Location tracking of terminal devices

Abstract

Example embodiments of the present disclosure relate to location tracking of terminal devices. In an aspect, a first network device determines whether to switch from a positioning-based tracking of a terminal device to a sensing-based tracking of the terminal device based on a first switching condition, or to switch from the sensing-based tracking to the positioning-based tracking based on a second switching condition. In this way, signaling load and PRS or SRS resource utilization are reduced, and energy consumption for tracking UE locations is lowered.

Description

Technical Field

[0001] Exemplary embodiments of this disclosure relate generally to the field of communications, and more particularly to apparatus, methods, devices, and computer-readable storage media for location tracking of terminal devices. Background Technology

[0002] In the field of communications technology, there is an ongoing evolution towards providing efficient and reliable solutions for utilizing wireless communication networks. Each generation faces its own technical challenges in addressing the different situations and processes required for connectivity and services to be connected to wireless networks. To meet the growing demand for wireless data services since the deployment of fourth-generation (4G) communication systems, efforts have been made to develop improved fifth-generation (5G), pre-5G, 6G, or higher communication systems.

[0003] Wireless sensing technology aims to acquire information about remote objects and their characteristics without physical contact. In most sensing use cases, sensing also involves determining the location of passive objects and thus enabling seamless operation of localization (as part of a local 5G communication system) with sensing. However, both sensing and localization technologies may require further optimization and improvement. Summary of the Invention

[0004] Typically, exemplary embodiments of this disclosure provide a solution for location tracking of terminal devices, such as enhanced location services for network-based sensing and location detection.

[0005] In a first aspect, a first network device is provided. The first network device includes at least one processor and at least one memory storing instructions, which, when executed by the at least one processor, cause the first network device to at least: determine, based on a first switching condition, whether to switch from location-based tracking of a terminal device to sense-based tracking of the terminal device, or based on a second switching condition, whether to switch from sense-based tracking to location-based tracking; based on determining to switch from location-based tracking to sense-based tracking, send a first instruction to the terminal device for suspending or stopping a location session associated with location-based tracking; and based on determining to switch from sense-based tracking to location-based tracking, send a second instruction to the terminal device for resuming a first location session or starting a second location session associated with location-based tracking.

[0006] In a second aspect, a second network device is provided. The second network device includes at least one processor and at least one memory storing instructions, which, when executed by the at least one processor, cause the second network device to at least: receive a sensing configuration from a first network device for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, the location information of the terminal device being determined during a location-based tracking session associated with the terminal device; and perform the sensing session based on the sensing configuration.

[0007] In a third aspect, a terminal device is provided. The terminal device includes: at least one processor; and at least one memory storing instructions, which, when executed by the at least one processor, cause the terminal device to at least: receive a first instruction from a first network device, the first instruction for suspending a location session associated with location-based tracking of the terminal device; and suspend the location session based on receiving the first instruction.

[0008] In a fourth aspect, a method is provided. The method includes: determining, based on a first switching condition, whether to switch from location-based tracking to sensing-based tracking of a terminal device, or based on a second switching condition, whether to switch from sensing-based tracking to location-based tracking; and, based on the determination to switch from location-based tracking to sensing-based tracking, sending a first instruction to the terminal device for suspending or stopping a location session associated with location-based tracking; and, based on the determination to switch from sensing-based tracking to location-based tracking, sending a second instruction to the terminal device for resuming a first location session or initiating a second location session associated with location-based tracking.

[0009] In a fifth aspect, a method is provided. The method includes: receiving a sensing configuration from a first network device for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, the location information of the terminal device being determined during a location session associated with location-based tracking of the terminal device; and performing the sensing session based on the sensing configuration.

[0010] In a sixth aspect, a method is provided. The method includes: receiving from a first network device a first instruction for suspending a location session associated with location-based tracking of the terminal device; and suspending the location session based on receiving the instruction.

[0011] In a seventh aspect, an apparatus is provided. The apparatus includes: means for determining, at a first network device, whether to switch from location-based tracking to sensing-based tracking of a terminal device based on a first handover condition, or based on a second handover condition; means for sending a first instruction to the terminal device based on the determination to switch from location-based tracking to sensing-based tracking, the first instruction being for suspending or stopping a location session associated with location-based tracking; and means for sending a second instruction to the terminal device based on the determination to switch from sensing-based tracking to location-based tracking, the second instruction being for resuming a first location session or starting a second location session associated with location-based tracking.

[0012] In an eighth aspect, an apparatus is provided. The apparatus includes: components for receiving a sensing configuration at a second network device from a first network device, the sensing configuration for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, the location information of the terminal device being determined during a location-based tracking session associated with the terminal device; and components for performing the sensing session based on the sensing configuration.

[0013] In a ninth aspect, an apparatus is provided. The apparatus includes: components for receiving a first instruction from a first network device at a terminal device, the first instruction being for suspending a location session associated with location-based tracking of the terminal device; and components for suspending the location session based on receiving the first instruction.

[0014] In a tenth aspect, a non-transitory computer-readable medium is provided, comprising program instructions for causing a device to perform at least the method according to any one of the fourth to sixth aspects.

[0015] In the eleventh aspect, a computer program including instructions is provided, which, when executed by a device, cause the device to perform at least the method according to any one of the fourth to sixth aspects.

[0016] In a twelfth aspect, a first network device is provided. The first network device includes: determining circuitry configured to determine, based on a first handover condition, whether to switch from location-based tracking of a terminal device to sense-based tracking of the terminal device, or based on a second handover condition, whether to switch from sense-based tracking to location-based tracking; transmitting circuitry configured to, based on the determination of switching from location-based tracking to sense-based tracking, send a first indication to the terminal device, the first indication being for suspending or stopping a location session associated with location-based tracking; and transmitting circuitry configured to, based on the determination of switching from sense-based tracking to location-based tracking, send a second indication to the terminal device, the second indication being for resuming a first location session or starting a second location session associated with location-based tracking.

[0017] In a thirteenth aspect, a second network device is provided. The second network device includes: a receiving circuit configured to receive a sensing configuration from a first network device, the sensing configuration for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device during a location-based tracking session associated with the terminal device; and an execution circuit configured to perform the sensing session based on the sensing configuration.

[0018] In a fourteenth aspect, a terminal device is provided. The terminal device includes: a receiving circuit configured to receive a first indication from a first network device, the first indication being used to suspend a location session associated with location-based tracking of the terminal device; and a suspension circuit configured to suspend the location session based on receiving the first indication.

[0019] It should be understood that the summary portion is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0020] Some exemplary embodiments will now be described with reference to the accompanying drawings, in which: Figure 1A Examples of network environments in which exemplary embodiments of this disclosure may be implemented are shown; Figure 1B Several sensing methods are shown; Figure 2 A flowchart of a method according to some embodiments of the present disclosure is shown; Figure 3 A flowchart of a sense-based UE tracking method according to some embodiments of the present disclosure is shown; Figure 4The process flow according to some example embodiments of this disclosure is shown; Figure 5 A flowchart illustrating enhancements related to location delay requests utilizing sensing, according to some embodiments of this disclosure, is shown; Figure 6 Flowcharts relating to the interaction between LMF and SF / SeMF according to some embodiments of this disclosure are shown; Figure 7 Distance-angle diagrams of sensing scenes involving three target UEs, associated with some embodiments of this disclosure, are shown. Figure 8 A flowchart is shown illustrating a method implemented at a network device according to some example embodiments of the present disclosure; Figure 9 A flowchart is shown illustrating a method implemented at a network device according to some example embodiments of the present disclosure; Figure 10 A flowchart is shown illustrating a method implemented at a terminal device according to some example embodiments of the present disclosure; Figure 11 A simplified block diagram of a device suitable for implementing some example embodiments of this disclosure is shown; and Figure 12 A block diagram of an example of a computer-readable medium 1200 according to some exemplary embodiments of the present disclosure is shown.

[0021] In all the accompanying drawings, the same or similar reference numerals denote the same or similar elements. Detailed Implementation

[0022] The principles of this disclosure will now be described with reference to some exemplary embodiments. It should be understood that these embodiments are described for illustrative purposes only and to assist those skilled in the art in understanding and implementing this disclosure, and do not imply any limitation on the scope of this disclosure. The disclosure described herein can be implemented in various ways other than those described below.

[0023] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0024] References to "an embodiment," "embodiment," "example embodiment," etc., in this disclosure indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment must include that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is believed that incorporating other embodiments, whether explicitly described or not, to affect such a feature, structure, or characteristic is within the knowledge of those skilled in the art.

[0025] It should be understood that although the terms “first” and “second”, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of the exemplary embodiments, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. As used herein, the term “and / or” includes any and all combinations of one or more of the listed terms.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that, when used herein, the terms “comprises,” “comprising,” “has,” “having,” “includes,” and / or “including” specify the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof. As used herein, “at least one of the following: ” and “at least one of ” and similar wording (where the list of two or more elements is connected by “and” or “or”) means at least any one of the elements, or at least any two or more of the elements, or at least all of the elements.

[0027] As used in this application, the term "circuit" may refer to one or more of the following: Hardware circuits only (e.g., analog and / or digital circuits) and Combinations of hardware circuits and software, such as (if applicable): A combination of analog and / or digital hardware circuitry and software (e.g., firmware); and (ii) Any part of a hardware processor having software (including (multiple) digital signal processors), software, and memory, which work together to enable a device such as a mobile phone or server to perform various functions, and (c) Hardware circuitry and / or processors, such as microprocessors or a portion thereof, which require software (e.g., firmware) to operate, but which may be absent when no software is required to operate.

[0028] This definition of "circuit" applies to all uses of the term in this application (including in any claim). As another example, as used herein, the term "circuit" also encompasses implementations of hardware circuitry or processors (or processors in general) or a portion thereof and their accompanying software and / or firmware. The term "circuit" also encompasses, for example and if applicable to a particular claim element, baseband integrated circuits or processor integrated circuits for mobile devices or similar integrated circuits in servers, cellular network devices, or other computing or network devices.

