Hierarchical cooperative positioning method and device

Abstract

The present application provides for grouping user equipments (UEs) in a cluster and / or hierarchy. The packets may be based on a dynamically updated mean square error position / relative position map maintained at the transmission point. Furthermore, the grouping may be implemented in a hierarchical and cooperative manner such that some UEs in a higher level act as anchor UEs for other UEs in a lower level. In addition, the UE may be understood to be self-organized into a cluster of UEs. A cluster of UEs may be represented by a single representative UE to reduce signaling overhead between UEs in a given cluster of UEs and various anchor UEs and / or transmission points. Further, collaboration between UEs in the same cluster may be done by sensing and sharing between UEs a relative position estimate and a position estimate (MSE) associated with the relative position estimate.

Description

Technical Field

[0001] The present invention relates generally to device localization and, in particular embodiments, to a layered collaborative approach for such localization. Background Art

[0002] Positioning and location services are expected to play a more important role in future wireless communication systems. In some known implementations, position identification and location services are provided through evolved positioning technologies such as new radio enhanced cell ID (NR E-CID), downlink time difference of arrival (DL-TODA), and uplink time difference of arrival (UL-TODA). In some known implementations, position identification and location services are provided through new air interface dedicated positioning technologies such as uplink angle of arrival (UL-AOA), downlink angle of departure (DL-AoD), and multi-cell round trip time (multi-cell RRT). These traditional positioning technologies rely on a small number of fixed-position base stations or transmission points (TP), and the base stations (TP) need to cooperate with each other. The base station can collaborate by sending a positioning reference signal (PRS) or receiving a sounding reference signal (SRS), measuring the corresponding reference signal, and sending the measurement results to the location management function (LMF). The traditional positioning technologies mentioned so far have obvious disadvantages, which is that these traditional positioning technologies rely on a small number of fixed base stations or TPs to provide location information about the user. These traditional positioning technologies are susceptible to position estimation errors, which can be traced back to non-line-of-sight (NLOS) deviations. Such deviations may result in relatively large positioning errors. Positioning errors can be understood to be intolerable for certain future applications and use cases. Traditional positioning technologies may also have limited coverage due to the small number of anchor points. Summary of the invention

[0003] According to various aspects of the present application, UEs may be dynamically grouped in clusters and / or hierarchies. Grouping may be performed based on a dynamically updated positioning mean square error map maintained at a transmission point. In addition, grouping may be implemented in a hierarchical and collaborative manner such that some UEs in a high-level hierarchy act as anchor UEs for other UEs in a low-level hierarchy. In addition, UEs may be understood to be self-organized into UE clusters. A UE cluster may be represented by a single representative UE to reduce signaling overhead between UEs in a given UE cluster and various anchor UEs and / or transmission points. In addition, collaboration between UEs in the same cluster may be performed based on sensing relative position estimates and position estimate mean square error (MSE) associated with the relative position estimates and shared between UEs.

[0004] It can be argued that the main cause of NLOS bias and, therefore, position estimation errors in conventional positioning techniques is that conventional positioning techniques use the line-of-sight (LOS) assumption in their calculations. Other causes of NLOS bias include the limited number of anchor points, and the probability of NLOS occurring increases significantly as the distance between the anchor points and the UE increases. To mitigate the effects of position estimation errors, many NLOS identification and / or mitigation methods have been developed. However, these techniques may rely on signaling exchanges between network nodes and may require solving complex, constrained optimization problems. Such solutions may use computationally intensive algorithms such as maximum likelihood and constrained weighted square algorithms. In addition, computationally intensive algorithms use data obtained by sending more training signals to estimate the NLOS parameters for all UEs and their multipaths. Therefore, computationally intensive algorithms may increase the complexity and signaling overhead of conventional positioning techniques.

[0005] Various aspects of the present application are directed to positioning techniques that reduce or eliminate errors associated with NLOS biases, thereby providing efficient positioning estimates suitable for future wireless communication systems.

[0006] A map of devices in the environment can be constructed based on the two-dimensional measurements provided by the devices in the environment, so the location on the map is a function of the location estimate and the location estimate mean square error estimate associated with the location estimate. This can classify a given UE as a target UE and / or an anchor UE. In addition, the mean square error estimate can be iteratively improved until the mean square error reaches the desired accuracy.

[0007] The collaborative positioning process disclosed herein includes two different clustering techniques, namely user-centric clustering and network-centric clustering. Conveniently, clustering can reduce the network signaling overhead associated with the high-precision positioning process.

[0008] The hierarchical positioning process disclosed herein utilizes collaboration between UEs to iteratively improve the positioning estimation accuracy of each UE. This positioning process can achieve multiple levels of position estimation accuracy to meet the accuracy specified for different applications and use cases. Conveniently, the hierarchical positioning process disclosed herein can agilely achieve active tracking of dynamic UEs.

[0009] In the user-centric hierarchical positioning process disclosed in this article, the signaling mechanism allows the UE to initiate the positioning process when its position accuracy is reduced due to occlusion, obstruction or out of range of the TP. This positioning process can achieve multiple levels of accuracy (represented by the position estimate MSE) to meet the accuracy specifications of different applications and use cases. Conveniently, the user-centric hierarchical positioning process disclosed in this article can extend the effective range of a given TP.

[0010] According to one aspect of the present invention, a method for a first device associated with a first-level device is provided. The method includes: obtaining an absolute position of the first device, which is related to a position in a global coordinate system. The method also includes obtaining a relative position of a second device. The second device is characterized in that the second device is part of a second-level device different from the first-level device. The relative position of the second device is relative to the first device. The method also includes sending position information to a third device so that the third device can obtain an estimate of the absolute position of the second device. The position information includes: an indication of an estimate of the absolute position of the first device; an indication of an estimate of the relative position of the second device. In other aspects, a device for performing the method is provided. In other aspects, a computer-readable storage medium is provided, which includes instructions for performing the method.

[0011] According to one aspect of the present invention, a method for maintaining a database of entries referencing multiple devices is provided. The method includes receiving feedback from a device, the feedback including a location estimate and a location estimate mean squared error (MSE) associated with the location estimate. The method also includes adding an entry associated with the device to the database. The method also includes characterizing the device as being located in a given level in the database, the characterization being performed based on the location estimate MSE being greater than a first threshold associated with the given level. In other aspects, an apparatus for performing the method is provided. In other aspects, a computer-readable storage medium is provided, which includes instructions for performing the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more fully understand the embodiments of the present invention and its advantages, the following description is made by way of example with reference to the accompanying drawings, in which:

[0013] Figure 1A schematic diagram of a communication system in which an embodiment of the present invention can be implemented is shown, and the communication system includes multiple exemplary electronic devices, multiple exemplary transmitting and receiving points, and various networks;

[0014] Figure 2 Shows Figure 1 A block diagram of a communication system including a plurality of exemplary electronic devices, exemplary ground transmission and reception points, exemplary non-ground transmission and reception points, and various networks;

[0015] Figure 3 It shows that various aspects of this application provide Figure 2 Elements of an exemplary electronic device of Figure 2 Elements of an exemplary ground transmitting and receiving point, Figure 2 A block diagram of elements of an exemplary non-terrestrial transmit-receive point;

[0016] Figure 4 A block diagram of various modules provided by various aspects of the present application is shown, and these modules may be included in an exemplary electronic device, an exemplary ground transmission and reception point, and an exemplary non-ground transmission and reception point;

[0017] Figure 5 A block diagram showing the sensing management functionality provided by various aspects of the present application;

[0018] Figure 6 Exemplary steps in the method of constructing a graph provided in various aspects of the present application are shown;

[0019] Figure 7 Exemplary steps in the method of preparing feedback provided by various aspects of the present application are shown;

[0020] Figure 8 Shown according to Figure 6 An exemplary position estimation MSE graph constructed by the method of;

[0021] Fig. 9 A signal flow diagram of a network-centric clustering method provided by various aspects of the present application is shown;

[0022] Fig.10 A signal flow diagram of a method for forming a cluster centered on a user provided by various aspects of the present application is shown;

[0023] Fig.11 An exemplary initial step in the hierarchical positioning process provided by various aspects of the present application is shown;

[0024] Fig.12 A signal flow diagram showing an exemplary exchange between a ground transmitting and receiving point, an anchor user equipment (UE) and a target UE provided in various aspects of the present application;

[0025] Fig.13 A signal flow diagram showing exemplary exchanges between a ground transmission and reception point, an anchor UE and a target UE to solve the problem of shielding or blocking the target UE provided by various aspects of the present application is shown. DETAILED DESCRIPTION

[0026] For illustrative purposes, specific exemplary embodiments will now be explained in more detail with reference to the accompanying drawings.

[0027] The embodiments set forth herein represent information sufficient to practice the claimed subject matter and illustrate methods of practicing such subject matter. After reading the following description in light of the accompanying drawings, those skilled in the art will understand the concepts of the claimed subject matter and will recognize the applications of these concepts not specifically mentioned herein. It should be understood that these concepts and applications are within the scope of the present invention and the appended claims.

[0028] In addition, it should be understood that any module, component or device for executing instructions disclosed herein may include or otherwise access one or more non-transitory computer / processor readable storage media for storing information, such as computer / processor readable instructions, data structures, program modules and / or other data. A non-exhaustive list of examples of non-transitory computer / processor readable storage media includes magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, compact disc read-only memory (CD-ROM), digital video disc or digital versatile disc (DVD), Blu-ray disc TM Optical disks, or other optical storage, volatile and non-volatile, removable and non-removable media implemented in any method or technology, random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other storage technology. Any of these non-transitory computer / processor storage media can be part of a device or can be connected or connected to a device. Computer / processor readable / executable instructions for implementing the applications or modules described herein can be stored or otherwise saved by such non-transitory computer / processor readable storage media.

[0029] refer to Figure 1, a simplified schematic diagram of a communication system is provided as an illustrative example but not limiting. The communication system 100 includes a radio access network 120. The radio access network 120 may be a next generation (e.g., sixth generation (6G) or higher) radio access network or a traditional (e.g., 5G, 4G, 3G or 2G) radio access network. One or more communication electronic devices (electric devices, ED) 110a, 110b, 110c, 110d, 110e, 110f, 110g, 110h, 110i, 110j (collectively referred to as 110) may be interconnected with each other or connected to one or more network nodes (170a and 170b, collectively referred to as 170) in the radio access network 120. The core network 130 may be part of the communication system and may be dependent on or independent of the radio access technology used in the communication system 100. In addition, the communication system 100 includes a public switched telephone network (PSTN) 140, the Internet 150 and other networks 160.

