Techniques for joint sidelink positioning

Abstract

Techniques for wireless communication are disclosed. In an aspect, a device may obtain first one or more anchor-to-target RTT measurements corresponding to one or more respective round trip time (RTT) operations between a first target user equipment (UE) and the first one or more anchor devices. The device may obtain second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices. The device may obtain a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE. The device may determine at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

Description

Background Art 1. Technical Field

[0001] Aspects of the present disclosure generally relate to wireless communications.

[0002] 2. Description of Related Technologies

[0003] Wireless communication systems have evolved over many generations, including first-generation analog wireless telephone service (1G), second-generation (2G) digital wireless telephone service (including transitional 2.5G and 2.75G networks), third-generation (3G) high-speed data, internet-capable wireless services, and fourth-generation (4G) services (e.g., Long Term Evolution (LTE) or WiMax). Currently, many different types of wireless communication systems are in use, including cellular systems and Personal Communications Service (PCS) systems. Examples of known cellular systems include the cellular analog Advanced Mobile Phone System (AMPS), and digital cellular systems based on code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), Global System for Mobile Communications (GSM), and the like.

[0004] The fifth-generation (5G) wireless standard, known as New Radio (NR), enables higher data transfer speeds, a greater number of connections, and better coverage, among other improvements. According to the Next Generation Mobile Networks Alliance, the 5G standard is designed to provide higher data rates, more accurate positioning (e.g., based on reference signals for positioning (RS-P), such as downlink, uplink, or sidelink Positioning Reference Signals (PRS)), and other technical enhancements compared to previous standards.

[0005] In addition, leveraging the increased data rates and reduced latency of 5G, vehicle-to-everything (V2X) communication technologies are being implemented to support autonomous driving applications, such as wireless communications between vehicles, between vehicles and roadside infrastructure, between vehicles and pedestrians, and so on. Summary of the Invention

[0006] The following presents a simplified summary of one or more aspects disclosed herein. Therefore, the following summary should neither be considered an exhaustive overview of all contemplated aspects nor be considered to identify key or critical elements related to all contemplated aspects or to delineate the scope associated with any particular aspect. Therefore, the sole purpose of the following summary is to present certain concepts related to one or more aspects of the mechanisms disclosed herein in a simplified form prior to the detailed description presented below.

[0007] In one aspect, a method of operating a device includes: obtaining first one or more anchor-to-target round-trip time (RTT) measurements corresponding to one or more corresponding RTT operations between a first target user equipment (UE) and a first one or more anchor devices; obtaining second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between a second target UE and the second one or more anchor devices; obtaining a target-to-target RTT measurement corresponding to the RTT operation between the first target UE and the second target UE; and determining at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0008] In one aspect, a device includes: a memory; and at least one processor, communicatively coupled to the memory, the at least one processor configured to: obtain first one or more anchor-to-target round-trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; obtain second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtain target-to-target RTT measurements corresponding to RTT operations between the first target UE and the second target UE; and determine at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0009] In one aspect, a device includes: a component for obtaining first one or more anchor-to-target round-trip time (RTT) measurements corresponding to one or more corresponding RTT operations between a first target user equipment (UE) and a first one or more anchor devices; a component for obtaining second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between a second target UE and the second one or more anchor devices; a component for obtaining a target-to-target RTT measurement corresponding to the RTT operation between the first target UE and the second target UE; and a component for determining at least a first estimated location of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0010] In one aspect, a non-transitory computer-readable medium storing computer-executable instructions that, when executed by a device, cause the device to: obtain first one or more anchor-to-target round-trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; obtain second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtain a target-to-target RTT measurement corresponding to the RTT operation between the first target UE and the second target UE; and determine at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0011] Other objects and advantages associated with the aspects disclosed herein will be apparent to those skilled in the art based on the drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are presented to aid in describing the various aspects of the present disclosure and are provided solely for illustration and not limitation of the various aspects.

[0013] Figure 1 An example wireless communication system according to aspects of the present disclosure is illustrated.

[0014] Figure 2A and Figure 2B Example wireless network structures according to aspects of the present disclosure are illustrated.

[0015] Figure 3A 、 Figure 3B and Figure 3C is a simplified block diagram of several sample aspects of components that may be employed in a user equipment (UE), a base station, and a network entity, respectively, and configured to support communications as taught herein.

[0016] Figure 4 Examples of various positioning methods supported in New Radio (NR) according to aspects of the present disclosure are illustrated.

[0017] Figure 5A and Figure 5B Various interesting scenarios for sidelink-only positioning or joint Uu and sidelink positioning according to aspects of the present disclosure are illustrated.

[0018] Figure 6 Example sidelink ranging and positioning procedures according to aspects of the present disclosure are illustrated.

[0019] Figure 7Simulated positioning errors of positioning processes performed based on different numbers of anchor devices according to aspects of the present disclosure are illustrated.

[0020] Figure 8 An example including two target UEs and three anchor devices according to aspects of the present disclosure is illustrated.

[0021] Figure 9 An example UE-assisted positioning process according to aspects of the present disclosure is illustrated.

[0022] Figure 10 An example UE-based positioning process according to aspects of the present disclosure is illustrated.

[0023] Figure 11 Simulated positioning errors of a positioning process performed based on an experimental setup according to aspects of the present disclosure are illustrated.

[0024] Figure 12 Example methods of operating a device according to aspects of the present disclosure are illustrated. DETAILED DESCRIPTION

[0025] Various aspects of the present disclosure are provided below in the description and related drawings of various examples provided for illustrative purposes. Alternative aspects may be designed without departing from the scope of the present disclosure. Additionally, well-known elements of the present disclosure will not be described in detail or will be omitted to avoid making the relevant details of the present disclosure difficult to understand.

[0026] The words "exemplary" and / or "example" are used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" and / or "example" is not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term "aspects of the disclosure" does not require that all aspects of the disclosure include the discussed feature, advantage, or mode of operation.

[0027] Those skilled in the art will appreciate that any of a variety of different techniques and methods may be used to represent the information and signals described below. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the following description may be represented by voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or optical particles, or any combination thereof, depending in part on the specific application, in part on the desired design, in part on the corresponding technology, etc.

[0028] In addition, many aspects are described in terms of sequences of actions to be performed by, for example, elements of a computing device. It will be appreciated that the various actions described herein may be performed by specific circuits (e.g., application specific integrated circuits (ASICs)), by program instructions executed by one or more processors, or by a combination of the two. Additionally, the sequences of actions described herein may be viewed as being fully embodied within any form of non-transitory computer-readable storage medium having stored therein a corresponding set of computer instructions that, when executed, will cause or command the associated processor of the device to perform the functionality described herein. Thus, various aspects of the present disclosure may be embodied in a variety of different forms, all of which are contemplated to be within the scope of the claimed subject matter. In addition, for each of the various aspects described herein, the corresponding form of any such aspect may be described herein as, for example, "logic configured to perform the described actions."

[0029] As used herein, the terms "user equipment" (UE), "vehicle-mounted UE" (V-UE), "pedestrian UE" (P-UE), and "base station" are not intended to be specific to or otherwise limited to any particular radio access technology (RAT), unless otherwise specified. In general, a UE can be any wireless communication device used by a user to communicate over a wireless communication network (e.g., a vehicle onboard computer, a vehicle navigation device, a mobile phone, a router, a tablet computer, a laptop computer, an asset locating device, a wearable device (e.g., a smart watch, glasses, augmented reality (AR) / virtual reality (VR) headset, etc.), a vehicle (e.g., a car, a motorcycle, a bicycle, etc.), an Internet of Things (IoT) device, etc.). A UE can be mobile or can be stationary (e.g., at certain times) and can communicate with a radio access network (RAN). As used herein, the term "UE" may be interchangeably referred to as a "mobile device," "access terminal" or "AT," "client device," "wireless device," "subscriber equipment," "subscriber terminal," "subscriber station," "user terminal" or UT, "mobile terminal," "mobile station," or variations thereof.

[0030] A V-UE is a type of UE and can be any in-vehicle wireless communication device, such as a navigation system, warning system, head-up display (HUD), onboard computer, in-vehicle infotainment system, automated driving system (ADS), advanced driver assistance system (ADAS), etc. Alternatively, a V-UE can be a portable wireless communication device (e.g., a mobile phone, tablet computer, etc.) carried by the driver of a vehicle or a passenger in the vehicle. The term "V-UE" can refer to either the in-vehicle wireless communication device or the vehicle itself, depending on the context. A P-UE is a type of UE and can be a portable wireless communication device carried by a pedestrian (i.e., a user not driving or riding in the vehicle). Generally speaking, a UE can communicate with a core network via a RAN, and through the core network, the UE can connect to external networks such as the Internet and to other UEs. Of course, other mechanisms for the UE to connect to the core network and / or the Internet are also possible, such as via a wired access network, a wireless local area network (WLAN) network (e.g., based on Institute of Electrical and Electronics Engineers (IEEE) 802.11, etc.), etc.

[0031] A base station may operate according to one of several RATs to communicate with UEs, depending on the network in which it is deployed, and may alternatively be referred to as an access point (AP), network node, Node B, evolved Node B (eNB), next-generation eNB (ng-eNB), new radio (NR) Node B (also known as gNB or gNodeB), etc. A base station may primarily support wireless access for UEs, including supporting data, voice, and / or signaling connections for the supported UEs. In some systems, a base station may only provide edge node signaling functions, while in other systems, a base station may provide additional control and / or network management functions. The communication link through which a UE can transmit signals to a base station is called an uplink (UL) channel (e.g., a reverse traffic channel, a reverse control channel, an access channel, etc.). The communication link through which a base station can transmit signals to a UE is called a downlink (DL) or forward link channel (e.g., a paging channel, a control channel, a broadcast channel, a forward traffic channel, etc.). As used herein, the term traffic channel (TCH) may refer to either a UL / reverse or a DL / forward traffic channel.

[0032] The term "base station" may refer to a single physical transmit receive point (TRP) or to multiple physical TRPs that may or may not be co-located. For example, where the term "base station" refers to a single physical TRP, the physical TRP may be an antenna of the base station corresponding to the cell (or several cell sectors) of the base station. Where the term "base station" refers to multiple co-located physical TRPs, the physical TRP may be an antenna array of the base station (e.g., as in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming). Where the term "base station" refers to multiple non-co-located physical TRPs, the physical TRP may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-co-located physical TRP may be a serving base station that receives measurement reports from a UE and a neighboring base station whose reference radio frequency (RF) signal the UE is measuring. Because, as used herein, a TRP is a point at which a base station transmits and receives wireless signals, references to transmitting from a base station or receiving at a base station should be understood to refer to a specific TRP of a base station.

[0033] In some implementations of supporting UE positioning, a base station may not support wireless access for the UE (e.g., may not support data, voice, and / or signaling connections for the UE), but instead may transmit a reference RF signal to the UE for measurement by the UE, and / or may receive and measure signals transmitted by the UE. Such a base station may be referred to as a positioning beacon (e.g., when transmitting RF signals to the UE) and / or as a positioning measurement unit (e.g., when receiving and measuring RF signals from the UE).

[0034] An "RF signal" includes electromagnetic waves of a given frequency that transmit information through the space between a transmitter and a receiver. As used herein, a transmitter may transmit a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal. The same transmitted RF signal on different paths between a transmitter and a receiver may be referred to as a "multipath" RF signal. As used herein, an RF signal may also be referred to as a "wireless signal" or simply as a "signal" where the context makes it clear that the term "signal" refers to either a wireless signal or an RF signal.

[0035] Figure 1An example wireless communication system 100 according to various aspects of the present disclosure is illustrated. The wireless communication system 100 (which may also be referred to as a wireless wide area network (WWAN)) may include various base stations 102 (labeled "BS") and various UEs 104. The base stations 102 may include macrocell base stations (high-power cellular base stations) and / or small cell base stations (low-power cellular base stations). In one aspect, the macrocell base stations 102 may include eNBs and / or ng-eNBs (where the wireless communication system 100 corresponds to an LTE network) or gNBs (where the wireless communication system 100 corresponds to an NR network), or a combination of both, and the small cell base stations may include femtocells, picocells, microcells, etc.

[0036] The base stations 102 may collectively form a RAN and interface with a core network 170 (e.g., an evolved packet core (EPC) or a 5G core (5GC)) via backhaul links 122, and interface with one or more location servers 172 (e.g., a location management function (LMF) or a secure user plane location (SUPL) location platform (SLP)) via the core network 170. The location servers 172 may be part of the core network 170 or external to the core network 170. The location servers 172 may be integrated with the base stations 102. The UE 104 may communicate with the location servers 172 directly or indirectly. For example, the UE 104 may communicate with the location server 172 via the base station 102 currently serving the UE 104. The UE 104 may also communicate with the location server 172 via another path, such as via an application server (not shown), via another network, such as via a wireless local area network (WLAN) access point (AP) (e.g., AP 150 described below), etc. For signaling purposes, communication between UE 104 and location server 172 may be represented as an indirect connection (e.g., through core network 170, etc.) or a direct connection (e.g., as shown via direct connection 128), with intermediate nodes (if any) omitted from the signaling diagram for clarity.

[0037] Among other functions, the base stations 102 may perform functions related to one or more of the following: delivering user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of non-access stratum (NAS) messages, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast service (MBMS), subscriber and equipment tracking, RAN information management (RIM), paging, positioning, and delivery of warning messages. The base stations 102 may communicate with each other directly or indirectly (e.g., through EPC / 5GC) over a backhaul link 134, which may be wired or wireless.

[0038] Base stations 102 can communicate wirelessly with UEs 104. Each of base stations 102 can provide communication coverage for a corresponding geographic coverage area 110. In one aspect, one or more cells can be supported by base stations 102 in each geographic coverage area 110. A "cell" is a logical communication entity used to communicate with a base station (e.g., via a frequency resource, which is referred to as a carrier frequency, component carrier, carrier, frequency band, etc.) and can be associated with an identifier (e.g., a physical cell identifier (PCI), an enhanced cell identifier (ECI), a virtual cell identifier (VCI), a cell global identifier (CGI), etc.) that distinguishes cells operating on the same or different carrier frequencies. In some cases, different cells can be configured according to different protocol types (e.g., machine type communication (MTC), narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB), or other protocol types) that can provide access to different types of UEs. Because a cell is supported by a specific base station, the term "cell" can refer to either or both the logical communication entity and the base station supporting it, depending on the context. In some cases, the term "cell" may also refer to a geographic coverage area (eg, a sector) of a base station, so long as a carrier frequency can be detected and used for communications within some portion of the geographic coverage area 110.

[0039] Although the geographic coverage areas 110 of adjacent macrocell base stations 102 may partially overlap (e.g., in a handover area), some areas of the geographic coverage areas 110 may substantially overlap with the larger geographic coverage area 110. For example, a small cell base station 102′ (labeled “SC” for “small cell”) may have a geographic coverage area 110′ that substantially overlaps with the geographic coverage areas 110 of one or more macrocell base stations 102. A network that includes both small cell base stations and macrocell base stations may be referred to as a heterogeneous network. A heterogeneous network may also include a Home eNB (HeNB), which may provide service to a restricted group called a Closed Subscriber Group (CSG).

[0040] The communication link 120 between the base station 102 and the UE 104 may include uplink (also known as reverse link) transmissions from the UE 104 to the base station 102 and / or downlink (DL) (also known as forward link) transmissions from the base station 102 to the UE 104. The communication link 120 may utilize MIMO antenna technology, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link 120 may be over one or more carrier frequencies. The allocation of carriers may be asymmetric for the downlink and uplink (e.g., more or fewer carriers may be allocated to the downlink than to the uplink).

[0041] The wireless communication system 100 may also include a wireless local area network (WLAN) access point (AP) 150 that communicates with a wireless local area network (WLAN) station (STA) 152 in an unlicensed spectrum (e.g., 5 GHz) via a communication link 154. When communicating in the unlicensed spectrum, the WLAN STA 152 and / or the WLAN AP 150 may perform a clear channel assessment (CCA) or a listen-before-talk (LBT) procedure prior to communicating to determine whether a channel is available.

[0042] The small cell base station 102′ can operate in licensed and / or unlicensed spectrum. When operating in the unlicensed spectrum, the small cell base station 102′ can adopt LTE or NR technology and use the same 5 GHz unlicensed spectrum used by the WLAN AP 150. The small cell base station 102′ adopting LTE / 5G in the unlicensed spectrum can improve the coverage of the access network and / or increase the capacity of the access network. NR in the unlicensed spectrum can be referred to as NR-U. LTE in the unlicensed spectrum can be referred to as LTE-U, License Assisted Access (LAA), or MulteFire.