[0029] As used herein, the term "cellular network" refers to a network operating according to any suitable radio access technology defined by standards such as Long Term Evolution (LTE), LTE-A Advanced (LTE-A), New Wideband Code Division Multiple Access (WCDMA), High-Speed ​​Packet Access (HSPA), and Narrowband Internet of Things (NB-IoT). Furthermore, communication between terminal devices and network devices within a cellular network can be performed according to any suitable communication protocol, including but not limited to fourth-generation (4G), 4.5G, fifth-generation (5G), and sixth-generation (6G) communication protocols and / or any other currently known or future-developed protocols. Embodiments of this disclosure can be applied to a variety of cellular networks. Given the rapid development of communications, there will certainly be future types of communication technologies and systems that embody the future types of this disclosure. The scope of this disclosure should not be construed as limited to the aforementioned systems.

[0030] 6G networks are expected to employ a flexible, decentralized architecture and ubiquitous computing, where local spectrum licensing, spectrum sharing, infrastructure sharing, and intelligent automated management are supported by mobile edge computing, artificial intelligence, short packet communication, and blockchain technologies. Key features of 6G will include intelligent connectivity management and control, programmability, integrated sensing and communication, reduced energy footprint, trusted infrastructure, scalability, and affordability. Furthermore, 6G addresses new use cases by integrating location and sensing capabilities into the system definition to unify the user experience across the physical and digital worlds.

[0031] As used herein, the term "network device" refers to any device in a cellular network through which terminal devices access data networks and receive services exposed by other network devices in the cellular network. In some examples, a network device may include or implement the network functions of a fifth-generation communication system (5GS) (e.g., the core network) of the cellular network. In some examples, a network device may be located at the RAN of the 5GS. Depending on the terminology and technologies applied, a network device may be part of a satellite, base station (BS), or access point (AP), such as a B-node (B node or NB), an evolved B-node (eNodeB or eNB), an NR NB (also known as a gNB), a remote radio unit (RRU), a radio header (RH), a remote radio header end (RRH), a relay, a low-power node (such as a femtonode), a piconode, etc. A gNB may include a centralized unit (CU) and one or more distributed units (DUs). Femtonodes and piconodes are small base stations with small coverage areas.

[0032] The term "terminal equipment" refers to equipment in a cellular network communication system, such as a fifth-generation communication system (5GS) capable of wireless (e.g., radio) communication with the NR-RAN of 5GS. As an example and not a limitation, terminal equipment may also be referred to as wireless communication equipment, user equipment (UE), subscriber station (SS), portable subscriber station, mobile station (MS), or access terminal (AT). Examples of terminal devices include, but are not limited to, mobile phones, cellular phones, smartphones, Voice over IP (VoIP) phones, wireless local loop phones, tablets, wearable terminal devices, personal digital assistants (PDAs), portable computers, desktop computers, image capture terminal devices (such as digital cameras), gaming terminal devices, music storage and return devices, in-vehicle wireless terminal devices, wireless endpoints, mobile stations, laptop embedded devices (LEEs), laptop mounted devices (LMEs), USB dongles, smart devices, wireless customer premises equipment (CPEs), Internet of Things (IoT) devices, watches or other wearable devices, head-mounted displays (HMDs), vehicles, drones, medical devices and applications (e.g., remote surgery), industrial devices and applications (e.g., robots and / or other wireless devices operating in the context of industrial and / or automated processing chains), consumer electronics devices, devices operating on commercial and / or industrial wireless networks, etc. In the following description, the terms "terminal device," "communication device," "terminal," "user equipment," and "UE" are used interchangeably.

[0033] The objectives of sensing research may include, for example, studying use cases and potential requirements for enhancing 5G systems to provide integrated communication and sensing services for different target verticals / applications, such as autonomous / assisted driving, V2X, aviation / UAV, 3D map reconstruction, smart cities / factories, public sector, healthcare, smart homes, and the maritime sector; identifying key performance indicators (KPIs) related to NR-based sensing (e.g., range, motion, speed) and performance requirements for transmitting sensing-related data; and aspects related to security, privacy, regulatory requirements, and charging.

[0034] Current 3GPP-based positioning methods require very dense signaling to track (moving) UEs over time. In the context of this disclosure, the suffixes "based" and "assisted" can refer to a node responsible for performing positioning calculations (and may also provide measurements) and a node providing measurements (but not performing positioning calculations), respectively. Therefore, the operation of the UE providing measurements to the LMF for location estimation calculations is described as "UE-assisted" (and may also be referred to as "LMF-based"), while the operation of the UE calculating its own location is described as "UE-based." This signaling load incurs overhead for both the UE and the network side, especially when the device is an energy-constrained device (such as a Low Capability (RedCap) or Low Power High Precision Positioning (LPHAP) UE). Therefore, reducing the signaling load, reducing the utilization of Positioning Reference Signal (PRS) or Sounding Reference Signal (SRS) resources, and reducing the energy consumption for tracking the UE's location are crucial.

[0035] In view of the above, exemplary embodiments of this disclosure provide a solution for location tracking of a terminal device, such as an enhanced location service for network-based sensing and location detection. In exemplary embodiments of this disclosure, a first network device may determine whether to switch from location-based tracking to sensing-based tracking of the terminal device based on a first handover condition, or based on a second handover condition. Based on the determination to switch from location-based tracking to sensing-based tracking, the first network device sends a first indication to the terminal device for suspending or stopping the location session associated with location-based tracking. Based on the determination to switch from sensing-based tracking to location-based tracking, the first network device sends a second indication to the terminal device for resuming the first location session or starting a second location session associated with location-based tracking. In this way, signaling load and PRS or SRS resource utilization can be reduced, and energy consumption for tracking the UE's location can be lowered.

[0036] Figure 1AAn example of a network environment 100a in which exemplary embodiments of the present disclosure may be implemented is shown. Environment 100 may be part of a communication network and includes multiple terminal devices and network devices, such as a first network device 110, a second network device 120, and a terminal device 130. As an example, the first network device 110 may be implemented as a Location Management Function (LMF) Sensing Function (SF) or a Sensing Management Function (SeMF). The second network device 120 may be implemented as a New Base Station (gNB), a Transmitter Receiver Point (TRP), or a Base Station (BS). The terminal device 130 may be implemented as a User Equipment (UE) or an Access Terminal (AT). The first network device 110 and the second network device 120 may transmit various data to the terminal device 130 via network environment 100a.

[0037] To transmit data and / or control information, terminal device 130 can perform communication with first network device 110 and second network device 120. The link from first network device 110 and / or second network device 120 to terminal device 130 is referred to as a downlink (DL), while the link from terminal device 110 to first network device 110 and / or second network device 120 is referred to as an uplink (UL).

[0038] Despite Figure 1A The communication environment 100a describes a first network device 110, a second network device 120, and a terminal device 130; however, embodiments of this disclosure can be equivalently applied to any other suitable communication devices communicating with each other. That is, embodiments of this disclosure are not limited to... Figure 1A An exemplary scenario. In this regard, it should be noted that although terminal device 130 is... Figure 1A The device is schematically depicted as a mobile phone, and the first network device 110 and the second network device 120 are schematically depicted as a base station or a server; however, it should be understood that these depictions are exemplary in nature and do not imply any limitation. In other embodiments, the first network device 110, the second network device 120, and the terminal device 130 may be any other communication device, such as any other wireless communication device.

[0039] It should be understood that, such as Figure 1A The specific numbers of various communication devices and communication links shown are for illustrative purposes only and do not imply any limitation. Communication environment 100a may include any suitable number of communication devices and any suitable number of communication links for implementing embodiments of this disclosure. Furthermore, it should be understood that various wireless and wired communications may already exist between all communication devices (if desired).

[0040] Figure 1B Several sensing methods implemented by example embodiments of this disclosure are illustrated. Figure 1B In this context, box 100b can be viewed as a sensing system based on a monobase network, where a single access node (e.g., gNB) 120b acts as both a transmitter and a sensor (e.g., configured as a sensing receiver and a sensing transmitter). Box 100c can be viewed as a sensing system based on a bibase (or multibase) network, where one access node (e.g., gNB) 120c acts as a transmitter (e.g., configured as a sensing transmitter), and another access node (e.g., gNB 130c) (or another gNB) acts as a sensor (e.g., configured as (multiple) sensing receivers).

[0041] Box 100d can be considered a sensing system based on a monostatic UE, wherein a single UE 130d acts as both a transmitter and a sensor (e.g., configured as a sensing receiver and a sensing device). Box 100e can be considered a sensing system based on a bistatic (or multistatic) UE, wherein one UE 120e acts as a transmitter (e.g., configured as a sensing transmitter), and another UE 130e (or other UE) acts as a sensor (e.g., configured as a sensor receiver).

[0042] Box 100f can be considered a DL-based cooperative sensing system, where one access node (e.g., gNB 120f) acts as a transmitter and one UE 130f (or multiple UEs) acts as a sensor (e.g., a sensing receiver). Box 100g can be considered a UL-based cooperative sensing system, where one UE 130g acts as a detector (e.g., configured as a sensing transmitter) and one access node (e.g., gNB) 120g (or multiple gNBs) acts as a sensor (e.g., one access node is configured as a sensing receiver, or multiple access nodes are configured as sensing receivers). Box 100h can be considered another example of a sensing system based on a monobase network, where the target 140h is a vehicle. Box 100i can be considered another example of a sensing system based on a bibase (or multibase) network, where the target 140i is a vehicle.

[0043] In the context of this disclosure, sensing or passive localization can be referred to as estimating the location of a target that does not transmit any radio signals. The target only reflects external radio signals, and these reflections are received by another radio and used to determine the target's location, as in RADAR. When the transmitter and receiver are in the same location, sensing is referred to as monostatic. When the transmitter and receiver are in different locations, sensing can be referred to as bistatic. When multiple transmitter-receiver pairs are used, sensing can be referred to as multistatic. Because sensing is a passive process, it does not involve the target at all. Even when the target user is equipped with a UE, network-based passive sensing can be performed more frequently than active localization, thus avoiding dense localization-related signaling and saving energy at the UE.

[0044] Figure 2 A flowchart of a method according to some embodiments of the present disclosure is shown. For purposes of discussion, method 200 will be described with reference to FIG1. ​​It should be understood that although method 200 has been described with reference to FIG1, method 200 can also be applied to other similar communication scenarios.

[0045] In process flow 200, the first network device 110 may determine whether to switch from location-based tracking of the terminal device 130 to sense-based tracking of the terminal device 130 based on a first switching condition, or determine whether to switch from sense-based tracking to location-based tracking based on a second switching condition.