[0030] Figure 2 An exemplary communication system 100 is shown. Typically, the communication system 100 enables multiple wireless or wired elements to transmit data and other content. The communication system 100 can be used to provide content such as voice, data, video and / or text through broadcast, multicast and unicast, etc. The communication system 100 can operate by sharing resources such as carrier spectrum bandwidth between its constituent elements. The communication system 100 may include a terrestrial communication system and / or a non-terrestrial communication system. The communication system 100 can provide a wide range of communication services and applications (e.g., earth monitoring, remote sensing, passive sensing and positioning, navigation and tracking, autonomous delivery and mobility, etc.). The communication system 100 can provide a high degree of availability and robustness through the joint operation of a terrestrial communication system and a non-terrestrial communication system. For example, integrating a non-terrestrial communication system (or its components) into a terrestrial communication system can produce a heterogeneous network including multiple layers. Compared with traditional communication networks, heterogeneous networks can obtain better overall performance through efficient multi-link joint operation, more flexible function sharing, and faster physical layer link switching between terrestrial networks and non-terrestrial networks.

[0031] Terrestrial communication systems and non-terrestrial communication systems can be considered as subsystems of the communication system. Figure 2In the example shown, the communication system 100 includes electronic devices (EDs) 110a, 110b, 110c, 110d (collectively referred to as ED110), radio access networks (RANs) 120a and 120b, non-terrestrial communication networks 120c, core networks 130, public switched telephone networks (PSTNs) 140, the Internet 150, and other networks 160. The RANs 120a and 120b include corresponding base stations (BSs) 170a and 170b, which can be generally referred to as terrestrial transmit and receive points (T-TRPs) 170a and 170b. The non-terrestrial communication network 120c includes an access node 172, which can be generally referred to as a non-terrestrial transmit and receive point (NT-TRP) 172.

[0032] Alternatively or in addition, any ED 110 may be used to connect, access or communicate with any T-TRP 170a, T-TRP 170b and NT-TRP 172, the Internet 150, the core network 130, the PSTN 140, other networks 160, or any combination of the foregoing. In some examples, ED 110a may communicate with T-TRP 170a for uplink and / or downlink transmission via a ground air interface 190a. In some examples, ED 110a, 110b, 110c, and 110d may also communicate directly with each other via one or more sidelink air interfaces 190b. In some examples, ED 110d may communicate with NT-TRP 172 for uplink and / or downlink transmission via a non-ground air interface 190c.

[0033] The air interfaces 190a and 190b may use similar communication technologies, such as any applicable wireless access technology. For example, the communication system 100 may implement one or more channel access methods in the air interfaces 190a and 190b, such as code division multiple access (CDMA), space division multiple access (SDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), single-carrier FDMA (SC-FDMA) or direct Fourier transform spread OFDMA (DFT-OFDMA). The air interfaces 190a and 190b may utilize other high-dimensional signal spaces, which may include a combination of orthogonal dimensions and / or non-orthogonal dimensions.

[0034] The non-terrestrial air interface 190c may enable communication between ED 110d and one or more NT-TRPs 172 via a wireless link or a simple link. For some examples, the link is a dedicated connection for unicast transmission, a connection for broadcast transmission, or a connection between a group of EDs 110 and one or more NT-TRPs 175 for multicast transmission.

[0035] The RANs 120a and 120b communicate with the core network 130 to provide various services, such as voice, data, and other services, to the EDs 110a, 110b, and 110c. The RANs 120a and 120b and / or the core network 130 may communicate directly or indirectly with one or more other RANs (not shown), which may or may not be directly served by the core network 130 and / or may or may not use the same radio access technology as the RANs 120a and 120b. The core network 130 may also serve as a gateway access between (i) the RANs 120a and 120b and / or the EDs 110a, 110b, and 110c and (ii) other networks (e.g., the PSTN 140, the Internet 150, and other networks 160). In addition, some or all of the EDs 110a, 110b, and 110c may include functionality to communicate with different wireless networks over different radio links using different radio technologies and / or protocols. EDs 110a, 110b, and 110c may communicate with a service provider or switch (not shown) and with the Internet 150 via a wired communication channel, instead of wireless communication (or in addition to wireless communication). PSTN 140 may include a circuit-switched telephone network for providing plain old telephone service (POTS). Internet 150 may include a network of computers and / or subnets (intranets) and include protocols such as internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), etc. EDs 110a, 110b, and 110c may be multi-mode devices capable of operating according to a variety of wireless access technologies and include a plurality of transceivers required to support these technologies.

[0036] Figure 3Another example of ED 110 and base stations 170a, 170b and / or 170c is shown. ED 110 is used to connect people, objects, machines, etc. ED 110 can be widely used in various scenarios, such as cellular communication, device-to-device (D2D), vehicle to everything (V2X), peer-to-peer (P2P), machine-to-machine (M2M), machine-type communication (MTC), Internet of Things (IOT), virtual reality (VR), augmented reality (AR), mixed reality (MR), metaverse, digital twin, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, drone, robot, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and mobility, etc.

[0037] Each ED 110 represents any suitable end-user device for wireless operation, which may include (or may be referred to as) user equipment (UE / user device), wireless transmit / receive unit (WTRU), mobile station, fixed or mobile user unit, cellular phone, station (STA), machine type communication (MTC) equipment, personal digital assistant (PDA), smart phone, laptop, computer, tablet, wireless sensor, consumer electronic device, watch, head-mounted device, glasses, smart book, vehicle, car, truck, bus, train or IoT device, industrial equipment or devices in the above equipment (e.g., communication module, modem or chip), etc. The next generation ED 110 may be referred to using other terms. Base stations 170a and 170b are T-TRPs, hereinafter referred to as T-TRP 170. Also as Figure 3 As shown, the NT-TRP is hereinafter referred to as NT-TRP 172. Each ED 110 connected to T-TRP 170 and / or NT-TRP 172 can be dynamically or semi-statically opened (i.e., established, activated or enabled), closed (i.e., released, deactivated or disabled) and / or used in response to one or more of the following: connection availability and connection necessity.

[0038] ED 110 includes a transmitter 201 and a receiver 203 coupled to one or more antennas 204. Only one antenna 204 is shown. Alternatively, one, some or all of the antennas 204 may be panels. A panel is a unit of an antenna group or antenna array or antenna subarray that can independently control a Tx beam or an Rx beam. Transmitter 201 and receiver 203 may be integrated into a transceiver, for example. The transceiver is used to modulate data or other content for transmission through at least one antenna 204 or a network interface controller (NIC). The transceiver may also be used to demodulate data or other content received through at least one antenna 204. Each transceiver includes: any suitable structure for generating a signal for wireless or wired transmission and / or for processing a signal received by wireless or wired means. Each antenna 204 includes: any suitable structure for sending and / or receiving a wireless signal or a wired signal.

[0039] ED 110 includes at least one memory 208. Memory 208 stores instructions and data used, generated, or collected by ED 110. For example, memory 208 can store software instructions or modules that are used to implement some or all of the functions and / or embodiments described herein and are executed by one or more processing units (e.g., processor 210). Each memory 208 includes any suitable volatile and / or non-volatile storage and retrieval device. Any suitable type of memory can be used, such as random access memory (RAM), read only memory (ROM), hard disk, optical disk, subscriber identity module (SIM) card, memory stick, secure digital (SD) memory card, processor cache, etc.

[0040] ED 110 may also include one or more input / output devices (not shown) or interfaces (e.g., Figure 1 The input / output devices support interaction with users or other devices in the network. Each input / output device includes any suitable structure for providing information to or receiving information from a user through operation, such as a speaker, microphone, keypad, keyboard, display or touch screen, including network interface communication.

[0041] ED 110 includes a processor 210 for performing operations including operations related to preparing transmissions for uplink transmissions to NT-TRP 172 and / or T-TRP 170, operations related to processing downlink transmissions received from NT-TRP 172 and / or T-TRP 170, and operations related to processing sidelink transmissions to and from another ED 110. Processing operations related to preparing transmissions for uplink transmissions may include operations such as encoding, modulation, transmit beamforming, and generating symbols for transmission. Processing operations related to processing downlink transmissions may include operations such as receive beamforming, demodulation, and decoding received symbols. According to an embodiment, the downlink transmission may be received by receiver 203, possibly using receive beamforming, and processor 210 may extract signaling from the downlink transmission (e.g., by detecting and / or decoding the signaling). An example of signaling may be a reference signal sent by NT-TRP 172 and / or by T-TRP 170. In some embodiments, the processor 210 implements transmit beamforming and / or receive beamforming according to an indication of a beam direction, such as beam angle information (BAI), received from the T-TRP 170. In some embodiments, the processor 210 may perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as operations related to detecting a synchronization sequence, decoding, and obtaining system information. In some embodiments, for example, the processor 210 may perform channel estimation using a reference signal received from the NT-TRP 172 and / or the T-TRP 170.

[0042] Although not shown, the processor 210 may form a part of the transmitter 201 and / or a part of the receiver 203. Although not shown, the memory 208 may form a part of the processor 210.

[0043] The processor 210, the processing components of the transmitter 201, and the processing components of the receiver 203 may each be implemented by the same or different one or more processors that are used to execute instructions stored in a memory (e.g., memory 208). Alternatively, some or all of the processor 210, the processing components of the transmitter 201, and the processing components of the receiver 203 may be implemented using dedicated circuits, such as a programmed field-programmable gate array (FPGA), a graphical processing unit (GPU), or an application-specific integrated circuit (ASIC).

[0044] The T-TRP 170 may be known by other names in some implementations, such as base station, base transceiver station (BTS), wireless base station, network node, network device, network side device, transmit / receive node, NodeB, evolved NodeB (eNodeB or eNB), home eNodeB, next generation NodeB (gNB), transmission point (TP), site controller, access point (AP), wireless router, relay station, remote radio head, ground node, ground network device, ground base station, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), centralized unit (CU), distributed unit (DU), positioning node, etc. The T-TRP 170 may be a macro base station, a micro base station, a relay node, a host node, etc., or a combination thereof. T-TRP 170 may refer to the above-mentioned device or a means in the above-mentioned device (eg, a communication module, a modem, or a chip).

[0045] In some embodiments, various parts of T-TRP 170 may be distributed. For example, some modules of T-TRP 170 may be located away from the device that houses antenna 256 of T-TRP 170, and may be coupled to the device that houses antenna 256 through a communication link (not shown) sometimes referred to as a fronthaul, such as a common public radio interface (CPRI). Therefore, in some embodiments, the term T-TRP 170 may also refer to modules on the network side that perform processing operations such as ED110 location determination, resource allocation (scheduling), message generation, and encoding / decoding, which are not necessarily part of the device that houses antenna 256 of T-TRP 170. These modules may also be coupled to other T-TRPs. In some embodiments, T-TRP 170 may actually be multiple T-TRPs that operate together to serve ED 110 by using coordinated multi-point transmission or the like.

