) and the non-anomalous SPS signal 691 (from SV 191), thereby giving the appearance that the anomalous signal 615 originates from SV 191. Anomaly detection module 284 can further determine the expected power difference of multiple SPS signals received from SV 191. For example, for multiple SPS signals with the same carrier frequency received from SV 191 within a threshold time period, anomaly detection module 284 can determine (e.g., retrieve from memory 211) a very small expected power difference. Anomaly detection module 284 can determine whether the actual power difference between signals 615 and 691 differs from the expected power difference by more than a power threshold. For example, the expected power difference between signals from the same SV within a small time window can be zero (or close to zero), and the power threshold can be small, for example, 1 dB. Because anomalous signal 615 originates from satellite signal simulator 620, the power of signal 615 can be much higher than the power of signal 691, and therefore the power difference between signals 615 and 691 can be much greater than 1 dB. In response, anomaly detection module 284 can identify signal 615 as anomalous (and / or identify signal 691 as anomalous). Comparing signals over time that are assumed to originate from the same SV and have the same carrier frequency can help detect the introduction of spoofed SPS signals. As another example, the anomaly detection module 284 can determine the actual power difference and the expected power difference between signals 615 and 691, where signals 615 and 691 have different frequencies. In this case, the expected power difference can be small (e.g., zero or close to zero), and the power threshold can be small, for example, 1 dB. Comparing signals from the same SV but with different frequencies can help identify spoofed signals because a signal can be spoofed for an SV (or constellation) that is only for one carrier frequency (or at least less than all carrier frequencies). As another example, the anomaly detection module 284 can determine the actual and expected power difference between the anomalous SPS signal 615 and another SPS signal of another SV (e.g., one of SPS signals 682, 683, and 692).Anomaly detection module 284 can determine the expected power difference based on appropriate ephemeris data for SVs 182, 183, and 192 and the approximate location of UE 200. The power threshold can depend on the expected power difference or can be independent of the power difference, for example, as a percentage or amount in decibels. Comparing signals from different SVs can help identify spoofed signals because signals can be spoofed for only one constellation (or at least fewer than all constellations). For example, if UE 200 is indoors, it would typically receive all SPS signals at extremely low power (if any), but could receive spoofed SPS signals at much higher power than the actual SPS signals and with sufficient power for location determination. SVs can be selected based on their visibility to UE 200 and / or their relative position in the sky. For example, anomaly detection module 284 can select SPS signals from SVs that are sufficiently close to each other such that the attenuation and / or multipath effects of the SPS signals from the SVs are likely similar, for example, such that the expected power difference will be close to zero.

[0125] Inconsistencies in received power over time and / or between SVs (e.g., between constellations) can be particularly helpful in identifying indoor SPS signal spoofing. For example, if the anomaly detection module 284 determines that the power of an SPS signal from an SV in one constellation (e.g., SV 181 in constellation 180) is reduced (e.g., attributed to the UE 200 moving from outdoors to indoors), but the received power of an SPS signal from another SV allegedly from another constellation (e.g., SV 191 in constellation 190) is increased or at least not reduced in a manner similar to the power reduction of the SPS signal from SV 181, then the anomaly detection module 284 can identify the SPS signal from SV 191 as anomalous. The anomaly detection module 284 can be configured to analyze SPS signals from multiple SVs in multiple constellations such that the anomaly detection module 284 can identify the SPS signals of one constellation as anomalous, wherein the power reduction of these SPS signals is not nearly as much as (or even relative to the increase in the received power of multiple SPS signals from another constellation).

[0126] Anomaly detection module 284 can be configured to determine whether the SPS signal has a corresponding pseudorange that is inconsistent with expectations. For example, anomaly detection module 284 can be configured to determine that the pseudorange to the SV differs from the pseudorange determined using the SPS signal allegedly from said SV by a pseudorange threshold based on time-filtered location determination. Anomaly detection module 284 can use the location filtering results (e.g., Kalman filter results) of UE200 to determine the expected pseudorange to the expected location of the SV based on ephemeris data. Anomaly detection module 284 can determine the measured pseudorange to the SV based on the measured SPS signal corresponding to the SV (e.g., having the format of a signal from the SV). If the expected pseudorange differs from the measured pseudorange by a pseudorange threshold, such as 1%, 5%, or 10%, the anomaly detection unit can identify the measured SPS signal as anomalous. This can help identify signals from the SV of one constellation that mimic signals from another constellation as anomalous. As another example, the anomaly detection module 284 can be configured to determine that the pseudorange deviation from the expected value of a received (actual or spoofed) SPS signal allegedly from the same SV exceeds a pseudorange threshold. For example, the anomaly detection module 284 can identify a pseudorange change greater than 1%, greater than 5%, or greater than 10% between pseudorange determinations to indicate that the SPS signal corresponding to a later pseudorange determination is anomaly. The value of the pseudorange threshold can be a function of the time between the reception of the SPS signal corresponding to the pseudorange being compared (e.g., a higher pseudorange threshold value (e.g., a higher percentage) results in a longer time between the reception of the signals for which the pseudorange is being compared). As another example, the anomaly detection module 284 can be configured to determine whether the pseudorange difference based on the measured SPS signal deviates from the expected amount by more than a threshold amount. Similar to the discussion above regarding power difference, the anomaly detection module 284 can determine the measured pseudorange difference based on the measured signal (e.g., anomalous signal 615 and non-nominal signal 692), and determine the expected pseudorange difference with respect to the corresponding SVs 191, 192 (e.g., based on the approximate location of the UE 200 and the ephemeris data of SVs 191, 192), and identify at least one of the signals 615, 691 as anomalous if the difference between the measured pseudorange difference and the expected pseudorange difference exceeds a threshold amount (e.g., 1%, 5%, 10%).

[0127] Anomaly detection module 284 can select which SPS signals to use to perform consistency checks, such as determining received power differences and / or pseudorange differences. For example, anomaly detection module 284 can be configured to select one or more SPS signals corresponding to one or more corresponding SVs based on SV and / or constellation priority. Anomaly detection module 284 can select SPS signals of SVs, for example, based on the trust level of SVs and / or constellations and / or based on one or more other criteria. For example, local SPSs (i.e., SPSs owned by the country associated with UE 200) can be given the highest trust level. For example, GPS can be given the highest trust (relative to other SPSs) by UEs associated with the United States of America (e.g., those believed to be currently located in or purchased in the United States of America), Galileo by UEs associated with Europe, BeiDou by UEs associated with China, and GLONASS by UEs associated with Russia. Non-local SPSs can be given lower trust, for example, in a trust hierarchy that may depend on, for example, the local SPS. UE 200 may use SPS in order of trust, for example, using the most trusted SPS or two most trusted SPS to determine the approximate location of UE 200, and using this approximate location to check for consistency with one or more of the remaining SPS.

[0128] At stage 760, UE 200 receives base station signal 765 from TRP 300 (e.g., one or more of base stations 120-123 or another base station). Base station signal 765 may include positioning signals (e.g., PRS) and / or communication signals.

[0129] At stage 770, the base station signal 765 can be used by the anomaly detection module 284 to detect the consistency between the base station signal 765 and one or more SPS signals. For example, the anomaly detection module 284 can be configured to use signals from the TRP 300 (e.g., from...). Figure 6 The base station signal 765 of the BTS120 or BTS123 shown is used to determine the approximate location of the UE 200. Module 284 can be configured to use the approximate location to determine one or more expected received powers of one or more SPS signals and / or to determine one or more expected pseudoranges to one or more SVs. Module 284 can be configured to determine whether the expected received power(s) and / or expected pseudorange(s) are consistent with the measured received power(s) and / or pseudorange(s) determined from the measured SPS signal or the measured SPS signal. For example, module 284 can determine whether the difference between the measured received power and the expected received power is less than a power threshold and / or whether the difference between the measured pseudorange and the expected pseudorange is less than a pseudorange threshold.

[0130] At stage 780, UE 200 may perform a conformance check using one or more other technologies (i.e., non-SPS technologies). For example, anomaly detection module 284 may be configured to obtain location information based on radar, lidar, WAN, and / or Wi-Fi technologies, as such information is available. Anomaly detection module 284 may be configured to use the location information obtained through one or more of these other technologies to determine whether the location of UE 200, based on this information, is consistent with one or more SPS signals, for example, consistent with the received power level and / or the determined pseudorange or location. For example, anomaly detection module 284 may use signaling 630 (e.g., radar, lidar, sonar) between UE 200 and UE 114 to obtain an approximate location to determine the approximate location of UE 200 based on the location of UE 114 and the distance between UE 114 and UE 200. As another example, the anomaly detection module 284 can use visual information to determine the approximate location of the UE 200. For example, it can identify landmark 640 using visual information and use the location of the landmark (e.g., stored in memory 211, provided by landmark 640, or provided by another entity such as server 400) as the approximate location of the UE 200. The anomaly detection module 284 can combine techniques, such as using visual information of the landmark to identify the landmark and obtain its location, using radar to determine the distance to the landmark, and using that distance and the landmark location to determine the approximate location of the UE 200. As another example, the anomaly detection module 284 can use information about constraints on the location of the UE 200 to help identify SPS signals as anomalies. For example, the anomaly detection module 284 can use map information and information about the characteristics of the UE 200 and / or the vehicle in which the UE 200 is hosted. Therefore, for example, the anomaly detection module 284 can compare the determined location and / or pseudorange corresponding to the SPS signal to identify the SPS signal as anomaly, indicating that the UE 200 is in an impossible (or at least highly unlikely) location, such as if the UE 200 is a boat (or is stationed on a boat), then the UE 200 is on land; if the UE 200 is a land vehicle (e.g., a car or truck) (or is stationed in a land vehicle), then the UE 200 is in water; if the UE 200 is a train (or is stationed on a train), then the UE 200 has significantly shifted from the train tracks, and so on. As another example, the UE 200 can check one or more other UEs within communication range to determine whether the location determined by the other UE(s) corresponds to the SPS signal measurement obtained by the UE 200. For example, the UE 200 can request the location of another UE and / or can receive the signal from another UE (e.g., Figure 6The UE 114 shown pushes a notification (e.g., a security notification) indicating the location of another UE. The UE 200 (e.g., anomaly detection module 284) can determine whether the location indicated by the notification or provided in response to a request is consistent with the SPS signal measurement (e.g., pseudorange, location (e.g., time-filtered location) obtained by the UE 200 from the received SPS signal to determine whether the received SPS signal is abnormal.

