Methods and apparatuses for measuring and reporting obstacle positions

Abstract

A wireless transmit / receive unit (WTRU) may determine a first path and at least one additional path for a first positioning reference signal (PRS) and a second PRS of the plurality of PRSs. The WTRU may determine a reference signal time difference (RSTD) measurement based on a time difference between a time of arrival of the at least one detected additional path of the first PRS or the second PRS and a time of arrival of the detected first path of the first PRS or the second PRS. The WTRU may associate one or more subsets of the RSTD measurements with an index. The WTRU may send a report that comprises, for the one or more subsets, the RSTD measurements in the subset, an indication of the first PRS or the second PRS of the plurality of PRSs associated with the RSTD measurements in the subset, and / or the index.

Description

METHODS AND APPARATUSES FOR MEASURING AND REPORTING OBSTACLE POSITIONSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of United States Provisional Application No. 63 / 531 ,030 filed on August 7, 2023, the entire contents of which is incorporated herein by reference in its entirety.BACKGROUND

[0002] Devices in a network may communicate via various types of transmissions. These transmissions, however, may be impacted by obstacles, which may cause multipath interference. A long-term evolution positioning protocol (LPP) may be used in a point-to-point topology and may enable positioning target devices using positioning related measurements from one or multiple sources. Aspects for LPP may include configuration, sessions and transactions, positioning methods, and messages. Message types include Request Capabilities, Provide Capabilities, Request Assistance Data, Provide Assistance Data, Request Location Information, Provide Location Information, Abort, and Error. There may be an LPP procedure related to transfer of each of these messages. Each LPP message may provide a complete set of information for an invocation or response to an LPP transaction. The message body of the LPP may contain a message type and all LPP information related to that message type. For each of the messages, there may be a corresponding message body such as, for example, Requestcapabilities, ProvideCapabilities,RequestAssistanceData,ProvideAssistanceData,RequestLocationl nformation, ProvideLocationl nformation, Abort, or Error, or the like. LPP may be based on measurements and methods for determining the location of target devices. These may be devices that are connected and part of the 3GPP system. A challenge may arise, however, when trying to determine the location of non-connected targets (referred to herein as obstacles). Localization of obstacles may in networks, such as 3GPP systems for example, may improve procedures related to beam management, scheduling, avoiding radio link failures, etc.SUMMARY

[0003] A UE also may be referred to herein as a wireless transmit / receive unit (WTRU). Throughout the Specification and Figures, the terms UE and WTRU may be used interchangeably. Described herein are methods and apparatuses for measuring / determining and reporting obstacle positions.

[0004] Described herein are methods and apparatuses for determining the presence and location of obstacles. The presence of an obstacle in a wireless network may be determined by a WTRU based on a presence uncertainty associated with the presence of an obstacle. If the presence uncertainty is above a threshold, the WTRU may determine that an obstacle is present. If the WTRU determines that an obstacle is present, the WTRU may determinethe location of the obstacle. The WTRU may perform measurements on multiple beams to determine uncertainty / inexactness information related to the number and locations of obstacles. The WTRU may report this information to a network.

[0005] A WTRU may be configured to receive a positioning reference signal (PRS) configuration and a threshold. The WTRU may be configured to receive a plurality of PRSs based on the PRS configuration. The WTRU may be configured to determine a first path and at least one additional path for a first PRS of the plurality of PRSs and a second PRS of the plurality of PRSs. The WTRU may be configured to determine, for the at least one detected additional path of each of the plurality of PRS, when a measurement of the at least one detected additional path is greater than the threshold, a reference signal time difference (RSTD) measurement based on a time difference between a time of arrival of the at least one detected additional path of the first PRS or the second PRS and a time of arrival of the at least one detected first path of the first PRS or the second PRS. The WTRU may be configured to associate one or more subsets of the RSTD measurements with an index. The index may be used to identify a location of an obstacle. The WTRU may be configured to send a report that comprises, for the one or more subsets, the RSTD measurements in the subset, an indication of the first PRS or the second PRS of the plurality of PRSs associated with the RSTD measurements in the subset, and / or the index.