[0046] like Figure 3As shown, the T-TRP 170 includes at least one transmitter 252 and at least one receiver 254 coupled to one or more antennas 256. Only one antenna 256 is shown. Alternatively, one, some or all of the antennas 256 may be panels. The transmitter 252 and the receiver 254 may be integrated into a transceiver. The T-TRP 170 also includes a processor 260 for performing operations, including operations related to: preparing transmissions for downlink transmissions to the ED 110; processing uplink transmissions received from the ED 110; preparing transmissions for backhaul transmissions to the NT-TRP 172; processing transmissions received from the NT-TRP 172 via the backhaul. Processing operations related to preparing transmissions for downlink transmissions or backhaul transmissions may include operations such as coding, modulation, precoding (e.g., multiple input multiple output (MIMO) precoding), transmit beamforming, and generating symbols for transmission. Processing operations related to processing received transmissions in the uplink or backhaul may include operations such as receive beamforming, demodulating received symbols, and decoding received symbols. Processor 260 may also perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as generating the content of a synchronization signal block (SSB), generating system information, etc. In some embodiments, processor 260 also generates an indication of a beam direction, such as a BAI, which may be scheduled for transmission by scheduler 253. Processor 260 performs other network-side processing operations such as ED 110 location determination and NT-TRP 172 deployment location determination described herein. In some embodiments, processor 260 may generate signaling, such as configuring one or more parameters of ED 110 and / or one or more parameters of NT-TRP 172. Any signaling generated by processor 260 is sent by transmitter 252. It should be noted that "signaling" used herein may also be referred to as control signaling. Dynamic signaling can be sent in a control channel such as a physical downlink control channel (PDCCH), and static or semi-static high-layer signaling can be included in a packet sent in a data channel such as a physical downlink shared channel (PDSCH).

[0047] The scheduler 253 may be coupled to the processor 260. The scheduler 253 may be included in the T-TRP 170 or may operate separately from the T-TRP 170. The scheduler 253 may schedule uplink transmissions, downlink transmissions, and / or backhaul transmissions, including issuing scheduling grants and / or configuring scheduling-free ("configuration grants") resources. The T-TRP 170 also includes a memory 258 for storing information and data. The memory 258 stores instructions and data used, generated, or collected by the T-TRP 170. For example, the memory 258 may store software instructions or modules for implementing some or all of the functionality and / or embodiments described herein and executed by the processor 260.

[0048] Although not shown, the processor 260 may form a part of the transmitter 252 and / or a part of the receiver 254. In addition, although not shown, the processor 260 may implement the scheduler 253. Although not shown, the memory 258 may form a part of the processor 260.

[0049] The processor 260, the scheduler 253, the processing components of the transmitter 252, and the processing components of the receiver 254 may each be implemented by the same or different processors in one or more processors, which are used to execute instructions stored in a memory (e.g., the memory 258). Alternatively, some or all of the processor 260, the scheduler 253, the processing components of the transmitter 252, and the processing components of the receiver 254 may be implemented using a dedicated circuit such as an FPGA, a GPU, or an ASIC.

[0050] It should be noted that the NT-TRP 172 is shown as a drone only as an example, but the NT-TRP 172 can be implemented in any suitable non-ground form. In addition, in some implementations, the NT-TRP 172 can be known by other names, such as a non-ground node, a non-ground network device, or a non-ground base station. The NT-TRP 172 includes a transmitter 272 and a receiver 274 coupled to one or more antennas 280. Only one antenna 280 is shown. One, part, or all of the antennas can also be panels. The transmitter 272 and the receiver 274 can be integrated into a transceiver. The NT-TRP 172 also includes a processor 276 for performing operations, including operations related to: preparing transmissions for downlink transmissions to the ED 110; processing uplink transmissions received from the ED 110; preparing transmissions for backhaul transmissions to the T-TRP 170; processing transmissions received from the T-TRP 170 via the backhaul. Processing operations related to preparing transmissions for downlink transmission or backhaul transmission may include operations such as encoding, modulation, precoding (e.g., MIMO precoding), transmit beamforming, and generating symbols for transmission. Processing operations related to processing received transmissions in the uplink or backhaul may include operations such as receive beamforming, demodulating received signals, and decoding received symbols. In some embodiments, the processor 276 implements transmit beamforming and / or receive beamforming based on beam direction information (e.g., BAI) received from the T-TRP 170. In some embodiments, the processor 276 may generate signaling, such as configuring one or more parameters of the ED110. In some embodiments, the NT-TRP 172 implements physical layer processing, but does not implement high-level functions such as functions of the medium access control (MAC) or radio link control (RLC) layer. Since this is just an example, more generally, the NT-TRP 172 may implement high-level functions in addition to physical layer processing.

[0051] The NT-TRP 172 also includes a memory 278 for storing information and data. Although not shown, the processor 276 may form a part of the transmitter 272 and / or a part of the receiver 274. Although not shown, the memory 278 may form a part of the processor 276.

[0052] The processor 276, the processing components of the transmitter 272, and the processing components of the receiver 274 can each be implemented by the same or different one or more processors, which are used to execute instructions stored in a memory (e.g., memory 278). Alternatively, some or all of the processor 276, the processing components of the transmitter 272, and the processing components of the receiver 274 can be implemented using a programmed FPGA, GPU, or ASIC or other dedicated circuit. In some embodiments, the NT-TRP 172 can actually be a plurality of NT-TRPs that operate together to serve the ED 110 through cooperative multi-point transmission or the like.

[0053] The T-TRP 170, NT-TRP 172, and / or ED 110 may include other components, but these components have been omitted for clarity.

[0054] One or more steps of the exemplary methods provided herein may be performed according to Figure 4 The corresponding unit or module is executed. Figure 4 Units or modules in devices such as ED 110, T-TRP 170, or NT-TRP 172 are shown. For example, a signal can be sent by a sending unit or a sending module. The signal can be received by a receiving unit or a receiving module. The signal can be processed by a processing unit or a processing module. Other steps can be performed by an artificial intelligence (AI) module or a machine learning (ML) module. The corresponding units or modules can be implemented using hardware, one or more components or devices that execute software, or a combination thereof. For example, one or more of these units or modules can be integrated circuits, such as FPGAs, GPUs, ASICs. It should be understood that if these modules are implemented by (for example) a processor using software for execution, these modules can be retrieved by the processor in whole or in part as needed, retrieved individually or collectively for processing, retrieved in one or more instances, and these modules themselves may include instructions for further deployment and instantiation.

[0055] Other details about ED 110, T-TRP 170 and NT-TRP 172 are known to those skilled in the art. Therefore, these details are omitted here.

[0056] UE location information can be used in a cellular communication network to improve various performance indicators of the network. For example, these performance indicators can include capacity, agility, and efficiency. Improvements can be achieved when elements of the network utilize the location, behavior, mobility patterns, etc. of the UE in the context of a priori information that describes the wireless environment in which the UE is operating.

[0057] Sensing systems can be used to help collect UE pose information, which includes the position of the UE in the global coordinate system, the speed and direction of movement of the UE in the global coordinate system, azimuth information, and information about the wireless environment. "Location" is also called "position", and these two terms can be used interchangeably in this article. Examples of well-known sensing systems include radio detection and ranging (RADAR) and light detection and ranging (LIDAR). Although sensing systems are usually separated from communication systems, using an integrated system to collect information helps reduce the hardware (and cost) in the system and the time resources, frequency resources, or space resources required to perform these two functions. However, using communication system hardware to perform sensing of UE pose and environmental information is a very challenging problem. The difficulty of this problem is related to factors such as the limited resolution of the communication system, the dynamics of the environment, and the large number of objects whose electromagnetic properties and positions need to be estimated.

[0058] Therefore, integrated sensing and communication (also called integrated communication and sensing) is a desirable function in existing and future communication systems.

[0059] Any or all of ED 110 and BS 170 may be sensing nodes in system 100. A sensing node is a network entity that performs sensing by sending and receiving sensing signals. Some sensing nodes are communication devices that perform both communication and sensing. However, it is possible that some sensing nodes do not perform communication but are dedicated to sensing. Sensing agent 174 is an example of a sensing node dedicated to sensing. Unlike ED 110 and BS 170, sensing agent 174 does not send or receive communication signals. However, sensing agent 174 may transmit configuration information, sensing information, signaling information, or other information within communication system 100. In some cases, multiple sensing agents 174 may be implemented, which may communicate with each other to jointly perform sensing tasks. Sensing agent 174 may communicate with core network 130 to transmit information with the rest of communication system 100. As an example, sensing agent 174 may determine the location of ED 110a and send the information to base station 170a via core network 130. Although in Figure 2 Only one sensing agent 174 is shown in FIG. 1 , but any number of sensing agents may be implemented in the communication system 100. In some embodiments, one or more sensing agents may be implemented at one or more RANs 120.

[0060] The sensing node can combine sensing-based technology and reference signal-based technology to enhance UE posture determination. Such sensing nodes may also be referred to as nodes that implement a sensing management function (SMF). In some networks, SMF may also be referred to as a node that implements a location management function (LMF). SMF may be implemented as a physically independent entity located at a core network 130 that is connected to a plurality of BSs 170. In other aspects of the present application, SMF may be implemented as a logical entity co-located within BS 170 through logic executed by processor 260.

[0061] like Figure 5 As shown, when SMF 176 is implemented as a physically independent entity, it includes at least one processor 290, at least one transmitter 282, at least one receiver 284, one or more antennas 286 and at least one memory 288. A transceiver (not shown) can be used instead of transmitter 282 and receiver 284. Scheduler 283 can be coupled to processor 290. Scheduler 283 can be included in SMF 176 or can be operated separately from the SMF. Processor 290 implements various processing operations of SMF 176, such as signal encoding, data processing, power control, input / output processing or any other function. Processor 290 can also be used to implement some or all of the functions and / or embodiments described in more detail above. Each processor 290 includes any suitable processing or computing device for performing one or more operations. For example, each processor 290 may include a microprocessor, a microcontroller, a digital signal processor, a field programmable gate array or an application-specific integrated circuit.

[0062] Reference signal-based pose determination techniques belong to the "active" pose estimation paradigm. In the active pose estimation paradigm, the inquirer of pose information (e.g., UE 110) participates in the process of determining the inquirer's pose. The inquirer can send or receive and process (or both send and receive / process) signals specific to the pose determination process. Positioning techniques based on global navigation satellite systems (GNSS) such as the known global positioning system (GPS) are other examples of the active pose estimation paradigm. Various positioning techniques are also known in NR systems and LTE systems.

[0063] In contrast, sensing techniques such as radar-based ones can be considered to belong to the “passive” pose determination paradigm, in which the target is insensitive to the pose determination process.

[0064] By integrating sensing and communication in one system, the system does not need to operate according to only one paradigm. Therefore, the combination of sensing-based techniques and reference signal-based techniques can produce enhanced pose determination.