[0043] The wireless communication system 100 may also include a mmW base station 180 that can operate in millimeter wave (mmW) frequencies and / or near-mmW frequencies to communicate with the UE 182. Extremely high frequency (EHF) is a portion of the RF spectrum in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz, with wavelengths between 1 mm and 10 mm. Radio waves in this frequency band may be referred to as millimeter waves. Near-mmW can extend down to frequencies of 3 GHz, with wavelengths of 100 mm. Super high frequency (SHF) bands extend between 3 GHz and 30 GHz and are also referred to as centimeter waves. Communications using mmW / near-mmW radio frequency bands have high path loss and relatively short ranges. The mmW base station 180 and the UE 182 can utilize beamforming (transmit and / or receive) on the mmW communication link 184 to compensate for the extremely high path loss and short range. In addition, it should be understood that in alternative configurations, one or more base stations 102 may also use mmW or near-mmW and beamforming for transmission. Therefore, it should be understood that the foregoing illustrations are merely examples and should not be construed as limiting the various aspects disclosed herein.

[0044] Transmit beamforming is a technique for focusing an RF signal in a specific direction. Traditionally, when a network node (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omnidirectionally). With transmit beamforming, the network node determines where a given target device (e.g., a UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that specific direction, thereby providing the receiving device with a faster and stronger RF signal (in terms of data rate). To change the directionality of an RF signal while transmitting, the network node can control the phase and relative amplitude of the RF signal at each of one or more transmitters broadcasting the RF signal. For example, the network node can use an array of antennas (referred to as a "phased array" or "antenna array") that form RF beams that can be "steered" to point in different directions without actually moving the antennas. Specifically, the RF currents from the transmitters are fed to the individual antennas in the correct phase relationship so that the radio waves from the individual antennas add together in the desired direction to increase radiation, while canceling out in undesired directions to suppress radiation.

[0045] The transmit beams can be quasi-co-located, meaning that they appear to the receiver (e.g., UE) to have the same parameters, regardless of whether the network node's own transmit antennas are physically co-located. In NR, there are four types of quasi-co-located (QCL) relationships. Specifically, a given type of QCL relationship means that certain parameters about the second reference RF signal on the second beam can be derived based on information about the source reference RF signal on the source beam. Thus, if the source reference RF signal is QCL type A, the receiver can use the source reference RF signal to estimate the Doppler shift, Doppler spread, average delay, and delay spread of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type B, the receiver can use the source reference RF signal to estimate the Doppler shift and Doppler spread of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type C, the receiver can use the source reference RF signal to estimate the Doppler shift and average delay of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type D, the receiver may use the source reference RF signal to estimate spatial reception parameters of a second reference RF signal transmitted on the same channel.

[0046] In receive beamforming, a receiver uses receive beams to amplify RF signals detected on a given channel. For example, a receiver may increase the gain setting of an antenna array in a particular direction and / or adjust the phase setting of an antenna array in a particular direction to amplify (e.g., increase the gain level of) RF signals received from that direction. Thus, when a receiver is said to be beamforming in a certain direction, this means that the beam gain in that direction is high relative to the beam gain along other directions, or that the beam gain in that direction is the highest compared to the beam gain in that direction of all other receive beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal to interference plus noise ratio (SINR), etc.) for the RF signals received from that direction.

[0047] The transmit beam and receive beam can be spatially correlated. The spatial relationship means that the parameters of the second beam (e.g., transmit beam or receive beam) used for the second reference signal can be derived based on information about the first beam (e.g., receive beam or transmit beam) of the first reference signal. For example, the UE can use a specific receive beam to receive a reference downlink reference signal (e.g., synchronization signal block (SSB)) from the base station. The UE can then form a transmit beam for transmitting an uplink reference signal (e.g., sounding reference signal (SRS)) to the base station based on the parameters of the receive beam.

[0048] Note that depending on the entity forming the "downlink" beam, the beam can be either a transmit beam or a receive beam. For example, if the base station is forming a downlink beam to transmit a reference signal to the UE, the downlink beam is a transmit beam. However, if the UE is forming a downlink beam, the downlink beam is a receive beam for receiving downlink reference signals. Similarly, depending on the entity forming the "uplink" beam, the beam can be either a transmit beam or a receive beam. For example, if the base station is forming an uplink beam, the uplink beam is an uplink receive beam, while if the UE is forming an uplink beam, the uplink beam is an uplink transmit beam.

[0049] The electromagnetic spectrum is typically subdivided into various categories, bands, channels, etc. based on frequency / wavelength. In 5G NR, two initial operating bands have been identified as frequency range designations FR1 (410 MHz - 7.125 GHz) and FR2 (24.25 GHz - 52.6 GHz). It should be understood that although a portion of FR1 is greater than 6 GHz, FR1 is often (interchangeably) referred to as the "sub-6 GHz" band in various documents and articles. A similar naming issue sometimes occurs with respect to FR2, which is often (interchangeably) referred to as the "millimeter wave" band in documents and articles, although it is different from the extremely high frequency (EHF) band (30 GHz - 300 GHz) identified as the "millimeter wave" band by the International Telecommunication Union (ITU).

[0050] Frequencies between FR1 and FR2 are generally referred to as mid-band frequencies. Recent 5G NR research has identified the operating bands for these mid-band frequencies as frequency range designation FR3 (7.125GHz-24.25GHz). The frequency bands falling within FR3 can inherit FR1 characteristics and / or FR2 characteristics, and thus the features of FR1 and / or FR2 can be effectively extended to mid-band frequencies. In addition, higher frequency bands are currently being explored to extend 5G NR operation to more than 52.6GHz. For example, three higher operating bands have been identified as frequency range designations FR4a or FR4-1 (52.6GHz-71GHz), FR4 (52.6GHz-114.25GHz), and FR5 (114.25GHz-300GHz). Each of these higher frequency bands falls within the EHF band.

[0051] With the above aspects in mind, unless otherwise specifically stated, it should be understood that, if used herein, the term "sub-6 GHz," etc., may broadly refer to frequencies that may be less than 6 GHz, may be within FR1, or may include mid-band frequencies. Furthermore, unless otherwise specifically stated, it should be understood that, if used herein, the term "millimeter wave," etc., may broadly refer to frequencies that may include mid-band frequencies, may be within FR2, FR4, FR4-a or FR4-1, and / or FR5, or may be within the EHF band.

[0052] In a multi-carrier system such as 5G, one of the carrier frequencies is referred to as the "primary carrier" or "anchor carrier" or "primary serving cell" or "PCell", and the remaining carrier frequencies are referred to as "secondary carriers" or "secondary serving cells" or "SCells". In carrier aggregation, the anchor carrier is a carrier operating on the primary frequency (e.g., FR1) utilized by the UE 104 / 182 and the cell in which the UE 104 / 182 performs an initial radio resource control (RRC) connection establishment procedure or initiates an RRC connection re-establishment procedure. The primary carrier carries all common and UE-specific control channels and can be a carrier in a licensed frequency (however, this is not always the case). A secondary carrier is a carrier operating on a second frequency (e.g., FR2) that can be configured and used to provide additional radio resources once an RRC connection is established between the UE 104 and the anchor carrier. In some cases, the secondary carrier can be a carrier in an unlicensed frequency. The secondary carrier may contain only necessary signaling information and signals. For example, since the primary uplink carrier and the primary downlink carrier are generally UE-specific, those UE-specific signaling information and signals may not be present in the secondary carrier. This means that different UEs 104 / 182 in a cell can have different downlink primary carriers. The same is true for the uplink primary carrier. The network can change the primary carrier of any UE 104 / 182 at any time. This is done, for example, to balance the load on different carriers. Since a "serving cell" (whether PCell or SCell) corresponds to the carrier frequency / component carrier through which a base station communicates, the terms "cell", "serving cell", "component carrier", "carrier frequency", etc. can be used interchangeably.

[0053] For example, still referring to Figure 1 In one embodiment, one of the frequencies used by macrocell base station 102 may be an anchor carrier (or "PCell"), and the other frequencies utilized by macrocell base station 102 and / or mmW base station 180 may be secondary carriers ("SCells"). Simultaneous transmission and / or reception of multiple carriers enables UE 104 / 182 to significantly increase its data transmission and / or reception rate. For example, two 20 MHz aggregated carriers in a multi-carrier system would theoretically result in a doubled data rate (i.e., 40 MHz) compared to the data rate achieved with a single 20 MHz carrier.

[0054] exist Figure 1 In the example of FIG, the UE illustrated (for simplicity, Figure 1Any UE (shown as a single UE 104 in FIG) can receive a signal 124 from one or more Earth-orbiting space vehicles (SVs) 112 (e.g., satellites). In one aspect, the SVs 112 can be part of a satellite positioning system that the UEs 104 can use as an independent source of location information. A satellite positioning system typically includes a system of transmitters (e.g., SVs 112) positioned to enable a receiver (e.g., a UE 104) to determine its position on or above the Earth based, at least in part, on positioning signals (e.g., signals 124) received from the transmitters. Such transmitters typically transmit a signal with a repeating pseudorandom noise (PN) code marked with a set number of chips. While typically located in the SVs 112, the transmitters can sometimes be located on ground-based control stations, base stations 102, and / or other UEs 104. The UEs 104 can include one or more dedicated receivers specifically designed to receive the signal 124 in order to derive geographic location information from the SVs 112.

[0055] In a satellite positioning system, the use of signal 124 may be enhanced by various satellite-based augmentation systems (SBAS) that may be associated with or otherwise enabled for use with one or more global and / or regional navigation satellite systems. For example, SBAS may include augmentation systems that provide integrity information, differential corrections, and the like, such as the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multifunctional Satellite Augmentation System (MSAS), the Global Positioning System (GPS)-Assisted Geo-Augmented Navigation, or the GPS and Geo-Augmented Navigation System (GAGAN), among others. Thus, as used herein, a satellite positioning system may include any combination of one or more global and / or regional navigation satellites associated with such one or more satellite positioning systems.

[0056] In one aspect, SV 112 may additionally or alternatively be part of one or more non-terrestrial networks (NTNs). In an NTN, SV 112 connects to an earth station (also referred to as a ground station, NTN gateway, or gateway), which in turn connects to elements in the 5G network, such as a modified base station 102 (without a ground antenna) or a network node in a 5GC. This element, in turn, provides access to other elements in the 5G network and ultimately provides access to entities outside the 5G network, such as Internet web servers and other user devices. Thus, instead of or in addition to communication signals from terrestrial base station 102, UE 104 can receive communication signals (e.g., signal 124) from SV 112.

[0057] In particular, leveraging the increased data rates and reduced latency of NR, vehicle-to-everything (V2X) communication technology is being implemented to support intelligent transportation system (ITS) applications, such as wireless communication between vehicles (vehicle-to-vehicle (V2V)), between vehicles and roadside infrastructure (vehicle-to-infrastructure (V2I)), and between vehicles and pedestrians (vehicle-to-pedestrian (V2P)). The goal is to enable vehicles to sense their surroundings and communicate this information to other vehicles, infrastructure, and personal mobile devices. This type of vehicle communication will enable safety, mobility, and environmental improvements that current technologies cannot provide. Once fully implemented, this technology is expected to reduce non-damaged vehicle collisions by 80%.

[0058] Still refer to Figure 1 , the wireless communication system 100 may include a plurality of V-UEs 160 that may communicate with a base station 102 over a communication link 120 using a Uu interface (i.e., an air interface between a UE and a base station). The V-UEs 160 may also communicate directly with each other over a wireless side link 162, with a roadside unit (RSU) 164 (roadside access point) over a wireless side link 166, or with a sidelink-capable UE 104 over a wireless side link 168 using a PC5 interface (i.e., an air interface between sidelink-capable UEs). A wireless side link (or simply "sidelink") is an adaptation of a core cellular network (e.g., LTE, NR) standard that allows direct communication between two or more UEs without going through a base station. Sidelink communication can be unicast or multicast and can be used for device-to-device (D2D) media sharing, V2V communication, V2X communication (e.g., cellular V2X (cV2X) communication, enhanced V2X (eV2X) communication, etc.), emergency rescue applications, and the like. One or more V-UEs in a group of V-UEs 160 utilizing sidelink communication may be within the geographic coverage area 110 of the base station 102. Other V-UEs 160 in such a group may be outside the geographic coverage area 110 of the base station 102 or otherwise unable to receive transmissions from the base station 102. In some cases, groups of V-UEs 160 communicating via sidelink communication may utilize a one-to-many (1:M) system, where each V-UE 160 transmits to every other V-UE 160 in the group. In some cases, the base station 102 facilitates the scheduling of resources for sidelink communication. In other cases, sidelink communication is performed between V-UEs 160 without involving the base station 102.

[0059] In one aspect, the sidelinks 162, 166, 168 can operate over a wireless communication medium of interest, which can be shared with other vehicles and / or infrastructure access points and other wireless communications between other RATs. The "medium" can include one or more time, frequency, and / or spatial communication resources (e.g., encompassing one or more channels across one or more carriers) associated with wireless communications between one or more transmitter / receiver pairs.

[0060] In one aspect, sidelinks 162, 166, 168 may be cV2X links. The first generation of cV2X has been standardized in LTE, and the next generation is expected to be defined in NR. cV2X is a cellular technology that also enables device-to-device communications. In the United States and Europe, cV2X is expected to operate in the licensed ITS band below 6 GHz. Other frequency bands may be allocated in other countries. Thus, as a specific example, the medium of interest utilized by sidelinks 162, 166, 168 may correspond to at least a portion of the licensed ITS band below 6 GHz. However, the present disclosure is not limited to this frequency band or cellular technology.

[0061] In one aspect, the side links 162, 166, 168 can be dedicated short-range communication (DSRC) links. DSRC is a unidirectional or bidirectional short- to medium-range wireless communication protocol that uses the Wireless Access in Vehicular Environments (WAVE) protocol (also known as IEEE 802.11p) for V2V, V2I, and V2P communications. IEEE 802.11p is an approved modification to the IEEE 802.11 standard and operates in the licensed ITS band at 5.9 GHz (5.85 GHz-5.925 GHz) in the United States. In Europe, IEEE 802.11p operates in the ITS G5A band (5.875 GHz-5.905 MHz). Other frequency bands may be allocated in other countries. The V2V communications briefly described above occur over a safety channel, which in the United States is typically a 10 MHz channel dedicated for safety purposes. The remainder of the DSRC band (75 MHz total bandwidth) is intended for other services of interest to drivers, such as road regulations, toll collection, parking automation, etc. Thus, as a specific example, the medium of interest utilized by the sidelinks 162 , 166 , 168 may correspond to at least a portion of the licensed ITS band at 5.9 GHz.

[0062] Alternatively, the medium of interest may correspond to at least a portion of an unlicensed frequency band shared among various RATs. Although different licensed frequency bands have been reserved for certain communication systems (e.g., by government entities such as the U.S. Federal Communications Commission (FCC)), these systems (particularly those employing small cell access points) have recently expanded operations into unlicensed frequency bands such as the Unlicensed National Information Infrastructure (U-NII) band used by wireless local area network (WLAN) technologies (most notably the IEEE 802.11x WLAN technology, commonly referred to as "Wi-Fi"). Example systems of this type include different variants of CDMA systems, TDMA systems, FDMA systems, orthogonal FDMA (OFDMA) systems, single-carrier FDMA (SC-FDMA) systems, and the like.

[0063] Communication between V-UEs 160 is referred to as V2V communication, communication between a V-UE 160 and one or more RSUs 164 is referred to as V2I communication, and communication between a V-UE 160 and one or more UEs 104 (where these UEs 104 are P-UEs) is referred to as V2P communication. V2V communication between V-UEs 160 may include, for example, information regarding the position, speed, acceleration, heading, and other vehicle data of these V-UEs 160. V2I information received at a V-UE 160 from one or more RSUs 164 may include, for example, road regulations, parking automation information, etc. V2P communication between a V-UE 160 and a UE 104 may include, for example, information regarding the position, speed, acceleration, and heading of the V-UE 160, as well as the position, speed (e.g., if the UE 104 is carried by a user on a bicycle), and heading of the UE 104.

[0064] Note that although Figure 1 Only two of the UEs are illustrated as V-UEs (V-UE 160), but any of the illustrated UEs (e.g., UE 104, 152, 182, 190) may be V-UEs. In addition, although only these V-UEs 160 and a single UE 104 have been illustrated as being connected via a side link, Figure 1Any of the illustrated UEs, whether V-UEs, P-UEs, etc., may be capable of sidelink communications. Furthermore, while only UE 182 is depicted as being capable of beamforming, any of the illustrated UEs (including V-UE 160) may be capable of beamforming. Where V-UEs 160 are capable of beamforming, they may beamform toward each other (i.e., toward other V-UEs 160), toward RSUs 164, toward other UEs (e.g., UEs 104, 152, 182, 190), and so forth. Thus, in some cases, V-UE 160 may utilize beamforming on sidelinks 162, 166, and 168.