[0131] Anomaly detection module 284 can be configured to re-execute one or more consistency checks in phase 750, and / or execute one or more consistency checks in phases 770, 780. Anomaly detection module 284 can be configured to perform such checks for each signal or based on one or more criteria, such as per Nth SPS signal, or in response to identifying an SPS signal as anomaly at phase 750. Anomaly detection module 284 can be configured to perform different consistency checks and / or different numbers of consistency checks based on the sensitivity level of knowledge of the location of UE 200. For example, anomaly detection module 284 for a smartphone can be configured not to perform consistency checks other than SPS signal checks for a training application at phase 750, but anomaly detection module 284 for a military aircraft can be configured to perform each consistency check for which information is available. Checking and re-checking the consistency of anomaly SPS signals can help confirm the initial identification of an SPS signal as anomaly or contradict it. If an SPS signal is identified as anomaly but subsequent consistency checks reveal that the SPS signal is consistent with one or more other SPS signals and / or other forms of consistency checks, then the SPS signal can be re-identified as not anomaly.

[0132] At stage 790, the anomaly detection module 284 may send a message to server 400 (which may be a traffic management server) to provide an indication that the received SPS signal is abnormal and unreliable. The message may include location information, such as a location estimate derived from a non-SPS source, and in some embodiments, include the source and confidence level of the location estimate, enabling the traffic management server to identify whether the abnormal SPS signal is associated with a specific area or vehicle. For example, if the abnormal SPS signal is associated with a specific area, the traffic management server may issue a warning to vehicles in that specific area.

[0133] Figure 8The signaling and process flow 800 is illustrated, showing UE 200 receiving an SPS signal, determining whether the SPS signal is abnormal, and sending location information to other UEs, including location estimation and the source of the location estimation. In some implementations, the location information is sent to a confidence level of the location estimation. Flow 800 includes the stages shown, but is only an example, as stages can be added, rearranged, and / or removed. Furthermore, a limited number of SPS signals are shown for ease of understanding, but UE 200 can receive many other signals, some of which are discussed.

[0134] At stage 810, non-abnormal SPS signals are sent by SV 181, 182, and 183 and received by UE 200.

[0135] At stage 815, UE 200 may receive abnormal SPS signals from satellite signal emulator 620. Abnormal SPS signals may, for example, have a format corresponding to SV 183, but may be inaccurate in some way (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received at times other than or in lieu of the shown times. For example, after an abnormal SPS signal is transmitted by satellite signal emulator 620 and received by UE 200, a non-abnormal SPS signal may be transmitted by SV and received by UE 200. Abnormal SPS signals may have some or all of the same or different carrier frequencies as the non-abnormal SPS signals.

[0136] At stage 820, UE 200 may use the received SPS signal from stage 810 and any anomalous SPS signals received at stage 815 (if present) to determine an SPS-based location estimate. Processor 210 may be configured to use SPS signal measurements (e.g., time of arrival) and / or one or more processed measurements (e.g., pseudorange) to determine the SPS-derived estimated location of UE 200.

[0137] At stage 830, UE 200, for example via Figure 2 The transceiver 240 shown receives radio messages from one or more other UEs 114. These radio messages include a location estimate for each transmitting UE, the source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal), and the confidence level of the location estimate. The radio messages can be V2X or other types of messages, such as those used for ADA, such as CAM, DENM, or BSM. UE 200 may further receive messages broadcast by a service control server, indicating whether an abnormal SPS signal has been reported in the area of ​​UE 200.

[0138] At stage 832, UE 200 may acquire data input from non-SPS-based sensors (e.g., IMU sensors, cameras, wireless transceivers, etc.). For example, data input may include data related to acceleration, orientation, velocity, wheel rotations, radar data, lidar data, image information, etc. It should be understood that sensor input data is not necessarily acquired at a specific moment, but can be acquired continuously over time as data becomes available.

[0139] At stage 834, UE 200 acquires its cached location data, such as one or more previous location estimates stored by UE 200. The location data may include the source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal) and the confidence level of the location estimate.

[0140] At stage 840, UE 200 may, for example, use non-SPS information (e.g., cached location information, sensor data, and location information received from other UEs) to determine the non-SPS derived location estimate, for example, as see [link to relevant documentation]. Figure 5 As discussed above. For example, processor 210 may also be configured to use one or more sensor measurements to determine the amount of movement (and possible direction) of UE 200 since the time of the cached location estimate, such as using dead reckoning. Processor 210 may also be configured to use location information from other UEs (if reliable) to assist in determining the location estimate, such as using ranging information from other UEs derived from radar, lidar, or wireless ranging techniques (e.g., round-trip time measurements). Processor 210 may be configured to use confidence levels associated with the cached location information and location information from other UEs to assist in location determination (e.g., by weighting reliable information more than unreliable information), and to determine the confidence level of the determined location estimate.

[0141] At stage 850, UE 200 can determine the confidence level of the location estimate derived from the SPS. For example, the confidence level in the location estimate derived from the SPS can be determined, such as... Figure 1 As discussed in the text. Figure 5 , 67. Processor 210 may be configured to determine the reliability of an SPS-derived location estimate using movement of UE 200 determined from sensors, cached location input, locations of other UEs, or combinations thereof. For example, the local time of UE 200, derived, for example, from a local oscillator or BTS via wireless communication, may be compared with an SPS time derived from an SPS signal. In another example, the SPS-derived location estimate may be compared with cached location information or locations of other UEs. In another example, a change in the location of UE 200 (e.g., the difference between the SPS-derived location estimate and a previous location estimate from cached location information) may be compared with sensor information (e.g., acceleration data, orientation data, etc.). In another example, the SPS-derived location estimate may be compared with a non-SPS-derived location estimate. Processor 210 may be configured to determine the confidence level of the SPS-derived location estimate based on the expected amount of change and the source of the change. The processor 210 can be configured to determine the confidence level using a single filter, for example, deriving a single non-SPS derived location estimate from all available non-SPS location information in stage 840, which is compared with an SPS derived location estimate, or generating an initial confidence level at an update rate of SPS location positioning in multiple filters, for example, deriving a first non-SPS derived location estimate (e.g., based on cached location information as well as velocity and orientation information) in stage 840, and if the confidence level is low, then deriving additional location information, such as a second non-SPS derived location estimate (e.g., based on other UE location information and sensor information), in stage 840 to update (i.e., increase or decrease) the confidence level.

[0142] At stage 860, UE 200 selects either an SPS-derived location or a non-SPS-derived location based on a confidence level. For example, processor 210 can be configured to check the confidence level against a predetermined threshold. If the confidence level is below the threshold (indicating low confidence), processor 210 may select a non-SPS-derived location estimate, and if the confidence level is above the threshold (indicating high confidence), processor 210 may select an SPS-derived location estimate.

[0143] At stage 870, UE 200, for example via Figure 2The transceiver 240 shown transmits a radio message to one or more other UEs 114. The radio message includes a selected location estimate, the source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal), and a confidence level for the location estimate. The radio message can be C-V2X or other types of messages, such as those used for ADA, such as CAM, DENM, or BSM. If UE 200 selects a non-SPS derived location estimate, then UE 200 can further (e.g., via RSU or base station) send a message to the service control server to indicate that UE 200 has detected an abnormal SPS signal, and this message may include location information (e.g., a non-SPS derived location estimate), the source of the location estimate, and the confidence level of the location estimate.

[0144] Figure 9 The illustration depicts a wireless communication system 900, in which UEs 902 and 904 (shown as vehicles) transmit wireless location information messages to provide location estimates and location information sources to one or more other entities. Figure 9 As illustrated, UE 902 can wirelessly communicate with other entities (such as UE 904 (illustrated as another vehicle), UE 910 (illustrated as an RSU) via communication link 907, and UE 912 (held by pedestrian 914) via communication link 913) via communication link 913. UE 904 is also illustrated to wirelessly communicate with UE 910 via communication link 915. Communication can be direct communication using any suitable signaling (such as a PC5 interface, e.g., DSRC or C-V2X), or it can be using infrastructure (such as RSU 910) or any wireless connection via a Uu interface, millimeter wave, or using a base station (e.g., as shown in the diagram). Figure 1 Indirect communication (as shown).

[0145] Figure 9 The illustration shows UE 902 sending a location information message 920 to UE 904. This location information message 920 can also be sent to UE 910 and UE 912, for example, using broadcast, multicast, or unicast transmission. Furthermore, each of UEs 904, 910, and 912 can provide similar location information messages to UE 902 and to each other, for example, as shown in location information message 921 sent from UE 904 to UE 910, which can also be sent to UE 902 via communication link 903. Location information messages 920 and 921 can, for example, be transmitted with... Figure 8 The messages sent at stages 830 and 870 are the same. Location information message 921 may have the same format as location information message 920, although the content of location information messages 920 and 921 is specific to UE 902 and 904, respectively.

[0146] In some implementations, the location information message 920 may be divided into two or more parts, including a first part 922 and a second part 924, wherein the first part 922 includes a location estimate determined for the UE 902, and the second part 924 includes a location information source for deriving the location estimate. The location information message 920 may also include a third part 926, which provides a determined confidence level for the location estimate. The location information message 920 may also include a fourth part 928 indicating that the received SPS signal has been determined to be anomalous (e.g., the UE 902 is under an SPS spoofing attack).

[0147] For example, the various parts 922, 924, 926, and 928 of the location information message 920 can be different information elements (IEs). IE 924 can indicate the location information source used to generate the location estimate in IE 922. The location information source in IE 924 can simply identify whether the location information source is SPS or non-SPS. In other embodiments, the source of the location information in IE 924 can identify the type of information used to generate the location estimate, such as whether the source is from an SPS signal, a cellular signal, a local area network (LAN) signal, a sidelink signal (e.g., from another UE or RSU), time difference of arrival (TDOA), angle of arrival (AoA), and received signal strength (RSS). In some embodiments, IE 924 can include a multi-bit value for identifying the type of location information source from an enumeration list of sources. As an example, Table 2 shows the application layer IEs that can provide location information using enumeration values, which can be included in the source IE 924 of the location information message 920. Of course, other sources can be appropriately listed.

[0148]

[0149]

[0150] Table 2

[0151] In some implementations, the source IE 924 in the location information message 920 may use a binary variable to indicate the source of the location information, such as as SPS or non-SPS. As an example, Table 3 illustrates an application layer IE that can provide the source of a location as SPS or non-SPS, which can be included in the source IE 924 of the location information message 920.

[0152]

[0153] Table 3

[0154] Receiving UE 904 (or either UE 910 or 912) can use the location information sources in location information message 920 to assist in its own location determination and to determine whether the received SPS signal might be abnormal. For example, if UE 904 receives location information messages from multiple sources, where some of the location information sources in the location information messages are SPS signals, and others indicate that the location information source is an SPS signal, then UE 904 can choose to use location estimates from other UEs derived from the SPS signal to assist in location determination. For example, UE 904 can use location estimates from other UEs derived from the SPS signal as a filter to verify whether the SPS signal received by UE 904 might be abnormal (e.g., such as...). Figure 5 (As discussed in the document), and if the SPS signal is determined to be reliable, then the received SPS signal can be used to determine the location estimate; otherwise, non-SPS information (e.g., location estimates from other UEs derived from the SPS signal and distances to other UEs (e.g., in side-link positioning), or previously cached location and sensor information (e.g., dead reckoning)) can be used. Furthermore, if multiple other UEs report that their location information sources are based on non-SPS information, then UE 904 can be triggered to check the validity of its own SPS-derived location estimates or reduce the confidence level. Cooperative-driven use cases.