[0065] For example, enhanced pose determination can include obtaining UE channel subspace information, which is particularly useful for UE channel reconstruction at the sensing node, especially for beam-based operation and communication. The UE channel subspace is a subset of the entire algebraic space defined in the spatial domain, in which the entire channel from TP to UE is located. Therefore, the UE channel subspace defines the TP to UE channel with very high accuracy. The impact of signals sent through other subspaces on the UE channel is negligible. Understanding the UE channel subspace helps reduce the workload required for UE channel measurement and network-side channel reconstruction. Therefore, compared with traditional methods, the combination of sensing-based techniques and reference signal-based techniques can achieve UE channel reconstruction with much less overhead. Subspace information can also facilitate subspace-based sensing to reduce sensing complexity and improve sensing accuracy.

[0066] In some embodiments of integrated sensing and communication, the same radio access technology (RAT) is used for sensing and communication, which avoids the need to reuse two different RATs on one carrier spectrum, and also avoids the need for two different carrier spectrums for two different RATs.

[0067] In an embodiment of integrating sensing and communication under one RAT, the first set of channels may be used to send sensing signals and the second set of channels may be used to send communication signals. In some embodiments, each channel in the first set of channels and each channel in the second set of channels is a logical channel, a transport channel or a physical channel.

[0068] At the physical layer, communication and sensing can be performed via separate physical channels. For example, a first physical downlink shared channel PDSCH-C is defined for data communication, while a second physical downlink shared channel PDSCH-S is defined for sensing. Similarly, separate physical uplink shared channels (PUSCH) PUSCH-C and PUSCH-S can be defined for uplink communication and sensing.

[0069] In another example, the same PDSCH and PUSCH can also be used for both communication and sensing, where separate logical layer channels and / or transport layer channels are defined for communication and sensing. It should also be noted that the control channel and the data channel used for sensing can have the same or different channel structures (formats) and occupy the same or different frequency bands or bandwidth portions.

[0070] In another example, a common physical downlink control channel (PDCCH) and a common physical uplink control channel (PUCCH) can be used to carry control information for sensing and communication. Alternatively, separate physical layer control channels can be used to carry separate control information for communication and sensing. For example, PUCCH-S and PUCCH-C can be used for uplink control of sensing and communication, respectively, and PDCCH-S and PDCCH-C can be used for downlink control of sensing and communication, respectively.

[0071] At each of the physical, transport, and logical layers, different combinations of shared and dedicated channels may be used for sensing and communication.

[0072] The term RADAR originates from the phrase radio detection and ranging; however, expressions with different capitalizations (e.g., radar and radar) are equally valid and are now more common. Radar is commonly used to detect the presence and location of objects. A radar system radiates radio frequency energy and receives echoes of energy reflected from one or more targets. The system determines the pose of a given target based on the echoes returned from the given target. The radiated energy can be in the form of energy pulses or continuous waves, which can be represented or defined by a specific waveform. Examples of waveforms used in radar include frequency modulated continuous wave (FMCW) and ultra-wideband (UWB) waveforms.

[0073] Radar systems can be monostatic, bistatic, or multistatic. In a monostatic radar system, the radar signal transmitter and receiver are co-located, such as integrated into the transceiver. In a bistatic radar system, the transmitter and receiver are spatially separated by a distance equal to or greater than the expected target distance (often referred to as range). In a multistatic radar system, two or more radar components are spatially distinct but have a shared coverage area. Multistatic radars are also called multistation or mesh radars.

[0074] Ground-based radar applications face challenges such as multipath propagation and shadowing. Another challenge is the issue of identifiability, as ground targets have similar physical properties. Integrating sensing into communications systems is likely to face these same challenges, if not more.

[0075] Communication nodes can be half-duplex or full-duplex. Half-duplex nodes cannot use the same physical resources (time, frequency, etc.) for both transmission and reception; in contrast, full-duplex nodes can use the same physical resources for transmission and reception. Existing commercial wireless communication networks are all half-duplex. Even if full-duplex communication networks become practical in the future, it is expected that at least some of the nodes in the network will still be half-duplex nodes because half-duplex devices have lower complexity, lower cost, and lower power consumption. Specifically, full-duplex implementations are more challenging at higher frequencies (for example, in the millimeter wave band), which is very challenging for small, low-cost devices such as femtocell base stations and UEs.

[0076] The limitations of half-duplex nodes in communication networks create further challenges for integrating sensing and communication into devices and systems in communication networks. For example, both half-duplex and full-duplex nodes can perform bistatic or multistatic sensing, but monostatic sensing generally requires the sensing node to have full-duplex capability. Half-duplex nodes can perform monostatic sensing under certain restrictions, such as in pulsed radars with specific duty cycles and ranging capabilities.

[0077] The characteristics of the sensing signal or the signal used for sensing and communication at the same time include the waveform of the signal and the frame structure of the signal. The frame structure defines the time domain boundaries of the signal. The waveform describes the shape of the signal as a function of time and frequency. Examples of waveforms that can be used for sensing signals include ultra-wideband (UWB) pulses, frequency-modulated continuous waves (FMCW) or "chirps", orthogonal frequency-division multiplexing (OFDM), cyclic prefix (CP)-OFDM and discrete Fourier transform spread (DFT-s)-OFDM.

[0078] In one embodiment, the sensing signal is a linear chirp signal with a bandwidth of B and a duration of T. Such a linear chirp signal is well known for use in FMCW radar systems. The linear chirp signal is composed of a frequency that changes from an initial time t to a 啁啾0 The initial frequency f 啁啾0 To the final time t 啁啾1 The final frequency f 啁啾1 The relationship between frequency (f) and time (t) can be expressed as ff 啁啾0 =α(tt 啁啾0 ), where Defined as the chirp slope. The bandwidth of a linear chirp signal can be defined as B = f啁啾1 -f 啁啾0 , the duration of the linear chirp signal can be defined as T = t 啁啾1 -t 啁啾0 In baseband representation, this linear chirp signal can be expressed as

[0079] As used herein, precoding may refer to any coding operation or modulation that transforms an input signal into an output signal. Precoding may be performed in different domains, typically transforming an input signal in a first domain into an output signal in a second domain. Precoding may include linear operations.

[0080] Terrestrial communication systems may also be referred to as land-based or ground-based communication systems, but terrestrial communication systems may also or alternatively be implemented on the surface or in the water. Non-terrestrial communication systems can bridge the coverage gap in underserved areas by expanding the coverage of cellular networks using non-terrestrial nodes, which will be key to establishing seamless global coverage and providing mobile broadband services to unserved / underserved areas. In the current scenario, it is difficult to implement terrestrial access point / base station infrastructure in oceans, mountains, forests or other remote areas.

[0081] The terrestrial communication system may be a wireless communication system using 5G technology and / or next generation wireless technology (e.g., 6G or higher). In some examples, the terrestrial communication system may also adapt to some traditional wireless technologies (e.g., 3G or 4G wireless technologies). A non-terrestrial communication system may be a communication system using a satellite constellation, such as a traditional geostationary orbit (GEO) satellite that broadcasts public / popular content to a local server. A non-terrestrial communication system may be a communication system using a low earth orbit (LEO) satellite, which is known to establish a better balance between a large coverage area and propagation path loss / delay. A non-terrestrial communication system may be a communication system using very low earth orbit (VLEO) stable satellite technology, thereby significantly reducing the cost of launching satellites into lower orbits. A non-terrestrial communication system may be a communication system using a high altitude platform (HAP), which is known to provide a low path loss air interface for users with limited power budgets. Non-terrestrial communication systems can be communication systems that use unmanned aerial vehicles (UAVs) (or unmanned aerial systems (UASs)) to achieve dense deployment, because their coverage can be limited to a local area, such as airborne, balloons, quadcopters, drones, etc. In some examples, GEO satellites, LEO satellites, UAVs, HAPs, and VLEOs can be horizontal and two-dimensional. In some examples, UAVs, HAPs, and VLEOs can be coupled to integrate satellite communications into cellular networks. The emerging 3D vertical network consists of many mobile (except geostationary satellites) and high-altitude access points, such as UAVs, HAPs, and VLEOs.

[0082] MIMO technology enables an antenna array consisting of multiple antennas to send and receive signals, thereby meeting the requirements of high transmission rates. ED 110 and T-TRP 170 and / or NT-TRP can use MIMO to communicate through wireless resource blocks. MIMO uses multiple antennas at the transmitter to send wireless resource blocks through parallel wireless signals. It can be seen that multiple antennas can be used on the receiver side. MIMO can beamform parallel wireless signals to achieve reliable multipath transmission of wireless resource blocks. MIMO can bind parallel wireless signals that transmit different data to increase the data rate of wireless resource blocks.

[0083] In recent years, a MIMO (massive MIMO) wireless communication system having a T-TRP 170 and / or NT-TRP 172 configured with a large number of antennas has received widespread attention from academia and industry. In a massive MIMO system, a T-TRP 170 and / or NT-TRP 172 is typically configured with more than 10 antenna elements (see Figure 3 The T-TRP 170 and / or NT-TRP 172 can typically serve dozens (e.g., 40) EDs 110. The large number of antenna units of the T-TRP 170 and NT-TRP 172 can greatly improve the spatial freedom of wireless communication, greatly improve the transmission rate, spectrum efficiency, and power efficiency, and greatly reduce interference between cells. The increase in the number of antennas enables each antenna unit to be made in a smaller size and at a lower cost. Utilizing the spatial freedom provided by the large-scale antenna units, the T-TRP 170 and NT-TRP 172 of each cell can communicate with multiple EDs 110 in the cell simultaneously on the same time-frequency resources, thereby greatly improving the spectrum efficiency. The large number of antenna units of the T-TRP 170 and / or NT-TRP 172 also enables each user to have better spatial directivity for uplink and downlink transmissions, so that the transmission power of the T-TRP 170 and / or NT-TRP 172 and ED 110 is reduced, and the power efficiency is correspondingly improved. When the number of antennas of T-TRP 170 and / or NT-TRP 172 is large enough, the random channels between each ED 110 and T-TRP 170 and / or NT-TRP 172 can be nearly orthogonal, thereby reducing the impact of interference and noise between cells and users. The above advantages make massive MIMO have broad application prospects.

[0084] A MIMO system may include a receiver connected to a receive (Rx) antenna, a transmitter connected to a transmit (Tx) antenna, and a signal processor connected to the transmitter and the receiver. Each Rx antenna and Tx antenna may include multiple antennas. For example, the Rx antenna may have a uniform linear array (ULA) antenna, in which multiple antennas are arranged in rows at even intervals. When a radio frequency (RF) signal is transmitted through the Tx antenna, the Rx antenna may receive a signal reflected and returned from a forward target.