[0006] The WTRU may be configured to perform one or more multipath measurements on the plurality of PRSs. The WTRU may be configured to determine an uncertainty associated with an obstacle based on the one or more multipath measurements. The threshold may be associated with one or more confidence intervals. The one or more confidence intervals may define ranges of estimates for one or more multipath measurements on the plurality of PRSs. The threshold may be associated with one or more of probabilities, accuracy, or percentages associated with one or more multipath measurements on the plurality of PRSs. The WTRU configured to associate each of one or more subsets of the RSTD measurements with a respective index comprises the WTRU being configured to identify which of the RSTD measurements are associated with the respective index. The respective index may identify one or more paths between the WTRU and one or more transmission reception points (TRPs). The report may include one or more of an indication of a selected beam for each transmission reception point (TRP) or an indication of a multipath configuration.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] A more detailed understanding may be had from the detailed description below, given by way of example in conjunction with drawings appended hereto. Figures in such drawings, like the detailed description, are examples.As such, the Figures and the detailed description are not to be considered limiting, and other equally effective examples are possible and likely. Like reference numerals (“ref.” or “refs.”) in the Figures indicate like elements.

[0008] FIG. 1A is an example system diagram illustrating an example communications system in which one or more disclosed embodiments may be implemented.

[0009] FIG. 1 B is an example system diagram illustrating an example wireless transmit / receive unit (WTRU) that may be used within the communications system illustrated in FIG. 1A according to an embodiment.

[0010] FIG. 1C is an example system diagram illustrating an example radio access network (RAN) and an example core network (CN) that may be used within the communications system illustrated in FIG. 1A according to an embodiment.

[0011] FIG. 1 D is an example system diagram illustrating a further example RAN and a further example CN that may be used within the communications system illustrated in FIG. 1A according to an embodiment.

[0012] FIG. 2 is a diagram depicting an example long term evolution positioning protocol (LPP) session procedure.

[0013] FIG. 3 depicts an example of reference signal time difference (RSTD) obstacle positioning.

[0014] FIG. 4 depicts an example of obstacle location presence uncertainty.

[0015] FIG. 5 depicts an example process for RSTD obstacle positioning.EXAMPLE NETWORKS FOR IMPLEMENTATION OF THE INVENTION

[0016] FIG. 1A is a diagram illustrating an example communications system 100 in which one or more disclosed embodiments may be implemented. The communications system 100 may be a multiple access system that provides content, such as voice, data, video, messaging, broadcast, etc., to multiple wireless users. The communications system 100 may enable multiple wireless users to access such content through the sharing of system resources, including wireless bandwidth. For example, the communications systems 100 may employ one or more channel access methods, such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), single-carrier FDMA (SC-FDMA), zero-tail uniqueword DFT-Spread OFDM (ZT UW DTS-s OFDM), unique word OFDM (UW-OFDM), resource block-filtered OFDM, filter bank multicarrier (FBMC), and the like.

[0017] As shown in FIG. 1A, the communications system 100 may include wireless transmit / receive units (WTRUs) 102a, 102b, 102c, 102d, a RAN 104 / 113, a CN 106 / 115, a public switched telephone network (PSTN) 108, the Internet 110, and other networks 112, though it will be appreciated that the disclosed embodiments contemplateany number of WTRUs, base stations, networks, and / or network elements. Each of the WTRUs 102a, 102b, 102c, 102d may be any type of device configured to operate and / or communicate in a wireless environment By way of example, the WTRUs 102a, 102b, 102c, 102d, any of which may be referred to as a "station” and / or a "STA”, may be configured to transmit and / or receive wireless signals and may include a user equipment (UE), a mobile station, a fixed or mobile subscriber unit, a subscription-based unit, a pager, a cellular telephone, a personal digital assistant (PDA), a smartphone, a laptop, a netbook, a personal computer, a wireless sensor, a hotspot or Mi-Fi device, an Internet of Things (loT) device, a watch or other wearable, a head-mounted display (HMD), a vehicle, a drone, a medical device and applications (e.g., remote surgery), an industrial device and applications (e.g., a robot and / or other wireless devices operating in an industrial and / or an automated processing chain contexts), a consumer electronics device, a device operating on commercial and / or industrial wireless networks, and the like. Any of the WTRUs 102a, 102b, 102c and 102d may be interchangeably referred to as a UE.

[0018] The communications systems 100 may also include a base station 114a and / or a base station 114b. Each of the base stations 114a, 114b may be any type of device configured to wirelessly interface with at least one of the WTRUs 102a, 102b, 102c, 102d to facilitate access to one or more communication networks, such as the CN 106 / 115, the Internet 110, and / or the other networks 112. By way of example, the base stations 114a, 114b may be a base transceiver station (BTS), a Node-B, an eNode B, a Home Node B, a Home eNode B, a next generation Node B (gNB), a NR NodeB, a site controller, an access point (AP), a wireless router, and the like. While the base stations 114a, 114b are each depicted as a single element, it will be appreciated that the base stations 114a, 114b may include any number of interconnected base stations and / or network elements.