[0065] The wireless communication system 100 may also include one or more UEs (such as UE 190) that are indirectly connected to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. Figure 1 In the example of FIG1 , UE 190 has a D2D P2P link 192 with one of UEs 104 connected to one of base stations 102 (e.g., UE 190 can indirectly obtain cellular connectivity through the D2D P2P link), and has a D2D P2P link 194 with WLAN STA 152 connected to WLAN AP 150 (UE 190 can indirectly obtain WLAN-based Internet connectivity through the D2D P2P link). In one example, D2D P2P links 192 and 194 can be supported by any well-known D2D RAT, such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), Etc. As another example, D2D P2P links 192 and 194 may be side links, as described above with reference to side links 162 , 166 , and 168 .

[0066] Figure 2AAn example wireless network architecture 200 is illustrated. For example, 5GC 210 (also known as the Next Generation Core (NGC)) can be functionally considered to include control plane (C-plane) functions 214 (e.g., UE registration, authentication, network access, gateway selection, etc.) and user plane (U-plane) functions 212 (e.g., UE gateway functions, access to data networks, IP routing, etc.), which operate in conjunction to form the core network. A user plane interface (NG-U) 213 and a control plane interface (NG-C) 215 connect gNBs 222 to 5GC 210, and specifically to user plane functions 212 and control plane functions 214, respectively. In additional configurations, ng-eNBs 224 can also connect to 5GC 210 via NG-C 215 to control plane functions 214 and NG-U 213 to user plane functions 212. Furthermore, ng-eNBs 224 can communicate directly with gNBs 222 via backhaul connections 223. In some configurations, the next generation RAN (NG-RAN) 220 may have one or more gNBs 222, while other configurations include one or more of ng-eNBs 224 and gNBs 222. Either gNB 222 or ng-eNB 224 (or both) may communicate with one or more UEs 204 (e.g., any of the UEs described herein).

[0067] Another optional aspect may include a location server 230 that can communicate with the 5GC 210 to provide location assistance for the UE 204. The location server 230 can be implemented as multiple separate servers (e.g., physically separate servers, different software modules on a single server, different software modules distributed across multiple physical servers, etc.), or alternatively can each correspond to a single server. The location server 230 can be configured to support one or more location services for the UE 204 that can be connected to the location server 230 via the core network, the 5GC 210, and / or via the Internet (not illustrated). In addition, the location server 230 can be integrated into a component of the core network, or alternatively can be external to the core network (e.g., a third-party server, such as an original equipment manufacturer (OEM) server or a service server).

[0068] Figure 2B Another example wireless network structure 240 is illustrated. 5GC 260 (which may correspond to Figure 2AThe 5GC 210 in the network can be functionally considered to be a control plane function provided by the access and mobility management function (AMF) 264, and a user plane function provided by the user plane function (UPF) 262, which operate in conjunction to form the core network (i.e., the 5GC 260). The functions of the AMF 264 include: registration management, connection management, reachability management, mobility management, lawful interception, transmission of session management (SM) messages between one or more UEs 204 (e.g., any of the UEs described herein) and the session management function (SMF) 266, a transparent proxy service for routing SM messages, access authentication and access authorization, transmission of short message service (SMS) messages between the UE 204 and the short message service function (SMSF) (not shown), and security anchor functionality (SEAF). The AMF 264 also interacts with the authentication server function (AUSF) (not shown) and the UE 204, and receives intermediate keys established as a result of the UE 204 authentication process. In case of UMTS (Universal Mobile Telecommunications System) Subscriber Identity Module (USIM) based authentication, the AMF 264 retrieves security material from the AUSF. The functionality of the AMF 264 also includes Security Context Management (SCM). The SCM receives keys from the SEAF, which the SCM uses to derive access network specific keys. The functionality of the AMF 264 also includes location service management for regulatory services, for transmission of location service messages between the UE 204 and the Location Management Function (LMF) 270 (which acts as the location server 230), for transmission of location service messages between the NG-RAN 220 and the LMF 270, for allocation of Evolved Packet System (EPS) bearer identifiers for interoperation with EPS, and UE 204 mobility event notifications. In addition, the AMF 264 also supports functionality for non-3GPP (3rd Generation Partnership Project) access networks.

[0069] The functions of the UPF 262 include: acting as an anchor point for intra-RAT / inter-RAT mobility (when applicable), acting as an external protocol data unit (PDU) session point for interconnection to a data network (not shown), providing packet routing and forwarding, packet inspection, user plane policy rule enforcement (e.g., gating, redirection, traffic steering), lawful interception (user plane collection), traffic usage reporting, user plane quality of service (QoS) handling (e.g., uplink / downlink rate enforcement, reflective QoS marking in downlink), uplink traffic verification (service data flow (SDF) to QoS flow mapping), transport level packet marking in uplink and downlink, downlink packet buffering and downlink data notification triggering, and transmitting and forwarding one or more "end markers" to the source RAN node. The UPF 262 may also support the delivery of location service messages between the UE 204 and a location server (such as the SLP 272) on the user plane.

[0070] The functions of the SMF 266 include session management, UE Internet Protocol (IP) address allocation and management, selection and control of user plane functions, traffic steering configuration for routing traffic to the correct destination at the UPF 262, partial control of policy enforcement and QoS, and downlink data notification. The interface through which the SMF 266 communicates with the AMF 264 is called the N11 interface.

[0071] Another optional aspect may include an LMF 270 that can communicate with the 5GC 260 to provide location assistance for the UE 204. The LMF 270 can be implemented as multiple separate servers (e.g., physically separate servers, different software modules on a single server, different software modules distributed across multiple physical servers, etc.), or alternatively, each can correspond to a single server. The LMF 270 can be configured to support one or more location services for the UE 204, which can connect to the LMF 270 via the core network, the 5GC 260, and / or via the Internet (not shown). The SLP 272 may support similar functionality to the LMF 270, but whereas the LMF 270 may communicate with the AMF 264, the NG-RAN 220, and the UE 204 on the control plane (e.g., using interfaces and protocols intended to carry signaling messages rather than voice or data), the SLP 272 may communicate with the UE 204 and external clients (e.g., third-party servers 274) on the user plane (e.g., using protocols intended to carry voice and / or data, such as the Transmission Control Protocol (TCP) and / or IP).

[0072] Yet another optional aspect may include a third-party server 274 that can communicate with the LMF 270, SLP 272, 5GC 260 (e.g., via the AMF 264 and / or UPF 262), NG-RAN 220, and / or UE 204 to obtain location information (e.g., a location estimate) of the UE 204. Thus, in some cases, the third-party server 274 may be referred to as a location service (LCS) client or an external client. The third-party servers 274 may be implemented as multiple separate servers (e.g., physically separate servers, different software modules on a single server, different software modules distributed across multiple physical servers, etc.), or alternatively may each correspond to a single server.

[0073] The user plane interface 263 and the control plane interface 265 connect the 5GC 260, and specifically the UPF 262 and AMF 264, respectively, to one or more gNBs 222 and / or ng-eNBs 224 in the NG-RAN 220. The interface between the gNB 222 and / or ng-eNB 224 and the AMF 264 is referred to as the "N2" interface, while the interface between the gNB 222 and / or ng-eNB 224 and the UPF 262 is referred to as the "N3" interface. The gNBs 222 and / or ng-eNBs 224 of the NG-RAN 220 can communicate directly with each other via a backhaul connection 223, referred to as an "Xn-C" interface. One or more of the gNBs 222 and / or ng-eNBs 224 can communicate with one or more UEs 204 over a wireless interface, referred to as a "Uu" interface.

[0074] The functionality of a gNB 222 is divided between a gNB Central Unit (gNB-CU) 226, one or more gNB Distributed Units (gNB-DUs) 228, and one or more gNB Radio Units (gNB-RUs) 229. The gNB-CU 226 is a logical node that includes base station functions, including delivery of user data, mobility control, radio access network sharing, positioning, session management, and more, in addition to those functions specifically assigned to the gNB-DU 228. More specifically, the gNB-CU 226 typically hosts the Radio Resource Control (RRC), Service Data Adaptation Protocol (SDAP), and Packet Data Convergence Protocol (PDCP) protocols for the gNB 222. The gNB-DU 228 is a logical node that typically hosts the Radio Link Control (RLC) and Medium Access Control (MAC) layers for the gNB 222. Its operation is controlled by the gNB-CU 226. One gNB-DU 228 can support one or more cells, and one cell is supported by only one gNB-DU 228. The interface 232 between the gNB-CU 226 and one or more gNB-DUs 228 is referred to as the "F1" interface. The physical (PHY) layer functionality of the gNB 222 is typically hosted by one or more independent gNB-RUs 229, which perform functions such as power amplification and signal transmission / reception. The interface between the gNB-DU 228 and the gNB-RU 229 is referred to as the "Fx" interface. Thus, the UE 204 communicates with the gNB-CU 226 via the RRC, SDAP, and PDCP layers, with the gNB-DU 228 via the RLC and MAC layers, and with the gNB-RU 229 via the PHY layer.

[0075] Figure 3A 、 Figure 3B and Figure 3C 2. The diagram illustrates a network entity 306 that may be incorporated into a UE 302 (which may correspond to any UE described herein), a base station 304 (which may correspond to any base station described herein), and a network entity 306 (which may correspond to or embody any network function described herein, including location server 230 and LMF 270, or alternatively may be independent thereof). Figure 2A and Figure 2BSeveral example components (represented by corresponding blocks) in the NG-RAN 220 and / or 5GC 210 / 260 infrastructure (such as a dedicated network) depicted in the present disclosure are shown to support operations as described herein. It should be understood that these components can be implemented in different types of devices with different specific implementations (e.g., in an ASIC, in a system on a chip (SoC)), etc. The illustrated components can also be incorporated into other devices in the communication system. For example, other devices in the system may include components similar to those described as providing similar functionality. In addition, a given device may include one or more of these components. For example, a device may include multiple transceiver components that enable the device to operate on multiple carriers and / or communicate via different technologies.

[0076] UE 302 and base station 304 each include one or more wireless wide area network (WWAN) transceivers 310 and 350, respectively, which provide means (e.g., means for transmitting, means for receiving, means for measuring, means for tuning, means for preventing transmission, etc.) for communicating via one or more wireless communication networks (not shown), such as NR networks, LTE networks, GSM networks, etc. WWAN transceivers 310 and 350 can each be connected to one or more antennas 316 and antennas 356, respectively, for communicating with other network nodes (such as other UEs, access points, base stations (e.g., eNBs, gNBs), etc.) via at least one designated RAT (e.g., NR, LTE, GSM, etc.) over a wireless communication medium of interest (e.g., a certain set of time / frequency resources in a particular spectrum). The WWAN transceiver 310 and the WWAN transceiver 350 can be configured in different ways to transmit and encode signals 318 and 358 (e.g., messages, indications, information, etc.) according to a specified RAT, and conversely, receive and decode the signals 318 and 358 (e.g., messages, indications, information, pilots, etc.). Specifically, the WWAN transceiver 310 and the WWAN transceiver 350 include: one or more transmitters 314 and 354 for transmitting and encoding the signals 318 and 358, respectively, and one or more receivers 312 and 352 for receiving and decoding the signals 318 and 358, respectively.

[0077] At least in some cases, the UE 302 and the base station 304 each further include one or more short-range wireless transceivers 320 and 360, respectively. The short-range wireless transceivers 320 and 360 can be connected to one or more antennas 326 and 366, respectively, and provide for communicating over a wireless communication medium of interest via at least one designated RAT (e.g., WiFi, LTE-D, The short-range wireless transceiver 320 and the short-range wireless transceiver 360 are components (e.g., components for transmitting, components for receiving, components for measuring, components for tuning, components for preventing transmission, etc.) for communicating with other network nodes (such as other UEs, access points, base stations, etc.) using a PC5, dedicated short-range communication (DSRC), wireless access for vehicular environments (WAVE), near-field communication (NFC), ultra-wideband (UWB), etc.). The short-range wireless transceiver 320 and the short-range wireless transceiver 360 can be configured in different ways to transmit and encode signals 328 and 368 (e.g., messages, indications, information, etc.) according to a specified RAT, and conversely, receive and decode signals 328 and 368 (e.g., messages, indications, information, pilots, etc.). Specifically, the short-range wireless transceivers 320 and 360 include: one or more transmitters 324 and 364 for transmitting and encoding signals 328 and 368, respectively, and one or more receivers 322 and 362 for receiving and decoding signals 328 and 368, respectively. As a specific example, the short-range wireless transceiver 320 and the short-range wireless transceiver 360 may be a WiFi transceiver, transceiver, and / or transceiver, NFC transceiver, UWB transceiver or vehicle-to-vehicle (V2V) and / or vehicle-to-everything (V2X) transceiver.

[0078] At least in some cases, UE 302 and base station 304 also include satellite signal receivers 330 and 370. Satellite signal receivers 330 and 370 can be connected to one or more antennas 336 and 376, respectively, and can provide components for receiving and / or measuring satellite positioning / communication signals 338 and 378, respectively. If satellite signal receivers 330 and 370 are satellite positioning system receivers, satellite positioning / communication signals 338 and 378 can be Global Positioning System (GPS) signals, Global Navigation Satellite System (GLONASS) signals, Galileo signals, BeiDou signals, Indian Regional Navigation Satellite System (NAVIC), Quasi-Zenith Satellite System (QZSS), etc. If satellite signal receivers 330 and 370 are non-terrestrial network (NTN) receivers, satellite positioning / communication signals 338 and 378 can be communication signals (e.g., carrying control and / or user data) originating from a 5G network. Satellite signal receiver 330 and satellite signal receiver 370 may include any suitable hardware and / or software for receiving and processing satellite positioning / communication signals 338 and satellite positioning / communication signals 378, respectively. Satellite signal receiver 330 and satellite signal receiver 370 may optionally request information and operations from other systems and, at least in some cases, perform calculations using measurements obtained by any suitable satellite positioning system algorithm to determine the position of UE 302 and base station 304, respectively.

[0079] The base station 304 and the network entity 306 each include one or more network transceivers 380 and 390, respectively, which provide means (e.g., means for transmitting, means for receiving, etc.) for communicating with other network entities (e.g., other base stations 304, other network entities 306). For example, the base station 304 may employ one or more network transceivers 380 to communicate with other base stations 304 or network entities 306 via one or more wired or wireless backhaul links. As another example, the network entity 306 may employ one or more network transceivers 390 to communicate with one or more base stations 304 via one or more wired or wireless backhaul links, or to communicate with other network entities 306 via one or more wired or wireless core network interfaces.

[0080] A transceiver can be configured to communicate over a wired or wireless link. A transceiver (whether a wired transceiver or a wireless transceiver) includes transmitter circuitry (e.g., transmitter 314, transmitter 324, transmitter 354, transmitter 364) and receiver circuitry (e.g., receiver 312, receiver 322, receiver 352, receiver 362). In some implementations, a transceiver can be an integrated device (e.g., implementing transmitter circuitry and receiver circuitry in a single device), in some implementations can include separate transmitter circuitry and separate receiver circuitry, or in other implementations can be implemented in other ways. The transmitter circuitry and receiver circuitry of a wired transceiver (e.g., in some implementations, network transceiver 380 and network transceiver 390) can be coupled to one or more wired network interface ports. The wireless transmitter circuitry (e.g., transmitter 314, transmitter 324, transmitter 354, transmitter 364) may include or be coupled to multiple antennas (e.g., antenna 316, antenna 326, antenna 356, antenna 366), such as antenna arrays, which allow the corresponding device (e.g., UE 302, base station 304) to perform transmit "beamforming", as described herein. Similarly, the wireless receiver circuitry (e.g., receiver 312, receiver 322, receiver 352, receiver 362) may include or be coupled to multiple antennas (e.g., antenna 316, antenna 326, antenna 356, antenna 366), such as antenna arrays, which allow the corresponding device (e.g., UE 302, base station 304) to perform receive beamforming, as described herein. In one aspect, the transmitter circuit and the receiver circuit can share the same multiple antennas (e.g., antenna 316, antenna 326, antenna 356, antenna 366), so that the corresponding device can only receive or only transmit at a given time, rather than both receive and transmit at the same time. The wireless transceivers (e.g., WWAN transceivers 310 and WWAN transceivers 350, short-range wireless transceivers 320 and short-range wireless transceivers 360) can also include a network listening module (NLM) for performing various measurements, etc.

[0081] As used herein, various wireless transceivers (e.g., in some implementations, transceiver 310, transceiver 320, transceiver 350, and transceiver 360, and network transceiver 380 and network transceiver 390) and wired transceivers (e.g., in some implementations, network transceiver 380 and network transceiver 390) may be generally referred to as a "transceiver," "at least one transceiver," or "one or more transceivers." Thus, whether a particular transceiver is a wired or wireless transceiver may be inferred based on the type of communication being performed. For example, backhaul communications between network devices or servers typically involve signaling via a wired transceiver, while wireless communications between a UE (e.g., UE 302) and a base station (e.g., base station 304) typically involve signaling via a wireless transceiver.