[0046] In some embodiments, the first network device 110 may then send (210) a first indication 204 to the terminal device 130 to suspend or stop a location session associated with location-based tracking based on a determination to switch from location-based tracking to sense-based tracking. The terminal device 130 may then receive (215) a first indication 204 from the first network device to suspend the location session associated with location-based tracking of the terminal device, and suspend (230) the location session based on receiving the first indication. If the terminal device 130 is performing non-sensory-based location of itself, the terminal device 130 may also trigger sense-based location of itself.

[0047] In some other embodiments, the first network device 110 may send (220) a second instruction 206 to the terminal device 130 for resuming a first location session or starting a second location session associated with location-based tracking based on determining a switch from sense-based tracking to location-based tracking. The terminal device 130 may receive (225) the second instruction 206 for resuming the first location session or starting a second location session associated with location-based tracking from the first network device 110, and resume the first location session or start the second location session based on receiving the second instruction 206.

[0048] In one example, the location session is a first location session, and the first network device 110 can determine whether a second handover condition is met. If the first network device 110 determines that the second handover condition is met, the first network device 110 can send a second instruction 206 to the terminal device 130 for resuming the first location session or starting a second location session associated with location-based tracking.

[0049] The second switching condition may include the need to periodically or once obtain or refresh the identifier of terminal device 130, loss of location tracking of the terminal device or location information specific to terminal device 130 becoming unreliable, the time offset configured for switching back to location-based tracking by sensing-based tracking, terminal device 130 having a predefined mobility profile, conflict avoidance associated with terminal device 130 to be performed, geographic area-specific detection to be performed, terminal device 130 entering an area where sensing-based tracking is not permitted, or any combination of the above.

[0050] In some embodiments, the first network device 110 may determine a sensing configuration for a sensing session associated with sense-based tracking based on location information of the terminal device 130 determined during a suspended location session. The first network device 110 may then send the sensing configuration to at least one second network device 120 selected to perform the sensing session associated with sense-based tracking. Alternatively or additionally, the first network device 110 may send a silence instruction to at least one second network device 120 to silence sensing signals from at least one second network device 120 to terminate the sensing session associated with sense-based tracking.

[0051] Location information may include angle information, distance information, velocity information, or Doppler information. In some other examples, if the first network device 110 is performing non-sensor-based positioning of the terminal device, the first network device 110 may trigger sensor-based positioning of the terminal device.

[0052] In some embodiments, the first switching condition may include: determining to switch from location-based tracking to sense-based tracking if a reliability assessment of the sensing location of the terminal device indicates that the sensing location is reliable; determining not to switch from location-based tracking to sense-based tracking if the reliability assessment indicates that the sensing location is unreliable; when the terminal device is in a low-activity state including RRC_IDLE or RRC_INACTIVE (where sensing does not require the terminal device to switch to RRC connectivity mode); or when the terminal device is in a power-saving mode including CM IDLE (where sensing does not require the terminal device to switch to CM connectivity mode). Note that from the user plane perspective, the terminal device may be in a low-activity state for power-saving purposes in communication or connectivity. RRC IDLE and / or RRCINACTIVE states in the RAN and CM IDLE in the core network can be defined as "low-activity states".

[0053] In some other embodiments, the first network device 110 may perform a reliability assessment by, for example, determining a first location estimate of the terminal device 130 based on non-sensor-based positioning of the terminal device. Furthermore, the first network device 110 may determine a second location estimate of the terminal device 130 based on sensor-based positioning of the terminal device. Then, the first network device 110 may determine whether the difference between the first and second location estimates is below a predefined threshold.

[0054] In some other embodiments, the first network device 110 may perform a reliability assessment by: for example, determining a first reliability level of a first location estimate of the terminal device based on non-sensor-based positioning of the terminal device; furthermore, determining a second reliability level of a second location estimate of the terminal device based on sensor-based positioning of the terminal device; and then performing a reliability assessment based on the first and second reliability levels.

[0055] In some other embodiments, (i) the sensing session associated with sense-based tracking, (ii) the second switching condition, or (iii) entering the positioning session associated with location-based tracking may be based on the capabilities or power-saving requirements of the terminal device. In some examples, the positioning session associated with location-based tracking may be established based on a new radio (NR) positioning procedure. Alternatively or additionally, a suspended positioning session associated with location-based tracking may be resumed using partial or complete configuration from a previous positioning instance.

[0056] In some embodiments, the first network device 110 can suspend a location session associated with location-based tracking by storing configuration information of the location method configured by the first network device 110 for the terminal device 130. In some further embodiments, when the location session associated with location-based tracking is suspended, the first network device 110 can receive a sounding reference signal (SRS) configuration from the second network device 120. Alternatively or additionally, the first network device 110 can activate or deactivate the SRS configuration based on the transition between location-based tracking and sense-based tracking.

[0057] In some embodiments, the first network device 110 may perform a location management function (LMF) and a sensing function (SF), and the first network device 110 may determine to perform a sensing session associated with location-based tracking, a location session associated with location-based tracking, or a combination of sensing and location sessions, such that a target quality of service (QoS) for the location of the terminal device is achieved, resource consumption is minimized, or multiple measurements are combined by reusing multiple resources.

[0058] In some other embodiments, the first network device 110 may perform an LMF (Local Management Function), and the first network device 110 may send a discovery request to the Network Repository Function (NRF) for discovering a SF (Signal Provider) based on determining that a first handover condition is met. The discovery request may include selection criteria such as applicable geographic areas, applicable location areas, target profiles of the end devices (where the end devices operate as active or passive targets), expected QoS of the location of the end devices, the ability to sense measurements from the end devices and the SF, the context of the discovery request, or regulatory requirements.

[0059] Then, the first network device 110 can receive a discovery response from the NRF indicating that the SF has been selected based on at least one selection criterion. The first network device 110 can then send a sensing request to the SF requesting a sensing session associated with sensing-based tracking. In some embodiments, when the first network device 110 can perform an LMF (Local Mobility Management Function), it can send a sensing request to the Access and Mobility Management Function (AMF) requesting a sensing session associated with sensing-based tracking based on determining that a first handover condition has been met, causing the AMF to send the sensing request to the SF selected by the AMF.

[0060] Selection criteria may include the applicable geographic area, the applicable location area, the target profile of terminal device 130, the expected QoS of the location of terminal device 130, the ability to sense measurements from terminal device 130 and SF, the context of the discovery request, regulatory requirements, the context of terminal device 130, the subscription information of terminal device 130, or any combination of the above. Terminal device 130 may operate as an active or passive target.

[0061] In some other embodiments, the first network device 110 may receive a sensing response from the SF including at least one sensing measurement of the terminal device 130, and determine the location of the terminal device 130 based on the at least one sensing measurement. In some examples, where the transmitting and receiving devices in a sensing session associated with sensing-based tracking are terminal devices, the first network device 110 may determine whether to perform sidelink positioning during a positioning session for location-based tracking based on sensing context information.

[0062] Alternatively or additionally, if the transmitting and receiving devices are access network devices, the first network device 110 may determine at least one access network device from among a plurality of access network devices based on sensing context information to transmit a positioning reference signal (PRS) to the terminal device 130 during a positioning session.

[0063] In some embodiments, the second network device 120 may receive (235) a sensing configuration 208 for performing a sensing session associated with sensing-based tracking of a terminal device sent (230) from the first network device 110. The sensing configuration 208 may be determined based on location information of the terminal device determined during a location-based tracking session associated with the terminal device. The second network device 120 may perform the sensing session based on the sensing configuration 208.

[0064] In some embodiments, terminal device 130 is a first terminal device, and second network device 120 can perform a sensing session by guiding a transmission beam toward the area where the first terminal device is located or by selecting a detection waveform based on the motion characteristics of the first and second terminal devices to isolate the first and second terminal devices.

[0065] In some embodiments, terminal device 130 is a first terminal device, and second network device 120 can perform a sensing session by detecting sensing signals from a direction corresponding to the area where the first terminal device is located and / or by separating the first terminal device and the second terminal device based on the motion characteristics of the first terminal device and the second terminal device.

[0066] In some further embodiments, the second network device 120 receives a silence instruction from the first network device 110 for silencing sensing signals from the second network device. Alternatively or additionally, when a location session associated with location-based tracking is suspended, the second network device 120 may send a probe reference signal (SRS) configuration to the first network device 110.

[0067] In some embodiments, terminal device 130 may pause a positioning session by storing configuration information of a positioning method configured for terminal device 130 by first network device 110. The configuration information may include terminal device capability information, auxiliary data, positioning reference signal (PRS) configuration, location information type and associated quality of service (QoS), information elements related to the Long Term Evolution (LTE) Positioning Protocol (LPP) protocol, information elements related to the New Radio Positioning Protocol A (NRPPa) protocol, or any combination of the foregoing.

[0068] Figure 3 A flowchart of sense-based UE tracking according to some embodiments of this disclosure is shown. Note that, in the context of this disclosure, although the NR architecture is used as an example of the main embodiment and main implementation, the devices or methods implemented by this disclosure can also be applied to 5G Advanced and 6G(+) networks or higher.

[0069] At box 302, the UE location process can be initiated. The UE can first be located using 3GPP standard methods (such as UE-based location or UE-assisted location). Simultaneously, the UE can be tracked based on multi-base network-based sensing, which does not involve any measurement or signaling on the UE side.

[0070] At box 304, the network device can determine the conditions or configuration used for sensing to enable sense-based tracking. For example, if the location and sense location estimates are sufficiently close, the network device (such as LMF, Location Management Component (LMC), Sensing Function (SF), or Sensing Management Function (SeMF)) can switch from location-based tracking of the target device (UE) to sense-based tracking. The context of location-based tracking can be used as an aid to sense-based tracking, and vice versa.

[0071] At box 312, prior positioning information (such as range, angle, and Doppler information) can be used to perform sensing, for example, by illuminating the target device of interest by beamforming a reference signal in its direction. At box 306, sensing-based UE tracking can be initiated.

[0072] At box 308, the requirements for checking the detection criteria are met. When the detection criteria are met, the sense-based tracking of the target UE needs to be verified. For example, if the sensed target is lost, or the sense receiver and / or system loses its tracking capability, the localization process, known as target detection, can be triggered by resuming the localization session. It should also be noted that a new localization session can be triggered if the previous localization session has not been suspended (parameters and / or capabilities are unavailable).