[0019] The base station 114a may be part of the RAN 104 / 113, which may also include other base stations and / or network elements (not shown), such as a base station controller (BSC), a radio network controller (RNC), relay nodes, etc. The base station 114a and / or the base station 114b may be configured to transmit and / or receive wireless signals on one or more carrier frequencies, which may be referred to as a cell (not shown). These frequencies may be in licensed spectrum, unlicensed spectrum, or a combination of licensed and unlicensed spectrum. A cell may provide coverage for a wireless service to a specific geographical area that may be relatively fixed or that may change over time. The cell may further be divided into cell sectors. For example, the cell associated with the base station 114a may be divided into three sectors. Thus, in one embodiment, the base station 114a may include three transceivers, i.e., one for each sector of the cell. In an embodiment, the base station 114a may employ multiple-input multiple output (MIMO) technology and may utilize multiple transceivers for each sector of the cell. For example, beamforming may be used to transmit and / or receive signals in desired spatial directions.

[0020] The base stations 114a, 114b may communicate with one or more of the WTRUs 102a, 102b, 102c, 102d over an air interface 116, which may be any suitable wireless communication link (e.g., radio frequency (RF),microwave, centimeter wave, micrometer wave, infrared (IR), ultraviolet (UV), visible light, etc.). The air interface 116 may be established using any suitable radio access technology (RAT).

[0021] More specifically, as noted above, the communications system 100 may be a multiple access system and may employ one or more channel access schemes, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, and the like. For example, the base station 114a in the RAN 104 / 113 and the WTRUs 102a, 102b, 102c may implement a radio technology such as Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access (UTRA), which may establish the air interface 115 / 116 / 117 using wideband CDMA (WCDMA). WCDMA may include communication protocols such as High-Speed Packet Access (HSPA) and / or Evolved HSPA (HSPA+). HSPA may include High- Speed Downlink (DL) Packet Access (HSDPA) and / or High-Speed UL Packet Access (HSUPA).

[0022] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as Evolved UMTS Terrestrial Radio Access (E-UTRA), which may establish the air interface 116 using Long Term Evolution (LTE) and / or LTE-Advanced (LTE-A) and / or LTE-Advanced Pro (LTE-A Pro).

[0023] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as NR Radio Access , which may establish the air interface 116 using New Radio (NR).

[0024] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement multiple radio access technologies. For example, the base station 114a and the WTRUs 102a, 102b, 102c may implement LTE radio access and NR radio access together, for instance using dual connectivity (DC) principles. Thus, the air interface utilized by WTRUs 102a, 102b, 102c may be characterized by multiple types of radio access technologies and / or transmissions sent to / from multiple types of base stations (e.g., a eNB and a gNB).

[0025] In other embodiments, the base station 114a and the WTRUs 102a, 102b, 102c may implement radio technologies such as IEEE 802.11 (i.e., Wireless Fidelity (WiFi), IEEE 802.16 (i.e., Worldwide Interoperability for Microwave Access (WiMAX)), CDMA2000, CDMA2000 1X, CDMA2000 EV-DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), Global System for Mobile communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), GSM EDGE (GERAN), and the like.

[0026] The base station 114b in FIG. 1A may be a wireless router, Home Node B, Home eNode B, or access point, for example, and may utilize any suitable RAT for facilitating wireless connectivity in a localized area, such as a place of business, a home, a vehicle, a campus, an industrial facility, an air corridor (e.g., for use by drones), a roadway, and the like. In one embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.11 to establish a wireless local area network (WLAN). In an embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.15 to establish a wireless personal area network (WPAN). In yet another embodiment, the base station 114b and the WTRUs 102c, 102d may utilize a cellular-based RAT (e.g., WCDMA, CDMA2000, GSM, LTE, LTE-A, LTE-A Pro, NR etc.) toestablish a picocell or femtocell. As shown in FIG. 1 A, the base station 114b may have a direct connection to the Internet 110. Thus, the base station 114b may not be required to access the Internet 110 via the CN 106 / 115.