[0082] UE 302, base station 304, and network entity 306 also include other components that can be used in conjunction with the operations disclosed herein. UE 302, base station 304, and network entity 306 each include one or more processors 332, 384, and 394 for providing functionality related to, for example, wireless communication, as well as for providing other processing functionality. Thus, processors 332, 384, and 394 can provide means for processing, such as means for determining, means for computing, means for receiving, means for transmitting, means for indicating, and the like. In one aspect, processors 332, 384, and 394 can include, for example, one or more general-purpose processors, multi-core processors, central processing units (CPUs), ASICs, digital signal processors (DSPs), field programmable gate arrays (FPGAs), other programmable logic devices or processing circuits, or various combinations thereof.

[0083] UE 302, base station 304, and network entity 306, respectively, include memory circuitry implementing memory 340, 386, and 396 (e.g., each including a memory device) for maintaining information (e.g., information indicating reserved resources, thresholds, parameters, etc.). Thus, memories 340, 386, and 396 can provide means for storing, means for retrieving, means for maintaining, etc. In some cases, UE 302, base station 304, and network entity 306 can include positioning components 342, 388, and 398, respectively. Positioning components 342, 388, and 398 can be hardware circuitry that is part of or coupled to processors 332, 384, and 394, respectively, and that, when executed, causes UE 302, base station 304, and network entity 306 to perform the functionality described herein. In other aspects, positioning components 342, 388, and 398 can be external to processors 332, 384, and 394 (e.g., part of a modem processing system, integrated with another processing system, etc.). Alternatively, the positioning components 342, 388, and 398 can be memory modules stored in memories 340, 386, and 396, respectively, which, when executed by the processors 332, 384, and 394 (or a modem processing system, another processing system, etc.), cause the UE 302, base station 304, and network entity 306 to perform the functionality described herein. Figure 3A Possible locations are illustrated for a location component 342, which can be, for example, part of one or more WWAN transceivers 310, memory 340, one or more processors 332, or any combination thereof, or can be a standalone component. Figure 3B Possible locations are illustrated for a location component 388, which can be, for example, part of one or more WWAN transceivers 350, memory 386, one or more processors 384, or any combination thereof, or can be a standalone component. Figure 3C Possible locations are illustrated for a location component 398, which can be, for example, part of one or more network transceivers 390, memory 396, one or more processors 394, or any combination thereof, or can be a standalone component.

[0084] The UE 302 may include one or more sensors 344 coupled to one or more processors 332 to provide means for sensing or detecting movement and / or orientation information independent of motion data derived from signals received by one or more WWAN transceivers 310, one or more short-range wireless transceivers 320, and / or satellite signal receiver 330. By way of example, the sensors 344 may include an accelerometer (e.g., a microelectromechanical system (MEMS) device), a gyroscope, a geomagnetic sensor (e.g., a compass), an altimeter (e.g., a barometric altimeter), and / or any other type of motion detection sensor. Furthermore, the sensors 344 may include multiple different types of devices and combine their outputs to provide motion information. For example, the sensors 344 may use a combination of a multi-axis accelerometer and an orientation sensor to provide the ability to calculate a position in a two-dimensional (2D) and / or three-dimensional (3D) coordinate system.

[0085] In addition, the UE 302 includes a user interface 346 that provides means for providing indications to the user (e.g., audible and / or visual indications) and / or for receiving user input (e.g., when the user actuates a sensing device such as a keypad, touch screen, microphone, etc.). Although not shown, the base station 304 and the network entity 306 may also include a user interface.

[0086] Referring in more detail to the one or more processors 384, in the downlink, IP packets from the network entity 306 may be provided to the processor 384. The one or more processors 384 may implement functionality for the RRC layer, the Packet Data Convergence Protocol (PDCP) layer, the Radio Link Control (RLC) layer, and the Medium Access Control (MAC) layer. One or more processors 384 may provide: RRC layer functionality associated with broadcasting of system information (e.g., Master Information Block (MIB), System Information Block (SIB)), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), inter-RAT mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with delivery of upper layer PDUs, error correction through automatic repeat request (ARQ), concatenation, segmentation, and reassembly of RLC service data units (SDUs), resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, scheduling information reporting, error correction, priority handling, and logical channel prioritization.

[0087] Transmitter 354 and receiver 352 may implement Layer 1 (L1) functionality associated with various signal processing functions. Layer 1, including the physical (PHY) layer, may include error detection on the transport channel, forward error correction (FEC) coding / decoding of the transport channel, interleaving, rate matching, mapping to the physical channel, modulation / demodulation of the physical channel, and MIMO antenna processing. Transmitter 354 handles the mapping to the signal constellation based on various modulation schemes (e.g., binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), M-phase shift keying (M-PSK), M-quadrature amplitude modulation (M-QAM)). The coded and modulated symbols may then be separated into parallel streams. Each stream may then be mapped to orthogonal frequency division multiplexing (OFDM) subcarriers, multiplexed with reference signals (e.g., pilots) in the time and / or frequency domain, and then combined using an inverse fast Fourier transform (IFFT) to produce a physical channel carrying a time-domain OFDM symbol stream. The OFDM symbol stream is spatially pre-decoded to generate multiple spatial streams. Channel estimates from a channel estimator can be used to determine the coding and modulation schemes and for spatial processing. The channel estimates can be derived based on a reference signal and / or channel condition feedback sent by the UE 302. Each spatial stream can then be provided to one or more different antennas 356. The transmitter 354 can modulate an RF carrier with the corresponding spatial stream for transmission.

[0088] At UE 302, receiver 312 receives the signal via its corresponding antenna 316. Receiver 312 recovers the information modulated onto the RF carrier and provides this information to one or more processors 332. Transmitter 314 and receiver 312 implement Layer 1 functionality associated with various signal processing functions. Receiver 312 can perform spatial processing on the information to recover any spatial streams destined for UE 302. If there are multiple spatial streams destined for UE 302, they can be combined by receiver 312 into a single OFDM symbol stream. Receiver 312 then converts the OFDM symbol stream from the time domain to the frequency domain using a Fast Fourier Transform (FFT). The frequency domain signal includes a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier, as well as the reference signal, are recovered and demodulated by determining the most likely signal constellation point transmitted by base station 304. These soft decisions can be based on channel estimates calculated by a channel estimator. The soft decisions are then decoded and deinterleaved to recover the data and control signals originally transmitted by base station 304 on the physical channel. The data and control signals are then provided to one or more processors 332, which implement layer 3 (L3) and layer 2 (L2) functionality.

[0089] In the downlink, one or more processors 332 provide demultiplexing between transport and logical channels, packet reassembly, decryption, header decompression, and control signal processing to recover IP packets from the core network. One or more processors 332 are also responsible for error detection.

[0090] Similar to the functionality described in conjunction with downlink transmissions performed by the base station 304, the one or more processors 332 provide: RRC layer functionality associated with system information (e.g., MIB, SIB) acquisition, RRC connection, and measurement reporting; PDCP layer functionality associated with header compression / decompression and security (encryption, decryption, integrity protection, integrity verification); RLC layer functionality associated with delivery of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through hybrid automatic repeat request (HARQ), priority handling, and logical channel prioritization.

[0091] Channel estimates derived by a channel estimator from a reference signal or feedback sent by base station 304 may be used by transmitter 314 to select appropriate coding and modulation schemes and to facilitate spatial processing. The spatial streams generated by transmitter 314 may be provided to different antennas 316. Transmitter 314 may modulate an RF carrier with the corresponding spatial stream for transmission.

[0092] Uplink transmissions are processed at the base station 304 in a manner similar to that described in conjunction with the receiver functionality at the UE 302. The receiver 352 receives the signal through its respective antenna 356. The receiver 352 recovers the information modulated onto the RF carrier and provides the information to one or more processors 384.

[0093] In the uplink, one or more processors 384 provide demultiplexing between transport and logical channels, packet reassembly, decryption, header decompression, and control signal processing to recover IP packets from UE 302. The IP packets from one or more processors 384 may be provided to the core network. One or more processors 384 are also responsible for error detection.

[0094] For convenience, UE 302, base station 304 and / or network entity 306 Figure 3A 、 Figure 3B and Figure 3C1 is shown as including various components that can be configured according to the various examples described herein. However, it should be understood that the illustrated components may have different functionality in different designs. In particular, Figures 3A to 3C Various components in are optional in alternative configurations, and various aspects include configurations that may vary due to design choice, cost, use of the device, or other considerations. For example, in Figure 3A In the case of , a specific implementation of UE 302 may omit WWAN transceiver 310 (e.g., a wearable device or tablet or PC or laptop may have Wi-Fi and / or Bluetooth capabilities but no cellular capabilities), or may omit short-range wireless transceiver 320 (e.g., only cellular, etc.), or may omit satellite signal receiver 330, or may omit sensor 344, etc. In another example, in Figure 3B In certain embodiments, a particular implementation of the base station 304 may omit the WWAN transceiver 350 (e.g., a Wi-Fi "hotspot" access point without cellular capabilities), or may omit the short-range wireless transceiver 360 (e.g., cellular only, etc.), or may omit the satellite signal receiver 370, etc. For the sake of brevity, illustrations of various alternative configurations are not provided herein, but will be readily apparent to those skilled in the art.

[0095] Various components of the UE 302, base station 304, and network entity 306 may be communicatively coupled to one another via data bus 334, data bus 382, ​​and data bus 392, respectively. In an aspect, data bus 334, data bus 382, ​​and data bus 392 may form or be part of communication interfaces for the UE 302, base station 304, and network entity 306, respectively. For example, data bus 334, data bus 382, ​​and data bus 392 may provide for communication between different logical entities where the different logical entities are embodied in the same device (e.g., gNB and location server functionality incorporated into the same base station 304).

[0096] Figure 3A 、 Figure 3B and Figure 3C The components of can be implemented in various ways. In some specific implementations, Figure 3A 、 Figure 3B and Figure 3CThe components of the present invention may be implemented in one or more circuits, such as, for example, one or more processors and / or one or more ASICs (which may include one or more processors). Here, each circuit may use and / or be combined with at least one memory component to store information or executable code used by the circuit to provide the functionality. For example, some or all of the functionality represented by blocks 310 to 346 may be implemented by the processor and memory components of UE 302 (e.g., by executing appropriate code and / or by appropriately configuring the processor components). Similarly, some or all of the functionality represented by blocks 350 to 388 may be implemented by the processor and memory components of base station 304 (e.g., by executing appropriate code and / or by appropriately configuring the processor components). In addition, some or all of the functionality represented by blocks 390 to 398 may be implemented by the processor and memory components of network entity 306 (e.g., by executing appropriate code and / or by appropriately configuring the processor components). For simplicity, various operations, actions, and / or functions are described herein as being performed by a UE, a base station, a network entity, or the like. However, as will be understood, such operations, actions and / or functions may actually be performed by specific components or combinations of components of the UE302, base station 304, network entity 306, etc. (such as processors 332, 384, 394, transceivers 310, 320, 350 and 360, memories 340, 386 and 396, positioning components 342, 388 and 398, etc.).

[0097] In some designs, the network entity 306 may be implemented as a core network component. In other designs, the network entity 306 may operate independently of a network operator or cellular network infrastructure (e.g., NG RAN 220 and / or 5GC 210 / 260). For example, the network entity 306 may be a component of a dedicated network that may be configured to communicate with the UE 302 via the base station 304 or independently of the base station 304 (e.g., via a non-cellular communication link such as WiFi).

[0098] NR supports a variety of positioning technologies based on cellular networks, including downlink-based positioning methods, uplink-based positioning methods, and downlink and uplink-based positioning methods. Downlink-based positioning methods include: Observed Time Difference of Arrival (OTDOA) in LTE, Downlink Time Difference of Arrival (DL-TDOA) in NR, and Downlink Angle of Departure (DL-AoD) in NR. Figure 4Examples of various positioning methods according to various aspects of the present disclosure are illustrated. In the OTDOA or DL-TDOA positioning process illustrated in scenario 410, the UE measures the difference between the arrival times (ToA) of reference signals (e.g., positioning reference signals (PRS)) received from a base station pair (referred to as reference signal time difference (RSTD) or arrival time difference (TDOA) measurements) and reports these differences to a positioning entity. More specifically, the UE receives identifiers (IDs) of a reference base station (e.g., a serving base station) and multiple non-reference base stations in assistance data. The UE then measures the RSTD between the reference base station and each non-reference base station. Based on the known positions of the base stations involved and the RSTD measurements, a positioning entity (e.g., a UE for UE-based positioning or a location server for UE-assisted positioning) can estimate the position of the UE.

[0099] For DL-AoD positioning, as illustrated in scenario 420, the positioning entity uses measurement reports from the UE regarding received signal strength measurements of multiple downlink transmit beams to determine the angle between the UE and the transmitting base station. The positioning entity can then estimate the UE's position based on the determined angle and the known location of the transmitting base station.

[0100] Uplink-based positioning methods include uplink time difference of arrival (UL-TDOA) and uplink angle of arrival (UL-AoA). UL-TDOA is similar to DL-TDOA, but is based on uplink reference signals (e.g., sounding reference signals (SRS)) sent by the UE to multiple base stations. Specifically, the UE sends one or more uplink reference signals, which are measured by a reference base station and multiple non-reference base stations. Each base station then reports the time of receipt of the reference signal (referred to as relative time of arrival (RTOA)) to a positioning entity (e.g., a location server) that knows the position and relative timing of the base stations involved. Based on the receive-to-receive (Rx-Rx) time difference between the reported RTOA of the reference base station and the reported RTOA of each non-reference base station, the known positions of the base stations, and their known timing offsets, the positioning entity can use TDOA to estimate the position of the UE.

[0101] For UL-AoA positioning, one or more base stations measure the received signal strength of one or more uplink reference signals (e.g., SRS) received from the UE on one or more uplink receive beams. The positioning entity uses the signal strength measurements and the angle of the receive beams to determine the angle between the UE and the base station. Based on the determined angle and the known location of the base station, the positioning entity can then estimate the UE's position.

[0102] Downlink and uplink-based positioning methods include enhanced cell ID (E-CID) positioning and multiple round-trip time (RTT) positioning (also referred to as "multi-cell RTT" and "multi-RTT"). In the RTT process, a first entity (e.g., a base station or UE) sends a first RTT-related signal (e.g., a PRS or SRS) to a second entity (e.g., a UE or base station), and the second entity sends a second RTT-related signal (e.g., an SRS or PRS) back to the first entity. Each entity measures the time difference between the arrival time (ToA) of the received RTT-related signal and the transmission time of the transmitted RTT-related signal. This time difference is called the received-to-transmit (Rx-Tx) time difference. The Rx-Tx time difference measurement can be made or adjusted to include only the time difference between the nearest time slot boundary of the received signal and the transmitted signal. The two entities can then transmit their Rx-Tx time difference measurements to a location server (e.g., LMF 270), which calculates the round-trip propagation time (i.e., RTT) between the two entities based on the two Rx-Tx time difference measurements (e.g., as the sum of the two Rx-Tx time difference measurements). Alternatively, one entity can transmit its Rx-Tx time difference measurement to the other entity, which then calculates the RTT. The distance between the two entities can be determined based on the RTT and a known signal speed (e.g., the speed of light). For multi-RTT positioning, as illustrated in scenario 430, a first entity (e.g., a UE or base station) performs an RTT positioning procedure with multiple second entities (e.g., multiple base stations or UEs) to enable the first entity's position to be determined (e.g., using multilateration) based on the distances to the second entities and the known positions of the second entities. RTT and multi-RTT methods can be combined with other positioning techniques (such as UL-AoA and DL-AoD) to improve position accuracy, as illustrated in scenario 440.

[0103] The E-CID positioning method is based on radio resource management (RRM) measurements. In E-CID, the UE reports the serving cell ID, timing advance (TA), and the identifiers of detected neighboring base stations, estimated timing, and signal strength. The UE's position is then estimated based on this information and the known locations of the base stations.

[0104] To assist in positioning operations, a location server (e.g., location server 230, LMF 270, SLP 272) may provide assistance data to the UE. For example, the assistance data may include: an identifier of the base station (or cell / TRP of the base station) from which the reference signal is measured, reference signal configuration parameters (e.g., the number of consecutive time slots including PRS, the periodicity of consecutive time slots including PRS, a muting sequence, a frequency hopping sequence, a reference signal identifier, a reference signal bandwidth, etc.), and / or other parameters applicable to a particular positioning method. Alternatively, the assistance data may originate directly from the base station itself (e.g., in a periodically broadcast overhead message, etc.). In some cases, the UE itself may be able to detect neighboring network nodes without the use of assistance data.

[0105] In the case of OTDOA or DL-TDOA positioning procedures, the assistance data may also include an expected RSTD value and an associated uncertainty or search window around the expected RSTD. In some cases, the expected RSTD value range may be + / - 500 microseconds (μs). In some cases, when any of the resources used for positioning measurements are in FR1, the expected RSTD uncertainty value range may be + / - 32 μs. In other cases, when all resources used for positioning measurements are in FR2, the expected RSTD uncertainty value range may be + / - 8 μs.