[0073] At box 310, when the detection criteria are not met, sensing-based UE tracking or sensing mode can continue as long as the target UE can be followed, i.e., until the detection criteria are met. Sensing context information (such as nearby transmitter devices (signal transmitters or target illuminators) and sensor devices (signal receivers)) can provide guidance: whether SL positioning can be used when such devices are UEs, or which TRP should be selected to transmit on-demand PRS signals when such devices are RAN nodes.

[0074] LMF and SF or SeMF functions can be separated into different network functions, and they can be enhanced using standard procedures to allow interaction between location and sensing functions. The above procedures can be repeated, and the target UE can be detected based on metrics describing sensing reliability (e.g., location sensing error).

[0075] The primary objective of this hybrid positioning or sensing process is to enhance current 3GPP-based location tracking methods by conserving energy and communication resources. By reducing the frequency of active positioning and increasing the frequency of passive sensing, the signaling required for continuous UE location tracking can be significantly reduced. It should also be noted that, in the context of this disclosure, a pause is typically followed by a "resumption," which requires the protocol to provide additional functionality (storing paused session parameters, defining valid areas, etc.). Alternatively, there is an option where the paused session is immediately restarted (in the RAN). Restarting requires new configuration, but on the other hand, it eliminates the need to store session parameters. Session restarting can be supported in the RAN, and in the core network, pauses and indicated signaling flows supporting pauses can be used.

[0076] Figure 4 The processing flow according to some example embodiments of this disclosure is illustrated. It should be noted that... Figure 4 This can be considered another instance of process flow 200. For example, LMF 410 can be an example device of the first network device 110, gNB 420-a and 420-b can be example devices of the second network device 120, and UE 430 can be an example device of the terminal device 130. It should be understood that these devices are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure. The process will be described in detail below.

[0077] like Figure 4 As shown, at step 402, the positioning of UE 430 can use 3GPP methods, such as UE capabilities, LTE Positioning Protocol (LPP), or New Radio (NR) Positioning Protocol A (NRPP a). At step 404, both UE 430 and LMF 410 can trigger a sense-based positioning process. At step 406, LMF 410 can determine an appropriate sensing configuration based on sensing capabilities and previous location information.

[0078] At step 408, the LMF can probe UE 430 for network-based sensing to evaluate sensing reliability. When conventional location estimation is available, it can be used as a reference for evaluating sensing reliability. For example, the evaluation criterion could be conventional location estimation. With sensing The positioning error between the obtained location estimates. When the magnitude of this error exceeds a certain predefined threshold... In such cases, the sensed location can be considered unreliable. Depending on the use case, the threshold can be predefined by the UE430 or by network devices such as the LMF 410. The corresponding standard is... (1) Additional criteria can be defined using the reliability of conventional positioning estimation and the reliability of sensed position estimation. For example, the covariance matrix of conventional position estimation and the covariance matrix of sensed position can be viewed as error ellipses / ellipsoids. Depending on the properties of these matrices, it is possible to determine whether sensing or positioning is more trusted to recover the positioning session, respectively.

[0079] In step 412, when the sensed location and the conventional location estimate are sufficiently close according to a predefined threshold, meaning that sense-based tracking can meet the required QoS, the LMF 410 can switch from location-based tracking to sense-based tracking and track the UE 430 solely through sensing. At step 414, the LMF can send a pause indication for the location session to the UE 430.

[0080] At step 416, in response to receiving a pause instruction from LMF 410, UE 430 may pause the positioning session. In some embodiments, pausing the positioning session may include configuration information (e.g., capability information, auxiliary data, PRS configuration, location information type and associated QoS, and other public information elements related to the LPP protocol) storing the positioning method configured by LMF 410 for UE 430.

[0081] In step 418, LMF 410 can process the collected sensing measurement data and export the results. When the positioning session is paused, gNB 420-a or 420-b can provide the current SRS configuration to LMF 410. The configuration may also include semi-persistent or aperiodic SRS, which can be resumed later; for example, LMF 410 can activate or deactivate SRS as part of the transition between sensing and positioning for location tracking. In step 422, LMF 410 can sense the positioning of UE 430.

[0082] Previously located information can be used to aid in sensing. Angle information can be used to focus the transmit and receive beams in the direction of the target UE. On the other hand, range information can be used to appropriately scale the power of the transmitted signal. For example, if there are two target devices, one very close to the transmit or receive signal and the other far away, reflections from the nearby target device can mask weak reflections from the second target device. Therefore, it is important to scale the two transmitted signals so that reflections from the weaker target are also received with sufficient power. Furthermore, velocity information can be used to isolate targets with different velocities. An appropriate waveform can be selected based on the usage scenario.

[0083] In some embodiments, when the LMF 410 switches from conventional location tracking mode to sensing-only tracking mode, conventional location information may not be available, and the reliability of the sensed location needs to be evaluated based on other criteria. In step 424, when the sensing reliability is insufficient, target detection can be triggered, i.e., switching back to conventional positioning mode.

[0084] In an embodiment, detection criteria must be met in order to initiate or resume a location session. Detection criteria may include, but are not limited to: the UE ID of the sensed UE 430 needs to be known (e.g., through an active location session) or the target ID needs to be refreshed at some periodicity; the location tracking of the sensed UE 430 is lost or the location information specific to the UE 430 is corrupted; the sensing process is configured with a time offset to enter an active location session (e.g., one-time location, (semi-)persistent, or periodic location); the sensed UE 430 has a specific mobility profile; collision avoidance associated with the UE 430; geographic area-specific detection; the sensed target UE 430 entering an area where there is no permission to use sense-based location tracking; or any combination of the above.

[0085] In some embodiments, the loss of position tracking of the sensing UE 430, or the impairment of position information specific to the UE 430, is caused by the propagation of the sensing signal, and / or by environmental factors causing discontinuities in the sensing results (e.g., a drone passing through a tall building, resulting in a loss of line of sight and providing unreliable results based on the sensing position tracking), or the targets spatially overlapping due to similar / crossing trajectories when sensing two or more targets, and the sensing results become unreliable.

[0086] In some embodiments, the sensing UE 430 has a specific mobility profile, for example, since the sensing UE 430 is static, it will be detected once movement is observed; the sensing UE 430 moves intermittently, and the UE 430 can be located after the mobility profile has changed; the mobility characteristics of the sensing UE 430 change, which are different from the area average or area allowable profile (e.g., the sensing target accelerates / stops in an area that is not allowed).

[0087] In some embodiments, collision avoidance occurs and the active localization session is resumed when sense-based target tracking becomes unreliable. For example, when a vehicle needs to park precisely in an area where reflections interfere with the accuracy of sense-based localization. Collision avoidance also occurs when sense-based target tracking and resumption of the active localization session are not permitted (e.g., when an autonomous mobile robot traverses a narrow corridor or pedestrian area).

[0088] In some embodiments, geographic area-specific detection occurs when a sensing-based target UE 430 enters a geographic area requiring accurate location tracking. For example, a car switches from sensing to active positioning when entering a garage. In some embodiments, the sensing process, detection criteria, and entry into a positioning session can be based on UE 430 capabilities and / or power-saving requirements, such as for RedCap or for Low Power High Accuracy Positioning (LPHAP). In this case, the positioning session can be paused to save energy, and network devices (such as LMF 410) can initiate target location tracking via sensing until the detection criteria are met and the network switches back to an active positioning session.

[0089] In some embodiments, a UE 430-related positioning session can be established according to the NR positioning procedure, or a previously suspended UE positioning session can be resumed using some or all of the configuration from a previous positioning instance. In step 426, LMF410 can resume the positioning session.

[0090] Alternatively or additionally, in monostatic sensing, the transmitter and receiver can correspond to the same TRP or gNB420-a or 420-b, and in bistatic or multistatic sensing, the transmitter and receiver can correspond to two or more different / non-coordinated TRPs 420-a or 420-b. The LMF 410 can configure the associated TRP or gNB 420-a or 420-b for sensing via the NRPPa protocol. For example, the LMF 410 can send a sensing configuration (based on prior information about distance, angle, and Doppler) to the associated TRP or gNB 420-a or 420-b to facilitate sensing.

[0091] Transmitting a TRP or gNB 420-a or 420-b can utilize sensing configurations from the LMF 410 to transmit sensing signals, for example, to focus the transmit beam toward the region of interest and illuminate the target, or to select an appropriate probe waveform to isolate the target based on its velocity and range. Receiving a TRP or gNB 420-a or 420-b can utilize sensing configurations provided from the LMF 410 to receive sensing signals, for example, to listen for directions corresponding to the target or a region of a single target based on the target's motion characteristics (range, velocity, etc.). The LMF 410 can transmit a silencing configuration for the TRP or gNB 420-a or 420-b to terminate the current positioning session and facilitate sensing. In some embodiments, the LMF 410 can activate silencing of the sensing signals for the TRP or gNB 420-a or 420-b to terminate the sensing session and facilitate / resume positioning.

[0092] Figure 5 A flowchart relating to enhancements to a sensed location delay request (LDR) is shown according to some embodiments of the present disclosure. As illustrated in flowchart 500, at step 502, an external location service client (LCS) 505 may send a request for a location report for a periodic, triggered, or UE-available location event to (H)GMLC 510.

[0093] In step 504, Application Function (AF) 515 may invoke the Nnef_EventExposure_Subscribe service operation to Network Exposure Function (NEF) 520. In step 506, NEF 520 may forward the request to Gateway Mobility Center (GMLC) 510 (H). In step 508, NF (e.g., NWDAF) 525 may invoke the Ngmlc_Location_ProvideLocation service operation to GMLC 510 (H).

[0094] In step 512, (H)GMLC 510 can verify UE privacy requirements. (H)GMLC 510 can also receive event reporting expected areas and optional area usage instructions from User Data Management (UDM) 530. In step 514, (H)GMLC 510 can query the Application Management Function (AMF) address from UDM 530, and, in the case of roaming, query the VGMLC address.

[0095] At step 516, (H)GMLC 510 may obtain the VGMLC address (if not received at step 514) and invoke the Ngmlc_Location_Provide Location request service operation to forward the location request to VGMLC 535. At step 518, (H)GMLC 510 or VGMLC 535 may invoke the Namf_Location_ProvidePositioningInfo request service operation to forward the location request to Service Access and Mobility Management Function (AMF) 540.

[0096] From steps 522 to 526c, if the AMF 540 supports delayed location requests, the AMF 540 can return an acknowledgment to the external LCS client 505, NF 525, or AF 515 via (H)GMLC 510 and, in the case of roaming, via VGMLC 535, indicating that the delayed location request has been accepted. At step 528, if the UE 545 is currently unreachable (e.g., using eDRX or PSM), the AMF 540 can wait for the UE 545 to become reachable.