[0027] The RAN 104 / 113 may be in communication with the CN 106 / 115, which may be any type of network configured to provide voice, data, applications, and / or voice over internet protocol (VoIP) services to one or more of the WTRUs 102a, 102b, 102c, 102d. The data may have varying quality of service (QoS) requirements, such as differing throughput requirements, latency requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, and the like. The CN 106 / 115 may provide call control, billing services, mobile location-based services, pre-paid calling, Internet connectivity, video distribution, etc., and / or perform high-level security functions, such as user authentication. Although not shown in FIG. 1A, it will be appreciated that the RAN 104 / 113 and / or the CN 106 / 115 may be in direct or indirect communication with other RANs that employ the same RAT as the RAN 104 / 113 or a different RAT. For example, in addition to being connected to the RAN 104 / 113, which may be utilizing a NR radio technology, the CN 106 / 115 may also be in communication with another RAN (not shown) employing a GSM, UMTS, CDMA 2000, WiMAX, E-UTRA, or WiFi radio technology.

[0028] The CN 106 / 115 may also serve as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and / or the other networks 112. The PSTN 108 may include circuit-switched telephone networks that provide plain old telephone service (POTS). The Internet 110 may include a global system of interconnected computer networks and devices that use common communication protocols, such as the transmission control protocol (TCP), user datagram protocol (UDP) and / or the internet protocol (IP) in the TCP / IP internet protocol suite. The networks 112 may include wired and / or wireless communications networks owned and / or operated by other service providers. For example, the networks 112 may include another CN connected to one or more RANs, which may employ the same RAT as the RAN 104 / 113 or a different RAT.

[0029] Some or all of the WTRUs 102a, 102b, 102c, 102d in the communications system 100 may include multimode capabilities e.g., the WTRUs 102a, 102b, 102c, 102d may include multiple transceivers for communicating with different wireless networks over different wireless links). For example, the WTRU 102c shown in FIG. 1A may be configured to communicate with the base station 114a, which may employ a cellular-based radio technology, and with the base station 114b, which may employ an IEEE 802 radio technology.

[0030] FIG. 1 B is a system diagram illustrating an example WTRU 102. As shown in FIG. 1 B, the WTRU 102 may include a processor 118, a transceiver 120, a transmit / receive element 122, a speaker / microphone 124, a keypad 126, a display / touchpad 128, non-removable memory 130, removable memory 132, a power source 134, a global positioning system (GPS) chipset 136, and / or other peripherals 138, among others. It will be appreciated that the WTRU 102 may include any sub-combination of the foregoing elements while remaining consistent with an embodiment.

[0031] The processor 118 may be a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) circuits, any other type of integrated circuit (IC), a state machine, and the like. The processor 118 may perform signal coding, data processing, power control, input / output processing, and / or any other functionality that enables the WTRU 102 to operate in a wireless environment. The processor 118 may be coupled to the transceiver 120, which may be coupled to the transmit / receive element 122. While FIG. 1 B depicts the processor 118 and the transceiver 120 as separate components, it will be appreciated that the processor 118 and the transceiver 120 may be integrated together in an electronic package or chip.

[0032] The transmit / receive element 122 may be configured to transmit signals to, or receive signals from, a base station (e.g., the base station 114a) over the air interface 116. For example, in one embodiment, the transmit / receive element 122 may be an antenna configured to transmit and / or receive RF signals. In an embodiment, the transmit / receive element 122 may be an emitter / detector configured to transmit and / or receive IR, UV, or visible light signals, for example. In yet another embodiment, the transmit / receive element 122 may be configured to transmit and / or receive both RF and light signals. It will be appreciated that the transmit / receive element 122 may be configured to transmit and / or receive any combination of wireless signals.

[0033] Although the transmit / receive element 122 is depicted in FIG. 1 B as a single element, the WTRU 102 may include any number of transmit / receive elements 122 More specifically, the WTRU 102 may employ MIMO technology. Thus, in one embodiment, the WTRU 102 may include two or more transmit / receive elements 122 (e.g, multiple antennas) for transmitting and receiving wireless signals over the air interface 116.

[0034] The transceiver 120 may be configured to modulate the signals that are to be transmitted by the transmit / receive element 122 and to demodulate the signals that are received by the transmit / receive element 122. As noted above, the WTRU 102 may have multi-mode capabilities. Thus, the transceiver 120 may include multiple transceivers for enabling the WTRU 102 to communicate via multiple RATs, such as NR and IEEE 802.11 , for example.

[0035] The processor 118 of the WTRU 102 may be coupled to, and may receive user input data from, the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128 (e.g, a liquid crystal display (LCD) display unit or organic light-emitting diode (OLED) display unit). The processor 118 may also output user data to the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128. In addition, the processor 118 may access information from, and store data in, any type of suitable memory, such as the non-removable memory 130 and / or the removable memory 132. The non-removable memory 130 may include random-access memory (RAM), read-only memory (ROM), a hard disk, or any other type of memory storage device. The removable memory 132 may include a subscriber identity module (SIM) card, a memory stick, a secure digital (SD) memory card, and the like. Inother embodiments, the processor 118 may access information from, and store data in, memory that is not physically located on the WTRU 102, such as on a server or a home computer (not shown).