[0155] Additionally, the location information message 920 may include an IE (Information Element), which includes a confidence level for the location estimate. This IE can also be used to determine the location estimate and its confidence level, as described above (for example). Figure 5 As discussed in the text.

[0156] Additionally, if UE 902 has determined that it is under an SPS spoofing attack (or otherwise receives an unreliable anomalous SPS signal), then UE 902 may include IE 928 in the location information message 920, warning that the received SPS signal is unreliable. The indication of an unreliable SPS signal (e.g., attributed to an SPS spoofing attack or other anomalous signal) may be provided to other UEs (e.g., UE 904), which may use the warning to reduce the chance of misidentifying UE 902 as an “abnormal” vehicle and may trigger its own verification of the SPS signal. The indication of an unreliable SPS signal may be explicitly provided by UE 902 as a single IE928 (e.g., as a single bit), or implicitly provided when the location source IE 924 indicates that the location information source is non-SPS.

[0157] like Figure 9 As shown, the service server 930 can exist and be connected to the RSU 910 via a communication link 932. For example, the communication link 932 can be a backhaul link 911 or a wireless connection via network 130, such as... Figure 1 As shown. The service server 930 could be, for example, a spectrum misconduct authority, which could be used to collect reports, such as V2X misconduct reports, to detect unauthorized use of licensed frequency bands. However, latency is an issue when relying on centralized authorization to identify RF problems. For example, for collaboratively driven security and advanced applications, latency in obtaining information related to RF problems or erroneous behavior is undesirable. Therefore, in some implementations, the RSU 910 (or other sidelink UE) can be used to identify signal erroneous behavior.

[0158] In one implementation, RSU 910 can be used to detect unreliable SPS signals based on location information messages provided by one or more UEs. For example, RSU 910 can receive location information messages 920 and 921 from UEs 902 and 904, and can determine whether the SPS signals in the area of ​​RSU 910 are unreliable from the content of one or more of location information messages 920 and 921. RSU 910 can report the presence of unreliable SPS signals to a competent authority (e.g., the service server 930 as illustrated) and / or to UEs 902 and 904.

[0159] Figure 10 The signaling and processing flow 1000 is illustrated, showing UE 1002 detecting unreliable SPS signals based on location information messages received from UEs 1006-1, 1006-2, and 1006-3 (sometimes collectively referred to as UE 1006). UE 1002 can be an RSU, and may be referred to herein as RSU 1002, but can be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. For example, UE 1006 can be the same as UE 200, and can individually determine whether the received SPS signal is abnormal and send location information to other UEs and RSU 1002. Flow 1000 includes the stages shown, but is only an example, as stages can be added, rearranged, and / or removed. Furthermore, a limited number of UE 1006 and SPS signals are shown for ease of understanding, but many other signals and UEs can be included.

[0160] At stage 1010, non-abnormal SPS signals are sent by SV 181, 182, and 183 and received by UE 1006.

[0161] At stage 1015, UE 1006 can receive abnormal SPS signals from satellite signal emulator 620. Abnormal SPS signals may, for example, have a format corresponding to SV 183, but may be inaccurate in some way (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received at times other than or in lieu of the shown times. For example, after an abnormal SPS signal is transmitted by satellite signal emulator 620 and received by UE 1006, a non-abnormal SPS signal may be transmitted by SV and received by UE 1006. Abnormal SPS signals may have some or all of the same or different carrier frequencies as the non-abnormal SPS signals.

[0162] At stage 1020, UE 1006 can determine whether the received SPS signal is abnormal and choose to use the SPS signal or non-SPS information for location estimation, such as (for example) in Figure 8 The stages 820 to 860 and other places described herein.

[0163] In phase 1030, RSU 1002 can be configured, for example, via... Figure 2 The transceiver 240 shown receives radio messages from UE 1006, the radio messages including a selected location estimate and the source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal). For example, a message sent in phase 1030 could be similar to... Figure 8 Phase 870 is shown in the diagram. In some implementations, the message may also include a confidence level for the location estimate and / or an indication of whether the received SPS signal has been detected as abnormal. The wireless message may be V2X or other types of messages, such as those used for ADA, such as CAM, DENM, or BSM.

[0164] At stage 1040, the processor 210 in RSU 1002 can be configured to determine whether the SPS signal is reliable based on one or more messages received from UE 1006.

[0165] RSU 1002 can, for example, determine from one or more location information messages 1030 whether the SPS is reliable or unreliable in the area surrounding RSU 1002 (e.g., the area from UE 1006 to the radio range of RSU 1002). For example, in some implementations, RSU 1002 can determine from the information source in the location information message 1030 whether the location estimate is derived from an SPS signal or a non-SPS signal. If a large number of vehicles generate location estimates based on non-SPS signals, RSU 1002 can determine that the SPS signal in the area surrounding RSU 1002 is unreliable. For example, if the number of UEs that derive location estimates based on non-SPS signals (within a predetermined time period) is greater than a predetermined threshold, then the SPS signal can be determined to be unreliable. For example, the number of UEs could be a percentage of UEs sending location information messages; for example, if the percentage of UEs that derive location estimates based on non-SPS signals (within a predetermined time period) is greater than a predetermined threshold, then the SPS signal can be determined to be unreliable.

[0166] In some implementations, RSU 1002 can determine whether an SPS signal in a region is reliable or unreliable based on the confidence level of the location estimates. For example, if multiple location estimates in location information message 1030 are derived from SPS signals, but the confidence levels of the location estimates are low, then the SPS signal in the region of RSU 1002 can be determined to be unreliable. A threshold number of low confidence levels can be used, wherein if the number of location estimates with low confidence levels is greater than the threshold, then the SPS signal can be identified as unreliable. Different thresholds or weights can be used for different confidence levels. RSU 1002 can determine the reliability of an SPS signal in a region based on both the information source and the confidence level. For example, if several location estimates are derived from non-SPS signals and if several remaining location estimates derived from SPS signals are assigned low confidence levels, then RSU 1002 can determine that the SPS signal in the region is unreliable.

[0167] In some implementations, RSU 1002 can determine whether an SPS signal in an area is reliable or unreliable from an indication in location information message 1030 that a received SPS signal has been determined to be anomalous by the UE. For example, if multiple vehicles are sending location information messages warning that a received SPS signal has been determined to be anomalous, RSU 1002 can determine that the SPS signal in the area surrounding RSU 1002 is unreliable. In some implementations, a single indication that a received SPS signal has been determined to be anomalous upon receiving a warning may be sufficient to determine that the SPS signal in the area is unreliable, while in other implementations, a larger number or a threshold percentage of UEs may be required.

[0168] At stage 1050, RSU 1002 can be configured, for example, via... Figure 2 The transceiver 240 shown transmits a radio message to one or more UEs 1006 (e.g., UEs within radio range) indicating that the SPS signal in the area is unreliable when it has been determined in phase 1040. For example, the message provided to UE 1006 may be transmitted via Wave Service Announcement (WSA) or other channels and may implicitly or explicitly provide a suggestion to derive a location estimate using a non-SPS signal.

[0169] At stage 1055, RSU 1002 can be configured, for example, via... Figure 2 The transceiver 240 or transceiver 250 shown transmits a message to the service server 1004, the message having an indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the RSU 1002 has been determined to be unreliable.

[0170] See Figure 9 In another embodiment, RSU 910 can be used to identify unreliable or anomalous SPS signals based on location information messages provided by one or more UEs. For example, in some embodiments, if UEs 902 and 904 are unsure whether an SPS signal is anomalous but provide an SPS-based location estimate to RSU 910, some or all of the UEs within the range of RSU 910 may be able to receive the anomalous SPS signal and may not be aware that the SPS signal is anomalous. Therefore, the UEs may send incorrect location estimates based on the anomalous SPS signal. Therefore, RSU 910 can determine whether an SPS signal in the area of ​​RSU is unreliable, for example, based at least on the location estimate. For example, RSU 910 can compare the distance between the location estimates of the UE pair with the range between the UE pair (e.g., provided by the UE in location information messages 920 and 921). The difference between the estimated locations and ranges of the UEs can be used to identify unreliable SPS signals in the area. RSU 910 can report the presence of unreliable SPS signals to a supervisory authority (e.g., the service server 930 shown) and / or to UEs 902 and 904.

[0171] Figure 11The diagram illustrates the signaling and process flow 1100 of UE 1102 identifying unreliable or anomalous SPS signals based on location information messages received from UEs 1106-1, 1106-2, and 1106-3 (sometimes collectively referred to as UE 1106). UE 1102 may be an RSU, and may be referred to herein as RSU 1102, but may be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. For example, UE 1106 may be the same as UE 200, but may not individually determine whether the received SPS signals are anomalous. Flow 1100 includes the stages shown, but is only an example, as stages may be added, rearranged, and / or removed. Furthermore, a limited number of UEs 1106 and SPS signals are shown for ease of understanding, but many other signals and UEs may be included.

[0172] At stage 1110, non-abnormal SPS signals are transmitted by SV 181, 182, and 183 and received by UE 1106.

[0173] At stage 1115, UE 1106 can receive abnormal SPS signals from satellite signal emulator 620. Abnormal SPS signals may, for example, have a format corresponding to SV 183, but may be inaccurate in some way (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received at times other than or in lieu of the shown times. For example, after an abnormal SPS signal is transmitted by satellite signal emulator 620 and received by UE 1106, a non-abnormal SPS signal may be transmitted by SV and received by UE 1106. Abnormal SPS signals may have some or all of the same or different carrier frequencies as the non-abnormal SPS signals.

[0174] In phase 1120, UE 1106 may determine a location estimate based on received SPS signals (including spoofed SPS signals from phase 1115). UE 1106 may additionally use radar sensors, LiDAR sensors, and / or well-known wireless ranging techniques (WAN and / or Wi-Fi techniques) (such as round-trip time measurements) to determine the distance to other nearby UEs.

[0175] At stage 1130, RSU 1102 can be configured, for example, via... Figure 2The transceiver 240 shown receives radio messages from UE 1106, which include SPS-based location estimates and may include distances to other UEs. Because UE 1106 is unsure whether the received SPS signal is anomalous in this embodiment, the message in stage 1130 may not include the information source or confidence level associated with the location estimate. The radio message may be V2X or other types of messages, such as those used for ADA, such as CAM, DENM, or BSM.

[0176] At stage 1140, processor 210 in RSU 1102 can be configured to determine whether the SPS signal is reliable based on one or more messages received from UE 1106.