[0085] A non-exhaustive list of possible elements or possible configurable parameters or some embodiments of a MIMO system includes: panels and beams.

[0086] A beam can be formed by performing amplitude and / or phase weighting on the data sent or received by at least one antenna port. The beam can be constructed in the analog (RF) domain by a phase shifter, in the digital domain (baseband) by precoding, or in an analog / digital hybrid domain. Beams can be formed by other methods (for example, adjusting relevant parameters of the antenna unit). Beams may include Tx beams and / or Rx beams. The transmit beam represents the distribution of signal strength formed in different directions in space after the signal is sent through the antenna. The receive beam represents the signal strength distribution of wireless signals received from the antenna in different directions in space. Beam information may include a beam identifier, an antenna port identifier, a channel state information reference signal (CSI-RS) resource identifier, an SSB resource identifier, an SRS resource identifier, or another reference signal resource identifier.

[0087] There are two possible traditional solutions to reduce NLOS bias when using current positioning technologies such as NR E-CID, DL-TODA, and UL-AOA. The first traditional solution is to increase the number of deployed reference points. The second traditional solution is to reduce the distance between the existing reference points and the UE by adopting reference points closer to the UE. However, deploying more reference points may be costly, and due to factors such as the dynamic environment and the mobility of the UE, it is not guaranteed to effectively limit the distance between the reference points and the UE.

[0088] Various aspects of the present application relate to a positioning process that can be implemented in the presence of current positioning technology, which can be used to mitigate the NLOS bias problem. It is proposed to use a side link between UEs to initiate collaboration between UEs, so that certain selected UEs can serve as reference points or relays for other UEs. In addition, triggering collaboration between UEs by forming UE clusters can help reduce the signaling overhead associated with collaboration. The positioning process proposed in this article can dynamically reduce the distance between many reference points and a given UE, thereby increasing the probability that a given UE has one reference point or more than one reference point under line of sight conditions, thereby mitigating NLOS bias.

[0089] Various aspects of the present application can solve problems associated with current NR positioning technology. Such problems include too little reliance on anchor UEs (nodes that send positioning reference signals) in static positions and high sensitivity to large NLOS deviations (large position offsets). Various aspects of the present application relate to methods for providing high-resolution position estimates and methods for agile position tracking. These methods have multiple levels of accuracy. The accuracy levels can be arranged in layers. The accuracy levels can be expressed as mean squared error (MSE) of position estimation.

[0090] By implementing a solution that can be applied to multiple accuracy levels, it is possible to achieve a position accuracy that is appropriate for a specific application or use case. The accuracy level can also be used dynamically to adapt to dynamic environments.

[0091] In addition, various aspects of the present application can extend the positioning range of a given network to reach blocked or obstructed UEs, thereby enhancing network coverage in terms of positioning services.

[0092] According to various aspects of the present application, UEs can be dynamically grouped. Grouping can be performed based on a dynamically updated position estimation MSE map maintained at a T-TRP. In addition, grouping can be implemented in a hierarchical and collaborative manner so that some UEs in a high level act as anchor UEs for other UEs in a low level. When used in the context of a hierarchy, the terms "high" and "low" can be defined differently, so in some aspects of the present application, some UEs in a low level can act as anchor UEs for other UEs in a high level. In addition, UEs can be understood as self-organizing into UE clusters. A UE cluster can be represented by a single representative UE to reduce the signaling overhead between UEs in a given UE cluster and various anchor UEs and / or T-TRPs. In addition, collaboration between UEs in the same cluster can be performed based on sensing relative position estimates and position estimation MSEs associated with relative position estimates and shared between UEs. The positioning process implemented according to various aspects of the present application can be initiated by a UE (referred to as a bottom-up positioning process) or by a T-TRP (referred to as a top-down positioning process). More comprehensively, it can be considered that each positioning process includes a UE cluster formation step and a hierarchical positioning step. The top-down positioning process includes network-centric UE cluster formation and network-centric hierarchical positioning. In contrast, the bottom-up positioning process includes user-centric UE cluster formation and user-centric hierarchical positioning. Between the top-down positioning process and the bottom-up positioning process, there are two other positioning processes that can be formed by mixing network-centric steps and user-centric steps.

[0093] Various aspects of the present application relate to hierarchical collaborative positioning based on location estimation MSE. Various aspects include dynamic positioning process and signaling mechanism. According to the multi-stage positioning process, the corresponding position of UE in the network can be accurately obtained and maintained.

[0094] In the top-down version of the multi-stage positioning process, the role of the first stage is to obtain the coarse location information of the UEs in the service area and build the so-called location estimation MSE map. The role of the subsequent stages is to use the location estimation MSE map to dynamically identify the anchor UE, target UE and UE clusters. The subsequent stages also involve using the location estimation MSE map to initialize the collaborative positioning process.

[0095] In the bottom-up version of the multi-stage positioning process, the first stage is to self-acquire rough relative / position information estimates of the UEs in the cluster to build the so-called relative position estimation MSE map. The role of the subsequent stages is to use the relative position estimation MSE map to identify the anchor UE, target UE and UE cluster. The subsequent stages also involve using the relative position estimation MSE map to initialize the collaborative positioning process.

[0096] In the multi-stage positioning process, the role of the stages after the first stage is to improve the accuracy and reliability of the corresponding position estimates of the UEs by implementing collaboration. Collaboration can be implemented between UEs within the same cluster, thereby sensing the environment and surrounding UEs, and sharing their relative position estimates and the position estimate MSE associated with their relative position estimates with nearby UEs. This type of collaboration can be called intra-cluster collaboration. Collaboration can be implemented between UEs from different clusters, where a UE from a first cluster can act as an anchor UE for a target UE from a second cluster. This type of collaboration can be called inter-cluster collaboration.

[0097] A hierarchical positioning approach considered herein is based on the cooperation between UEs forming a cluster when the T-TRP 170 orchestrates the process.

[0098] Another hierarchical positioning approach considered in this article is based on the cooperation between UEs when some UEs work as representative UEs of other UEs when T-TRP 170 orchestrates the process.

[0099] For isolated clusters / UEs, i.e., for those clusters / UEs that do not have a direct LOS link to the T-TRP 170, a collaborative positioning method can be initiated by the blocked and out-of-range target UE 110 and supervised by the T-TRP 170. The collaborative positioning method can be based on the use of intermediate UEs / clusters as relays between the T-TRP 170 and the blocked and out-of-range target UE 110. The hierarchy of these collaborative methods can be based on continuously reducing the position estimate MSE until an accuracy threshold associated with different applications or use cases is reached. In addition, by arranging the T-TRP 170 to dynamically select the anchor UE 110 with the most accurate position information (i.e., the minimum position estimate MSE), the accuracy and reliability of the UE position estimate (i.e., the achievable position estimate MSE) can be sequentially enhanced by reducing the area of ​​the anchor UE 110 around the target UE 110. This reduction and selection can directly enhance the possibility of LOS, thereby improving positioning accuracy. The signaling mechanism for different hierarchical cooperative positioning methods can keep the position estimate MSE map fresh and updated, with each UE 110 keeping updating the T-TRP 170 with the updated position estimate and the position estimate MSE associated with the updated position estimate. The T-TRP 170 can also be enabled to update the target UE 110 with the position of the reliable anchor UE 110.

[0100] Figure 6 Exemplary steps in a method of constructing a location estimate MSE map performed by the T-TRP 170 are shown. According to various aspects of the present application, the T-TRP 170 can receive (step 602) feedback from the UE 110. The feedback enables each UE 110 of the plurality of UEs 110 to report location information and a location estimate MSE associated with the location information. The location information can be estimated location information or so-called coarse location information. The T-TRP 170 can then construct (step 604) a location estimate MSE map based on the feedback. Initially, it is expected that the location information received (step 602) from a given UE 110 is associated with a relatively high location estimate MSE.

[0101] Figure 7 Exemplary steps are shown in a method of preparing feedback for T-TRP 170. These steps are presented as being performed by a single UE 110, but should be understood to be representative of steps performed by each UE 110 of a plurality of UEs 110.

[0102] UE 110 may use known GPS-based location estimation techniques and / or known NR positioning location estimation techniques to obtain (step 702) location information. Alternatively or in addition, UE 110 may use sensing techniques that rely on radar, lidar, digital cameras, etc. to obtain (step 702) location information.

[0103] After having acquired (step 702) the location information, UE 110 may acquire (step 704) an MSE estimate associated with the location information. It is contemplated that UE 110 may acquire (step 704) the MSE estimate according to one of a number of methods. In one method, UE 110 may acquire (step 704) the MSE estimate based on the variance of the location information acquired from different sources. In another method, UE 110 may acquire (step 704) the MSE estimate based on the use of some predefined MSE lookup table. An exemplary lookup table may be indexed by the signal-to-noise ratio (SNR) of the received signal. The MSE of any non-random parameter estimate has a lower bound, referred to as the Cramér-Rao lower bound (CRLB). Accordingly, another exemplary lookup table may be indexed by the CRLB.

[0104] As part of obtaining (step 704) the MSE estimate, the UE 110 may also obtain an indication of the reliability of the MSE estimate based on sensing performed by the UE 110 and / or environmental sensing performed by one or more network entities different from the UE 110. For sensing performed by the UE 110, an internal camera, radar device, and / or lidar device may provide some information about LOS availability and nearby primary reflectors. Based on this information, the UE 110 may obtain an indication of the reliability of the MSE estimate. Based on environmental sensing performed by one or more network entities different from the UE 110, the UE 110 may receive an RF map. Based on the RF map, the UE 110 may obtain information about LOS availability and nearby primary reflectors. Based on the information about LOS availability and nearby primary reflectors, the UE 110 may obtain an indication of the reliability of a given MSE estimate.

[0105] UE 110 may then send (step 708) feedback to T-TRP 170. The feedback may include the position estimate (obtained in step 702), the associated MSE estimate (obtained in step 704), and an indication of the reliability of the MSE estimate (obtained in step 704).

[0106] exist Figure 8 It is shown in Figure 6 An exemplary position estimation MSE graph 800 constructed by the method shown. The exemplary position estimation MSE graph 800 includes a plurality of ovals. Rather than representing a specific position of a specific UE 110, the ovals represent position estimation MSE estimates specified in feedback received from the specific UE 110, wherein the position estimation MSE estimates are centered on the position estimate specified in the feedback received from the specific UE 110.

[0107] The exemplary position estimation MSE diagram 800 includes various multiple ovals with connecting lines. These multiples can be understood as clusters of UEs 110. One cluster is associated with reference numeral 802. Each cluster of UEs 110 can be understood as including cluster representative UEs 110. One cluster representative UE 110 is associated with reference numeral 804. In addition to the ovals, the exemplary position estimation MSE diagram 800 also includes rectangles. Some rectangles represent T-TRPs 170. Other rectangles represent fixed anchor UEs. One fixed anchor UE is associated with reference numeral 806.