[0106] A position estimate may be referred to by other names, such as a position estimate, a position, a position fix, a position fix, a fix, etc. A position estimate may be geodetic and include coordinates (e.g., latitude, longitude, and possibly altitude), or may be municipal and include a street address, a postal address, or some other verbal description of the location. The position estimate may be further defined relative to some other known location or defined in absolute terms (e.g., using latitude, longitude, and possibly altitude). A position estimate may include an expected error or uncertainty (e.g., by including an area or volume within which the location is expected to be included with some specified or default confidence level).

[0107] NR supports or implements various sidelink positioning technologies. Figure 5AVarious scenarios of interest for sidelink-only positioning or joint Uu and sidelink positioning according to various aspects of the present disclosure are illustrated. In scenario 510, at least one peer UE with a known location can improve the Uu-based positioning (e.g., multi-cell RTT, downlink time difference of arrival (DL-TDOA), etc.) of a target UE by providing an additional anchor (e.g., using sidelink round trip time (RTT) (SL-RTT)). In scenario 520, a low-end (e.g., reduced capability or "RedCap") target UE can obtain assistance from an advanced UE to determine its position using, for example, sidelink positioning and ranging procedures with the advanced UE. Compared to the low-end UE, the advanced UE can have more capabilities, such as more sensors, faster processors, more memory, more antenna elements, higher transmit power capability, access to additional frequency bands, or any combination thereof. In scenario 530, a relay UE (e.g., with a known location) participates in the positioning estimate of the remote UE without performing uplink positioning reference signal (PRS) transmission over the Uu interface. Scenario 540 illustrates joint positioning of multiple UEs. Specifically, in scenario 540, two UEs with unknown locations can be jointly located under non-line-of-sight (NLOS) conditions by utilizing constraints from nearby UEs.

[0108] Figure 5B Additional interesting scenarios for sidelink-only or joint Uu and sidelink positioning in accordance with aspects of the present disclosure are illustrated. In scenario 550, UEs used for public safety (e.g., used by police, firefighters, etc.) can perform peer-to-peer (P2P) positioning and ranging for public safety and other purposes. For example, in scenario 550, public safety UEs can be out of coverage of the network and use sidelink positioning techniques to determine the position or relative distance and relative positioning between public safety UEs. Similarly, scenario 560 shows multiple UEs that are out of coverage and use sidelink positioning techniques (such as SL-RTT) to determine the position or relative distance and relative positioning.

[0109] Figure 6 An example sidelink ranging and positioning process 600 according to aspects of the present disclosure is illustrated. The sidelink ranging and positioning process 600 may also be referred to as a sidelink RTT positioning process. Sidelink ranging is based on calculating an inter-UE RTT measurement, as determined based on the transmit and receive times of a PRS (e.g., SL-PRS). Each UE reports the RTT measurement along with its location (if known) to all other participating UEs. For UEs whose locations are completely unknown or not accurately known, the RTT process may produce an inter-UE distance between the involved UEs. For UEs whose locations are accurately known, the ranging may produce an absolute location.

[0110] like Figure 6As shown in FIG, after initial signaling between UE1 204-1 and UE2 204-2 to participate in a sidelink positioning session, at stages 610 and 620, UEs 204-1 and 204-2 send PRSs (e.g., SL-PRSs) to each other. The resources on which the PRSs are sent may be configured / allocated by the network (e.g., a serving base station of one of the UEs) or negotiated by UEs 204-1 and 204-2. UE1 204-1 measures a transmit-to-receive (Tx-Rx) time difference between the transmit time of the PRS at stage 610 and the receive time of the PRS at stage 620. UE2 204-2 measures a receive-to-receive (Rx-Tx) time difference between the receive time of the PRS at stage 610 and the transmit time of the PRS at stage 620. Note that although Figure 6 It is illustrated that UE1 204-1 transmits the PRS first, but UE2 204-2 may transmit the PRS first instead.

[0111] At stages 630 and 640, UEs 204-1 and 204-2 exchange their respective time difference measurements in a post-PRS message (labeled "postPRS"). If UE1 204-1 has not yet provided its location to UE2 204-2, it does so at this time. Each of UEs 204-1 and 204-2 is then able to determine the RTT between UEs 204-1 and 204-2 based on the Tx-Rx and Rx-Tx time difference measurements (specifically, the difference between the Tx-Rx and Rx-Tx time difference measurements). Based on the RTT measurements and the speed of light, UE 204-1 or 204-2 can then estimate the distance (or range) between the two UEs 204-1 and 204-2 (e.g., the RTT measurement multiplied by half the speed of light). In at least one aspect, UE2 204-2 has the absolute location (eg, geographic coordinates) of UE1 204-1, which UE2 204-2 can use along with the distance to UE1 204-1 to determine its own absolute location.

[0112] Note that although Figure 6 Two UEs 204-1 and 204-2 are illustrated, but the UE may perform or attempt to perform the sidelink ranging and positioning procedure 600 with multiple UEs.

[0113] In one aspect, the PRS or SL-PRS used for the sidelink positioning session may have the same waveform as the waveform of the UL-PRS or DL-PRS defined in LTE or NR for positioning, or a different waveform than the waveform of the UL-PRS or DL-PRS.

[0114] Sidelink communication occurs within a transmit or receive resource pool. In the frequency domain, the smallest resource allocation unit is a subchannel (e.g., a set of consecutive PRBs in the frequency domain). In the time domain, resource allocation occurs within a time slot. However, some time slots are unavailable for sidelinks, and some time slots contain feedback resources. In addition, sidelink resources can be (pre-)configured to occupy fewer than 14 symbols in a time slot.

[0115] The sidelink resources are configured at the Radio Resource Control (RRC) layer. The RRC configuration can be pre-configured (e.g., preloaded on the UE) or configured (e.g., from the serving base station).

[0116] In addition to downlink-based, uplink-based, and downlink-and-uplink-based positioning methods, NR also supports various sidelink positioning techniques. For example, link-level ranging signals can be used to estimate the distance between V-UE pairs or between V-UE and RSU, similar to the RTT positioning process.

[0117] In some aspects, various communication standards may generally provide additional details about V2X / sidelink communication and / or sidelink positioning. For example, in 3GPP Releases 16 and 17 regarding V2X sidelink communication, multiple sidelink signals or sidelink physical channels may be specified for transmission in a cellular spectrum (i.e., a spectrum in a SL shared licensed cellular band) or a dedicated intelligent transportation system (ITS) spectrum. In some examples, 3GPP Release 18 may specify sidelink positioning, which focuses on high-accuracy positioning based on the sidelink for V2X, public safety, and / or commercial use cases. In some aspects, sidelink positioning may support both relative positioning and absolute positioning. In some aspects, relative positioning may correspond to determining the distance between two UEs or determining the relative position of two UEs. In some aspects, absolute positioning may correspond to determining the geographic coordinates of a target UE.

[0118] In some aspects, sidelink positioning may be performed based on measurements of PRS. In some aspects, the PRS may be the SL-PRS transmitted on the sidelink, or the CSI-RS or SRS transmitted on the sidelink. In some aspects, sidelink positioning may be based on measurements of ToA, TDoA, AoA, RTT, or combinations thereof, of the SL-PRS, CSI-RS, SRS, or combinations thereof.

[0119] In some aspects, one or more RSUs may be deployed as positioning anchor devices (or simply referred to as anchors in this disclosure) in accordance with SL positioning operations. In some aspects, RSUs may constitute an important part of the V2X network and ecosystem. RSUs may be a type of UE and may typically be located along roads (e.g., co-located with traffic lights in city streets, along highways, etc.). In some aspects, one or more RSUs with known locations may be used as positioning anchors for locating target UEs (e.g., mobile phones or vehicles).

[0120] In some aspects, SL positioning with RSUs can be based on PRS transmissions between the target UE and the RSUs. In some aspects, one of the sidelink positioning use cases with RSUs is to improve absolute vehicle UE positioning accuracy. For example, due to Global Navigation Satellite System (GNSS) signal reflections, blockages, etc. caused by buildings, GNSS-based positioning may not always be very accurate in urban scenarios. In some aspects, measurements from SL positioning with RSUs (whose positions are known) can then be used as another input to fuse with GNSS position measurements to improve positioning accuracy. In some aspects, another use case for SL positioning with RSUs can include positioning a target UE based on measurements from multiple RSUs.

[0121] In some aspects, the positioning technology used to utilize RSUs for positioning may be implemented based on various factors, including accuracy requirements, processing time requirements, and / or specific use cases. In some aspects, some sidelink / V2X applications may have very high positioning accuracy requirements. For example, to support vehicle maneuver coordination, sub-meter accuracy may be recommended or required.

[0122] In some examples, TDoA positioning may be available, where the target UE may obtain TDoA measurements of reference signals transmitted by multiple RSUs. In some examples, RTT positioning may be available, where the target UE and / or RSU may obtain RTT measurements (and therefore the corresponding distances) between the target UE and the RSUs. In some examples, TDoA measurements, RTT measurements, or both may be used to determine the absolute position of the target UE.

[0123] In one example, the positioning process of the target UE can be performed based on RTT measurements with one or more RSUs (e.g., as anchor devices). According to this example, the target UE and one or more RSUs can exchange reference signals (e.g., SL-PRS) on the sidelink. In this example, the RTT measurement between the target UE and the RSU can be determined based on measuring the ToA of the response SL-PRS. In some aspects, the RTT measurement (which can be measurable and recorded in time, but can also be recorded in distance) can then be used to calculate the absolute position of the target UE.

[0124] For example, based on each RTT measurement between the target UE and the corresponding anchor (e.g., RSU) i, the measured distance R between the target UE and anchor i can be determined. In some aspects, the position of the anchor can be (,), and the position of the target UE (,) can satisfy the expression (-) 2 +(-) 2 = 2 The location of the target UE can be determined so that the location (,) can minimize R for all available anchors. i In some aspects, at least three RTT measurements relative to three RSUs (as anchors) may be needed to determine the absolute location of the target UE.

[0125] In some aspects, for absolute positioning performed based on one or more anchors, the position accuracy of the estimated position of the target UE may depend on the accuracy of the signal metric measurements and / or the number of anchors. In some aspects, the accuracy of the signal metric measurements (e.g., ToA / RTT, TDoA, AoA, etc.) may depend on the PRS signal bandwidth, the line-of-sight (LOS) condition between the target UE and the anchor, the number of antennas the target UE or anchor has, the signal quality of the PRS (e.g., signal-to-noise ratio (SNR) or SINR), or any combination thereof. In some aspects, the number of available anchors may affect the accuracy of determining the target position.

[0126] Figure 7 The simulated positioning errors of the positioning process performed based on different numbers of anchoring devices according to various aspects of the present disclosure are illustrated. Figure 7 As shown in FIG, the horizontal axis represents the position error in meters, and the vertical axis represents the cumulative distribution function (CDF) of the position error. Curve 712 represents the simulation results using three anchor devices; curve 714 represents the simulation results using four anchor devices; curve 716 represents the simulation results using five anchor devices; and curve 718 represents the simulation results using six anchor devices.

[0127] like Figure 7As shown in , given a certain accuracy probability such as at 0.5 as indicated by reference line 720, the greater the number of anchors and / or measurements used in the positioning process, the better positioning performance of the positioning process (e.g., smaller positioning error) can be achieved.

[0128] In some aspects, the number of available anchors for the positioning process may be limited. For example, RSUs may be placed along roads and used as SL positioning anchors. However, from the perspective of the target UE, the number of RSUs available at the same time may be limited due to factors such as the range to the RSUs, the signal quality of the transmission between the target UE and the RSUs, obstacles between the target UE and the RSUs, the angular or spatial diversity provided by multiple RSUs, user subscriptions for accessing the RSUs, or a combination thereof. In other words, the target UE may not expect a very dense deployment of RSUs (as anchor devices) solely for positioning purposes.

[0129] In some aspects, an option for improving the performance of the positioning process can be based on a joint positioning process (i.e., jointly determining the positions of multiple target UEs). For example, there may be more than one target UE in an area whose position is to be determined. Each target UE can obtain a corresponding anchor-to-target RTT measurement (e.g., an RTT measurement of the round-trip time of a positioning reference signal exchanged between an anchor device and a target UE) with a nearby or associated anchor. In some aspects, the anchor-to-target RTT measurement of a target UE (e.g., an RTT measurement of the round-trip time of a positioning reference signal exchanged between two target UEs) and the corresponding formula for the positioning process for the target UE can be linked by one or more target-to-target RTT measurements between the target UEs. Therefore, a joint positioning process can be performed. In some aspects, even if the number of anchors may not have increased, positioning accuracy can be improved by adding information from one or more target-to-target RTT measurements between the target UEs and cross-referencing the anchor-to-target RTT measurements.

[0130] Figure 8An example 800 is illustrated, including two target UEs 812 and 816 and three anchor devices 822, 824, and 826, in accordance with aspects of the present disclosure. Target UE 812 can participate in RTT operations 832, 842, and 852 with anchor devices 822, 824, and 826 to obtain corresponding anchor-to-target RTT measurements. Target UE 816 can participate in RTT operations 836, 846, and 856 with anchor devices 822, 824, and 826 to obtain corresponding anchor-to-target RTT measurements. Furthermore, target UE 812 and target UE 816 can participate in RTT operation 860 to obtain target-to-target RTT measurements. Thus, a joint positioning procedure can be performed based on the anchor-to-target RTT measurements and the target-to-target RTT measurements to determine an estimated position of target UE 812 and target UE 816.

[0131] In some aspects, if the positioning calculation is performed by the target UE (i.e., UE-based), the RTT measurements between the anchor and the other target UEs can be transmitted to the target UE (e.g., target UE 812), and one or more RTT measurements between the target UE and the other target UEs can be available at the target UE. In some aspects, if the positioning calculation is performed by a location server (i.e., UE-assisted), the location server can collect all anchor-to-target RTT measurements, as well as implement and collect target-to-target RTT measurements. Different signaling procedures can be configured depending on whether the target UE or a server (e.g., as any location server described in the present disclosure) is performing the calculations for the joint positioning process.

[0132] In at least one example, a joint positioning process can be performed based on target-to-target RTT measurements between the target UE being available. In one example, the joint positioning process can be implemented by a location server. In another example, the joint positioning process can be requested by the target UE and can be subject to approval by the location server.

[0133] Figure 9 An example UE-assisted positioning procedure based on a joint positioning procedure according to aspects of the present disclosure is illustrated. Figure 9904, one or more anchor devices 906, and a location server 908. In some aspects, the first target UE 902 and the second target UE 904 may correspond to any UE described herein. In some aspects, each of the one or more anchor devices 906 may correspond to any RSU, UE, or TRP described herein. In some aspects, the location server 908 may correspond to the location server 172, the location server 230, the LMF 270, the SLP 272, or any device configured as a location server. In some aspects, the first target UE 902 may correspond to the target UE 812, and the second target UE 904 may correspond to the target UE 816. In some aspects, the one or more anchor devices 906 may correspond to the anchor devices 822, 824, and 826.

[0134] exist Figure 9 In the embodiment, the first target UE 902 and the second target UE 904 are introduced for illustration purposes only. Figure 9 The operations described for the first target UE 902 may be applicable to the second target UE 904, and vice versa. Figure 9 The various stages in Figure 9 The order depicted in the sequence is different.

[0135] In some respects, Figure 9 The RTT operations or RTT measurements described in the specification may be modified and / or replaced based on other applicable positioning or ranging operations or measurements (such as ToA measurements, etc.).

[0136] At stage 912, the first target UE 902 may participate in one or more RTT operations between the first target UE 902 and a first one or more anchor devices (e.g., at least a portion of the one or more anchor devices 906). At stage 914, the second target UE 904 may participate in one or more RTT operations between the second target UE 904 and a second one or more anchor devices (e.g., at least a portion of the one or more anchor devices 906). In some aspects, the first one or more anchor devices and the second one or more anchor devices may include one or more common anchor devices belonging to the two groups. In some aspects, the first one or more anchor devices and the second one or more anchor devices may be the same. In some aspects, the first one or more anchor devices and the second one or more anchor devices may include completely different anchor devices.

[0137] In some aspects, the one or more RTT operations between the first target UE 902 and the first one or more anchor devices and the one or more RTT operations between the second target UE 904 and the second one or more anchor devices may include operations based on PRS exchange, such as reference Figure 6 In some aspects, one or more RTT operations between the first target UE 902 and the first one or more anchor devices and one or more RTT operations between the second target UE 904 and the second one or more anchor devices may include operations based on unidirectional propagation (e.g., half of the corresponding RTT measurements).

[0138] At stage 918, the location server 908 may obtain first one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between the first target UE 902 and the first one or more anchor devices, and obtain second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between the second target UE 904 and the second one or more anchor devices.