[0177] RSU 1102 may, for example, determine whether the SPS signal is reliable or unreliable in the area surrounding RSU 1102 (e.g., the area from UE 1106 to the radio range of RSU 1102) based at least on the location estimate received in the message in phase 1130. As discussed herein, RSU 1102 may, for example, check the consistency of the location estimate for each UE over time. For example, if the location estimate of a UE changes in a manner inconsistent with the expected movement of the UE (e.g., a vehicle moving laterally or backward on a highway), RSU 1102 may determine that the SPS signal is unreliable. Additionally or alternatively, RSU 1102 may check the consistency of the estimated location relative to the range provided in message 1130. For example, RSU 1102 may determine the distance between UE pairs based on the location estimates of the UE pairs provided in message 1130, and may compare that distance to the range between the UEs provided in message 1130. RSU 1102 may determine whether the SPS signal is reliable based on the comparison of the distance to the range of one or more pairs of UEs.

[0178] At stage 1150, RSU 1102 can be configured, for example, via... Figure 2 The transceiver 240 shown transmits radio messages to one or more UEs 1106 (e.g., UEs within radio range) indicating that the SPS signal in the area is unreliable when it has been determined to be unreliable in phase 1140. For example, the message provided to UE 1106 may be transmitted via Wave Service Announcement (WSA) or other channels, and may implicitly or explicitly instruct the vehicle to check the location information fidelity or recommend changing the source of the location information used to determine the location estimate.

[0179] At stage 1155, RSU 1102 can be configured, for example, via... Figure 2The transceiver 240 or transceiver 250 shown transmits a message to the service server 1104 that indicates that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the RSU 1102 has been determined to be unreliable.

[0180] Therefore, the detection of abnormal SPS signals can be offloaded to the RSU, which has access to a more diverse range of information sources than any single UE, such as those from various UEs. Furthermore, compared to using a remote service server, using the RSU to identify abnormal SPS signals can reduce latency, and the RSU can provide useful information to the service server.

[0181] Figure 12 This is a flowchart 1200 illustrating a method for transmitting location information by a user equipment (UE) (such as UE 200).

[0182] At box 1202, the UE receives an SPS signal (Satellite Positioning System signal), for example, as... Figure 5 , Figure 7 Phases 710 and 730 and Figure 8 As discussed in stages 810 and 815. The SPS signal may be a normal signal or an abnormal signal, such as one generated by a spoofed signal source. The means for receiving the SPS signal (Satellite Positioning System signal) may be, for example, an SPS receiver 217 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the location determination module 282 in UE 200.

[0183] At box 1204, the UE determines a first location estimate based on the SPS signal, for example, as Figure 5 Box 502 and Figure 8 The discussion is set at stage 820. For example, if the received SPS signal is non-abnormal, then the first location estimate may be a valid estimate of the UE's location; however, if the received SPS signal is anomalous or spoofed, then the first location estimate may be an incorrect / invalid estimate of the UE's location. The means for determining the first location estimate based on the SPS signal may be, for example, an SPS receiver 217 and one or more processors 210 having dedicated hardware or executable code or software instructions implemented in memory 211, such as the location determination module 282 in UE 200.

[0184] At box 1206, the UE determines a first confidence level for the first location estimate based on at least one of the following: non-SPS information, the SPS time from the received SPS signal, and the local time, or a combination thereof. For example, Figure 5 Box 510 in the middle Figure 7 and Figure 8The discussion is based on stage 850. The means for determining a first confidence level for a first location estimate based on at least one of non-SPS information, the SPS time from the received SPS signal, and the local time, or a combination thereof, may be (for example) Figure 2 The sensor 213 and transceiver 240 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0185] At box 1208, the UE sends a radio message to one or more UEs including location information of the UEs. The location information includes a location estimate and an information source for generating the location estimate, wherein either a first location estimate or a second location estimate determined based on non-SPS-based location information is selected and sent in the location information based on a first confidence level. For example, as in... Figure 5 Boxes 512, 514, and 516 and Figure 8 The locations of the UEs are discussed in stages 860 and 870. The UE's location information may also include the confidence level of the location estimate. For example, the radio message may be one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message. The radio message may be one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM). The means for sending a radio message including the UE's location information to one or more UEs may be (for example...) Figure 2 The transceiver 240 shown, and one or more processors 210 having executable code or software instructions in dedicated hardware or implementation memory 211, such as the location information reporting module 286 in UE 200, the location information including location estimates and information sources for generating location estimates, wherein one of a first location estimate or a second location estimate determined based on non-SPS-based location information is selected to be sent in the location information based on a first confidence level.

[0186] In some implementations, the UE may compare a first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected to be transmitted in the location information, and when the first confidence level is less than the predetermined threshold, a second location estimate is selected to be transmitted in the location information, for example, as... Figure 5 Boxes 512, 514, and 516 and Figure 8The process is discussed at stages 860 and 870. The means for comparing a first confidence level of a first location estimate with a predetermined threshold may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200, wherein the first location estimate is selected to be sent in the location information when the first confidence level is greater than the predetermined threshold and the second location estimate is selected to be sent in the location information when the first confidence level is less than the predetermined threshold.

[0187] The UE can determine a second location estimate based on non-SPS-based location information, which may include one or more, or a combination thereof, of the UE's cache location, sensor information, and one or more other UE's received location information, for example, as in Figure 5 box 516 and Figure 8 The discussion is based on stage 840. The apparatus for determining a second location estimate based on non-SPS-based location information can be, for example... Figure 2 The sensor 213 and transceiver 240 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in implementation memory 211, such as the location determination module 282 in UE 200, the non-SPS-based location information includes one or more of the UE's cached location, sensor information, and one or more other UE's received location information, or a combination thereof. For example, a first confidence level of the first location estimate can be determined based on the non-SPS-based information by comparing a first location estimate with a second location estimate, for example, as... Figure 5 The frame 510 and Figure 8 The discussion is based on stage 850. The means for comparing the first location estimate with the second location estimate may be, for example, one or more processors 210 having dedicated hardware or executable code or software instructions implemented in memory 211, such as the anomaly detection module 284 in UE 200. In one embodiment, the second location estimate may be determined after determining a first confidence level (e.g., after determining that the first confidence level is less than a predetermined threshold), for example, as in... Figure 5 The frame 510 and Figure 8 This is discussed at stage 850. In some implementations, the received location information (e.g., received from another UE) may include a location estimate of the second UE, a confidence level of the location estimate of the second UE, and an information source used to generate the location estimate of the second UE, such as... Figure 5 Frame 504 and Figure 8 The discussion is based on stage 830. In some implementations, the received location information may be for multiple other UEs; for example, the location information may be crowdsourced.

[0188] In some implementations, the UE may determine a first confidence level for the first location estimate based on non-SPS information (e.g., the UE's cache location, sensor information, and one or more other UE's reception location information, or combinations thereof), for example, such as... Figure 5 Frame 510 and Figure 8 The discussion is based on stage 85. Additionally, in some implementations, the UE may (e.g.) receive an indication that the received SPS signal is unreliable from a traffic control server, and may further determine a first confidence level for the first location estimate based on the indication that the received SPS signal is unreliable, for example, as... Figure 5 The frame 510 and Figure 8 The discussion is based on stage 850. The apparatus for receiving an indication that the received SPS signal is unreliable may be (for example) Figure 2 The transceiver 240 shown includes one or more processors 210 with dedicated hardware or executable code or software instructions in memory 211, such as the location information reporting module 286 and the anomaly detection module 284 in UE 200.

[0189] In some implementations, the UE may determine a first confidence level for the first location estimate based on the SPS time from the received SPS signal and the local time, by deriving the SPS time from the received SPS signal and deriving the local time from sensor information, and comparing the SPS time with the local time. For example, Figure 5 The frame 510 and Figure 8 The process is described at stage 850. The means for deriving the SPS time from the received SPS signal may be, for example, an SPS receiver 217 and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200. The means for deriving the local time from sensor information may be, for example, a sensor 213 and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200. The means for comparing the SPS time with the local time may be, for example, one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0190] In some implementations, the UE may send a report to a server, the report including a second location estimate and an indication that the received SPS signal is unreliable when the second location estimate is selected to be sent in the location information based on a first confidence level, for example, such as... Figure 5 Frame 514 Figure 7 Phase 790 and Figure 8The discussion is based on stage 870. The means for sending a report to the server, including a second location estimate and an indication that the received SPS signal is unreliable when selected to be sent in the location information based on a first confidence level, may be (for example) Figure 2 The transceiver 240 shown includes one or more processors 210 with dedicated hardware or executable code or software instructions in implementation memory 211, such as the location information reporting module 286 in UE 200.

[0191] Figure 13 This is a flowchart 1300 illustrating a method performed by a first user equipment (UE) (e.g., UE 200) for transmitting location information of the UE.

[0192] At box 1302, the first UE receives one or more radio messages, each radio message provided by a UE within the first UE's radio range, and each radio message includes a location estimate for the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information, such as... Figure 9 and Figure 10 As discussed in stage 1030. A device for receiving one or more wireless messages may be (for example) Figure 2 The transceiver 240 shown and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200, each radio message is provided by a UE in an area within the radio range of the first UE, and each radio message includes a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information.

[0193] At box 1304, the first UE determines whether the SPS signal in the area within the first UE's radio range is reliable based on one or more radio messages, for example, such as Figure 9 and Figure 10 As discussed in stage 1040. The means for determining whether an SPS signal in an area within the radio range of the first UE is reliable based on one or more radio messages may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0194] At box 1306, when the SPS signal in the area within the first UE's radio range is determined to be unreliable, the first UE provides a message indicating that the SPS signal is unreliable, for example, as... Figure 9 as well as Figure 10As discussed in stages 1050 and 1055, the means for providing a message indicating that the SPS signal is unreliable when the SPS signal in an area within the radio range of the first UE is determined to be unreliable may be (for example) Figure 2 Transceiver 240 or transceiver 250 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in implementation memory 211, such as location information reporting module 286 in UE 200.

[0195] In one implementation, the first UE may determine whether an SPS signal within its radio range is reliable based on an information source used to generate a location estimate in one or more received radio messages, for example, such as... Figure 9 and Figure 10 As discussed in stage 1040. For example, in one implementation, the first UE may compare the number of radio messages indicating non-SPS information as a source of information for generating location estimation with a threshold, and when the number of radio messages is greater than the threshold, the SPS signal in the area within the first UE's radio range is determined to be unreliable, for example, as... Figure 9 and Figure 10 As discussed in stage 1040. The means for comparing the number of radio messages indicating that non-SPS information is an information source for generating location estimation with a threshold may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0196] In one implementation, each radio message may also include a confidence level for location estimation, and the first UE may determine whether the SPS signal in the area within the first UE's radio range is reliable based on the confidence level for location estimation in one or more received radio messages, for example, such as... Figure 9 and Figure 10 The discussion is in stage 1040.

[0197] In one implementation, each radio message may also include an indication of whether the SPS signal is determined to be unreliable by the UE, and the first UE may determine whether the SPS signal in the area within its radio range is reliable based on the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages, for example, such as Figure 9 and Figure 10 The discussion is in stage 1040.