[0108] exist Figure 8 , an exemplary location estimation MSE graph 800 is associated with a legend 810. When constructing (step 604) a location estimation MSE graph such as the exemplary location estimation MSE graph 800, the T-TRP 170 may classify each UE 110 into a tier using the location estimation MSE associated with the location information. Legend 810 indicates that several small ovals have been classified as tier 1. Additionally, fixed network nodes associated with relatively low location estimation MSE are located in tier 1. Legend 810 indicates that several medium-sized ovals have been classified as tier 2. Legend 810 also indicates that several large-sized ovals (each large-sized ellipse represents a relatively high location estimation MSE) have been classified as the highest tier, in Figure 8 In some embodiments, the position estimation MSE diagram 800 may include multiple levels, wherein each level includes a level corresponding to the nth level MSE lower limit threshold l n and the upper limit threshold u of the MSE at the nth level n The position estimate MSE between the associated UEs. In mathematical form, T n The nth level can be written as T n ={UE i|l n ≤MSE(i)≤u n}.

[0109] When constructing (step 604) a location estimation MSE graph such as the exemplary location estimation MSE graph 800, the T-TRP 170 may set different MSE thresholds between the levels. The thresholds may be set to represent different accuracy levels associated with various use cases and applications. A given UE 110 may be located in a certain level based on the location estimation MSE associated with its location information. It may be considered that the goal of various aspects of the present application is to ultimately classify a given UE 110 as a high level. That is, it may be considered that the goal of various aspects of the present application is to reduce the location estimation MSE associated with the location information of a given UE 110, and in fact reduce the location estimation MSE associated with the location information of all UEs 110 referenced in the exemplary location estimation MSE graph 800. The location estimation MSE graph constructed and maintained by a given T-TRP 170 may be understood to change dynamically over time due to several factors. These factors include the movement of the UE 110 and the continuous iteration of the collaborative algorithm proposed herein as various aspects of the present application. The T-TRP 170 then continuously monitors and maintains (step 606) a database of location information and associated location estimates MSE for a plurality of UEs 110. That is, the database includes an entry for each UE 110 from which the T-TRP 170 has received feedback.

[0110] Various aspects of the present application are directed to enabling UEs 110 that are close to each other to cooperate to form a cluster (see Figure 8 802 in the cluster). UE 110 may employ UE sensing when forming a cluster. UE sensing may be considered helpful in obtaining accurate relative position information, and accurate relative position information may be considered helpful in performing collaborative cluster formation. Each cluster may be represented by a cluster representative (see Figure 8 The cluster in represents 804).

[0111] The subset of UEs 110 may collaborate to form a cluster based on proximity of location information associated with each UE 110 in the subset of UEs 110, relative speed associated with each UE 110 in the subset of UEs 110, and movement direction associated with each UE 110 in the subset of UEs 110.

[0112] The task of forming a cluster may be initiated by T-TRP 170 or by UE 110. When the formation of a cluster is initiated by T-TRP 170, the formation of the cluster may be referred to as a "network-centric" method of forming a cluster. When the formation of a cluster is initiated by UE 110, the formation of a cluster may be referred to as a "user-centric" method of forming a cluster. The task of performing hierarchical positioning may also be initiated by T-TRP 170 or by UE 110. That is, in a manner similar to forming a cluster, performing hierarchical positioning may be accomplished using a network-centric method or a user-centric method.

[0113] Fig. 9 A signal flow diagram of a network-centric method of forming clusters is shown. Initially, using the location estimate MSE graph, the T-TRP 170 may select (step 902) one or more UEs 110 as cluster representative UEs 110-R. The selection may be based on the proximity of the location information of the selected UE 110-R relative to the location information of other UEs 110 in the cluster, the location estimate MSE associated with the location information of the selected UE 110, and the proximity of the location information of the selected UE 110-R relative to the known anchor UE 110-A, which is associated with a relatively small location estimate MSE.

[0114] The T-TRP 170 may send (step 904) configuration instructions to the anchor UE 110-A. For example, the configuration instructions may include PRS parameters and synchronization parameters. For example, the configuration instructions may include location information of the selected UE 110-R.

[0115] The T-TRP 170 may send (step 906) instructions to the cluster representative UE 110-R and the target UE 110-T. The instructions may instruct the target UE 110-T in the cluster to perform local collaboration with other nearby target UEs 110-T including the cluster representative UE 110-R. The instructions may instruct the cluster representative UE 110-R to initiate a local positioning / sensing process to obtain the relative position of the target UE 110-T relative to the cluster representative UE 110-R.

[0116] The T-TRP 170 may send (step 908) to the cluster representative UE 110-R an indication of the location of the local anchor UE 110-A.

[0117] Within the cluster, a given target UE 110-T may obtain (step 910) a relative position information estimate of the closest target UE 110-T and a position estimate MSE associated with the relative position information of the closest target UE 110-T. The closest target UE 110-T is closest to the given target UE 110-T. The relative position information estimate may be obtained (step 910) by sensing. Sensing may include sending a sensing reference signal (SeRS) and processing measurement results of received reflections of the SeRS. For example, sensing may include using a camera, a lidar device, or a radar device. Sensing may include using an SRS / PRS and measurement results by the NR side chain. Each UE 110 may construct a small position estimate MSE graph containing the relative position of each sensed UE 110. Entries in the small position estimate MSE graph may be marked by UE ID, by relative position, or by an angle relative to the sensed UE.

[0118] Sending (step 908) an indication of the location of the local anchor UE 110-A from the T-TRP 170 to the cluster representative UEs 110-R may be viewed as initiating an anchor target UE positioning procedure for those UEs 110-R that the T-TRP 170 has selected as cluster representative UEs. It should be appreciated that each cluster representative UE 110-R may be associated with a plurality of closest target UEs 110-T.

[0119] Based on the configuration information received from the T-TRP 170 (step 904), the anchor UE 110-A may configure (step 912) some beamforming in preparation for sending a PRS or multiple PRSs. The beamforming information may be obtained based on knowledge of the approximate location of the cluster representative UE 110-R or the approximate location of the target UE 110-T. The anchor UE 110-A may then send (step 914) the PRS to the cluster representative UE 110-R.

[0120] After receiving (step 916) the PRS from the anchor UE 110-A, the cluster representative UE 110-R may obtain (step 918) its own absolute position estimate and a position estimate MSE associated with the absolute position estimate. The term "absolute position" may be understood to refer to a position in a global coordinate system. In contrast, the term "relative position" may be understood to refer to a position determined relative to another device.

[0121] After obtaining (step 910) the relative position estimates and position estimate MSEs of other target UEs 110-T in the cluster, the target UE 110-T may optionally send (step 919) feedback to the cluster representative UE 110-R, the feedback including the relative position estimate and the position estimate MSE. After obtaining (step 910) the relative position estimates and position estimate MSEs of other target UEs 110-T in the cluster, the target UE 110-T may optionally send (step 919) feedback to the T-TRP 170, the feedback including the relative position estimate and the position estimate MSE. PUSCH may be used to send (step 919) the feedback.

[0122] In summary, one aspect of the present application relates to a cluster representative UE 110-R acquiring relative position information (including position estimation MSE) of a target UE 110-T in a cluster. Subsequently, the cluster representative UE 110-R can provide the information to the T-TRP 170. In this aspect, the target UE 110-T does not acquire any relative position information, and all relative position information is acquired by the cluster representative UE 110-R. In other aspects of the present application, each target UE 110-T performs a relative position measurement relative to the cluster representative UE 110-R. Then, each target UE 110-T can provide the information directly to the T-TRP 170, or indirectly to the T-TRP 170 via the cluster representative UE 110-R.

[0123] After obtaining (step 918) the absolute position estimate and the position estimate MSE, the cluster representative UE 110-R may send (step 920) the absolute position estimate and the position estimate MSE to the T-TRP 170. The cluster representative UE 110-R may use the relative position estimate and the position estimate MSE sent (step 919) by the target UE 110-T in combination with the absolute position estimate and the position estimate MSE obtained in step 918 to obtain the absolute position estimate and the position estimate MSE for each target UE 110-T. The cluster representative UE 110-R may send (step 920) the absolute position estimate and the position estimate MSE specific to the cluster representative UE 110-R to multiple closest target UEs 110-T. The cluster representative UE 110-R may also send (step 920) the absolute position estimate and the position estimate MSE for each target UE 110-T in the cluster to the T-TRP 170.

[0124] After receiving (step 922) the absolute position estimate and the position estimate MSE specific to the cluster representative UE 110-R from the cluster representative UE 110-R, the target UE 110-T may obtain (step 924) new absolute position information and the position estimate MSE associated with the new absolute position information. The target UE 110-T may obtain (step 924) the new absolute position information by combining the absolute position estimate of the cluster representative UE 110-R received in step 922 with the relative position estimate obtained in step 910. The target UE 110-T may then send (step 926) the new absolute position estimate and the position estimate MSE to the T-TRP 170.

[0125] The target UE 110-T may also send (step 926) the new absolute position estimate and position estimate MSE to multiple downlink target UEs 110 (not shown). The downlink target UEs 110 are those UEs 110 that are closest to the target UE 110-T, but are different from the cluster representative UE 110-R from which the absolute position estimate was received in step 922.

[0126] For a network-centric approach to clustering, see Fig. 9 , the signaling from T-TRP 170 to anchor UE 110-A is mainly configuration instructions. Recalling the above, the configuration instructions may include, for example, PRS parameters and synchronization parameters. For example, the configuration instructions may include the coarse location information of the selected cluster representative UE 110-R.

[0127] The goal of sending (step 904) the configuration instructions is to facilitate beamforming (step 912) toward the cluster representative UE 110-R for sending (step 914) the PRS from the anchor UE 110-A. In addition, the T-TRP 170 may send (step 904) the location of the anchor UE 110-A to the cluster representative UE 110-R as part of the configuration instructions. In addition, the T-TRP 170 may send (step 906) signaling to all UEs 110 in the cluster to instruct (step 906) the target UEs 110-T in the cluster to announce the cluster representative UE 110-R.

[0128] Fig. 9T-TRP 170, anchor UE 110-A, cluster representative UE 110-R, and target UE 110-T are shown. It is worth noting that in some aspects of the present application, only T-TRP 170, anchor UE 110-A, and target UE 110-T may exist. That is, it is conceivable that there may be a situation where cluster representative UE 110-R does not exist. In this case, anchor UE 110-A can directly send PRS to target UE 110-T. In other aspects of the present application, only T-TRP 170, cluster representative UE 110-R, and target UE 110-T may exist. That is, it is conceivable that there may be a situation where anchor UE 110-A does not exist. These two situations are Fig. 9 In both special cases, the signaling and feedback need to be modified accordingly.