[0097] In step 532, once UE 545 is reachable, if UE 545 is then in CM IDLE state, AMF 540 can initiate a network-triggered service request procedure. From steps 534 to 536, AMF 540 can notify UE 545 of the location request and, if required by the location request received in step 518 and supported by UE 545, verify the privacy requirement. In step 538, AMF 540 can select LMF 550. In step 542, AMF 540 can invoke the Nlmf_Location_DetermineLocation request service operation to LMF or Sensing Function (SF) 550 to initiate a request for delayed UE location.

[0098] In step 544, the AMF 540, LMF, or SF 550 can perform one or more positioning procedures. For example, the LMF or SF 550 can use detection criteria to determine a sensing or positioning session, or a hybrid session, to achieve target QoS (accuracy, time delay, etc.), minimize resource consumption (such as required reference signals, required measurement devices / entities), and combine multiple measurements with the reuse of various resources. Note that the LMF and SF / SeMF 550 can be co-located or interact using implementation-specific interfaces.

[0099] At step 546, if a periodic or triggered location request is requested, the LMF 550 can send a supplementary service LCS periodic trigger call request to the UE 545 via the service AMF by invoking the Namf_Communication_N1N2MessageTransfer service operation. At step 548, if the request can be supported, the UE 545 can return a supplementary service confirmation to the LMF 550.

[0100] In step 552, LMF 550 may invoke the Nlmf_Location_DetermineLocation response service operation to AMF 540 in response to the request in step 542. In step 554, AMF 540 may invoke the Namf_Location_EventNotify service operation to the VGMLC for roaming or the (H)GMLC 510 for non-roaming. In step 556, for a roaming UE, VGMLC 535 may use the HGMLC contact address received in step 554 to forward the response received in step 19 to HGMLC 510.

[0101] From steps 558a to 558c, (H)GMLC 510 can forward the response to external LCS client 505, NF525, or AF 515 (via NEF 520). At step 560, for successful execution of the periodic or triggered location request in steps 546 and 548, UE 545 can monitor the occurrence of the triggered or periodic event requested in step 546. At step 562, UE 545 can obtain any requested or permitted location measurement or location estimate.

[0102] At step 564, UE 545 may execute a service request triggered by the UE. At step 566, UE 545 may send a supplemental service event report message to LMF 550. At step 568, when LMF 550 receives the event report and, if it is able to process the event report, LMF 550 may update the status of the event report. At step 570, if the event report requires location estimation, LMF or SF 550 may execute one or more location procedures. For example, LMF or SF 550 may use detection criteria to determine a sensing or location session, or a hybrid session, to achieve target QoS (accuracy, time delay, etc.), minimize resource consumption (such as required reference signals, required measurement devices / entities), and combine multiple measurements with reuse of various resources.

[0103] At step 572, in the case of roaming, LMF 550 can select VGMLC 535, and LMF 550 can then invoke the Nlmf_Location_EventNotify service operation toward the selected VGMLC 535 or (H)GMLC 510. At step 574, for a roaming UE, VGMLC 535 can invoke the Ngmlc_Location_EventNotify service operation to forward the information received in step 572.

[0104] From steps 574a to 574c, the (H)GMLC 510 can use the LDR reference number received in steps 572 or 574a to 574c to identify the periodic and triggered location request received in step 502, and then send the type of the reported event, any location estimates, the timestamp of the location estimates (if available), and the location method used to the external LCS client 505. At step 576, the UE 545 can continue to monitor further periodic or triggered events.

[0105] Figure 6 A flowchart relating to the interaction between the LMF and SF / SeMF according to some embodiments of the present disclosure is shown. In some embodiments, LMF 610 and SF / SeMF 615 are separate NFs, and they can be enhanced using standard procedures. As illustrated in flowchart 600, at step 602, it can be as follows Figure 5 The location process is initiated as described above. In step 604, AMF 605 may send a location request to LMF 610. At step 606, a UE-assisted and UE-based location process may be initiated.

[0106] In step 608, LMF 610 can determine whether the detection criteria are met. The detection criteria can be used to trigger the switch from the LCS process to the sensing process. For the decision at step 608, in step 606, in addition to normal LCS information, sensing measurements can also be collected.

[0107] In steps 612a, 614a, and 616, LMF 610 can use NRF 640 to locate the appropriate SF / SeMF 615. Selection criteria may include: applicable geographic / location area; target UE 625 profile; expected QoS; ability to sense measurements from the target UE 625 and the SF / SeMF 615 instance; from the context of the request, for example, the SF / SeMF 615 can be inferred directly or indirectly from information in the request; and through regulatory requirements, for example, the ability to pre-configure SF / SeMF 615 instances for emergency or legitimate interfaces.

[0108] In steps 612b, 614b, and 616, LMF 610 may also direct the sensing request to (serving) AMF 605 and cause AMF 605 to select the SF / SeMF 615 instance. The selection criteria include all the options described above and the following candidate criteria: AMF 605 may use the target UE 625 context to select the SF / SeMF 615; AMF 605 may subscribe to the target UE 625 to query the selection of the SF / SeMF 615.

[0109] At step 618, a sensing process can be initiated between sensing device 630, NG RAN 635, AMF 605, LMF 610, and SF / SeMF 615. At step 620, SF / SeMF 615 can generate a location and determine the location of the target UE 625. At step 622, SF / SeMF 615 can send an Nsf_sensing response to LMF 610. At step 624, SF / SeMF 615 can provide sensing measurements to LMF 610, and LMF 610 can generate or determine the location of the target UE 625. At step 626, LMF 610 can then send a location response related to the location of the target UE 625 to AMF 605.

[0110] Figure 7 Distance-angle plots of a sensing scene involving three target UEs, associated with some embodiments of this disclosure, are shown. As illustrated in experimental plot 700, subplots 702, 704, and 706 correspond to three distinct time instances. In subplot 702, the ID of each UE is known. When the sensed target UE2 and UE3 intersect (in the intermediate subplot 704), their IDs become unknown (in subplot 706). The “lost target” detection criterion is then satisfied, which may trigger only the conventional location of the lost target.

[0111] Figure 8 A flowchart of a method 800 implemented at a network device according to some example embodiments of the present disclosure is shown. Reference will be made to this flowchart for discussion purposes. Figure 1A Method 800 is described from the perspective of the first network device 110.

[0112] At box 802, the first network device 110 may determine whether to switch from location-based tracking of the terminal device to sense-based tracking of the terminal device based on a first switching condition, or determine whether to switch from sense-based tracking to location-based tracking based on a second switching condition.

[0113] At block 804, the first network device 110 may send a first instruction to the terminal device based on determining a switch from location-based tracking to sense-based tracking. This first instruction is used to suspend or terminate a location session associated with location-based tracking. At block 806, the first network device 110 may send a second instruction to the terminal device based on determining a switch from sense-based tracking to location-based tracking. This second instruction is used to resume the first location session or begin a second location session associated with location-based tracking.

[0114] In some example embodiments, the location session is a first location session, and the first network device 110 can determine whether a second handover condition is met; and based on the determination that the second handover condition is met, send a second indication to the terminal device for resuming the first location session or starting a second location session associated with location-based tracking.

[0115] In some example embodiments, the second switching condition may include at least one of the following: the identifier of the terminal device needs to be obtained or refreshed periodically or once; the location tracking of the terminal device is lost, or the location information specific to the terminal device becomes unreliable; the sense-based tracking is configured with a time offset for switching back to location-based tracking; the terminal device has a predefined mobility profile; conflict avoidance associated with the terminal device is to be performed; geographic area-specific detection is to be performed; or the terminal device enters an area where sense-based tracking is not permitted.

[0116] In some other example embodiments, the first network device 110 may determine a sensing configuration for a sensing session associated with sensing-based tracking based on the location information of the terminal device identified during a suspended positioning session.

[0117] In some other examples, the first network device 110 may send a sensing configuration to at least one second network device, which is selected to perform a sensing session associated with sense-based tracking; or send a silence instruction to the at least one second network device to silence sensing signals from the at least one second network device to terminate the sensing session associated with sense-based tracking. The positioning information includes at least one of the following: angle information; range information; velocity information; or Doppler information.

[0118] In some other examples, when the first network device 110 is performing non-sensor-based positioning of the terminal device, the first network device 110 may trigger sensor-based positioning of the terminal device. The first switching conditions may include: determining to switch from location-based tracking to sensor-based tracking if a reliability assessment of the terminal device's sensing location indicates that the sensing location is reliable; or determining not to switch from location-based tracking to sensor-based tracking if a reliability assessment indicates that the sensing location is unreliable; in a low-activity state including RRC_IDLE or RRC_INACTIVE, where sensing does not require the terminal device to switch to RRC connection mode; or in a power-saving mode including CM IDLE, where sensing does not require the terminal device to switch to CM connection mode.

[0119] In some exemplary embodiments, the first network device may perform a reliability assessment by: determining a first location estimate of the terminal device based on the non-sensor-based location of the terminal device; determining a second location estimate of the terminal device based on the sensor-based location of the terminal device; and determining whether the difference between the first location estimate and the second location estimate is lower than a predefined threshold.

[0120] In some examples, the first network device 110 may perform a reliability assessment by: determining a first reliability level of a first location estimate of the terminal device based on the non-sensor-based location of the terminal device; determining a second reliability level of a second location estimate of the terminal device based on the sensor-based location of the terminal device; and performing a reliability assessment based on the first reliability level and the second reliability level.

[0121] In some exemplary embodiments, at least one of (i) a sensing session associated with sensing-based tracking, (ii) a second switching condition, or (iii) entering a positioning session associated with positioning-based tracking can be based on at least one of the following: the capabilities of the terminal device; or power-saving requirements. A positioning session associated with positioning-based tracking can be established based on a new radio (NR) positioning procedure. A suspended positioning session associated with positioning-based tracking can be resumed using partial or complete configuration from a previous positioning instance.

[0122] In some example embodiments, the first network device 110 can suspend a location session associated with location-based tracking by storing configuration information of the location method configured by the first network device 110 for the terminal device. In the case of suspending the location session associated with location-based tracking, the first network device 110 can receive a sounding reference signal (SRS) configuration from the second network device; and activate or deactivate the SRS configuration based on the transition between location-based tracking and sense-based tracking.