[0198] In one implementation, when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, the first UE can provide a message indicating that the SPS signal is unreliable by transmitting a message to the service server, for example, such as... Figure 9 and Figure 10 As discussed in stage 1055, the unit used to send messages to the business server can be, for example... Figure 2 Transceiver 240 or transceiver 250 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0199] In one implementation, when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, the first UE can provide a message indicating that the SPS signal is unreliable by sending a message to one or more UEs in the area within the wireless range of the first UE, for example, such as... Figure 9 and Figure 10 As discussed in stage 1050. The means for transmitting messages to one or more UEs in an area within the radio range of the first UE can be, for example... Figure 2 The transceiver 240 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the location information reporting module 286 in UE 200.

[0200] In one implementation, the non-SPS information may be at least one of the following: the UE's cache location, sensor information, other UE's reception location information, or a combination thereof, for example, such as... Figure 5 box 516 and Figure 8 The discussion covers 840 locations in the stage.

[0201] In one implementation, the first UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device, for example, Figure 1 and Figure 10 As discussed in [the document], one or more wireless messages are one of vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages, such as... Figure 1 and Figure 10 As discussed herein. One or more radio messages are one of Common Aware Messages (CAM), Distributed Notification Messages (DENM), or Basic Security Messages (BSM), for example, such as Figure 1 and Figure 10 As discussed in the article.

[0202] Figure 14This is a flowchart 1400 illustrating a method performed by a first user equipment (UE) (such as UE 200) for transmitting location information of the UE.

[0203] At box 1402, the first UE receives radio messages from multiple UEs within its radio range, each radio message including a location estimate derived from the corresponding UE's SPS (Satellite Positioning System), for example, such as... Figure 9 and Figure 11 As discussed in stage 1130. The means for receiving radio messages from multiple UEs within the radio range of the first UE (each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the corresponding UE) may be (for example) Figure 2 The transceiver 240 shown includes one or more processors 210 with dedicated hardware or executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0204] At box 1404, the first UE determines whether the SPS signal in the area within the first UE's radio range is reliable, at least based on the location estimate in each radio message, for example, as Figure 9 and Figure 11 As discussed in stage 1140. The means for determining whether an SPS signal in an area within the radio range of the first UE is reliable based at least on the location estimate in each radio message may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0205] At box 1406, when the SPS signal in the area within the first UE's radio range is determined to be unreliable, the first UE provides a message indicating that the SPS signal is unreliable, for example, as... Figure 9 as well as Figure 11 As discussed in stages 1150 and 1155. The means for providing a message indicating that the SPS signal is unreliable when the SPS signal in an area within the radio range of the first UE is determined to be unreliable may be (for example) Figure 2 Transceiver 240 or transceiver 250 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in implementation memory 211, such as location information reporting module 286 in UE 200.

[0206] In one implementation, the first UE can determine whether the SPS signal in the area within the first UE's radio range is reliable based on the change in location estimate derived from the SPS of each corresponding UE over time. For example, Figure 9 and Figure 11The discussion is in stage 1140.

[0207] In one implementation, each radio message may also include the range of one or more UEs among a plurality of UEs, and the first UE may further determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the range of the one or more UEs, for example, such as Figure 9 and Figure 11 As discussed in stage 1140. For example, the first UE can determine the distance between UEs in one or more UE pairs based on the location estimate derived from the SPS of each UE in one or more UE pairs, for example, as Figure 9 and Figure 11 As discussed in stage 1140, the distance between UEs in one or more UE pairs can be compared with the range between UEs in one or more UE pairs, for example, as Figure 9 and Figure 11 As discussed in stage 1140. The first UE can determine whether the SPS signal in the area within the first UE's radio range is reliable based on a comparison between the distance between UEs in one or more UE pairs and the distance between UEs in one or more UE pairs. The means for determining the distance between UEs in one or more UE pairs based on the location estimate derived from the SPS for each UE in one or more UE pairs may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200. The unit for comparing the distance between UEs in one or more UE pairs with the range between UEs in one or more UE pairs may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as the anomaly detection module 284 in UE 200.

[0208] In one implementation, when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, the first UE can provide a message indicating that the SPS signal is unreliable by transmitting a message to the service server, for example, such as... Figure 9 and Figure 11 As discussed in stage 1155, the unit used to send messages to the business server can be, for example... Figure 2 Transceiver 240 or transceiver 250 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0209] In one implementation, when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, the first UE can provide a message indicating that the SPS signal is unreliable by sending a message to one or more UEs in the area within the wireless range of the first UE, for example, such as... Figure 9 and Figure 11 As discussed in stage 1150. The means for transmitting messages to one or more UEs in an area within the radio range of the first UE can be, for example... Figure 2 The transceiver 240 shown, and one or more processors 210 having dedicated hardware or executable code or software instructions in memory 211, such as the location information reporting module 286 in UE 200.

[0210] In one implementation, the first UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device, for example, Figure 1 and Figure 10 As discussed in [the document], one or more wireless messages are one of vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages, such as... Figure 1 and Figure 10 As discussed herein. One or more radio messages are one of Common Aware Messages (CAM), Distributed Notification Messages (DENM), or Basic Security Messages (BSM), for example, such as Figure 1 and Figure 10 As discussed in the article.

[0211] Throughout this specification, references to “an example,” “example,” “some examples,” or “exemplary implementation” mean that a particular feature, structure, or characteristic described in conjunction with a feature and / or example may be included in at least one feature and / or example of the claimed subject matter. Therefore, the appearance of the phrases “in one example,” “example,” “in some examples,” or “in some implementations,” or other similar phrases throughout this specification, does not necessarily refer to all the same feature, example, and / or limitation. Furthermore, a particular feature, structure, or characteristic may be combined in one or more examples and / or features.

[0212] Some portions of the detailed description included herein are presented based on algorithms or symbolic representations of operations on binary digital signals stored in the memory of a particular device or dedicated computing device or platform. In the context of this particular specification, the terms "particular device," etc., include a general-purpose computer (once it is programmed to perform specific operations according to instructions from program software). Algorithm descriptions or symbolic representations are examples of techniques used by those of ordinary skill in signal processing or related fields to convey the essence of their work to others of skill in the art. An algorithm herein and generally is considered a self-consistent sequence of operations or similar signal processing that leads to a desired result. In this context, the operation or processing involves the physical manipulation of physical quantities. Typically, although not strictly necessary, such quantities may take the form of electrical or magnetic signals that can be stored, transmitted, combined, compared, or otherwise manipulated. It has been shown that it is convenient to sometimes refer to such signals as bits, data, values, elements, symbols, characters, items, numbers, digits, etc., primarily for general reasons. However, it should be understood that all these or similar terms are associated with appropriate physical quantities and are merely convenient labels. Unless otherwise specified, it should be understood, as is apparent from the discussion herein, that throughout this specification, the use of terms such as “processing,” “calculating,” “operating,” and “determining” refers to the actions or processes of a specific device (such as a dedicated computer, dedicated computing device, or similar dedicated electronic computing device). Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of manipulating or transforming signals, generally referring to physical electronic or magnetic quantities within the memory, registers, or other information storage devices, transmission devices, or display devices of the dedicated computer or similar dedicated electronic computing device.

[0213] In the foregoing detailed description, numerous specific details have been set forth to provide a thorough understanding of the claimed subject matter. However, those skilled in the art will understand that the claimed subject matter can be practiced without these specific details. In other instances, methods and apparatus known to those skilled in the art have not been described in detail to avoid obscuring the claimed subject matter.

[0214] The terms “and,” “or,” and “and / or” as used herein can have a variety of meanings, which are also expected to depend at least in part on the context in which such terms are used. Generally, “or,” when used with an associative list, such as a, B, or C, is intended to mean a, B, and C (used herein in an inclusive sense), and a, B, or C (used herein in an exclusive sense). Additionally, the term “one or more” as used herein can be used to describe any feature, structure, or property in the singular, or to describe a plurality of features, structures, or properties, or some other combination of features, structures, or properties. However, it should be noted that this is merely an illustrative example and the subject matter claimed is not limited to this example.

[0215] In view of this specification, embodiments may include different combinations of features. Examples of implementations are described in the following numbered clauses:

[0216] Clause 1. A method for transmitting location information performed by a user equipment, the method comprising: receiving an SPS signal (Satellite Positioning System signal); determining a first location estimate based on the SPS signal; determining a first confidence level of the first location estimate based on at least one of non-SPS-based information, an SPS time from the received SPS signal, and a local time, or a combination thereof; and transmitting a radio message to one or more UEs including the location information of the UEs, the location information including the location estimate and an information source for generating the location estimate, wherein one of the first location estimate or a second location estimate determined based on the non-SPS-based location information is selected for transmission in the location information.

[0217] Clause 2. The method according to Clause 1 further includes comparing the first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected to be sent in the location information, and when the first confidence level is less than the predetermined threshold, the second location estimate is selected to be sent in the location information.

[0218] Clause 3. The method according to any one of Clauses 1 or 2, wherein the location information of the UE further includes a confidence level.

[0219] Clause 4. The method according to any one of Clauses 1-3 further includes determining the second location estimate based on the non-SPS-based location information, the non-SPS-based location information including one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0220] Clause 5. The method according to Clause 4, wherein determining the first confidence level of the first location estimate based on the non-SPS-based information includes comparing the first location estimate with the second location estimate.

[0221] Clause 6. The method according to Clause 4, wherein the second location estimate is determined after the first confidence level is determined.

[0222] Clause 7. The method according to any one of Clauses 4-6, wherein the received location information includes a location estimate of the second UE, a confidence level of the location estimate of the second UE, and an information source for generating the location estimate of the second UE.

[0223] Clause 8. The method according to any one of Clauses 4-7, wherein the received location information is for a plurality of other UEs.

[0224] Clause 9. The method according to any one of Clauses 1 to 8, wherein determining the first confidence level of the first location estimate based on non-SPS-based information is based on one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0225] Clause 10. The method according to Clause 9 further includes receiving an indication that the received SPS signal is unreliable, and wherein determining the first confidence level of the first location estimate is further based on the indication that the received SPS signal is unreliable.

[0226] Clause 11. The method according to any one of Clauses 1-10, wherein determining the first confidence level of the first location estimate based on the SPS time of the received SPS signal and the local time comprises: deriving the SPS time from the received SPS signal, deriving the local time from sensor information, and comparing the SPS time with the local time.

[0227] Clause 12. The method according to any one of Clauses 1-11, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0228] Clause 13. The method according to any one of Clauses 1-12, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0229] Clause 14. The method according to any one of Clauses 1-13, wherein the radio message is one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0230] Clause 15. The method according to any one of Clauses 1-14 further includes sending a report including the second location estimate and an indication that the received SPS signal is unreliable to the server when the second location estimate is selected to be sent in the location information based on the first confidence level.