[0129] In the user-centric approach to forming clusters, a group of UEs 110 locally collaborate with each other to select one or more cluster representative anchor UEs 110 .

[0130] Fig.10A signal flow diagram of a method for forming a cluster centered on a user is shown. Initially, each UE 110-T, 110-R acquires (step 1002) a relative position information estimate of the closest UE 110 and an MSE estimate associated with the relative position information of the closest UE 110 by using a sensing operation. Each UE 110-T, 110-R can sense the environment and determine the relative distance to the closest UE 110. After completing the acquisition (step 1002), each UE 110-T, 110-R can construct a relative position MSE map. Then, each UE 110-T, 110-R can send (step 1004) an indication of the number of the closest UE 110 to each other. Subsequently, each UE 110-T, 110-R also receives an indication of the number of the closest UE 110 from the closest UE 110. Each UE 110 may then determine for itself (step 1006) whether the UE 110 has more closest UEs 110 than its closest UEs. Upon determining (step 1006) that there are more closest UEs 110 than its closest UEs, the UE 110-R may send (step 1008) an update. The update may include announcing self-appointment as a cluster representative UE. Upon determining (step 1006) that there are no more closest UEs 110 than nearby UEs 110, the target UE 110-T may wait to receive an update sent (step 1008) from another UE 110 that announces self-appointment as a cluster representative UE. The update sent (step 1008) by the cluster representative UE 110-R may also provide an indication to the T-TRP 170 that the UE is declared a cluster representative, which may be followed by an updated position estimate of the cluster representative UE 110-R and a position estimate MSE associated with the updated position estimate.

[0131] In some aspects of the present application, the relative position estimate MSE of the closest UE 110 may be used as a metric to declare a cluster representative UE 110-R. In some aspects of the present application, the number of closest UEs 110 with a position estimate MSE below a certain threshold may be used as a metric to declare a cluster representative UE 110-R.

[0132] In a manner similar to the network-centric clustering method, after receiving (step 1010) the update from the cluster representative UE 110-R, the T-TRP 170 may initiate the anchor-target UE positioning process by communicating with the cluster representative UE 110-R. That is, steps 904 to 926 may be performed after the cluster representative UE 110-R announces itself as a cluster representative UE.

[0133] For the user-centric clustering method, signaling between UEs 110 within the cluster (step 1004) is intended to share relative position measurements and facilitate self-selection of the cluster representative UE 110-R. Signaling from the cluster representative UE 110-R to the T-TRP 170 (step 1008) can be used to inform the T-TRP 170 that the UE 110-R is the cluster representative UE 110-R and request to initiate the anchor-target UE positioning process. This signaling can be performed entirely using dynamic (L1) signaling.

[0134] Various aspects of the present application relate to a hierarchical positioning process.

[0135] Fig.11 Exemplary initial steps in the hierarchical positioning process are shown.

[0136] The hierarchical positioning process may be performed by T-TRP 170 for cluster representative UEs ( Fig.11 The hierarchical positioning process may also be triggered by the T-TRP 170 for a target UE 110-T that is not a cluster representative UE. As will be discussed, according to the hierarchical positioning process, the T-TRP 170 provides the location of the anchor UE 110-A to the target UE 110-T. The target UE 110-T responds by providing feedback, feedback location information, and an MSE estimate associated with the location information. The location information may be a relative position relative to the cluster representative UE 110-R, a relative position relative to the anchor UE 110-A, or an absolute position in a global coordinate system. The target UE 110-T may provide feedback directly to the T-TRP 170, or indirectly to the cluster representative UE 110-R or the anchor UE 110-A, so that the cluster representative UE 110-R or the anchor UE 110-A may provide feedback to the T-TRP 170. Providing and reporting may continue until a predefined location accuracy is reached.

[0137] When T-TRP 170 detects that there are more than a threshold number of UEs 110 in a certain layer in the position estimation MSE map, a hierarchical positioning process may be initiated (see Figure 8 ). T-TRP 170 may initially classify (step 1102) each UE 110 into an appropriate tier based on the estimated MSE at location.

[0138] The T-TRP 170 then assigns (step 1104) one or more tags to each UE 110. The tags may identify each UE 110 as a target UE, an anchor UE, or both a target UE and an anchor UE. The T-TRP 170 may assign (step 1104) a target UE tag to those UEs 110 that have a higher position estimate MSE than an MSE threshold associated with one or more applications. The T-TRP 170 may assign (step 1104) an anchor UE tag to those UEs 110 that have a lower position estimate MSE than a connected UE 110 that has been marked as a target UE. In many cases, a given UE 110 may be marked as a target UE for another UE 110 that has been marked as an anchor UE, and may be marked as an anchor UE for another UE 110 that has been marked as a target UE.

[0139] Based on the location estimate MSE graph, the T-TRP 170 may select (step 1106) a set of UEs 110 marked as anchor UEs for each target UE. The selection (step 1106) may be based on the distance between a given target UE 110-T and a potential anchor UE 110-A. The selection (step 1106) may be based on the location estimate MSE associated with the location information of the target UE 110-T and the location estimate MSE associated with the location information of the potential anchor UE 110-A. The selection (step 1106) may be based on a combination of the distance and the location estimate MSE.

[0140] A set of UEs, labeled as anchor UEs 110 -A, may be used to improve location information for multiple target UEs 110 -T, which may form a cluster as described above.

[0141] The T-TRP 170 may facilitate location-based beamforming by providing the set of UEs 110 marked as anchor UEs 110-A with coarse location information of the UEs 110 marked as target UEs 110-T, thereby facilitating collaboration between the UEs 110 marked as target UEs 110-T and the set of UEs 110 marked as anchor UEs 110-A.

[0142] The T-TRP 170 may facilitate cooperation between the set of UEs 110 marked as target UEs 110-T and the set of UEs 110 marked as anchor UEs 110-A by initiating and synchronizing the transmission of PRSs from the set of anchor UEs 110-A.

[0143] The T-TRP 170 may facilitate cooperation between the target UE 110-T and the set of anchor UEs 110-A by providing the target UE 110-T with the location information of the anchor UE 110-A, thereby facilitating self-positioning at the target UE 110-T. After receiving the PRS from the anchor UE 110-A, the target UE 110-T may perform measurements and processing on the PRS to obtain new location information and a location estimate MSE associated with the new location information. The target UE 110-T may fuse the new location information with the previously acquired location information, or simply consider the new location information as valid. At the end of each round of the hierarchical positioning process, the T-TRP 170 may receive updated feedback from the target UE 110-T regarding its new location information and the associated location estimate MSE. In addition, the anchor UE 110-A may report changes in the accuracy of its location information to the T-TRP 170. These steps may be repeated until all UEs 110 have location information associated with a location estimate MSE below a predefined MSE threshold.

[0144] Fig.12 A signal flow diagram of an exemplary exchange between the T-TRP 170, the anchor UE 110-A and the target UE 110-T is shown. The exchange includes signaling from the T-TRP 170 to the UE 110 and signaling from the UE 110 to the T-TRP 170.

[0145] Initially, the target UE 110-T acquires (step 1202) location information and an MSE estimate associated with the location information. Similarly, the anchor UE 110-A acquires (step 1204) location information and an MSE estimate associated with the location information. The target UE 110-T sends (step 1206) feedback including the location information and the MSE estimate acquired in step 1202 to the T-TRP 170. The anchor UE 110-A sends (step 1208) feedback including the location information and the MSE estimate acquired in step 1204 to the T-TRP 170.

[0146] After receiving feedback from the target UE 110-T and the anchor UE 110-A, the T-TRP 170 may process (step 1210) the feedback. Processing (step 1210) the feedback may include the T-TRP 170 building a table of the locations of the UEs 110 and the associated MSE estimates. In the event that such a table already exists, processing (step 1210) the feedback may include the T-TRP 170 updating the table. The T-TRP 170 may also set an MSE threshold, which has been discussed above with respect to the T-TRP 170 classifying each UE 110 into an appropriate tier based on the MSE estimate (see Fig.11Processing (step 1210) the feedback may also include the T-TRP 170 determining a set of anchor UEs 110-A associated with the target UE 110-T.

[0147] After completing the process (step 1210), T-TRP 170 may send configuration information to anchor UE 110-A. For example, the configuration information may include coarse information about the location of target UE 110-T. For example, the configuration information may include configuration and synchronization information specific to the PRS sent by anchor UE 110-A to target UE 110-T.

[0148] After completing the process (step 1210), T-TRP 170 may send location information of a set of anchor UEs 110-A to target UE 110-T, the set including Fig.12 Anchor UE 110-A is shown making this determination as part of the process (step 1210).

[0149] After receiving (step 1216) the configuration information from the T-TRP 170, the anchor UE 110-A may configure (step 1220) some beamforming in preparation for sending the PRS. Configuring the beamforming may be performed based on the configuration information received (step 1216) from the T-TRP 170. The anchor UE 110-A may then send (step 1222) the PRS to the target UE 110-T.

[0150] After receiving (step 1218) the location information of the set of anchor UEs 110-A from the T-TRP 170, the target UE 110-T may prepare to receive (step 1224) the PRS from the anchor UE 110-A.

[0151] By obtaining the measurement results of the PRS received (step 1224) from the anchor UE 110-A, the target UE 110-T may process the measurement results to obtain (step 1226) updated location information and an updated location estimate MSE associated with the updated location information. Then, the target UE 110-T may send (step 1228) updated feedback to the T-TRP 170. The updated feedback may include the updated location information and the updated location estimate MSE obtained in step 1226.

[0152] After receiving (step 1230) the updated feedback from the target UE 110-T, the T-TRP 170 may process (step 1232) the updated feedback. Processing (step 1232) the updated feedback may include the T-TRP 170 updating a table of the locations of the UEs 110 and the associated location estimate MSEs. The T-TRP 170 may also repeat the action of setting the MSE thresholds that have been described above with respect to the T-TRP 170 classifying each UE 110 into an appropriate tier according to the location estimate MSE (see Fig.11 Processing (step 1232) the updated feedback may also include the T-TRP 170 updating the set of anchor UEs 110-A associated with the target UE 110-T.

[0153] like Fig.12 As shown, dynamic L1 signaling may be used for signaling from UE 110 to T-TRP 170 and from T-TRP 170 to UE 110. Some signaling, including configuration of PRS, may include mapping function of anchor UE ID to PRS, and these signaling may use higher layer signaling including RRC or MAC-CE.

[0154] As is well known, a given mobile UE 110 may move to a location outside the range of a T-TRP 170 based on being shaded or blocked by a building. Various aspects of the present application are directed to a positioning process that includes a shaded or blocked UE 110 utilizing the closest UE 110 to obtain location information and / or connect to a T-TRP 170.