[0139] In some aspects, one or more anchor devices 906 (e.g., one or more RSUs) may determine a first one or more anchor-to-target RTT measurements and / or a second one or more anchor-to-target RTT measurements and report the anchor-to-target RTT measurements to a location server 908. In some aspects, a first target UE 902 may determine the first one or more anchor-to-target RTT measurements. The first target UE 902 may report the first one or more anchor-to-target RTT measurements to the location server 908, or report the RTT measurements to one of the one or more anchor devices 906, which may further forward the RTT measurements to the location server 908. In some aspects, a second target UE 904 may determine a second one or more anchor-to-target RTT measurements. The second target UE 904 may report the second one or more anchor-to-target RTT measurements to the location server 908, or report the RTT measurements to one of the one or more anchor devices 906, which may further forward the RTT measurements to the location server 908.

[0140] In some aspects, as illustrated with reference to the dashed box 920, the first target UE 902 may initiate a joint positioning procedure by requesting a joint positioning procedure. For example, at stage 922, the first target UE 902 may discover one or more other target UEs (e.g., the second target UE 904) and may determine that a joint positioning procedure using a combination of anchor-to-target RTT measurements and target-to-target RTT measurements may be performed. In some aspects, the first target UE 902 may request a target-to-target RTT measurement with the second target UE 904 based on whether the joint positioning procedure is supported by the location server 908 (or other device in the system). In some aspects, whether the location server 908 (or the system) supports the joint positioning procedure may be determined based on a notification or indication of capabilities provided by the location server 908, a notification or indication included in a pre-configuration applied to the first target UE 902, a notification or indication included in a sidelink PRS resource pool configuration, or any combination thereof.

[0141] At stage 924a, the first target UE 902 may transmit a request for target-to-target RTT measurements with other target UEs (e.g., the second target UE 904). In addition or as an alternative to stage 924a, at stage 924b, the first target UE 902 may transmit a request for a joint positioning procedure to the location server 908, or transmit a request to the location server 908 to perform an RTT operation between the first target UE 902 and the second target UE 904. In some aspects, the location server 908 may grant the request from stage 924b and instruct the target UEs 902 and 904 to perform one or more RTT operations between the target UEs.

[0142] In some aspects, the location server 908 may initiate a joint positioning process. For example, at stage 932, the location server 908 may determine that a joint positioning process using a combination of anchor-to-target RTT measurements and target-to-target RTT measurements may be performed. In some aspects, the location server 908 may determine whether target-to-target RTT measurements (corresponding to, for example, RTT operations between the first target UE 902 and the second target UE 904) are to be used in determining the estimated position of the first target UE 902. In some aspects, whether to use target-to-target RTT measurements may be based on industry standards, server-specific implementations, or a combination thereof.

[0143] In some aspects, the target-to-target RTT measurement can be based on the following determination of the estimated location to be used for the first target UE 902: the number of available anchor devices for the first target UE 902 is less than a first threshold; the number of available anchor devices for the second target UE 904 is less than a second threshold; the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold; the estimated distance between the first target UE and the second target UE is less than a fourth threshold; the target-to-target RTT measurement (if available) is less than a fifth threshold; a request from the first target UE 902 or the second target UE 904 (e.g., a request from stage 924b) to perform an RTT operation between the first target UE 902 and the second target UE 904; or a combination thereof.

[0144] In some aspects, the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices can indicate or imply whether the first target UE 902 and the second target UE 904 are sufficiently close to each other. In some aspects, it can be assumed that when two target UEs are sufficiently close to each other, the two target UEs may have an LOS condition, and the formula based on the joint positioning process can be simplified by considering only the LOS condition.

[0145] At stages 934 and 936, after the location server 908 determines to perform a joint positioning procedure using a combination of anchor-to-target RTT measurements and target-to-target RTT measurements, or after the location server 908 grants the request from the target UE at stage 924b, the location server 908 may transmit one or more messages to the first target UE 902, the second target UE 904, or both. In some aspects, the one or more messages may configure the first target UE 902 and the second target UE 904 to perform RTT operations between the first target UE 902 and the second target UE 904. In some aspects, the location server 908 may also configure the base station to transmit configuration information to the first target UE 902 or the second target UE 904, wherein the configuration information may indicate a radio resource allocation for RTT operations between the first target UE 902 and the second target UE 904.

[0146] At stage 942, the first target UE 902 and the second target UE 904 may participate in RTT operations for obtaining corresponding target-to-target RTT measurements based on the decision at stage 922, the request at stage 924a, the request at stage 924b, the grant or instruction included in the message at stage 934 or 936, or a combination thereof. In some aspects, the RTT operations between the first target UE 902 and the second target UE 904 may be performed based on exchanging location reference signals, such as reference signals. Figure 6 An example of description.

[0147] At stage 948, the location server 908 may obtain a target-to-target RTT measurement corresponding to the RTT operation between the first target UE 902 and the second target UE 904. In some aspects, the first target device 902 or the second target device 904 may report the target-to-target RTT measurement to the location server 908. In some aspects, the first target device 902 or the second target device 904 may report the target-to-target RTT measurement to one of the one or more anchor devices 906, which may forward the target-to-target RTT measurement to the location server 908.

[0148] At stage 950, the location server 908 may perform positioning calculations based on the joint positioning process to determine at least an estimated location of the first target UE 902 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement. In some aspects, at stage 950, the location server 908 may also determine an estimated location of the second target UE 904 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0149] In some respects, reference Figure 9 One or more of the described requests and / or messages between the first target UE 902, the second target UE 904, one or more anchor devices 906 and / or the location server 908 can be implemented based on MAC layer (e.g., MAC control element (MAC CE)), RRC layer, V2X layer or application layer messages.

[0150] Figure 10 An example UE-based positioning procedure based on a joint positioning procedure according to aspects of the present disclosure is illustrated. Figure 101008. Example interactions between a first target UE 1002, a second target UE 1004, one or more anchor devices 1006, and a location server 1008 are illustrated. In some aspects, the first target UE 1002 and the second target UE 1004 may correspond to any UE described herein. In some aspects, each of the one or more anchor devices 1006 may correspond to any RSU, UE, or TRP described herein. In some aspects, the location server 1008 may correspond to the location server 172, the location server 230, the LMF 270, the SLP 272, or any device configured as a location server. In some aspects, the first target UE 1002 may correspond to the target UE 812, and the second target UE 1004 may correspond to the target UE 816. In some aspects, the one or more anchor devices 1006 may correspond to the anchor devices 822, 824, and 826.

[0151] exist Figure 10 In the embodiment, the first target UE 1002 and the second target UE 1004 are introduced for illustration purposes only. Figure 10 The operations described for the first target UE 1002 may be applicable to the second target UE 1004, and vice versa. Figure 10 The various stages in Figure 10 The order depicted in the sequence is different.

[0152] In some respects, Figure 10 The RTT operations or RTT measurements described in the specification may be modified and / or replaced based on other applicable positioning or ranging operations or measurements (such as ToA measurements, etc.).

[0153] At stage 1012, the first target UE 1002 may engage in one or more RTT operations between the first target UE 1002 and a first one or more anchor devices (e.g., at least a portion of the one or more anchor devices 1006). At stage 1014, the second target UE 1004 may engage in one or more RTT operations between the second target UE 1004 and a second one or more anchor devices (e.g., at least a portion of the one or more anchor devices 1006). In some aspects, the first one or more anchor devices and the second one or more anchor devices may include one or more common anchor devices belonging to the two groups. In some aspects, the first one or more anchor devices and the second one or more anchor devices may be the same. In some aspects, the first one or more anchor devices and the second one or more anchor devices may include completely different anchor devices.

[0154] In some aspects, the one or more RTT operations between the first target UE 1002 and the first one or more anchor devices and the one or more RTT operations between the second target UE 1004 and the second one or more anchor devices may include operations based on PRS exchange, such as reference Figure 6 In some aspects, one or more RTT operations between the first target UE 1002 and the first one or more anchor devices and one or more RTT operations between the second target UE 1004 and the second one or more anchor devices may include operations based on unidirectional propagation (e.g., half of the corresponding RTT measurements).

[0155] At stage 1018, the first target UE 1002 may discover one or more other target UEs (e.g., the second target UE 1004) and engage in one or more RTT operations between the first target UE 1002 and the one or more other target UEs (e.g., the second target UE 1004). In some aspects, the RTT operations between the first target UE 1002 and the second target UE 1004 may be performed based on exchanging location reference signals, such as reference signals. Figure 6 In some aspects, the first target UE 1002 may perform one or more RTT operations with one or more other target UEs after transmitting a corresponding request and obtaining a corresponding grant or confirmation.

[0156] In some aspects, such a request can be transmitted to one or more other target UEs, transmitted to the location server 1008 and then forwarded to the one or more other target UEs; or transmitted to at least one of the one or more anchor devices 1006 and then forwarded to the one or more other target UEs. In some aspects, the first target UE 1002 can transmit a request to the second target UE, a server device (e.g., the location server 1008), or one of the first one or more anchor devices or one of the second one or more anchor devices, wherein the request requests a grant to perform an RTT operation between the first target UE 1002 and the second target UE 1004. The first target UE 1002 and / or the second target UE 1004 can participate in the RTT operation between the first target UE 1002 and the second target UE 1004 based on receiving a grant in response to the transmitted request for grant.

[0157] In some aspects, the first target UE 1002 may perform RTT operations between the first target UE 1002 and the second target UE 1004 based on discovering the second target UE 1004 (eg, without any grant or instruction from the location server 1008 ).

[0158] At stage 1022, the first target UE 1002 may determine that the estimated position of the first target UE 1002 may be determined based on a joint positioning process, wherein the joint positioning process may be performed based at least on first one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between the first target UE 1002 and the first one or more anchor devices and one or more target-to-target RTT measurements between the target UE 1002 and one or more other target UEs (e.g., the second target UE 1004).

[0159] In some aspects, at stage 1022, the first target UE 1002 may further determine whether anchor-to-target RTT measurements corresponding to respective RTT operations between one or more other target UEs and corresponding anchor devices (e.g., second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between the second target UE 1004 and the second one or more anchor devices) can be used to determine the estimated location of the first target UE 1002. In some aspects, the second one or more anchor-to-target RTT measurements are determined to be used to determine the estimated location of the first target UE 1002 based on factors including: a number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold; an estimated distance between the first target UE 1002 and the second target UE 1004 is less than a second threshold; the target-to-target RTT measurement is less than a third threshold; or a combination thereof. In some aspects, stage 1022 may be arranged before stage 1018.

[0160] After the first target UE 1002 determines that the second one or more anchor-to-target RTT measurements are to be used for determination of the estimated location of the first target UE 1002, the first target UE 1002 may transmit a request requesting the second one or more anchor-to-target RTT measurements. In some aspects, the first target UE 1002 may transmit the request requesting the second one or more anchor-to-target RTT measurements to the first target UE 1002, the location server 1008, or the second one or more anchor devices.

[0161] According to a first example, at stage 1032a, the first target UE 1002 may transmit a first request to the second target UE 1004, wherein the first request requests the second target UE 1004 to send a second one or more anchor-to-target RTT measurements in response to the first request. According to a second example, at stage 1032b, the first target UE 1002 may transmit one or more second requests to the second one or more anchor devices (included in the one or more anchor devices 1006), wherein the one or more second requests request the second one or more anchor devices to send a second one or more anchor-to-target RTT measurements in response to the one or more second requests. According to a third example, at stage 1032c, the first target UE 1002 may transmit a third request to a server device (e.g., location server 1008), wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements and / or the first one or more anchor-to-target RTT measurements in response to the third request.

[0162] At stage 1038, the first target UE 1002 may obtain first one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between the first target UE 1002 and the first one or more anchor devices, and obtain second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between the second target UE 1004 and the second one or more anchor devices.

[0163] With respect to obtaining the first one or more anchor-to-target RTT measurements, in some aspects, the first one or more anchor devices may determine the first one or more anchor-to-target RTT measurements and report the first anchor-to-target RTT measurements to the first target UE 1002. In some aspects, the first target UE 1002 may transmit a request to the location server 1008 (e.g., at stage 1032c), and the location server 1008 may collect the first one or more anchor-to-target RTT measurements from the first one or more anchor devices and forward the first one or more anchor-to-target RTT measurements to the first target UE 1002. In some aspects, the first target UE 1002 may determine the first one or more anchor-to-target RTT measurements and obtain the first anchor-to-target RTT measurements from a memory or processor of the first target UE 1002 that stores the first one or more anchor-to-target RTT measurements.

[0164] With respect to obtaining the second one or more anchor-to-target RTT measurements, according to the first example in which the first request is transmitted to the second target UE (at stage 1032a), the second target UE 1004 may send the second one or more anchor-to-target RTT measurements to the first target UE 1002 in response to the first request. In some aspects, the second target UE 1004 may forward all available anchor-to-target RTT measurements for the second target UE 1004 to the first target UE 1002 as the second one or more anchor-to-target RTT measurements. In some aspects, the first request may indicate a particular number of anchor-to-target RTT measurements, and the second target UE 1004 may forward up to the indicated number of anchor-to-target RTT measurements for the second target UE 1004 to the first target UE 1002 as the second one or more anchor-to-target RTT measurements. In some aspects, the first request may include an anchor device identifier identifying certain anchor devices as second one or more anchor devices, and the second target UE 1004 may forward the anchor-to-target RTT measurements regarding the second target UE 1004 and the identified anchor devices to the first target UE 1002 as second one or more anchor-to-target RTT measurements. In some aspects, the first target UE 1002 may receive, from the second target UE 1004, the second one or more anchor-to-target RTT measurements provided along with the anchor device identifier identifying the corresponding anchor device serving as the second one or more anchor devices.

[0165] In some aspects, at stage 1038 in accordance with the second example in which one or more second requests are transmitted to the second one or more anchor devices (at stage 1032b), the second one or more anchor devices may transmit the second one or more anchor-to-target RTT measurements to the first target UE 1002, or may transmit the second one or more anchor-to-target RTT measurements to the second target UE 1004 and have the second target UE 1004 forward the second one or more anchor-to-target RTT measurements to the first target UE 1002. In some aspects, at stage 1038 in accordance with the third example in which a third request is transmitted to the location server 1008 (at stage 1032c), the location server 1008 may collect the second one or more anchor-to-target RTT measurements from the second one or more anchor devices or the second target UE 1004 and then forward the second one or more anchor-to-target RTT measurements to the first target UE 1002.

[0166] At stage 1052, the first target UE 1002 and one or more other target UEs, such as the second target UE 1004, may negotiate and identify a range of positioning to be performed by the first target UE 1002. In some aspects, based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements, the first target UE 1002 may be able to determine not only an estimated position of the first target UE 1002, but also an estimated position of the second target UE 1004.

[0167] In some aspects, the first target UE 1002 may communicate with the second target UE 1004 to assign the first target UE 1002, the second target UE 1004, or both to determine an estimated position of the first target UE 1002 and / or an estimated position of the second target UE 1004 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements. In some aspects, the first target UE 1002 may communicate with the second target UE 1004 and determine that the first target UE 1002 is not responsible for determining the estimated position of the second target UE 1004, even though such information may be derivable from or even available in intermediate data during calculation of the estimated position of the first target UE 1002 based on the joint positioning procedure.

[0168] In some aspects, whether the first target UE 1002 is to determine the estimated position of the second target UE 1004 may be determined based on a negotiation (e.g., a decision process based on one or more predetermined rules) between the first target UE 1002 and the second target UE 1004. In some aspects, the scope of the positioning process may be preconfigured or predefined based on industry standards or vendor-specific implementations, and stage 1052 may be performed without negotiation between the first target UE 1002 and the second target UE 1004.

[0169] At stage 1054, the first target UE 1002 may perform a joint positioning calculation to determine an estimated location of the first target UE 1002 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement. In some aspects, at stage 1054, based on the decision of stage 1052, the first target UE 1002 may also determine an estimated location of the second target UE 1004 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0170] Similarly, at stage 1056, based on the decision of stage 1052, the second target UE 1004 may perform a joint positioning calculation to determine an estimated position of the second target UE 1004 and / or an estimated position of the first target UE 1002 based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0171] At stage 1058, the first target UE 1002 and the second target UE 1004 may share the positioning results from stage 1054 and stage 1056. In some aspects, based on the first target UE 1002 being tasked with determining the estimated position of the second target UE 1004, the first target UE 1002 may provide the estimated position of the second target UE 1004 from stage 1054 to the second target UE 1004. In some aspects, regardless of whether the first target UE 1002 is tasked with determining the estimated position of the second target UE 1004, the first target UE 1002 may provide the estimated position of the first target UE 1002 and / or the intermediate data from stage 1054 to the second target UE 1004. In some aspects, the second target UE 1004 may use the estimated position of the first target UE 1002 and / or the intermediate data from stage 1054 to determine or improve the estimated position of the second target UE 1004.