[0231] Clause 16. A user equipment (UE) configured to transmit location information, the UE comprising: a radio transceiver configured to wirelessly communicate with an entity in a wireless network; an SPS (Satellite Positioning System) receiver configured to receive an SPS signal; at least one memory; and at least one processor coupled to the radio transceiver, the SPS receiver, and the at least one memory, wherein the at least one processor is configured to: receive the SPS signal via the SPS receiver; determine a first location estimate based on the SPS signal; determine a first confidence level of the first location estimate based on at least one of non-SPS-based information, an SPS time from the received SPS signal, and a local time, or a combination thereof; and transmit a radio message including location information of the UE via the radio transceiver to one or more UEs, the location information including a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0232] Clause 17. The UE according to Clause 16, wherein the at least one processor is further configured to compare the first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected to be transmitted in the location information, and when the first confidence level is less than the predetermined threshold, the second location estimate is selected to be transmitted in the location information.

[0233] Clause 18. The UE pursuant to any one of Clauses 16 or 17, wherein the location information of the UE further includes a confidence level.

[0234] Clause 19. The UE according to any one of Clauses 16-18, wherein the at least one processor is further configured to: determine the second location estimate based on the non-SPS-based location information, the non-SPS-based location information including one or more of the following: the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0235] Clause 20. The UE according to Clause 19, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on the non-SPS-based information by being configured to compare the first location estimate with the second location estimate.

[0236] Clause 21. The UE as described in Clause 19, wherein the second location estimate is determined after the first confidence level is determined.

[0237] Clause 22. The UE according to any one of Clauses 19-21, wherein the received location information includes a location estimate of the second UE, a confidence level of the location estimate of the second UE, and an information source for generating the location estimate of the second UE.

[0238] Clause 23. A UE pursuant to any one of Clauses 19-22, wherein the received location information is directed to a plurality of other UEs.

[0239] Clause 24. The UE according to any one of Clauses 16-23, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on non-SPS information as being based on one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0240] Clause 25. The UE according to Clause 24, wherein the at least one processor is further configured to receive an indication that the received SPS signal is unreliable, and wherein determining the first confidence level of the first location estimate is further based on the indication that the received SPS signal is unreliable.

[0241] Clause 26. The UE according to any one of Clauses 16-24, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on the SPS time of the received SPS signal and the local time derived from sensor information by being configured to derive the SPS time from the received SPS signal and compare the SPS time with the local time.

[0242] Clause 27. The UE according to any one of Clauses 16-26, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0243] Clause 28. The UE pursuant to any one of Clauses 16-27, wherein the radio message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0244] Clause 29. The UE pursuant to any one of Clauses 16-28, wherein the radio message is one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0245] Clause 30. The UE according to any one of Clauses 16-28, wherein the at least one processor is further configured to send a report to the server including the second location estimate and an indication that the received SPS signal is unreliable when the second location estimate is selected to be sent in the location information based on the first confidence level.

[0246] Clause 31. A user equipment configured to transmit location information: components for receiving SPS signals (Satellite Positioning System signals); components for determining a first location estimate based on the SPS signals; components for determining a first confidence level of the first location estimate based on at least one of non-SPS-based information, SPS time from the received SPS signals, and local time; and components for transmitting a radio message including the location information of one or more UEs, the location information including a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0247] Clause 32. The UE according to Clause 31 further includes a component for comparing the first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected for transmission in the location information, and when the first confidence level is less than the predetermined threshold, the second location estimate is selected for transmission in the location information.

[0248] Clause 33. The UE pursuant to any one of Clauses 31 or 32, wherein the location information of the UE further includes a confidence level.

[0249] Clause 34. The UE according to any one of Clauses 31-33 further includes components for determining the second location estimate based on the non-SPS-based location information, the non-SPS-based location information including one or more of the following: the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0250] Clause 35. The UE as described in Clause 34, wherein the component for determining the first confidence level of the first location estimate based on the non-SPS-based information includes a component for comparing the first location estimate with the second location estimate.

[0251] Clause 36. The UE as described in Clause 34, wherein the second location estimate is determined after the first confidence level is determined.

[0252] Clause 37. The UE according to any one of Clauses 34-36, wherein the received location information includes a location estimate of the second UE, a confidence level of the location estimate of the second UE, and an information source for generating the location estimate of the second UE.

[0253] Clause 38. A UE pursuant to any one of Clauses 34-37, wherein the received location information is directed to a plurality of other UEs.

[0254] Clause 39. The UE according to any one of Clauses 31-38, wherein the component for determining the first confidence level of the first location estimate based on non-SPS information uses one or more of the UE's cached location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0255] Clause 40. The UE according to Clause 39 further includes components for receiving an indication that the received SPS signal is unreliable, and wherein the components for determining the first confidence level of the first location estimate further use the indication that the received SPS signal is unreliable.

[0256] Clause 41. The UE according to any one of Clauses 31-40, wherein the component for determining the first confidence level estimated at the first location based on the SPS time of the received SPS signal and the local time includes a component for deriving the SPS time from the received SPS signal and deriving the local time from sensor information and comparing the SPS time with the local time.

[0257] Clause 42. The UE according to any one of Clauses 31-41, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0258] Clause 43. The UE pursuant to any one of Clauses 31-42, wherein the radio message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0259] Clause 44. The UE pursuant to any one of Clauses 31-43, wherein the radio message is one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0260] Clause 45. The UE according to any one of Clauses 31-44 further includes a component for sending a report to the server, including the second location estimate and an indication that the received SPS signal is unreliable, when the second location estimate is selected to be sent in the location information based on the first confidence level.

[0261] Clause 46. A non-transitory storage medium comprising program code stored thereon, the program code being operable to configure at least one processor in a user equipment for transmitting location information, the program code comprising instructions for performing: receiving an SPS signal (Satellite Positioning System signal); determining a first location estimate based on the SPS signal; determining a first confidence level of the first location estimate based on at least one of non-SPS-based information, an SPS time from the received SPS signal, or a local time, or a combination thereof; and transmitting a radio message to one or more UEs including location information of the UEs, the location information including a location estimate and an information source for generating the location estimate, wherein one of the first location estimate or a second location estimate determined based on non-SPS-based location information is selected for transmission in the location information based on the first confidence level.

[0262] Clause 47. The non-transitory storage medium according to Clause 46 further includes instructions for comparing the first confidence level of the first location estimate with a predetermined threshold, wherein the first location estimate is selected to be sent in the location information when the first confidence level is greater than the predetermined threshold, and the second location estimate is selected to be sent in the location information when the first confidence level is less than the predetermined threshold.

[0263] Clause 48. The non-transitory storage medium according to any one of Clauses 46 or 47, wherein the location information of the UE further includes a confidence level.

[0264] Clause 49. The non-transitory storage medium according to any one of Clauses 46-48 further includes instructions for determining the second location estimate based on the non-SPS-based location information, the non-SPS-based location information including one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0265] Clause 50. The non-transitory storage medium as described in Clause 49, wherein the instructions for determining the first confidence level of the first location estimate based on the non-SPS-based information include instructions for comparing the first location estimate with the second location estimate.

[0266] Clause 51. The non-transitory storage medium as described in Clause 49, wherein the second location estimate is determined after the first confidence level is determined.

[0267] Clause 52. The non-transitory storage medium according to any one of Clauses 49-48, wherein the received location information includes a location estimate of the second UE, a confidence level of the location estimate of the second UE, and an information source for generating the location estimate of the second UE.

[0268] Clause 53. A non-transitory storage medium pursuant to any one of Clauses 49-52, wherein the received location information is directed to a plurality of other UEs.

[0269] Clause 54. The non-transitory storage medium according to any one of Clauses 46-53, wherein the instructions for determining the first confidence level of the first location estimate based on non-SPS-based information are based on one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

[0270] Clause 55. The non-transitory storage medium according to Clause 54 further includes instructions for receiving an indication that the received SPS signal is unreliable, and wherein the instructions for determining the first confidence level of the first location estimate are further based on the indication that the received SPS signal is unreliable.

[0271] Clause 56. The non-transitory storage medium according to any one of Clauses 46-55, wherein the instructions for determining the first confidence level of the first location estimate based on the SPS time of the received SPS signal and the local time include instructions for deriving the SPS time from the received SPS signal and deriving the local time from sensor information and comparing the SPS time with the local time.

[0272] Clause 57. A non-transitory storage medium according to any one of Clauses 46-56, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0273] Clause 58. A non-transitory storage medium pursuant to any one of Clauses 46-57, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0274] Clause 59. A non-transitory storage medium pursuant to any of Clauses 46-58, wherein the radio message is one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0275] Clause 60. The non-transitory storage medium according to any one of Clauses 46-59 further includes instructions for sending a report to the server, including the second location estimate and an indication that the received SPS signal is unreliable, when the second location estimate is selected to be sent in the location information based on the first confidence level.

[0276] Clause 61. A method for transmitting location information of a first user equipment (UE), performed by a first user equipment (UE), the method comprising: receiving one or more radio messages, each radio message provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determining, based on the one or more radio messages, whether the SPS signals in the area within the radio range of the first UE are reliable; and when the SPS signals in the area within the radio range of the first UE are determined to be unreliable, providing a message indicating that the SPS signals are unreliable.

[0277] Clause 62. The method of claim 61, wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the information source in one or more received radio messages used to generate the location estimate.

[0278] Clause 63. The method of claim 62, further comprising: comparing the number of radio messages indicating that non-SPS information is a source of information for generating the location estimate with a threshold, and wherein, when the number of radio messages is greater than the threshold, it is determined that the SPS signal in the area within the radio range of the first UE is unreliable.

[0279] Clause 64. The method of any one of claims 61-63, wherein each radio message further includes the confidence level of the location estimate, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the confidence level of the location estimate in one or more received radio messages.

[0280] Clause 65. The method of any one of claims 61-64, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages.

[0281] Clause 66. The method of any one of claims 61-65, wherein when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, providing the message having the indication that the SPS signal is unreliable includes transmitting the message to a service server.

[0282] Clause 67. The method of any one of claims 61-66, wherein when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, providing the message having the indication that the SPS signal is unreliable includes sending the message to one or more UEs within the area within the wireless range of the first UE.

[0283] Clause 68. The method according to any one of claims 61-67, wherein the non-SPS information includes at least one of the following: the UE's cache location, sensor information, other UE's reception location information, or a combination thereof.

[0284] Clause 69. The method according to any one of claims 61-68, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0285] Clause 70. The method of any one of claims 61-69, wherein the one or more wireless messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0286] Clause 71. The method according to any one of claims 61-70, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0287] Clause 72. A first user equipment (UE) configured to transmit location information of a UE, the first UE comprising: an external interface configured to wirelessly communicate with an entity in a wireless network; at least one memory; and at least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to: receive one or more wireless messages via the external interface, each wireless message being provided by a UE in an area within the wireless range of the first UE, and each wireless message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determine, based on the one or more wireless messages, whether the SPS signal in the area within the wireless range of the first UE is reliable; and when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, provide a message via the external interface indicating that the SPS signal is unreliable.