[0036] The processor 118 may receive power from the power source 134, and may be configured to distribute and / or control the power to the other components in the WTRU 102. The power source 134 may be any suitable device for powering the WTRU 102. For example, the power source 134 may include one or more dry cell batteries (e.g, nickel-cadmium (NiCd), nickel-zinc (NiZn), nickel metal hydride (NiMH), lithium-ion (Li-ion), etc.), solar cells, fuel cells, and the like.

[0037] The processor 118 may also be coupled to the GPS chipset 136, which may be configured to provide location information (e.g., longitude and latitude) regarding the current location of the WTRU 102. In addition to, or in lieu of, the information from the GPS chipset 136, the WTRU 102 may receive location information over the air interface 116 from a base station (e.g., base stations 114a, 114b) and / or determine its location based on the timing of the signals being received from two or more nearby base stations. It will be appreciated that the WTRU 102 may acquire location information by way of any suitable location-determination method while remaining consistent with an embodiment.

[0038] The processor 118 may further be coupled to other peripherals 138, which may include one or more software and / or hardware modules that provide additional features, functionality and / or wired or wireless connectivity. For example, the peripherals 138 may include an accelerometer, an e-compass, a satellite transceiver, a digital camera (for photographs and / or video), a universal serial bus (USB) port, a vibration device, a television transceiver, a hands free headset, a Bluetooth® module, a frequency modulated (FM) radio unit, a digital music player, a media player, a video game player module, an Internet browser, a Virtual Reality and / or Augmented Reality (VR / AR) device, an activity tracker, and the like. The peripherals 138 may include one or more sensors, the sensors may be one or more of a gyroscope, an accelerometer, a hall effect sensor, a magnetometer, an orientation sensor, a proximity sensor, a temperature sensor, a time sensor; a geolocation sensor; an altimeter, a light sensor, a touch sensor, a magnetometer, a barometer, a gesture sensor, a biometric sensor, and / or a humidity sensor.

[0039] The WTRU 102 may include a full duplex radio for which transmission and reception of some or all of the signals (e.g., associated with particular subframes for both the UL (e.g, for transmission) and downlink (e.g, for reception) may be concurrent and / or simultaneous. The full duplex radio may include an interference management unit 139 to reduce and or substantially eliminate self-interference via either hardware (e.g, a choke) or signal processing via a processor (e.g, a separate processor (not shown) or via processor 118). In an embodiment, the WTRU 102 may include a half-duplex radio for which transmission and reception of some or all of the signals (e.g, associated with particular subframes for either the UL (e.g, for transmission) or the downlink (e.g, for reception)).

[0040] FIG. 1C is a system diagram illustrating the RAN 104 and the CN 106 according to an embodiment. As noted above, the RAN 104 may employ an E-UTRA radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 104 may also be in communication with the CN 106.

[0041] The RAN 104 may include eNode-Bs 160a, 160b, 160c, though it will be appreciated that the RAN 104 may include any number of eNode-Bs while remaining consistent with an embodiment. The eNode-Bs 160a, 160b, 160c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the eNode-Bs 160a, 160b, 160c may implement MIMO technology. Thus, the eNode-B 160a, for example, may use multiple antennas to transmit wireless signals to, and / or receive wireless signals from, the WTRU 102a.

[0042] Each of the eNode-Bs 160a, 160b, 160c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, and the like. As shown in FIG. 1 C, the eNode-Bs 160a, 160b, 160c may communicate with one another over an X2 interface.

[0043] The CN 106 shown in FIG. 1C may include a mobility management entity (MME) 162, a serving gateway (SGW) 164, and a packet data network (PDN) gateway (or PGW) 166. While each of the foregoing elements are depicted as part of the CN 106, it will be appreciated that any of these elements may be owned and / or operated by an entity other than the CN operator.

[0044] The MME 162 may be connected to each of the eNode-Bs 162a, 162b, 162c in the RAN 104 via an S1 interface and may serve as a control node. For example, the MME 162 may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, bearer activation / deactivation, selecting a particular serving gateway during an initial attach of the WTRUs 102a, 102b, 102c, and the like. The MME 162 may provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as GSM and / or WCDMA.