[0123] In some other embodiments, the first network device 110 may perform location management functions (LMF) and sensing functions (SF), and the first network device 110 may determine to perform a sensing session associated with location-based tracking, a location session associated with location-based tracking, or a combination of sensing and location sessions, such that at least one of the following is achieved: the target quality of service (QoS) for the location of the terminal device is achieved; resource consumption is minimized; or multiple measurements of multiple resources are combined by reusing multiple resources.

[0124] In some other embodiments, the first network device 110 may perform an LMF (Local Management Function), and the first network device 110 may send a discovery request to the Network Repository Function (NRF) for discovering an SF (Signal Provider), wherein the discovery request includes at least one selection criterion, based on determining that a first handover condition is met; receive a discovery response from the NRF indicating an SF selected based on at least one selection criterion; and send a sensing request to the SF for requesting a sensing session associated with sensing-based tracking.

[0125] At least one selection criterion includes at least one of the following: applicable geographic area; applicable location area; target profile of the terminal device, wherein the terminal device operates as an active or passive target; expected QoS of the location of the terminal device; ability to sense measurements from the terminal device and SF; context of the discovery request; or regulatory requirements.

[0126] In some examples, the first network device 110 may perform LMF, and the first network device 110 may send a sensing request to the Access and Mobility Management Function (AMF) to request a sensing session associated with sensing-based tracking based on determining that a first handover condition is met, such that the AMF sends the sensing request to the SF selected by the AMF.

[0127] In some examples, the at least one selection criterion includes at least one of the following: an applicable geographic area; an applicable location area; a target profile of the terminal device, wherein the terminal device operates as an active or passive target; the expected QoS of the terminal device's location; the ability to sense measurements from the terminal device and SF; the context of the discovery request; regulatory requirements; the context of the terminal device; or the terminal device's subscription information.

[0128] In some embodiments, the first network device 110 can receive a sensing response from the SF including at least one sensing measurement of the terminal device; and determine the location of the terminal device based on the at least one sensing measurement.

[0129] In some other embodiments, when the transmitting and receiving devices in a sensing session associated with sensing-based tracking are terminal devices, the first network device 110 may determine, based on sensing context information, whether sidelink positioning should be performed during a positioning session for positioning-based tracking; or when the transmitting and receiving devices are access network devices, at least one access network device may be determined from a plurality of access network devices based on sensing context information to transmit a positioning reference signal (PRS) to the terminal device during the positioning session.

[0130] Figure 9 A flowchart of a method 900 implemented at a network device according to some example embodiments of the present disclosure is shown. Reference will be made to this flowchart for discussion purposes. Figure 1A Method 900 is described from the perspective of the second network device 120.

[0131] At block 902, the second network device 120 may receive a sensing configuration from the first network device for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, which is determined during a location session associated with location-based tracking of the terminal device. At block 904, the second network device 120 may perform a sensing session based on the sensing configuration.

[0132] In some embodiments, the terminal device is a first terminal device, and the second network device 120 can perform a sensing session by at least one of the following: guiding a transmission beam toward the area where the first terminal device is located; or selecting a detection waveform based on the motion characteristics of the first terminal device and the second terminal device to isolate the first terminal device and the second terminal device.

[0133] In some embodiments, the terminal device is a first terminal device, and the second network device 120 can perform a sensing session by at least one of the following: detecting a sensing signal from a direction corresponding to the area where the first terminal device is located; or separating the first terminal device and the second terminal device based on the motion characteristics of the first terminal device and the second terminal device.

[0134] In some embodiments, the second network device 120 may receive a silence instruction from the first network device to silence sensing signals from the second network device; and silence the sensing signals based on receiving the silence instruction. In some embodiments, in the event of suspending a location session associated with location-based tracking, the second network device 120 may send a probe reference signal (SRS) configuration to the first network device.

[0135] Figure 10A flowchart of a method 1000 implemented at a terminal device according to some example embodiments of the present disclosure is shown. For discussion purposes, reference will be made to... Figure 1A Method 1000 is described from the perspective of terminal device 130.

[0136] At block 1002, terminal device 130 may receive a first instruction from a first network device for suspending a location session associated with location-based tracking of the terminal device. At block 1004, terminal device 130 may suspend the location session based on receiving the first instruction.

[0137] In some embodiments, when the terminal device is performing non-sensor-based positioning, the terminal device 130 may trigger sensor-based positioning. In some other embodiments, the positioning session is a first positioning session, and the terminal device 130 may receive a second instruction from a first network device for resuming the first positioning session or starting a second positioning session associated with positioning-based tracking; and based on receiving the second instruction, resuming the first positioning session or starting the second positioning session.

[0138] Terminal device 130 can suspend a positioning session by storing configuration information of the positioning method configured for the terminal device by the first network device. The configuration information includes at least one of the following: terminal device capability information; auxiliary data; positioning reference signal (PRS) configuration; location information type and associated quality of service (QoS); information elements related to the Long Term Evolution (LTE) Positioning Protocol (LPP) protocol; or information elements related to the New Radio (NR) Positioning Protocol A (NRPPa) protocol.

[0139] In some embodiments, an apparatus capable of performing any method 800 (e.g., the first network device 110) may include components for performing corresponding steps of method 800. The apparatus may be implemented in any suitable form. For example, the apparatus may be implemented in a circuit or software module.

[0140] In some embodiments, the apparatus includes components for determining whether to switch from location-based tracking of the terminal device to sense-based tracking of the terminal device based on a first switching condition, or for determining whether to switch from sense-based tracking to location-based tracking based on a second switching condition.

[0141] In some embodiments, the apparatus includes components for sending a first instruction to a terminal device based on determining a switch from location-based tracking to sense-based tracking, the first instruction being for pausing or stopping a location session associated with location-based tracking. In some embodiments, the apparatus includes components for sending a second instruction to the terminal device based on determining a switch from sense-based tracking to location-based tracking, the second instruction being for resuming a first location session or starting a second location session associated with location-based tracking.

[0142] In some example embodiments, the location session is a first location session, and the apparatus includes components for determining whether a second switching condition is met; and components for sending a second indication to a terminal device based on the determination that the second switching condition is met, the second indication being used to resume the first location session or start a second location session associated with location-based tracking.

[0143] In some example embodiments, the apparatus includes components for a second switching condition, which includes at least one of the following: the identifier of the terminal device needs to be obtained or refreshed periodically or once; location tracking of the terminal device is lost, or location information specific to the terminal device becomes unreliable; sense-based tracking is configured with a time offset for switching back to location-based tracking; the terminal device has a predefined mobility profile; conflict avoidance associated with the terminal device is to be performed; geographic region-specific detection is to be performed; or the terminal device enters an area where sense-based tracking is not permitted.

[0144] In some other exemplary embodiments, the apparatus includes components for determining a sensing configuration for a sensing session associated with sensing-based tracking, based on location information of a terminal device determined during a suspended positioning session.

[0145] In some other examples, the apparatus includes: components for transmitting sensing configuration to at least one second network device selected to perform a sensing session associated with sense-based tracking; or components for transmitting a silence instruction to the at least one second network device to silence sensing signals from the at least one second network device to terminate the sensing session associated with sense-based tracking. The apparatus includes components for positioning information, which includes at least one of the following: angle information; range information; velocity information; or Doppler information.

[0146] In some other examples, the apparatus includes components for triggering sense-based positioning of the terminal device when the first network device is performing non-sensor-based positioning of the terminal device. The apparatus includes components for a first switching condition, the first switching condition including: determining a switch from location-based tracking to sense-based tracking if a reliability assessment of the sensed location of the terminal device indicates that the sensed location is reliable; or determining not to switch from location-based tracking to sense-based tracking if a reliability assessment indicates that the sensed location is unreliable; in a low-activity state including RRC_IDLE or RRC_INACTIVE, where sensing does not require the terminal device to switch to RRC connection mode; or in a power-saving mode including CM IDLE, where sensing does not require the terminal device to switch to CM connection mode.

[0147] In some exemplary embodiments, the components for performing a reliability assessment include: components for determining a first location estimate of the terminal device based on non-sensor-based positioning of the terminal device; components for determining a second location estimate of the terminal device based on sensor-based positioning of the terminal device; and components for determining whether the difference between the first location estimate and the second location estimate is lower than a predefined threshold.

[0148] In some examples, the components for performing a reliability assessment include: components for determining a first reliability level of a first location estimate of a terminal device based on non-sensor-based positioning of the terminal device; components for determining a second reliability level of a second location estimate of the terminal device based on sensor-based positioning of the terminal device; and components for performing a reliability assessment based on the first reliability level and the second reliability level.

[0149] In some exemplary embodiments, the apparatus includes components for at least one of: (i) a sensing session associated with sensing-based tracking, (ii) a second switching condition, or (iii) entering a positioning session associated with location-based tracking based on at least one of: the capability of the terminal device; or a power-saving requirement. The positioning session associated with location-based tracking may be established based on a new radio (NR) positioning procedure. A suspended positioning session associated with location-based tracking may be resumed using partial or complete configuration from a previous positioning instance.

[0150] In some example embodiments, the apparatus includes components for suspending a location session associated with location-based tracking by storing configuration information of a location method configured by a first network device for a terminal device. The apparatus includes components for receiving a sounding reference signal (SRS) configuration from a second network device when the location session associated with location-based tracking is suspended; and components for activating or deactivating the SRS configuration based on a transition between location-based tracking and sense-based tracking.

[0151] In some other embodiments, the apparatus includes components for performing location management functions (LMF) and sensing functions (SF), and components for determining a sensing session associated with location-based tracking, a positioning session associated with location-based tracking, or a combination of sensing and positioning sessions, such that at least one of the following is achieved: the target quality of service (QoS) for the location of the terminal device; resource consumption is minimized; or multiple measurements are combined by reusing multiple resources.

[0152] In some other embodiments, the apparatus includes components for performing an LMF (Low-Level Function), and components for sending a discovery request to a Network Repository Function (NRF) for discovering a Private Server (SF) based on determining that a first handover condition is met, wherein the discovery request includes at least one selection criterion; receiving a discovery response from the NRF indicating an SF selected based on at least one selection criterion; and sending a sensing request to the SF for requesting a sensing session associated with sensing-based tracking.