[0172] Similarly, in some aspects, based on the second target UE 1004 being tasked with determining the estimated position of the first target UE 1002, the first target UE 1002 may receive the estimated position of the first target UE 1002 from stage 1056 from the second target UE 1004. In some aspects, regardless of whether the second target UE 1004 is delegated with determining the estimated position of the first target UE 1002, the first target UE 1002 may receive the estimated position of the second target UE 1004 and / or the intermediate data from stage 1056 from the second target UE 1004. In some aspects, the first target UE 1002 may use the estimated position of the second target UE 1004 and / or the intermediate data from stage 1056 to determine or improve the estimated position of the first target UE 1002.

[0173] In some respects, reference Figure 10 One or more of the described requests and / or messages between the first target UE 1002, the second target UE 1004, the one or more anchor devices 1006 and / or the location server 1008 can be implemented based on MAC layer (e.g., MAC CE), RRC layer, V2X layer or application layer messages.

[0174] Figure 11The simulated positioning error of a positioning process performed based on an experimental setup according to various aspects of the present disclosure is illustrated. In the experimental setup, three anchor devices (e.g., anchor devices 822, 824, and 826) are arranged such that the positions of the three anchor devices form an equilateral triangle area, where each side has a side length of approximately 500 meters. In the experimental setup, two target UEs (e.g., target 1 and target 2, which may correspond to target UEs 812 and 816) are placed within the equilateral triangle area.

[0175] like Figure 11 As shown in FIG, the horizontal axis represents the position error in meters, and the vertical axis represents the CDF of the position error. Curve 1112 represents the simulation result of independently locating target 1 (i.e., without the joint positioning process); curve 1114 represents the simulation result of independently locating target 2 (i.e., without the joint positioning process); curve 1116 represents the simulation result of locating target 1 based on the joint positioning process; and curve 1118 represents the simulation result of locating target 2 based on the joint positioning process.

[0176] like Figure 11 As shown in , given a certain accuracy probability, such as at 0.5 as indicated by reference line 1120 , the joint localization process provides a reduction of approximately 16% in the localization error for target 1 and approximately 8% in the localization error for target 2 .

[0177] Figure 12 Illustrated is an example method 1200 of operating a device, such as a UE or a location server, for a position estimation process based on one or more anchor-to-target RTT measurements and one or more target-to-target RTT measurements in accordance with aspects of the present disclosure.

[0178] In some aspects, the method 1200 may be performed by a target UE (e.g., any of the UEs described herein). In some aspects, the method 1200 may correspond to operations performed by the first target UE 902 or 1002. In one aspect, the method 1200 may be performed by one or more WWAN transceivers 310, one or more processors 332, memory 340, and / or positioning component 342, any or all of which may be considered means for performing one or more of the following operations of the method 1200.

[0179] In some aspects, the method 1200 may be performed by a server device (e.g., any of the location servers, LMFs, SLPs, or servers described herein). In some aspects, the method 1200 may correspond to operations performed by the location server 908 or 1008. In one aspect, the method 1200 may be performed by one or more network transceivers 398, one or more processors 394, memory 398, and / or positioning component 398, any or all of which may be considered means for performing one or more of the following operations of the method 1200.

[0180] At operation 1210, the device obtains first one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a first target UE and a first one or more anchor devices. In some aspects, the one or more RTT operations between the first target UE and the first one or more anchor devices may include operations based on PRS exchange, such as reference Figure 6 In some aspects, the first target UE may correspond to the first target UE 902 or the first target UE 1002.

[0181] In some aspects, the device may be a location server (such as location server 908). In some aspects, the device may be a first target UE (such as first target UE 1002).

[0182] In some aspects, the location server may be configured as a device, and the location server may obtain the first one or more anchor-to-target RTT measurements from the first target UE or from the first one or more anchor devices. In some aspects, the first target UE may be configured as a device, and the first target UE may obtain the first one or more anchor-to-target RTT measurements from the first target UE itself, from the first one or more anchor devices, or from a location server that collects the anchor-to-target RTT measurements.

[0183] In some aspects, operation 1210 may be performed by one or more network transceivers 390, one or more processors 394, memory 396, and / or positioning component 398, any or all of which may be considered means for performing operation 1210. In some aspects, operation 1210 may be performed by one or more WWAN transceivers 310, one or more processors 332, memory 340, and / or positioning component 342, any or all of which may be considered means for performing operation 1210.

[0184] At operation 1220, the device obtains a second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between the second target UE and the second one or more anchor devices. In some aspects, the one or more RTT operations between the second target UE and the second one or more anchor devices may include operations based on PRS exchange, such as reference Figure 6 In some aspects, the second target UE may correspond to the second target UE 904 or the second target UE 1004.

[0185] In some aspects, the location server may be configured as a device, and the location server may obtain the second one or more anchor-to-target RTT measurements from the second target UE or from the second one or more anchor devices. In some aspects, the first target UE may be configured as a device, and the first target UE may obtain the second one or more anchor-to-target RTT measurements from the second target UE, from the second one or more anchor devices, or from the location server that collected the anchor-to-target RTT measurements.

[0186] In some aspects, operation 1220 may be performed by one or more network transceivers 390, one or more processors 394, memory 396, and / or positioning component 398, any or all of which may be considered means for performing operation 1220. In some aspects, operation 1220 may be performed by one or more WWAN transceivers 310, one or more processors 332, memory 340, and / or positioning component 342, any or all of which may be considered means for performing operation 1220.

[0187] At operation 1230, the device obtains a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE. In some aspects, the RTT operation between the first target UE and the second target UE may include an operation based on a PRS exchange, such as a reference Figure 6 An example of description.

[0188] In some aspects, the location server may be configured as a device, and the location server may obtain the target-to-target RTT measurement from the first target UE, from the second target UE, or from an anchor device that collects the target-to-target RTT measurement. In some aspects, the first target UE may be configured as a device, and the first target UE may obtain the target-to-target RTT measurement from the first target UE itself, from the second target UE, from an anchor device that collects the target-to-target RTT measurement, or from the location server that collects the target-to-target RTT measurement.

[0189] In some aspects, operation 1230 may be performed by one or more network transceivers 390, one or more processors 394, memory 396, and / or positioning component 398, any or all of which may be considered means for performing operation 1230. In some aspects, operation 1230 may be performed by one or more WWAN transceivers 310, one or more processors 332, memory 340, and / or positioning component 342, any or all of which may be considered means for performing operation 1230.

[0190] In some aspects, signaling (including various requests or messages) between the first target UE, the second target UE, the first one or more anchor devices, the second one or more anchor devices and / or the location server can be implemented based on MAC layer (e.g., MACCE), RRC layer, V2X layer or application layer messages.

[0191] At operation 1240, the device determines at least a first estimated location of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement. In some aspects, the device may further determine a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0192] In some aspects, operation 1240 may be performed by one or more network transceivers 390, one or more processors 394, memory 396, and / or positioning component 398, any or all of which may be considered means for performing operation 1240. In some aspects, operation 1240 may be performed by one or more WWAN transceivers 310, one or more processors 332, memory 340, and / or positioning component 342, any or all of which may be considered means for performing operation 1240.

[0193] As will be appreciated, the technical advantages of method 1200 relate to estimating the positions of multiple target UEs based on a joint positioning process, wherein the target UE or a location server can initiate the joint positioning process. Based on the joint positioning process, the anchor-to-target RTT measurements of the target UEs and the corresponding formulas for the positioning process for the target UEs can be correlated using one or more target-to-target RTT measurements between the target UEs. Thus, even though the number of anchors may not have increased, positioning accuracy can be improved by adding information from one or more target-to-target RTT measurements between the target UEs and cross-referencing the anchor-to-target RTT measurements.

[0194] In the above detailed description, it can be seen that different features are grouped together in each example. This disclosure should not be understood as an intention that the example clauses have more features than the features explicitly mentioned in each clause. On the contrary, the various aspects of the present disclosure may include less than all the features of the disclosed individual example clauses. Therefore, the following clauses should be considered to be incorporated into the description accordingly, wherein each clause itself can be used as a separate example. Although each dependent clause may refer to a specific combination of a clause with one of the other clauses in a clause, the aspects of the dependent clause are not limited to a specific combination. It should be understood that other example clauses may also include a combination of the dependent clause aspects with the subject matter of any other dependent clause or independent clause or a combination of any feature with other dependent clauses and independent clauses. The various aspects disclosed herein explicitly include these combinations, unless explicitly expressed or can be easily inferred that a specific combination is not intended to be used (for example, contradictory aspects, such as defining an element as both an electrical insulator and an electrical conductor). In addition, it is also expected that various aspects of a clause may be included in any other independent clause, even if the clause is not directly dependent on the independent clause.

[0195] Specific implementation examples are described in the following numbered clauses:

[0196] Clause 1. A method of operating a device, the method comprising: obtaining first one or more anchor-to-target RTT measurements corresponding to one or more corresponding round-trip time (RTT) operations between a first target user equipment (UE) and a first one or more anchor devices; obtaining second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between a second target UE and the second one or more anchor devices; obtaining a target-to-target RTT measurement corresponding to the RTT operation between the first target UE and the second target UE; and determining at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0197] Clause 2. The method of clause 1, further comprising determining a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0198] Clause 3. A method according to any one of clauses 1 to 2, the method further comprising: determining whether the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE.

[0199] Clause 4. A method according to clause 3, wherein the target-to-target RTT measurement is based on the determination of the first estimated location to be used for the first target UE: the number of available anchor devices for the first target UE is less than a first threshold; the number of available anchor devices for the second target UE is less than a second threshold; the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold; the estimated distance between the first target UE and the second target UE is less than a fourth threshold; the target-to-target RTT measurement is less than a fifth threshold; a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE; or a combination thereof.

[0200] Clause 5. A method according to any one of clauses 1 to 4, wherein: the device is a server device, and the method further comprises: transmitting one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; and receiving the target-to-target RTT measurement directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchor devices or one of the second one or more anchor devices.

[0201] Clause 6. A method according to any one of clauses 1 to 4, wherein: the device is a server device, and the method further comprises: configuring a base station to transmit configuration information to the first target UE or the second target UE, the configuration information indicating a radio resource allocation for the RTT operation between the first target UE and the second target UE.

[0202] Clause 7. A method according to any one of clauses 1 to 4, wherein: the device is the first target UE, and the method further comprises: transmitting a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; transmitting one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or transmitting a third request to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

[0203] Clause 8. The method according to clause 7 further includes: communicating with the second target UE to assign the first target UE, the second target UE, or both to determine a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0204] Clause 9. A method according to any one of clauses 7 to 8, the method further comprising: determining a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements and the target-to-target RTT measurement; and transmitting location information indicating the second estimated position of the second target UE to the second target UE.

[0205] Clause 10. The method of any of clauses 7 to 9, wherein the first request includes an anchor device identifier identifying the second one or more anchor devices.

[0206] Clause 11. The method of any of clauses 7 to 10, further comprising receiving the second one or more anchor-to-target RTT measurements from the second target UE together with an anchor device identifier identifying the second one or more anchor devices.

[0207] Clause 12. A method according to any one of clauses 7 to 11, the method further comprising: determining whether the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE, wherein the second one or more anchor-to-target RTT measurements are obtained based on the second one or more anchor-to-target RTT measurements being determined to be used for the determination of the first estimated position of the first target UE.

[0208] Clause 13. A method according to clause 12, wherein the second one or more anchor-to-target RTT measurements are determined to be the first estimated location to be used for the first target UE based on the following: the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold; the estimated distance between the first target UE and the second target UE is less than a second threshold; the target-to-target RTT measurement is less than a third threshold; or a combination thereof.

[0209] Clause 14. The method of any of clauses 7 to 13, further comprising: performing the RTT operation between the first target UE and the second target UE based on discovering the second target UE.

[0210] Clause 15. A method according to any one of clauses 7 to 13, the method further comprising: transmitting a fourth request to the second target UE, a server device, or one of the first one or more anchor devices or one of the second one or more anchor devices, the fourth request requesting authorization to perform the RTT operation between the first target UE and the second target UE.

[0211] Clause 16. A method according to clause 15, wherein at least one of the first request, the one or more second requests, the third request or the fourth request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer or an application layer message.

[0212] Clause 17. A device comprising: a memory; and at least one processor, the at least one processor being communicatively coupled to the memory, the at least one processor being configured to: obtain first one or more anchor-to-target RTT measurements corresponding to one or more respective round-trip time (RTT) operations between a first target user equipment (UE) and a first one or more anchor devices; obtain second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtain target-to-target RTT measurements corresponding to RTT operations between the first target UE and the second target UE; and determine at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0213] Clause 18. The apparatus of clause 17, wherein the at least one processor is further configured to determine a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0214] Clause 19. An apparatus according to any one of clauses 17 to 18, wherein the at least one processor is further configured to: determine whether the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE.

[0215] Clause 20. An apparatus according to clause 19, wherein the target-to-target RTT measurement is based on the determination of the first estimated location to be used for the first target UE: the number of available anchor devices for the first target UE is less than a first threshold; the number of available anchor devices for the second target UE is less than a second threshold; the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold; the estimated distance between the first target UE and the second target UE is less than a fourth threshold; the target-to-target RTT measurement is less than a fifth threshold; a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE; or a combination thereof.

[0216] Clause 21. A device according to any one of clauses 17 to 20, wherein: the device is a server device and the at least one processor is further configured to: transmit one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; and receive the target-to-target RTT measurement directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchor devices or one of the second one or more anchor devices.

[0217] Clause 22. An apparatus according to any one of clauses 17 to 20, wherein: the apparatus is a server device, and the at least one processor is further configured to: configure a base station to transmit configuration information to the first target UE or the second target UE, the configuration information indicating a radio resource allocation for the RTT operation between the first target UE and the second target UE.

[0218] Clause 23. An apparatus according to any one of clauses 17 to 20, wherein: the apparatus is the first target UE, and the at least one processor is further configured to: transmit a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; transmit one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or transmit a third request to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

[0219] Clause 24. An apparatus according to clause 23, wherein the at least one processor is further configured to: communicate with the second target UE to assign the first target UE, the second target UE, or both to determine a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0220] Clause 25. An apparatus according to any one of clauses 23 to 24, wherein the at least one processor is further configured to: determine a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements and the target-to-target RTT measurement; and transmit location information indicating the second estimated position of the second target UE to the second target UE.

[0221] Clause 26. The apparatus of any of clauses 23 to 25, wherein the first request comprises an anchor device identifier identifying the second one or more anchor devices.

[0222] Clause 27. The apparatus of any of clauses 23 to 26, wherein the at least one processor is further configured to: receive the second one or more anchor-to-target RTT measurements from the second target UE together with an anchor device identifier identifying the second one or more anchor devices.

[0223] Clause 28. An apparatus according to any one of clauses 23 to 27, wherein the at least one processor is further configured to: determine whether the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE, wherein the second one or more anchor-to-target RTT measurements are obtained based on the second one or more anchor-to-target RTT measurements being determined to be used for the determination of the first estimated position of the first target UE.

[0224] Clause 29. An apparatus according to clause 28, wherein the second one or more anchor-to-target RTT measurements are determined to be the first estimated location to be used for the first target UE based on the following: the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold; the estimated distance between the first target UE and the second target UE is less than a second threshold; the target-to-target RTT measurement is less than a third threshold; or a combination thereof.

[0225] Clause 30. The apparatus of any of clauses 23 to 29, wherein the at least one processor is further configured to: perform the RTT operation between the first target UE and the second target UE based on discovering the second target UE.

[0226] Clause 31. An apparatus according to any one of clauses 23 to 29, wherein the at least one processor is further configured to: transmit a fourth request to the second target UE, a server device, or one of the first one or more anchor devices or one of the second one or more anchor devices, the fourth request requesting authorization to perform the RTT operation between the first target UE and the second target UE.

[0227] Clause 32. An apparatus according to clause 31, wherein at least one of the first request, the one or more second requests, the third request or the fourth request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer or an application layer message.

[0228] Clause 33. A device comprising: means for obtaining first one or more anchor-to-target round-trip time (RTT) measurements corresponding to one or more corresponding RTT operations between a first target user equipment (UE) and a first one or more anchor devices; means for obtaining second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between a second target UE and a second one or more anchor devices; means for obtaining target-to-target RTT measurements corresponding to RTT operations between the first target UE and the second target UE; and means for determining at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0229] Clause 34. The apparatus of clause 33, further comprising means for determining a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0230] Clause 35. An apparatus according to any one of clauses 33 to 34, the apparatus further comprising: a component for determining whether the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is to be used for the first estimated position of the first target UE.

[0231] Clause 36. A device according to clause 35, wherein the target-to-target RTT measurement is based on the determination of the first estimated location to be used for the first target UE: the number of available anchor devices for the first target UE is less than a first threshold; the number of available anchor devices for the second target UE is less than a second threshold; the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold; the estimated distance between the first target UE and the second target UE is less than a fourth threshold; the target-to-target RTT measurement is less than a fifth threshold; a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE; or a combination thereof.