[0288] Clause 73. The first UE of claim 72, wherein the at least one processor is configured to determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the information source in one or more received radio messages used to generate the location estimate.

[0289] Clause 74. The first UE of claim 73, wherein the at least one processor is further configured to compare the number of radio messages indicating that non-SPS information is a source of information for generating the location estimate with a threshold, and wherein when the number of radio messages is greater than the threshold, the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0290] Clause 75. The first UE according to any one of claims 72-74, wherein each radio message further includes the confidence level of the location estimate, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the confidence level of the location estimate in one or more received radio messages.

[0291] Clause 76. The first UE according to any one of claims 72-75, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein the at least one processor is configured to determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages.

[0292] Clause 77. The first UE according to any one of claims 72-76, wherein the at least one processor is configured to provide the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE by being configured to transmit the message to a service server.

[0293] Clause 78. The first UE according to any one of claims 72-77, wherein the at least one processor is configured to provide the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, by sending the message to one or more UEs in the area within the wireless range of the first UE.

[0294] Clause 79. The first UE according to any one of claims 72-78, wherein the non-SPS information includes at least one of the following: the UE's buffer location, sensor information, reception location information of other UEs, or a combination thereof.

[0295] Clause 80. The first UE according to any one of claims 72-79, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0296] Clause 81. The first UE according to any one of claims 72-80, wherein the one or more radio messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0297] Clause 82. The first UE according to any one of claims 72-81, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0298] Clause 83. A UE configured to transmit location information of a user equipment (UE): a component for receiving one or more radio messages, each radio message provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; a component for determining, based on the one or more radio messages, whether the SPS signal in the area within the radio range of the first UE is reliable; and a component for providing a message with an indication that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0299] Clause 84. The first UE of claim 83, wherein the component for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses the information source for generating the location estimate in the received one or more radio messages.

[0300] Clause 85. The first UE of claim 84, further comprising means for comparing the number of radio messages indicating that non-SPS information is a source of information for generating the location estimate with a threshold, wherein when the number of radio messages is greater than the threshold, the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0301] Clause 86. The first UE according to any one of claims 83-85, wherein each radio message further includes the confidence level of the location estimate, and wherein the component for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses the confidence level of the location estimate in one or more received radio messages.

[0302] Clause 87. The first UE according to any one of claims 83-86, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein the component for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages.

[0303] Clause 88. The first UE according to any one of claims 83-87, wherein the component for providing the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable includes a component for transmitting the message to a service server.

[0304] Clause 89. The first UE according to any one of claims 83-88, wherein the component for providing the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable includes a component for sending the message to one or more UEs in the area within the wireless range of the first UE.

[0305] Clause 90. The first UE according to any one of claims 83-89, wherein the non-SPS information includes at least one of the following: the UE's cache location, sensor information, reception location information of other UEs, or a combination thereof.

[0306] Clause 91. The first UE according to any one of claims 83-90, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0307] Clause 92. The first UE according to any one of claims 83-91, wherein the one or more radio messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0308] Clause 93. The first UE according to any one of claims 83-92, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0309] Clause 94. A non-transitory storage medium comprising program code stored thereon, the program code being operable to configure at least one processor in a first user equipment (UE) for transmitting location information of the UE, the program code comprising instructions for performing: receiving one or more radio messages, each radio message being provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes SPS (Satellite Positioning System) signals or non-SPS information; determining, based on the one or more radio messages, whether the SPS signal in the area within the radio range of the first UE is reliable; and when the SPS signal in the area within the radio range of the first UE is determined to be unreliable, providing a message indicating that the SPS signal is unreliable.

[0310] Clause 95. The non-transitory storage medium of claim 94, wherein the instructions for determining whether the SPS signal in the area within the radio range of the first UE is reliable use the information source for generating the location estimate in the received one or more radio messages.

[0311] Clause 96. The non-transitory storage medium of claim 95 further includes instructions for comparing the number of radio messages indicating that non-SPS information is a source of information for generating the location estimate with a threshold, wherein when the number of radio messages is greater than the threshold, it is determined that the SPS signal in the area within the radio range of the first UE is unreliable.

[0312] Clause 97. The non-transitory storage medium according to any one of claims 94-96, wherein each radio message further includes the confidence level of the location estimate, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the confidence level of the location estimate in one or more received radio messages.

[0313] Clause 98. The non-transitory storage medium according to any one of claims 94-97, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein the instruction for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses the indication of whether the SPS signal is determined to be unreliable in the received one or more radio messages.

[0314] Clause 99. The non-transitory storage medium according to any one of claims 94-98, wherein the instruction for providing the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE includes instructions for transmitting the message to a service server.

[0315] Clause 100. The non-transitory storage medium according to any one of claims 94-99, wherein the instruction for providing the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE includes instructions for sending the message to one or more UEs in the area within the wireless range of the first UE.

[0316] Clause 101. The non-transitory storage medium according to any one of claims 94-100, wherein the non-SPS information includes at least one of the UE's cache location, sensor information, other UE's receiving location information, or a combination thereof.

[0317] Clause 102. The non-transitory storage medium according to any one of claims 94-101, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0318] Clause 103. The non-transitory storage medium according to any one of claims 94-102, wherein the one or more wireless messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0319] Clause 104. The non-transitory storage medium according to any one of claims 94-103, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0320] Clause 105. A method for transmitting location information of a first user equipment (UE) performed by a first user equipment (UE), the method comprising: receiving radio messages from a plurality of UEs in an area within the radio range of the first UE, each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the respective UE; determining, at least based on the location estimate in each radio message, whether the SPS signal in the area within the radio range of the first UE is reliable; and providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0321] Clause 106. The method of claim 105, wherein determining whether the SPS signal in the area within the wireless range of the first UE is reliable is based on the change over time of the location estimate derived from the SPS of each respective UE.

[0322] Clause 107. The method of any one of claims 105 or 106, wherein each radio message further includes a range to one or more of the plurality of UEs, wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is further based on the range to the one or more UEs.

[0323] Clause 108. The method of claim 107, further comprising: determining the distance between UEs in the one or more UE pairs based on a location estimate derived from the SPS of each UE in the one or more UE pairs; and comparing the distance between UEs in the one or more UE pairs with a range between UEs in the one or more UE pairs; wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the comparison of the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs.

[0324] Clause 109. The method of any one of claims 105-108, wherein when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, providing the message having the indication that the SPS signal is unreliable includes transmitting the message to a service server.

[0325] Clause 110. The method of any one of claims 105-109, wherein when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, providing the message having the indication that the SPS signal is unreliable includes sending the message to one or more UEs within the area within the wireless range of the first UE.

[0326] Clause 111. The method according to any one of claims 105-110, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0327] Clause 112. The method of any one of claims 105-111, wherein the one or more wireless messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0328] Clause 113. The method according to any one of claims 105-112, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0329] Clause 114. A first user equipment (UE) configured to transmit location information of a UE, the first UE comprising: an external interface configured to wirelessly communicate with an entity in a wireless network; at least one memory; and at least one processor coupled to the external interface transceiver and the at least one memory, wherein the at least one processor is configured to: receive wireless messages from a plurality of UEs in an area within the wireless range of the first UE, each wireless message including a location estimate derived from the SPS (Satellite Positioning System) of the respective UE; determine, at least based on the location estimate in each wireless message, whether the SPS signal in the area within the wireless range of the first UE is reliable; and when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, provide a message indicating that the SPS signal is unreliable.

[0330] Clause 115. The first UE of claim 114, wherein the processor is configured to determine, based on the change over time of the location estimate derived from the SPS of each respective UE, whether the SPS signal in the area within the radio range of the first UE is reliable.

[0331] Clause 116. The first UE according to any one of claims 114 or 115, wherein each radio message further includes a range to one or more of the plurality of UEs, wherein the processor is configured to further determine, based on the range to the one or more UEs, whether the SPS signal in the area within the radio range of the first UE is reliable.

[0332] Clause 117. The first UE of claim 116, wherein the processor is further configured to: determine the distance between UEs in the one or more UE pairs based on the SPS-derived location estimate of each UE in the one or more UE pairs; and compare the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs; wherein the processor is configured to determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the comparison between the distance between UEs in the one or more UE pairs and the range between UEs in the one or more UE pairs.

[0333] Clause 118. The first UE according to any one of claims 114-117, wherein the processor is configured to provide the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE when the SPS signal is determined to be unreliable by being configured to transmit the message to a service server.

[0334] Clause 119. The first UE according to any one of claims 114-118, wherein the processor is configured to provide the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, by sending the message to one or more UEs in the area within the wireless range of the first UE.

[0335] Clause 120. The first UE according to any one of claims 114-119, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0336] Clause 121. The first UE according to any one of claims 114-120, wherein the one or more radio messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0337] Clause 122. The first UE according to any one of claims 114-121, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0338] Clause 123. A first UE configured to transmit location information of a user equipment (UE), the first UE comprising: means for receiving radio messages from a plurality of UEs in an area within the radio range of the first UE, each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the respective UE; means for determining, at least based on the location estimate in each radio message, whether the SPS signal in the area within the radio range of the first UE is reliable; and means for providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0339] Clause 124. The first UE of claim 123, wherein the component for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses a location estimate derived from the SPS of each respective UE over time.

[0340] Clause 125. The first UE according to any one of claims 123 or 124, wherein each radio message further includes a range to one or more of the plurality of UEs, wherein the component for determining whether the SPS signal in the area within the radio range of the first UE is reliable is further used to the range of the one or more UEs.

[0341] Clause 126. The first UE of claim 125, further comprising: means for determining the distance between UEs in the one or more UE pairs based on a location estimate derived from the SPS for each UE in the one or more UE pairs; and means for comparing the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs; wherein the means for determining whether the SPS signal in the area within the radio range of the first UE is reliable uses the comparison of the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs.

[0342] Clause 127. The first UE according to any one of claims 123-126, wherein the component for providing the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable includes a component for transmitting the message to a service server.

[0343] Clause 128. The first UE according to any one of claims 123-127, wherein the component for providing the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable includes a component for sending the message to one or more UEs in the area within the wireless range of the first UE.

[0344] Clause 129. The first UE according to any one of claims 123-127, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0345] Clause 130. The first UE according to any one of claims 123-129, wherein the one or more radio messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0346] Clause 131. The first UE according to any one of claims 123-130, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0347] Clause 132. A non-transitory storage medium comprising program code stored thereon, the program code being operable to configure at least one processor in a first user equipment (UE) for transmitting location information of the UE, the program code comprising instructions for performing the following operations: receiving radio messages from a plurality of UEs in an area within the radio range of the first UE, each radio message including a location estimate derived from the SPS (Satellite Positioning System) of the respective UE; determining, at least based on the location estimate in each radio message, whether the SPS signal in the area within the radio range of the first UE is reliable; and providing a message indicating that the SPS signal is unreliable when the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

[0348] Clause 133. The non-transitory storage medium of claim 132, wherein the instructions for determining whether the SPS signal in the area within the wireless range of the first UE is reliable use a location estimate derived from the SPS of each respective UE over time.