[0045] The SGW 164 may be connected to each of the eNode Bs 160a, 160b, 160c in the RAN 104 via the S1 interface. The SGW 164 may generally route and forward user data packets to / from the WTRUs 102a, 102b, 102c. The SGW 164 may perform other functions, such as anchoring user planes during inter-eNode B handovers, triggering paging when DL data is available for the WTRUs 102a, 102b, 102c, managing and storing contexts of the WTRUs 102a, 102b, 102c, and the like.

[0046] The SGW 164 may be connected to the PGW 166, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

[0047] The CN 106 may facilitate communications with other networks. For example, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to circuit-switched networks, such as the PSTN 108, to facilitate communications between the WTRUs 102a, 102b, 102c and traditional land-line communications devices. For example, the CN 106 may include, or may communicate with, an IP gateway (e.g, an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 106 and the PSTN 108. In addition, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to the other networks 112, which may include other wired and / or wireless networks that are owned and / or operated by other service providers.

[0048] Although the WTRU is described in FIGS. 1A-1D as a wireless terminal, it is contemplated that in certain representative embodiments that such a terminal may use (e.g., temporarily or permanently) wired communication interfaces with the communication network.

[0049] In representative embodiments, the other network 112 may be a WLAN.

[0050] A WLAN in Infrastructure Basic Service Set (BSS) mode may have an Access Point (AP) for the BSS and one or more stations (STAs) associated with the AP. The AP may have an access or an interface to a Distribution System (DS) or another type of wired / wireless network that carries traffic in to and / or out of the BSS. Traffic to STAs that originates from outside the BSS may arrive through the AP and may be delivered to the STAs. Traffic originating from STAs to destinations outside the BSS may be sent to the AP to be delivered to respective destinations. Traffic between STAs within the BSS may be sent through the AP, for example, where the source STA may send traffic to the AP and the AP may deliver the traffic to the destination STA. The traffic between STAs within a BSS may be considered and / or referred to as peer-to-peer traffic. The peer-to-peer traffic may be sent between (e.g, directly between) the source and destination STAs with a direct link setup (DLS). In certain representative embodiments, the DLS may use an 802.11e DLS or an 802.11z tunneled DLS (TDLS). A WLAN using an Independent BSS (IBSS) mode may not have an AP, and the STAs (e.g, all of the STAs) within or using the IBSS may communicate directly with each other. The IBSS mode of communication may sometimes be referred to herein as an "ad-hoc” mode of communication.

[0051] When using the 802.11 ac infrastructure mode of operation or a similar mode of operations, the AP may transmit a beacon on a fixed channel, such as a primary channel. The primary channel may be a fixed width (e.g, 20 MHz wide bandwidth) or a dynamically set width via signaling. The primary channel may be the operating channel of the BSS and may be used by the STAs to establish a connection with the AP. In certain representative embodiments, Carrier Sense Multiple Access with Collision Avoidance (CSMA / CA) may be implemented, for example in in 802.11 systems. For CSMA / CA, the STAs (e.g., every STA), including the AP, may sense the primary channel. If the primary channel is sensed / detected and / or determined to be busy by a particular STA, the particular STA may back off. One STA (e.g., only one station) may transmit at any given time in a given BSS.

[0052] High Throughput (HT) STAs may use a 40 MHz wide channel for communication, for example, via a combination of the primary 20 MHz channel with an adjacent or nonadjacent 20 MHz channel to form a 40 MHz wide channel.

[0053] Very High Throughput (VHT) STAs may support 20MHz, 40 MHz, 80 MHz, and / or 160 MHz wide channels. The 40 MHz, and / or 80 MHz, channels may be formed by combining contiguous 20 MHz channels. A 160 MHz channel may be formed by combining 8 contiguous 20 MHz channels, or by combining two non-contiguous 80 MHz channels, which may be referred to as an 80+80 configuration. For the 80+80 configuration, the data, after channel encoding, may be passed through a segment parser that may divide the data into two streams. Inverse Fast Fourier Transform (IFFT) processing, and time domain processing, may be done on each stream separately. The streams may be mapped on to the two 80 MHz channels, and the data may be transmitted by a transmitting STA. At the receiver of the receiving STA, the above described operation for the 80+80 configuration may be reversed, and the combined data may be sent to the Medium Access Control (MAC).