[0153] The device includes components for at least one selection criterion, which includes at least one of the following: an applicable geographic area; an applicable location area; a target profile of the terminal device, wherein the terminal device operates as an active or passive target; the expected QoS of the location of the terminal device; the ability to sense measurements from the terminal device and SF; the context of the discovery request; or regulatory requirements.

[0154] In some examples, the apparatus includes components for performing the LMF, and the apparatus includes components for sending a sensing request to the Access and Mobility Management Function (AMF) to request a sensing session associated with sensing-based tracking based on determining that a first handover condition is met, such that the AMF sends the sensing request to the SF selected by the AMF.

[0155] In some examples, the device includes components for at least one selection criterion, the at least one selection criterion including at least one of the following: an applicable geographic area; an applicable location area; a target profile of the terminal device, wherein the terminal device operates as an active or passive target; the expected QoS of the location of the terminal device; the ability to sense measurements from the terminal device and SF; the context of the discovery request; regulatory requirements; the context of the terminal device; or the subscription information of the terminal device.

[0156] In some embodiments, the apparatus includes components for receiving a sensing response from the SF including at least one sensing measurement of the terminal device; and components for determining the location of the terminal device based on the at least one sensing measurement.

[0157] In some other embodiments, the apparatus includes: components for determining, based on sensing context information, whether sidelink positioning should be performed during a positioning session for positioning-based tracking, if the transmitting and receiving devices in a sensing session associated with sensing-based tracking are terminal devices; or components for determining, based on sensing context information, at least one access network device from a plurality of access network devices to transmit a positioning reference signal (PRS) to the terminal device during the positioning session, if the transmitting and receiving devices are access network devices.

[0158] In some embodiments, the device further includes means for performing other steps in some embodiments of method 800. In some embodiments, the means includes at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to cause execution of the means together with the at least one processor.

[0159] In some embodiments, an apparatus capable of performing any method 900 (e.g., the second network device 120) may include components for performing the corresponding steps of method 900. The apparatus may be implemented in any suitable form. For example, the apparatus may be implemented in a circuit or software module.

[0160] In some embodiments, the apparatus includes components for receiving a sensing configuration from a first network device for performing a sensing session associated with a sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, which is determined during a location-based tracking session associated with the terminal device. In some embodiments, the apparatus includes components for performing a sensing session based on the sensing configuration.

[0161] In some embodiments, the terminal device is a first terminal device, and the components for performing a sensing session include at least one of the following: components for guiding a transmission beam toward the area where the first terminal device is located; or components for selecting a detection waveform based on the motion characteristics of the first terminal device and the second terminal device to isolate the first terminal device and the second terminal device.

[0162] In some embodiments, the terminal device is a first terminal device, and the components for performing a sensing session include at least one of the following: components for detecting a sensing signal from a direction corresponding to the area where the first terminal device is located; or components for separating the first terminal device and the second terminal device based on the motion characteristics of the first terminal device and the second terminal device.

[0163] In some embodiments, the apparatus includes components for receiving a silence instruction from a first network device for silencing sensing signals from a second network device; and components for silencing the sensing signals based on the received silence instruction. In some embodiments, the apparatus includes components for sending a probe reference signal (SRS) configuration to the first network device while suspending a location session associated with location-based tracking.

[0164] In some embodiments, the device further includes means for performing other steps in some embodiments of method 900. In some embodiments, the means includes at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to cause execution of the means together with the at least one processor.

[0165] In some embodiments, the means capable of performing any of the methods 1000 (e.g., terminal device 130) may include means for performing the corresponding steps of method 1000. This means may be implemented in any suitable form. For example, the means may be implemented in a circuit or software module.

[0166] In some embodiments, the apparatus includes components for receiving a first instruction from a first network device, the first instruction being for suspending a location session associated with location-based tracking of the terminal device. The apparatus also includes components for suspending the location session based on receiving the first instruction.

[0167] In some embodiments, the apparatus includes means for triggering sense-based positioning of the terminal device when the terminal device is performing non-sensor-based positioning of the terminal device. In some other embodiments, the positioning session is a first positioning session, and the apparatus includes means for receiving a second indication from a first network device for resuming the first positioning session or starting a second positioning session associated with location-based tracking; and means for resuming the first positioning session or starting the second positioning session based on receiving the second indication.

[0168] In some embodiments, the component for suspending a positioning session includes a component for storing configuration information of a positioning method configured by a first network device for a terminal device. The configuration information includes at least one of the following: terminal device capability information; auxiliary data; positioning reference signal (PRS) configuration; location information type and associated quality of service (QoS); information elements related to the Long Term Evolution (LTE) Positioning Protocol (LPP); or information elements related to the New Radio Positioning Protocol A (NRPPa).

[0169] In some embodiments, the device further includes means for performing other steps in some embodiments of method 1000. In some embodiments, the means includes at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to cause execution of the means together with the at least one processor.

[0170] Figure 11 A simplified block diagram of a device 1100 suitable for implementing some example embodiments of the present disclosure is shown. The device 1100 can be provided to implement a communication device, such as... Figure 1A The network devices 110-120 and terminal device 130 are shown. As shown, device 1100 includes one or more processors 1110, one or more memories 1120 coupled to processor 1110, and one or more communication modules 1140 coupled to processor 1110.

[0171] Communication module 1140 is used for bidirectional communication. Communication module 1140 has at least one antenna to facilitate communication. The communication interface can represent any interface required for communication with other network elements.

[0172] As a non-limiting example, processor 1110 can be any type suitable for a local technology network and can include one or more of the following: general-purpose computer, special-purpose computer, microprocessor, digital signal processor (DSP), and processor based on a multi-core processor architecture. Device 1100 can have multiple processors, such as application-specific integrated circuit chips that are time-dependent on a clock of a synchronous main processor.

[0173] Memory 1120 may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, read-only memory (ROM) 1124, electrically programmable read-only memory (EPROM), flash memory, hard disk, optical disc (CD), digital video disc (DVD), and other magnetic and / or optical storage. Examples of volatile memories include, but are not limited to, random access memory (RAM) 1122 and other volatile memories that will not persist for the duration of a power outage.

[0174] Computer program 1130 includes computer-executable instructions that are executed by the associated processor 1110. Program 1130 may be stored in ROM 1124. Processor 1110 may perform any suitable actions and processes by loading program 1130 into RAM 1122.

[0175] The embodiments of this disclosure can be implemented via program 1130, enabling device 1100 to execute as described in the reference. Figure 2 Any process discussed in this disclosure. Embodiments of this disclosure may also be implemented by hardware or by a combination of software and hardware.

[0176] In some example embodiments, program 1130 may be tangibly contained in a computer-readable medium, which may be included in device 1100 (such as memory 1120) or other storage device accessible by device 1100. Device 1100 may load program 1130 from the computer-readable medium into RAM 1122 for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc.

[0177] Figure 12 A block diagram of an example of a computer-readable medium 1200 according to some exemplary embodiments of the present disclosure is shown. A program 1130 is stored on the computer-readable medium 1200. Note that although in Figure 12 The computer-readable medium 1200 is depicted in the form of a CD or DVD, but the computer-readable medium 1200 may be any other form suitable for carrying or storing the program 1130.

[0178] Generally, the various embodiments of this disclosure can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. Some aspects can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device. Although various aspects of the embodiments of this disclosure are illustrated and described as block diagrams, flowcharts, or using some other graphical representation, it should be understood that, as non-limiting examples, the blocks, apparatuses, systems, techniques, or methods described herein can be implemented in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0179] This disclosure also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions that execute in a device on a target real or virtual processor, such as those included in a program module, to perform the above-referenced... Figure 8-10 The method described is 800-1000. Typically, a program module includes routines, programs, libraries, objects, classes, components, data structures, etc., that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of a program module can be combined or split among program modules as needed. The machine-executable instructions used in a program module can execute locally or on a distributed device. In a distributed device, the program module can reside on both local and remote storage media.

[0180] Program code used to perform the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a stand-alone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0181] In the context of this disclosure, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, etc.

[0182] Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable media can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination thereof. More specific examples of computer-readable storage media will include electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable optical disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. As used herein, the term “non-transient” is a limitation on the medium itself (i.e., tangible, not signaling), not a limitation on the persistence of data storage (e.g., RAM and ROM).

[0183] Furthermore, although the operations are described in a specific order, this should not be construed as requiring that these operations be performed in the specific order shown or sequentially, or that all the operations shown be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, while several specific embodiment details are contained in the above discussion, these details should not be construed as limiting the scope of the invention, but rather as descriptions of features specific to particular embodiments. Certain features described in the context of a single embodiment may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0184] Although this disclosure has been described in language specific to structural features and / or methodological actions, it should be understood that the disclosure as defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as exemplary forms for implementing the claims.

Claims

1. A first network device, comprising: At least one processor; as well as At least one memory storing instructions, which, when executed by the at least one processor, cause the first network device to at least: Whether to switch from location-based tracking to sensing-based tracking of the terminal device is determined based on a first switching condition, or whether to switch from sensing-based tracking to location-based tracking is determined based on a second switching condition. Based on the determination to switch from location-based tracking to sense-based tracking, a first instruction is sent to the terminal device, the first instruction being used to suspend or stop the location session associated with the location-based tracking; as well as Based on the determination to switch from the sense-based tracking to the location-based tracking, a second instruction is sent to the terminal device, the second instruction being used to resume the first location session or start a second location session associated with the location-based tracking.

2. The first network device according to claim 1, wherein the location session is the first location session, and the first network device is further configured to: Determine whether the second switching condition is met; and Based on the determination that the second switching condition is met, the second instruction is sent to the terminal device, the second instruction being used to resume the first location session or start the second location session associated with the location-based tracking.

3. The first network device according to claim 2, wherein the second handover condition includes at least one of the following: The identifier of the terminal device needs to be obtained or refreshed periodically or once. The location tracking of the terminal device is lost, or the location information specific to the terminal device becomes unreliable; The sense-based tracking is configured with a time offset for switching back to the location-based tracking; The terminal device has a predefined mobility profile; Conflict avoidance related to the terminal device must be performed; Geographically specific probes must be performed; or The terminal device enters an area where sensing-based tracking is not permitted.

4. The first network device according to any one of claims 1 to 3, wherein the first network device is further configured to: Based on the location information of the terminal device determined during the paused location session, a sensing configuration for the sensing session associated with the sensing-based tracking is determined.