[0232] Clause 37. An apparatus according to any one of clauses 33 to 36, wherein: the apparatus is a server device, and the apparatus further comprises: a component for transmitting one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; and a component for receiving the target-to-target RTT measurement directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchor devices or one of the second one or more anchor devices.

[0233] Clause 38. An apparatus according to any one of clauses 33 to 36, wherein: the apparatus is a server apparatus, and the apparatus further comprises: a component for configuring a base station to transmit configuration information to the first target UE or the second target UE, the configuration information indicating a radio resource allocation for the RTT operation between the first target UE and the second target UE.

[0234] Clause 39. An apparatus according to any one of clauses 33 to 36, wherein: the apparatus is the first target UE, and the apparatus further comprises: a component for transmitting a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; a component for transmitting one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or a component for transmitting a third request to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

[0235] Clause 40. The apparatus of clause 39, further comprising: means for communicating with the second target UE to assign the first target UE, the second target UE, or both, to determine a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0236] Clause 41. An apparatus according to any one of clauses 39 to 40, the apparatus further comprising: a component for determining a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements and the target-to-target RTT measurement; and a component for transmitting position information indicating the second estimated position of the second target UE to the second target UE.

[0237] Clause 42. The apparatus of any of clauses 39 to 41, wherein the first request comprises an anchor device identifier identifying the second one or more anchor devices.

[0238] Clause 43. The apparatus of any of clauses 39 to 42, further comprising means for receiving, from the second target UE, the second one or more anchor-to-target RTT measurements together with an anchor device identifier identifying the second one or more anchor devices.

[0239] Clause 44. An apparatus according to any one of clauses 39 to 43, the apparatus further comprising: a component for determining whether the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE, wherein the second one or more anchor-to-target RTT measurements are obtained based on the determination that the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE.

[0240] Clause 45. An apparatus according to clause 44, wherein the second one or more anchor-to-target RTT measurements are determined to be the first estimated location to be used for the first target UE based on the following: the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold; the estimated distance between the first target UE and the second target UE is less than a second threshold; the target-to-target RTT measurement is less than a third threshold; or a combination thereof.

[0241] Clause 46. An apparatus as set forth in any of clauses 39 to 45, further comprising means for performing the RTT operation between the first target UE and the second target UE based on discovering the second target UE.

[0242] Clause 47. An apparatus according to any one of clauses 39 to 45, the apparatus further comprising: a component for transmitting a fourth request to the second target UE, a server device, or one of the first one or more anchor devices or one of the second one or more anchor devices, the fourth request requesting authorization to perform the RTT operation between the first target UE and the second target UE.

[0243] Clause 48. An apparatus according to clause 47, wherein at least one of the first request, the one or more second requests, the third request or the fourth request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer or an application layer message.

[0244] Clause 49. A non-transitory computer-readable medium storing computer-executable instructions that, when executed by a device, cause the device to: obtain first one or more anchor-to-target RTT measurements corresponding to one or more corresponding round-trip time (RTT) operations between a first target user equipment (UE) and a first one or more anchor devices; obtain second one or more anchor-to-target RTT measurements corresponding to one or more corresponding RTT operations between a second target UE and a second one or more anchor devices; obtain target-to-target RTT measurements corresponding to RTT operations between the first target UE and the second target UE; and determine at least a first estimated position of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0245] Clause 50. A non-transitory computer-readable medium according to clause 49, wherein the non-transitory computer-readable medium further comprises: computer-executable instructions, which, when executed by the device, cause the device to: determine a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

[0246] Clause 51. A non-transitory computer-readable medium according to any one of clauses 49 to 50, the non-transitory computer-readable medium further comprising: computer-executable instructions which, when executed by the device, cause the device to: determine whether the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is to be used for the determination of the first estimated position of the first target UE.

[0247] Clause 52. A non-transitory computer-readable medium according to clause 51, wherein the target-to-target RTT measurement is based on the determination of the first estimated location to be used for the first target UE: the number of available anchor devices for the first target UE is less than a first threshold; the number of available anchor devices for the second target UE is less than a second threshold; the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold; the estimated distance between the first target UE and the second target UE is less than a fourth threshold; the target-to-target RTT measurement is less than a fifth threshold; a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE; or a combination thereof.

[0248] Clause 53. A non-transitory computer-readable medium according to any one of clauses 49 to 52, wherein: the device is a server device, and the non-transitory computer-readable medium further comprises: computer-executable instructions, which, when executed by the device, cause the device to: transmit one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; and receive the target-to-target RTT measurement directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchor devices or one of the second one or more anchor devices.

[0249] Clause 54. A non-transitory computer-readable medium according to any one of clauses 49 to 52, wherein: the device is a server device, and the non-transitory computer-readable medium further comprises: computer-executable instructions which, when executed by the device, cause the device to: configure a base station to transmit configuration information to the first target UE or the second target UE, the configuration information indicating a radio resource allocation for the RTT operation between the first target UE and the second target UE.

[0250] Clause 55. A non-transitory computer-readable medium according to any one of clauses 49 to 52, wherein: the device is the first target UE, and the non-transitory computer-readable medium further comprises: computer-executable instructions, which, when executed by the device, cause the device to: transmit a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; transmit one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or transmit a third request to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

[0251] Clause 56. A non-transitory computer-readable medium according to clause 55, wherein the non-transitory computer-readable medium further comprises: computer-executable instructions that, when executed by the device, cause the device to: communicate with the second target UE to assign the first target UE, the second target UE, or both to determine a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurements.

[0252] Clause 57. A non-transitory computer-readable medium according to any one of clauses 55 to 56, wherein the non-transitory computer-readable medium further comprises: computer-executable instructions which, when executed by the device, cause the device to: determine a second estimated position of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement; and transmit location information indicating the second estimated position of the second target UE to the second target UE.

[0253] Clause 58. The non-transitory computer-readable medium of any one of clauses 55 to 57, wherein the first request includes an anchor device identifier identifying the second one or more anchor devices.

[0254] Clause 59. A non-transitory computer-readable medium according to any one of clauses 55 to 58, the non-transitory computer-readable medium further comprising: computer-executable instructions that, when executed by the device, cause the device to: receive the second one or more anchor-to-target RTT measurements from the second target UE together with an anchor device identifier identifying the second one or more anchor devices.

[0255] Clause 60. A non-transitory computer-readable medium according to any one of clauses 55 to 59, the non-transitory computer-readable medium further comprising: computer-executable instructions which, when executed by the device, cause the device to: determine whether the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE, wherein the second one or more anchor-to-target RTT measurements are obtained based on the determination that the second one or more anchor-to-target RTT measurements are to be used for the determination of the first estimated position of the first target UE.

[0256] Clause 61. A non-transitory computer-readable medium according to clause 60, wherein the second one or more anchor-to-target RTT measurements are determined to be the first estimated location to be used for the first target UE based on the following: the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold; the estimated distance between the first target UE and the second target UE is less than a second threshold; the target-to-target RTT measurement is less than a third threshold; or a combination thereof.

[0257] Clause 62. A non-transitory computer-readable medium according to any one of clauses 55 to 61, wherein the non-transitory computer-readable medium further comprises: computer-executable instructions which, when executed by the device, cause the device to: perform the RTT operation between the first target UE and the second target UE based on discovering the second target UE.

[0258] Clause 63. A non-transitory computer-readable medium according to any one of clauses 55 to 61, wherein the non-transitory computer-readable medium further comprises: computer-executable instructions which, when executed by the device, cause the device to: transmit a fourth request to the second target UE, a server device, or one of the first one or more anchor devices or one of the second one or more anchor devices, wherein the fourth request requests authorization to perform the RTT operation between the first target UE and the second target UE.

[0259] Clause 64. A non-transitory computer-readable medium according to clause 63, wherein at least one of the first request, the one or more second requests, the third request or the fourth request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer or an application layer message.

[0260] Those skilled in the art will appreciate that information and signals can be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0261] In addition, it will be understood by those skilled in the art that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the various aspects disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such specific implementation decisions should not be interpreted as resulting in a departure from the scope of this disclosure.

[0262] The various illustrative logical blocks, modules, and circuits described in conjunction with the various aspects disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an ASIC, a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration.

[0263] The methods, sequences and / or algorithms described in conjunction with the various aspects disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An example storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. In an alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal (e.g., UE). In an alternative, the processor and the storage medium may reside in the user terminal as discrete components.

[0264] In one or more example aspects, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium or sent via a computer-readable medium. Computer-readable media include both computer storage media and communication media, which include any media that facilitate the transfer of computer programs from one place to another. Storage media can be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM, or other optical disk storage devices, magnetic disk storage devices, or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Moreover, any connection is appropriately referred to as a computer-readable medium. For example, if the software is sent from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc. Disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0265] Although the foregoing disclosure illustrates exemplary aspects of the present disclosure, it should be noted that various changes and modifications may be made herein without departing from the scope of the present disclosure as defined by the appended claims. Furthermore, the functions, steps, and / or actions of the method claims according to the various aspects of the present disclosure described herein do not need to be performed in any particular order. Furthermore, although elements of the present disclosure may be described or claimed in the singular, plural forms are also contemplated unless explicitly stated to be limited to the singular.

Claims

1. A method of operating a device, the method comprising: obtaining first one or more anchor-to-target round trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; obtaining second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtaining a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE; as well as At least a first estimated location of the first target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

2. The method according to claim 1, further comprising: A second estimated location of the second target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

3. The method according to claim 1, further comprising: and determining whether the target-to-target RTT measurement is to be used for determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is determined to be used for the first estimated position of the first target UE.

4. The method of claim 3 , wherein the target-to-target RTT measurement is based on the determination of the first estimated location determined to be for the first target UE: The number of available anchor devices of the first target UE is less than a first threshold, The number of available anchor devices of the second target UE is less than a second threshold, the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold, The estimated distance between the first target UE and the second target UE is less than a fourth threshold, the target-to-target RTT measurement is less than a fifth threshold, a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE, or A combination of them.

5. The method according to claim 1, wherein: The device is a server device, and The method further comprises: transmitting one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; and The target-to-target RTT measurement is received directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchoring devices or one of the second one or more anchoring devices.

6. The method according to claim 1, wherein: The device is a server device, and The method further comprises: The base station is configured to transmit configuration information to the first target UE or the second target UE, the configuration information indicating radio resource allocation for the RTT operation between the first target UE and the second target UE.

7. The method according to claim 1, wherein: The device is the first target UE, and The method further comprises: transmitting a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; transmitting one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or A third request is transmitted to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

8. The method according to claim 7, further comprising: Communicate with the second target UE to assign the first target UE, the second target UE, or both to determine a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

9. The method according to claim 7, further comprising: determining a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement; as well as Position information indicating the second estimated position of the second target UE is transmitted to the second target UE.

10. The method of claim 7, wherein the first request includes an anchor device identifier identifying the second one or more anchor devices.

11. The method according to claim 7, further comprising: The second one or more anchor-to-target RTT measurements are received from the second target UE along with an anchor device identifier identifying the second one or more anchor devices.

12. The method according to claim 7, further comprising: and determining whether the second one or more anchor-to-target RTT measurements are to be used for determination of the first estimated position of the first target UE, wherein the second one or more anchor-to-target RTT measurements are obtained based on the determination that the second one or more anchor-to-target RTT measurements are to be used for determination of the first estimated position of the first target UE.

13. The method of claim 12, wherein the second one or more anchor-to-target RTT measurements are based on the determination of the first estimated location determined to be used for the first target UE: a number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a first threshold, The estimated distance between the first target UE and the second target UE is less than a second threshold, the target-to-target RTT measurement is less than a third threshold, or A combination of them.

14. The method according to claim 7, further comprising: The RTT operation between the first target UE and the second target UE is performed based on discovering the second target UE.

15. The method according to claim 7, further comprising: A fourth request is transmitted to the second target UE, a server device, or one of the first one or more anchor devices or one of the second one or more anchor devices, the fourth request requesting a grant to perform the RTT operation between the first target UE and the second target UE.

16. The method of claim 15, wherein at least one of the first request, the one or more second requests, the third request, or the fourth request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer, or an application layer message.

17. A device comprising: Memory; and at least one processor communicatively coupled to the memory, the at least one processor configured to: obtaining first one or more anchor-to-target round trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; obtaining second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtaining a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE; as well as At least a first estimated location of the first target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

18. The apparatus of claim 17, wherein the at least one processor is further configured to: A second estimated location of the second target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

19. The apparatus of claim 17 , wherein the at least one processor is further configured to determine whether the target-to-target RTT measurement is to be used for determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is to be used for the first estimated position of the first target UE.

20. The apparatus of claim 19, wherein the target-to-target RTT measurement is based on the determination of the first estimated location determined to be for the first target UE: The number of available anchor devices of the first target UE is less than a first threshold, The number of available anchor devices of the second target UE is less than a second threshold, the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold, The estimated distance between the first target UE and the second target UE is less than a fourth threshold, the target-to-target RTT measurement is less than a fifth threshold, a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE, or A combination of them.

21. The apparatus of claim 17, wherein: The device is a server device, and The at least one processor is further configured to: transmitting one or more messages to the first target UE, the second target UE, or both, the one or more messages configuring the first target UE and the second target UE to perform the RTT operation between the first target UE and the second target UE; as well as The target-to-target RTT measurement is received directly from the first target UE or the second target UE or indirectly from the first target UE or the second target UE via one of the first one or more anchoring devices or one of the second one or more anchoring devices.

22. The apparatus of claim 17, wherein: The device is a server device, and The at least one processor is further configured to: The base station is configured to transmit configuration information to the first target UE or the second target UE, the configuration information indicating radio resource allocation for the RTT operation between the first target UE and the second target UE.

23. The apparatus of claim 17, wherein: The device is the first target UE, and The at least one processor is further configured to: transmitting a first request to the second target UE, wherein the first request requests the second target UE to send the second one or more anchor-to-target RTT measurements in response to the first request; transmitting one or more second requests to the second one or more anchor devices, wherein the one or more second requests request the second one or more anchor devices to send the second one or more anchor-to-target RTT measurements in response to the one or more second requests; or A third request is transmitted to a server device, wherein the third request requests the server device to send the second one or more anchor-to-target RTT measurements in response to the second request.

24. The apparatus of claim 23, wherein at least one of the first request, the one or more second requests, or the third request is implemented based on a medium access control (MAC) layer, a radio resource control (RRC) layer, a vehicle-to-everything (V2X) layer, or an application layer message.

25. A device comprising: means for obtaining first one or more anchor-to-target round trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; means for obtaining second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and a second one or more anchor devices; means for obtaining a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE; and means for determining at least a first estimated location of the first target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

26. The apparatus of claim 25, further comprising: means for determining a second estimated location of the second target UE based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

27. The apparatus of claim 25, further comprising: means for determining whether the target-to-target RTT measurement is to be used for determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is determined to be used for determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is based on the determination of the first estimated location of the first target UE being determined as being to be used: The number of available anchor devices of the first target UE is less than a first threshold, The number of available anchor devices of the second target UE is less than a second threshold, the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold, The estimated distance between the first target UE and the second target UE is less than a fourth threshold, the target-to-target RTT measurement is less than a fifth threshold, a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE, or A combination of them.

28. A non-transitory computer-readable medium storing computer-executable instructions that, when executed by a device, cause the device to: obtaining first one or more anchor-to-target round trip time (RTT) measurements corresponding to one or more respective RTT operations between a first target user equipment (UE) and first one or more anchor devices; obtaining second one or more anchor-to-target RTT measurements corresponding to one or more respective RTT operations between a second target UE and the second one or more anchor devices; obtaining a target-to-target RTT measurement corresponding to an RTT operation between the first target UE and the second target UE; as well as At least a first estimated location of the first target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

29. The non-transitory computer-readable medium of claim 28, further comprising: Computer-executable instructions that, when executed by the device, cause the device to: A second estimated location of the second target UE is determined based on the first one or more anchor-to-target RTT measurements, the second one or more anchor-to-target RTT measurements, and the target-to-target RTT measurement.

30. The non-transitory computer-readable medium of claim 28, further comprising: computer-executable instructions that, when executed by the device, cause the device to: determine whether the target-to-target RTT measurement is to be used for determination of the first estimated position of the first target UE, wherein the target-to-target RTT measurement is obtained based on the determination that the target-to-target RTT measurement is determined to be used for the first estimated position of the first target UE, wherein the target-to-target RTT measurement is based on the determination of the first estimated location of the first target UE being determined as being to be used: The number of available anchor devices of the first target UE is less than a first threshold, The number of available anchor devices of the second target UE is less than a second threshold, the number of common anchor devices belonging to both the first one or more anchor devices and the second one or more anchor devices is greater than a third threshold, The estimated distance between the first target UE and the second target UE is less than a fourth threshold, the target-to-target RTT measurement is less than a fifth threshold, a request from the first target UE or the second target UE, the request requesting to perform the RTT operation between the first target UE and the second target UE, or A combination of them.

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