[0155] Fig.13 A signal flow diagram is shown of an exemplary exchange between the T-TRP 170, the anchor UE 110-A and the target UE 110-T. The exchange addresses the issue of shadowing or blocking of the target UE 110-T.

[0156] The positioning process can be initiated by the target UE 110-T. Initially, the target UE 110-T can attempt to sense the environment, with the goal of positioning the anchor UE 110-A. The attempt can include the target UE 110-T sending (step 1302) an SRS in one or more selected directions. The target UE 110-T selects a direction different from the direction toward the T-TRP 170, which is known to be blocked or obscured. By using relatively low power when sending (step 1302) the SRS, the target UE 110-T can limit the SRS to be received only by the surrounding anchor UEs 110-A. In addition, the SRS can be specifically designed to enable the surrounding anchor UEs 110-A to measure the relative position of the target UE 110-T. The anchor UE 110-A, which is expected to reliably receive (step 1304) the SRS, can obtain the measurement results and process the measurement results to obtain the relative distance, time and / or arrival angle. “Reliably” receiving an SRS may be defined as receiving an SRS above a certain received signal level (RSL) threshold. The RSL threshold may be defined by T-TRP 170 .

[0157] After obtaining the measurement results, Fig.13 The anchor UE 110-A and each of the other anchor UEs 110 ( Fig.13 The measurement results may be processed (step 1306) by the anchor UEs 110-A to obtain an estimated relative position and a position estimate MSE associated with the estimated relative position. Each of the anchor UEs 110-A may then send (step 1308) an indication of the estimated relative position and the associated position estimate MSE to the T-TRP 170. After receiving (step 1310) these estimated relative positions and the associated position estimate MSEs, the T-TRP 170 may process (step 1312) the estimated relative positions and the associated position estimate MSEs to determine an absolute position estimate and a position estimate MSE associated with the absolute position estimate for the target UE 110-T. If the associated position estimate MSE indicates a suitable accuracy, processing (step 1312) the estimated relative position estimate and the associated position estimate MSE may include the T-TRP 170 selecting one of the anchor UEs 110-A to send an indication of the absolute position estimate and the associated position estimate MSE to the target UE 110-T.

[0158] If the associated position estimate MSE does not indicate suitable accuracy, the T-TRP 170 may assign a new anchor UE 110-A to the target UE 110-T based on the previously received estimated relative position and the associated position estimate MSE information. By assigning (not shown), it can be seen that the T-TRP 170 initiates a network-centric positioning process, an example of which is shown in FIG. Fig. 9 The new anchor UE 110-A may be different from the anchor UE 110-A previously used for measurement collection.

[0159] Returning to the situation where the associated position estimate MSE indicates appropriate accuracy, the T-TRP 170 may send (step 1324) to the selected anchor UE 110-A an indication of the absolute position estimate and associated position estimate MSE for the target UE 110-T, as well as instructions to provide the absolute position estimate and associated position estimate MSE to the target UE 110-T.

[0160] After receiving (step 1326) the absolute position estimate and associated position estimate MSE for the target UE 110-T and the instruction, the anchor UE 110-A may proceed to send (step 1328) the absolute position estimate and associated position estimate MSE to the target UE 110-T.

[0161] To reduce signaling overhead, the T-TRP 170 may provide the anchor UE 110-A with a list of target UEs 110-T for which the anchor UE 110-A is expected to perform measurements. If the anchor UE 110-A receives (step 1304) an SRS from one of the target UEs 110-T on the list, the anchor UE 110-A may perform measurements (step 1306) and send (step 1308) the estimated relative position and the associated position estimate MSE to the T-TRP 170. If the anchor UE 110-A receives an SRS from one of the target UEs 110-T that is not on the list, the anchor UE 110-A may ignore the SRS.

[0162] like Fig.13 As shown, the signaling from the anchor UE 110-A to the T-TRP 170 and from the T-TRP 170 to the anchor UE 110-A may use dynamic L1 signaling. Fig.13 As shown, the signaling from the anchor UE 110-A to the target UE 110-T may use dynamic L1 signaling. The signaling related to the configuration of SRS and PRS and the RSL level configured for detecting SRS sent from the T-TRP 170 to the target UE 110-T and the anchor UE 110-A may be considered semi-static, and accordingly, higher layer signaling, such as RRC and MAC-CE, may be used.

[0163] Fig.13 Optional signaling is shown. In response to determining (not shown) that the location information of the target UE 110-T acquired at the T-TRP 170 is not accurate enough to meet the requirements of the predefined target UE, the T-TRP 170 may initiate a hierarchical positioning procedure. The hierarchical positioning procedure may be initiated for the target UE 110-T by sending (step 1314) an initiation instruction to a set of anchor UEs 110-A that reliably receive (step 1304) the SRS sent in step 1302. Alternatively, the T-TRP 170 may send (step 1314) an initiation instruction to a set of another anchor UE 110-A identified by the T-TRP 170.

[0164] The goal of the hierarchical positioning process is to achieve a positioning accuracy that meets the predefined target UE requirements. In response to receiving the initiation instruction, the anchor UE 110-A can send (step 1316) a PRS and share their own positions with the target UE 110-T. By receiving the PRS enable, the target UE 110-T can obtain a position estimate and a position estimate MSE. The target UE 110-T can then send (step 1318) feedback to the anchor UE 110-A. The feedback can include a position estimate and a position estimate MSE. The anchor UE 110-A can send (step 1320) feedback to the T-TRP 170. Receiving the feedback enables the T-TRP 170 to update the position estimate MSE map.

[0165] It should be understood that one or more steps of the embodiment method provided herein can be performed by corresponding units or modules. For example, data can be sent by a sending unit or a sending module. Data can be received by a receiving unit or a receiving module. Data can be processed by a processing unit or a processing module. The corresponding unit / module can be hardware, software, or a combination thereof. For example, one or more of the units / modules can be integrated circuits, such as field programmable gate arrays (FPGA) or application-specific integrated circuits (ASIC). It should be understood that if these modules are software, these modules can be retrieved in whole or in part by the processor as needed, retrieved individually or collectively for processing, retrieved in one or more instances as needed, and these modules themselves can include instructions for further deployment and instantiation.

[0166] Although combinations of features are shown in the illustrated embodiments, not all features need to be combined to achieve the advantages of various embodiments of the present invention. In other words, a system or method designed according to an embodiment of the present invention does not necessarily include all features shown in any one of the figures or all parts schematically shown in the figures. In addition, the selected features of an exemplary embodiment can be combined with the selected features of other exemplary embodiments.

[0167] Although the present invention has been described with reference to illustrative embodiments, this description is not intended to be understood in a limiting sense. Various modifications and combinations of the illustrative embodiments and other embodiments of the present invention will be apparent to those skilled in the art after reference to this specification. Therefore, the appended claims are intended to cover any such modifications or embodiments.

Claims

1. A method, characterized in that include: The first device obtains an absolute position of the first device associated with the first level device, the absolute position being related to a position in a global coordinate system; The first device acquires a relative position of a second device, wherein the second device is a part of a second-level device different from the first-level device, and the relative position of the second device is relative to the first device; The first device sends location information to the third device so that the third device can obtain an estimate of the absolute location of the second device, the location information including: an indication of an estimate of the absolute position of the first device; An indication of the estimate of the relative position of the second device.

2. The method according to claim 1, characterized in that The obtaining the relative position of the second device includes: The first device sends a reference signal; The first device receives the relative position of the second device from the second device, where the relative position of the second device is acquired by the second device by measuring the reference signal.

3. The method according to claim 1, characterized in that The obtaining the relative position of the second device includes: The first device receives a reference signal from the second device; The relative position of the second device is obtained by measuring the reference signal at the first device.

4. The method according to claim 1, characterized in that: The acquiring the relative position of the second device includes: The first device sends a sensing signal; receiving a reflection of the sensing signal; The reflection of the sensing signal is processed to obtain the relative position of the second device.

5. The method according to claim 1, characterized in that The obtaining the relative position of the second device includes: receiving, by the first device, the relative position of the second device from the second device; The second device obtains the relative position of the second device in the following manner: sending a sensing signal at the second device; receiving a reflection of the sensing signal; The reflection of the sensing signal is processed to obtain the relative position of the second device.

6. The method according to claim 5, characterized in that The method further comprises: receiving, by the first device, feedback from the second device, the feedback comprising an updated estimate of the relative position of the second device; The first device sends the updated estimate of the relative position of the second device to the third device.

7. The method according to any one of claims 1 to 6, characterized in that The first-level device is a predefined-level device.

8. The method according to claim 7, characterized in that The method further includes: before the obtaining, the first device receiving from the third device: an indication that the first device is part of the predefined hierarchy of devices; An indication that the second device is a portion of the second level device different from the predefined level device.

9. The method according to any one of claims 1 to 8, characterized in that The method further includes: the first device sending to the third device: a mean squared error estimate of said estimate of said absolute position of said first device; A mean squared error estimate of the estimate of the relative position of the second device.

10. The method according to any one of claims 1 to 9, characterized in that The obtaining the absolute position of the first device includes: The first device receives a reference signal from the third device; Acquiring a measurement result of the reference signal; The measurements are processed to determine the absolute position of the first device.

11. The method according to any one of claims 1 to 10, characterized in that The method further includes: the first device sending a reference signal to the third device, so that the third device can determine the absolute position of the first device by receiving and measuring the reference signal.

12. The method according to claim 11, characterized in that The method also includes the first device receiving an indication of a location of the third device.

13. The method according to any one of claims 1 to 12, characterized in that The third device includes a network node.

14. The method according to claim 13, characterized in that The network node includes a transmitting and receiving point.

15. A device, characterized in that: The device comprises a processor configured to cause the device to perform the method according to any one of claims 1 to 14.

16. A computer-readable storage medium, characterized in that: The method comprises instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 14.

17. A method, characterized in that include: Receive feedback from the device, the feedback comprising: Position estimation; a position estimate mean squared error (MSE) associated with the position estimate; adding an entry associated with the device to a database of entries for the referenced plurality of devices; In the database, the device located in a given tier is characterized, the characterization being based on the location estimated MSE, the MSE being greater than a first threshold associated with the given tier.

18. The method according to claim 16, characterized in that The characterization is also based on the position estimate MSE, the MSE being less than a second threshold associated with the given level.

19. The method according to claim 16 or claim 18, characterized in that The method also includes selecting the first threshold for a specific use case or a specific application.

20. The method according to any one of claims 16 to 19, characterized in that The method further comprises: receiving further feedback from the device; The database is updated to change the entry associated with the device based on the further feedback.

21. A device, characterized in that: comprising a processor configured to cause the apparatus to perform a method according to any one of claims 17 to 20.

22. A computer-readable storage medium, characterized in that: Comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 17 to 20.

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