5. The first network device of claim 4, wherein the first network device is further configured to perform at least one of the following: The sensing configuration is sent to at least one second network device, which is selected to perform the sensing session associated with the sensing-based tracking; or A silence instruction is sent to the at least one second network device to silence sensing signals from the at least one second network device to terminate the sensing session associated with the sensing-based tracking.

6. The first network device according to claim 4 or 5, wherein the location information includes at least one of the following: Angle information; Range information; Speed ​​information; or Doppler information.

7. The first network device according to any one of claims 1 to 6, wherein the first network device is further configured to: While the first network device is performing non-sensor-based positioning of the terminal device, the sensor-based positioning of the terminal device is triggered.

8. The first network device according to any one of claims 1 to 7, wherein the first handover condition includes: If the reliability assessment of the sensing location of the terminal device indicates that the sensing location is reliable, a switch from the location-based tracking to the sensing-based tracking is determined. or If the reliability assessment indicates that the sensing location is unreliable, it is determined not to switch from the location-based tracking to the sensing-based tracking; When the terminal device is in a low-activity state, including RRC_IDLE or RRC_INACTIVE, sensing does not require the terminal device to switch to RRC connection mode; or When the terminal device is in a power-saving mode including CM IDLE state, the sensing does not require the terminal device to switch to CM connection mode.

9. The first network device of claim 8, wherein the first network device is further configured to perform the reliability assessment by: A first location estimate of the terminal device is determined based on the non-sensor-based positioning of the terminal device; A second location estimate of the terminal device is determined based on the sensing-based positioning of the terminal device; as well as Determine whether the difference between the first positioning estimate and the second positioning estimate is lower than a predefined threshold.

10. The first network device of claim 8, wherein the first network device is further configured to perform the reliability assessment by: A first reliability level of the first location estimate of the terminal device is determined based on the non-sensor-based positioning of the terminal device; A second reliability level of the second positioning estimate of the terminal device is determined based on the sensing-based positioning of the terminal device; as well as The reliability assessment is performed based on the first reliability level and the second reliability level.

11. The first network device according to any one of claims 2 to 10, wherein at least one of (i) the sensing session associated with the sensing-based tracking, (ii) the second handover condition, or (iii) entering the location session associated with the location-based tracking is based on at least one of the following: The capabilities of the terminal device; or Power saving requirements.

12. The first network device according to any one of claims 1 to 11, wherein at least one of the following: The location session associated with the location-based tracking is established based on a New Radio (NR) location procedure; or The paused location session associated with the location-based tracking can be resumed using some or all of the configuration from the previous location instance.

13. The first network device according to any one of claims 1 to 12, wherein the first network device is further configured to: The location session associated with the location-based tracking is paused by storing configuration information of the location method configured by the first network device for the terminal device.

14. The first network device according to any one of claims 1 to 13, wherein the first network device is further configured to: In the event that the location session associated with the location-based tracking is suspended, a probe reference signal (SRS) configuration is received from the second network device; and The SRS configuration is activated or deactivated based on the transition between location-based tracking and sensing-based tracking.

15. The first network device according to any one of claims 1 to 14, wherein: The first network device performs location management (LMF) and sensing (SF) functions, and The first network device is further configured to determine that executing a sensing session associated with the location-based tracking, a location session associated with the location-based tracking, or a combination of the sensing session and the location session, such that at least one of the following is true: To achieve the target Quality of Service (QoS) for the positioning of the terminal device; Resource consumption is minimized; or Multiple measurements are combined by reusing multiple resources.

16. The first network device according to any one of claims 1 to 14, wherein the first network device performs LMF, and the first network device is further configured to: Based on the determination that the first switching condition is met, a discovery request for discovering the SF is sent to the Network Repository Function (NRF), wherein the discovery request includes at least one selection criterion; Receive a discovery response from the NRF, the discovery response indicating the SF selected based on the at least one selection criterion; as well as A sensing request is sent to the SF, the sensing request being used to request a sensing session associated with the sensing-based tracking.

17. The first network device of claim 16, wherein the at least one selection criterion includes at least one of the following: Applicable geographical areas; Applicable location area; The target profile of the terminal device, wherein the terminal device operates as an active target or a passive target; The expected QoS of the location of the terminal device; The ability to sense measurements from the terminal device and the SF; The context of the discovery request; or Regulatory requirements.

18. The first network device according to any one of claims 1 to 14, wherein the first network device performs LMF, and the first network device is further configured to: Based on the determination that the first handover condition is met, a sensing request is sent to the Access and Mobility Management Function (AMF) to request a sensing session associated with the sensing-based tracking, such that the AMF sends the sensing request to the SF selected by the AMF.

19. The first network device of claim 18, wherein the at least one selection criterion includes at least one of the following: Applicable geographical areas; Applicable location area; The target profile of the terminal device, wherein the terminal device operates as an active target or a passive target; The expected QoS of the location of the terminal device; The ability to sense measurements from the terminal device and the SF; The context of the discovery request; Regulatory requirements; The context of the terminal device; or The subscription information of the terminal device.

20. The first network device according to any one of claims 16 to 19, wherein the first network device is further configured to: Receive a sensing response from the SF including at least one sensing measurement from the terminal device; and The location of the terminal device is determined based on the at least one sensing measurement.

21. The first network device according to any one of claims 1 to 20, wherein the first network device is further configured to: If the transmitting and receiving devices in the sensing session associated with the sensing-based tracking are terminal devices, it is determined based on sensing context information whether sidelink localization should be performed during the localization session for the localization-based tracking; or When the transmitting device and the receiving device are access network devices, at least one access network device is determined from a plurality of access network devices based on the sensing context information to send a location reference signal (PRS) to the terminal device during the positioning session.

22. A second network device, comprising: At least one processor; as well as At least one memory storing instructions, which, when executed by the at least one processor, cause the second network device to at least: Receive sensing configuration from a first network device, the sensing configuration being used to perform a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, the location information of the terminal device being determined during a location session associated with location-based tracking of the terminal device; as well as The sensing session is executed based on the sensing configuration.

23. The second network device of claim 22, wherein the terminal device is the first terminal device, and the second network device is configured to perform the sensing session by at least one of the following: Or The detection waveform is selected based on the motion characteristics of the first terminal device and the second terminal device to isolate the first terminal device and the second terminal device.

24. The second network device of claim 22, wherein the terminal device is the first terminal device, and the second network device is configured to perform the sensing session by at least one of the following: Detect the sensing signal from the direction corresponding to the area where the first terminal device is located; or The first terminal device and the second terminal device are separated based on their motion characteristics.

25. The second network device according to any one of claims 22 to 24, wherein the second network device is further configured to: Receive a silence instruction from the first network device to silence the sensing signals from the second network device; and Based on the received silence instruction, the sensing signal is silenced.

26. The second network device according to any one of claims 22 to 25, wherein the second network device is further configured to: Send a probe reference signal (SRS) configuration to the first network device while suspending the location session associated with the location-based tracking.

27. A terminal device, comprising: At least one processor; as well as At least one memory storing instructions, which, when executed by the at least one processor, cause the terminal device to at least: Receive a first instruction from a first network device, the first instruction being used to suspend a location session associated with location-based tracking of the terminal device; and Based on receiving the first instruction, the location session is paused.

28. The terminal device according to claim 27, wherein the terminal device is further configured to: When the terminal device is performing non-sensor-based positioning, the sensor-based positioning of the terminal device is triggered.

29. The terminal device according to claim 27 or 28, wherein the positioning session is a first positioning session, and the terminal device is further configured to: Receive a second instruction from the first network device, the second instruction being used to resume the first location session or initiate a second location session associated with the location-based tracking; and Based on receiving the second instruction, either resume the first location session or start the second location session.

30. The terminal device according to any one of claims 27 to 29, wherein the terminal device is configured to suspend the location session by: The system stores configuration information for the positioning method configured by the first network device for the terminal device.

31. The first network device according to claim 30, wherein the configuration information includes at least one of the following: The capability information of the terminal device; Auxiliary data; Positioning Reference Signal (PRS) configuration; Location information type and associated Quality of Service (QoS); Information elements related to the Long Term Evolution (LTE) Positioning Protocol (LPP); or Information elements related to the New Radio (NR) Positioning Protocol A (NRPPa) protocol.

32. A method comprising: Whether to switch from location-based tracking to sensing-based tracking of the terminal device is determined based on a first switching condition, or whether to switch from sensing-based tracking to location-based tracking is determined based on a second switching condition. Based on the determination to switch from location-based tracking to sense-based tracking, a first instruction is sent to the terminal device, the first instruction being used to suspend or stop the location session associated with the location-based tracking; as well as Based on the determination to switch from the sense-based tracking to the location-based tracking, a second instruction is sent to the terminal device, the second instruction being used to resume the first location session or start a second location session associated with the location-based tracking.

33. A method comprising: Receive sensing configuration from a first network device, the sensing configuration being used to perform a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined by location information of the terminal device, the location information of the terminal device being determined during a location session associated with location-based tracking of the terminal device; as well as The sensing session is executed based on the sensing configuration.

34. A method comprising: Receive a first instruction from the first network device for suspending the location session associated with location-based tracking of the terminal device; as well as Based on receiving the first instruction, the location session is paused.

35. An apparatus comprising: A component for determining, at a first network device, whether to switch from location-based tracking of a terminal device to sense-based tracking of the terminal device based on a first switching condition, or whether to switch from sense-based tracking to location-based tracking based on a second switching condition; A component for sending a first instruction to the terminal device based on determining a switch from location-based tracking to sense-based tracking, the first instruction being used to suspend or terminate a location session associated with the location-based tracking; as well as A component for sending a second instruction to the terminal device based on determining a switch from the sense-based tracking to the location-based tracking, the second instruction being used to resume the first location session or to start a second location session associated with the location-based tracking.

36. An apparatus comprising: Components for receiving sensing configuration from a first network device at a second network device, the sensing configuration for performing a sensing session associated with sensing-based tracking of a terminal device, wherein the sensing configuration is determined based on location information of the terminal device, the location information of the terminal device being determined during a location session associated with location-based tracking of the terminal device. as well as Components for performing the sensing session based on the sensing configuration.

37. An apparatus comprising: A component for receiving a first instruction from a first network device at a terminal device, the first instruction being for suspending a location session associated with location-based tracking of the terminal device; as well as A component for pausing the location session based on receiving the first instruction.

38. A non-transitory computer-readable medium comprising program instructions for causing a device to perform at least the method according to any one of claims 32 to 34.

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