[0349] Clause 134. The non-transitory storage medium according to any one of claims 132 or 133, wherein each radio message further includes a range of one or more of the plurality of UEs, wherein the instruction for determining whether the SPS signal in the area within the radio range of the first UE is reliable is further used in the range of the one or more UEs.

[0350] Clause 135. The non-transitory storage medium of claim 134 further includes instructions for performing the following operations: determining the distance between UEs in the one or more UE pairs based on the location estimate derived from the SPS of each UE in the one or more UE pairs; and comparing the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs; wherein the instructions for determining whether an SPS signal in an area within the radio range of the first UE is reliable use the comparison of the distance between UEs in the one or more UE pairs with the range between UEs in the one or more UE pairs.

[0351] Clause 136. The non-transitory storage medium according to any one of claims 132-135, wherein the instruction for providing the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE includes the instruction for transmitting the message to a service server.

[0352] Clause 137. The non-transitory storage medium according to any one of claims 132-136, wherein the instruction for providing the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE includes the instruction for sending the message to one or more UEs in the area within the wireless range of the first UE.

[0353] Clause 138. The non-transitory storage medium according to any one of claims 132-137, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0354] Clause 139. The non-transitory storage medium according to any one of claims 132-138, wherein the one or more wireless messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

[0355] Clause 140. The non-transitory storage medium according to any one of claims 132-139, wherein the one or more radio messages are one of a Common Aware Message (CAM), a Distributed Notification Message (DENM), or a Basic Security Message (BSM).

[0356] While features that are currently considered exemplary have been shown and described, those skilled in the art will understand that various other modifications and equivalents can be made without departing from the claimed subject matter. Furthermore, numerous modifications can be made to adapt specific situations to the teachings of the claimed subject matter without departing from the central concepts described herein.

Claims

1. A method for sending location information, performed by a user equipment, the method comprising: Receive SPS (Satellite Positioning System) signals; A first location estimate is determined based on the SPS signal; The first confidence level of the first location estimate is determined based on at least one of non-SPS information, the SPS time from the received SPS signal, the local time, or a combination thereof; as well as A radio message including the location information of one or more user equipments (UEs) is sent to one or more user equipments (UEs), the location information including a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS location information is selected and sent in the location information based on a first confidence level.

2. The method of claim 1, further comprising comparing the first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected to be sent in the location information, and when the first confidence level is less than the predetermined threshold, the second location estimate is selected to be sent in the location information.

3. The method according to claim 1, wherein, The location information of the UE also includes the confidence level.

4. The method according to claim 1, further comprising: The second location estimate is determined based on the non-SPS-based location information, which includes one or more of the following: the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

5. The method of claim 4, wherein determining the first confidence level of the first location estimate based on the non-SPS-based information comprises comparing the first location estimate with the second location estimate.

6. The method of claim 1, wherein determining the first confidence level of the first location estimate based on non-SPS information is based on one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

7. The method of claim 6, further comprising receiving an indication that the received SPS signal is unreliable, and wherein determining the first confidence level of the first location estimate is also based on the indication that the received SPS signal is unreliable.

8. The method of claim 1, wherein determining the first confidence level of the first location estimate based on the SPS time of the received SPS signal and the local time comprises: The SPS time is derived from the received SPS signal, and the local time is derived from the sensor information, and the SPS time is compared with the local time.

9. The method of claim 1, further comprising, when selecting the second location estimate based on the first confidence level to send in the location information, transmitting a report including the second location estimate and an indication that the received SPS signal is unreliable to the server.

10. A user equipment (UE) configured to transmit location information, the UE comprising: A wireless transceiver configured to communicate wirelessly with entities in a wireless network; A satellite positioning system SPS receiver, configured to receive SPS signals; At least one memory; as well as At least one processor coupled to the wireless transceiver, the SPS receiver, and the at least one memory, wherein the at least one processor is configured to: The SPS signal is received via the SPS receiver; A first location estimate is determined based on the SPS signal; The first confidence level of the first location estimate is determined based on at least one of non-SPS information, the SPS time from the received SPS signal, the local time, or a combination thereof; as well as The location information, including the location information of the UE, is transmitted via the wireless transceiver to one or more UEs. The location information includes a location estimate and an information source for generating the location estimate, wherein either the first location estimate or a second location estimate determined based on non-SPS location information is selected and transmitted in the location information based on the first confidence level.

11. The UE of claim 10, wherein the at least one processor is further configured to compare the first confidence level of the first location estimate with a predetermined threshold, wherein when the first confidence level is greater than the predetermined threshold, the first location estimate is selected to be transmitted in the location information, and when the first confidence level is less than the predetermined threshold, the second location estimate is selected to be transmitted in the location information.

12. The UE according to claim 10, wherein, The location information of the UE also includes a confidence level.

13. The UE according to claim 10, wherein, The at least one processor is further configured to: determine the second location estimate based on the non-SPS-based location information, the non-SPS-based location information including one or more of the following: the UE's cache location, sensor information, and location information received from one or more other UEs, or a combination thereof.

14. The UE of claim 13, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on the non-SPS-based information by being configured to compare the first location estimate with the second location estimate.

15. The UE of claim 10, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on non-SPS information as one or more of the UE's cache location, sensor information, and location information received from one or more other UEs, or combinations thereof.

16. The UE of claim 15, wherein the at least one processor is further configured to receive an indication that the received SPS signal is unreliable, and wherein determining the first confidence level of the first location estimate is also based on the indication that the received SPS signal is unreliable.

17. The UE of claim 10, wherein the at least one processor is configured to determine the first confidence level of the first location estimate based on the SPS time of the received SPS signal and the local time by being configured to derive the SPS time from the received SPS signal and derive the local time from sensor information and compare the SPS time with the local time.

18. The UE of claim 10, wherein the at least one processor is further configured to transmit to the server a report including the second location estimate and an indication that the received SPS signal is unreliable when selecting the second location estimate based on the first confidence level to transmit in the location information.

19. A method for transmitting location information of a first user equipment (UE), performed by a first user equipment (UE), the method comprising: Receive one or more radio messages, each radio message being provided by a UE in an area within the radio range of the first UE, and each radio message including a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes a satellite positioning system SPS signal or non-SPS information; Based on the one or more wireless messages, determine whether the SPS signal in the area within the wireless range of the first UE is reliable; as well as When the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, a message indicating that the SPS signal is unreliable is provided.

20. The method of claim 19, wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the information source in one or more received radio messages used to generate the location estimate.

21. The method according to claim 20, further comprising: The number of radio messages indicating that non-SPS information is the source of the information used to generate the location estimate is compared with a threshold, and wherein, when the number of radio messages is greater than the threshold, it is determined that the SPS signal in the area within the radio range of the first UE is unreliable.

22. The method of claim 19, wherein each radio message further includes the confidence level of the location estimate, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the confidence level of the location estimate in one or more received radio messages.

23. The method of claim 19, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages.

24. The method of claim 19, wherein providing the message with the indication that the SPS signal is unreliable in the area within the wireless range of the first UE comprises transmitting the message to a service server.

25. The method of claim 19, wherein providing the message with the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable includes transmitting the message to one or more UEs in the area within the wireless range of the first UE.

26. The method according to claim 19, wherein, The non-SPS information includes at least one of the following: the UE's cache location, sensor information, received location information of other UEs, or a combination thereof.

27. The method according to claim 19, wherein, The first UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

28. The method according to claim 19, wherein, The one or more wireless messages are vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages.

29. The method according to claim 19, wherein, The one or more wireless messages are one of the following: Common Aware Message (CAM), Distributed Notification Message (DENM), or Basic Security Message (BSM).

30. A first user equipment (UE) configured to transmit location information of a UE, the first UE comprising: An external interface configured to communicate wirelessly with entities in a wireless network; At least one memory; as well as At least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to: One or more wireless messages are received via the external interface. Each wireless message is provided by a UE in an area within the wireless range of the first UE, and each wireless message includes a location estimate of the corresponding UE and an indication of an information source for generating the location estimate, wherein the information source includes a Satellite Positioning System (SPS) signal or non-SPS information. Based on the one or more wireless messages, determine whether the SPS signal in the area within the wireless range of the first UE is reliable; as well as When the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, a message indicating that the SPS signal is unreliable is provided via the external interface.

31. The first UE of claim 30, wherein the at least one processor is configured to determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the information source in one or more received radio messages used to generate the location estimate.

32. The first UE of claim 31, wherein the at least one processor is further configured to compare the number of radio messages indicating that non-SPS information is a source of information for generating the location estimate with a threshold, and wherein when the number of radio messages is greater than the threshold, the SPS signal in the area within the radio range of the first UE is determined to be unreliable.

33. The first UE of claim 30, wherein each radio message further includes the confidence level of the location estimate, and wherein determining whether the SPS signal in the area within the radio range of the first UE is reliable is based on the confidence level of the location estimate in one or more received radio messages.

34. The first UE of claim 30, wherein each radio message further includes an indication of whether the SPS signal is determined to be unreliable by the UE, and wherein the at least one processor is configured to determine whether the SPS signal in the area within the radio range of the first UE is reliable based on the indication of whether the SPS signal is determined to be unreliable in one or more received radio messages.

35. The first UE of claim 30, wherein the at least one processor is configured to provide the message having the indication that the SPS signal is unreliable in the area within the wireless range of the first UE when the SPS signal is determined to be unreliable by being configured to transmit the message to a service server.

36. The first UE of claim 30, wherein the at least one processor is configured to provide the message having the indication that the SPS signal is unreliable when the SPS signal in the area within the wireless range of the first UE is determined to be unreliable, by transmitting the message to one or more UEs in the area within the wireless range of the first UE.

37. The first UE according to claim 30, wherein, The non-SPS information includes at least one of the following: the UE's cache location, sensor information, received location information of other UEs, or a combination thereof.

38. A user equipment (UE) configured to transmit location information, the UE including components for performing the method according to any one of claims 1 to 9.

39. A computer-readable medium having program code recorded thereon, wherein the program code is executable by one or more processors of a user equipment (UE) to cause the processors to perform the method according to any one of claims 1 to 9.

40. A first user equipment (UE) configured to transmit location information of a UE, the first UE including components for performing the method according to any one of claims 19 to 29.

41. A computer-readable medium having program code recorded thereon, wherein the program code is executable by one or more processors of a first user equipment (UE) to cause the processors to perform the method according to any one of claims 19 to 29.

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