[0054] Sub 1 GHz modes of operation are supported by 802.11af and 802.11 ah. The channel operating bandwidths, and carriers, are reduced in 802.11 af and 802.11 ah relative to those used in 802.11 n, and 802.11 ac.802.11 af supports 5 MHz, 10 MHz and 20 MHz bandwidths in the TV White Space (TVWS) spectrum, and 802.11 ah supports 1 MHz, 2 MHz, 4 MHz, 8 MHz, and 16 MHz bandwidths using non-TVWS spectrum. According to a representative embodiment, 802.11 ah may support Meter Type Control / Machine-Type Communications, such as MTC devices in a macro coverage area. MTC devices may have certain capabilities, for example, limited capabilities including support for (e.g, only support for) certain and / or limited bandwidths. The MTC devices may include a battery with a battery life above a threshold (e.g., to maintain a very long battery life).

[0055] WLAN systems, which may support multiple channels, and channel bandwidths, such as 802.11 n, 802.11 ac, 802.11 af, and 802.11 ah, include a channel which may be designated as the primary channel. The primary channel may have a bandwidth equal to the largest common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel may be set and / or limited by a STA, from among all STAs in operating in a BSS, which supports the smallest bandwidth operating mode. In the example of 802.11 ah, the primary channel may be 1 MHz wide for STAs (e.g., MTC type devices) that support (e.g., only support) a 1 MHz mode, even if the AP, and other STAs in the BSS support 2 MHz, 4 MHz, 8 MHz, 16 MHz, and / or other channel bandwidth operating modes. Carrier sensing and / or Network Allocation Vector (NAV) settings may depend on the status of the primary channel. If the primary channel is busy, for example, due to a STA (which supports only a 1 MHz operating mode), transmitting to the AP, the entire available frequency bands may be considered busy even though a majority of the frequency bands remains idle and may be available.

[0056] In the United States, the available frequency bands, which may be used by 802.11 ah, are from 902 MHz to 928 MHz. In Korea, the available frequency bands are from 917.5 MHz to 923.5 MHz. In Japan, the availablefrequency bands are from 916.5 MHz to 927.5 MHz. The total bandwidth available for 802.11 ah is 6 MHz to 26 MHz depending on the country code

[0057] FIG. 1D is a system diagram illustrating the RAN 113 and the CN 115 according to an embodiment. As noted above, the RAN 113 may employ an NR radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 113 may also be in communication with the CN 115.

[0058] The RAN 113 may include gNBs 180a, 180b, 180c, though it will be appreciated that the RAN 113 may include any number of gNBs while remaining consistent with an embodiment. The gNBs 180a, 180b, 180c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the gNBs 180a, 180b, 180c may implement MIMO technology. For example, gNBs 180a, 180b may utilize beamforming to transmit signals to and / or receive signals from the gNBs 180a, 180b, 180c. Thus, the gNB 180a, for example, may use multiple antennas to transmit wireless signals to, and / or receive wireless signals from, the WTRU 102a. In an embodiment, the gNBs 180a, 180b, 180c may implement carrier aggregation technology. For example, the gNB 180a may transmit multiple component carriers to the WTRU 102a (not shown). A subset of these component carriers may be on unlicensed spectrum while the remaining component carriers may be on licensed spectrum. In an embodiment, the gNBs 180a, 180b, 180c may implement Coordinated Multi-Point (CoMP) technology. For example, WTRU 102a may receive coordinated transmissions from gNB 180a and gNB 180b (and / or gNB 180c).

[0059] The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using transmissions associated with a scalable numerology. For example, the OFDM symbol spacing and / or OFDM subcarrier spacing may vary for different transmissions, different cells, and / or different portions of the wireless transmission spectrum. The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using subframe or transmission time intervals (TTIs) of various or scalable lengths (e.g., containing varying number of OFDM symbols and / or lasting varying lengths of absolute time).

[0060] The gNBs 180a, 180b, 180c may be configured to communicate with the WTRUs 102a, 102b, 102c in a standalone configuration and / or a non-standalone configuration. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c without also accessing other RANs (e.g., such as eNode- Bs 160a, 160b, 160c). In the standalone configuration, WTRUs 102a, 102b, 102c may utilize one or more of gNBs 180a, 180b, 180c as a mobility anchor point. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using signals in an unlicensed band. In a non-standalone configuration WTRUs 102a, 102b, 102c may communicate with / connect to gNBs 180a, 180b, 180c while also communicating with / connecting to another RAN such as eNode-Bs 160a, 160b, 160c. For example, WTRUs 102a, 102b, 102c may implement DC principles to communicate with one or more gNBs 180a, 180b, 180c and one or more eNode-Bs 160a, 160b, 160c substantially simultaneously. In the non-standalone configuration, eNode-Bs 160a, 160b, 160c mayserve as a mobility anchor for WTRUs 102a, 102b, 102c and gNBs 180a, 180b, 180c may provide additional coverage and / or throughput for servicing WTRUs 102a, 102b, 102c.

[0061] Each of the gNBs 180a, 180b, 180c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, support of network slicing, dual connectivity, interworking between NR and E-UTRA, routing of user plane data towards User Plane Function (UPF) 184a, 184b, routing of control plane information towards Access and Mobility Management Function (AMF) 182a, 182b and the like. As shown in FIG. 1 D, the gNBs 180a, 180b, 180c may communicate with one another over an Xn interface.

[0062] The CN 115 shown in FIG. 1 D may include at least one AMF 182a, 182b, at least one UPF 184a, 184b, at least one Session Management Function (SMF) 183a, 183b, and possibly a Data Network (DN) 185a, 185b. While each of the foregoing elements are depicted as part of the CN 115, it will be appreciated that any of these elements may be owned and / or operated by an entity other than the CN operator.

[0063] The AMF 182a, 182b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N2 interface and may serve as a control node. For example, the AMF 182a, 182b may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, support for network slicing (e.g., handling of different PDU sessions with different requirements), selecting a particular SMF 183a, 183b, management of the registration area, termination of NAS signaling, mobility management, and the like. Network slicing may be used by the AMF 182a, 182b in order to customize CN support for WTRUs 102a, 102b, 102c based on the types of services being utilized WTRUs 102a, 102b, 102c. For example, different network slices may be established for different use cases such as services relying on ultra-reliable low latency (URLLC) access, services relying on enhanced massive mobile broadband (eMBB) access, services for machine type communication (MTC) access, and / or the like. The AMF 162 may provide a control plane function for switching between the RAN 113 and other RANs (not shown) that employ other radio technologies, such as LTE, LTE-A, LTE-A Pro, and / or non-3GPP (third generation partnership project) access technologies such as WiFi.

[0064] The SMF 183a, 183b may be connected to an AMF 182a, 182b in the CN 115 via an N11 interface. The SMF 183a, 183b may also be connected to a UPF 184a, 184b in the CN 115 via an N4 interface. The SMF 183a, 183b may select and control the UPF 184a, 184b and configure the routing of traffic through the UPF 184a, 184b. The SMF 183a, 183b may perform other functions, such as managing and allocating UE IP address, managing PDU sessions, controlling policy enforcement and QoS, providing downlink data notifications, and the like. A PDU session type may be IP-based, non-IP based, Ethernet-based, and the like.

[0065] The UPF 184a, 184b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N3 interface, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such asthe Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. The UPF 184, 184b may perform other functions, such as routing and forwarding packets, enforcing user plane policies, supporting multi-homed PDU sessions, handling user plane QoS, buffering downlink packets, providing mobility anchoring, and the like.

[0066] The CN 115 may facilitate communications with other networks. For example, the CN 115 may include, or may communicate with, an IP gateway (e.g., an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 115 and the PSTN 108. In addition, the CN 115 may provide the WTRUs 102a, 102b, 102c with access to the other networks 112, which may include other wired and / or wireless networks that are owned and / or operated by other service providers. In one embodiment, the WTRUs 102a, 102b, 102c may be connected to a local Data Network (DN) 185a, 185b through the UPF 184a, 184b via the N3 interface to the UPF 184a, 184b and an N6 interface between the UPF 184a, 184b and the DN 185a, 185b.

[0067] In view of Figs. 1A-1D, and the corresponding description of Figs. 1A-1 D, one or more, or all, of the functions described herein with regard to one or more of: WTRU 102a-d, Base Station 114a-b, eNode-B 160a-c, MME 162, SGW 164, PGW 166, gNB 180a-c, AMF 182a-b, UPF 184a-b, SMF 183a-b, DN 185a-b, and / or any other device(s) described herein, may be performed by one or more emulation devices (not shown). The emulation devices may be one or more devices configured to emulate one or more, or all, of the functions described herein. For example, the emulation devices may be used to test other devices and / or to simulate network and / or WTRU functions

[0068] The emulation devices may be designed to implement one or more tests of other devices in a lab environment and / or in an operator network environment. For example, the one or more emulation devices may perform the one or more, or all, functions while being fully or partially implemented and / or deployed as part of a wired and / or wireless communication network in order to test other devices within the communication network. The one or more emulation devices may perform the one or more, or all, functions while being temporarily implemented / deployed as part of a wired and / or wireless communication network. The emulation device may be directly coupled to another device for purposes of testing and / or may perform testing using over-the-air wireless communications.

[0069] The one or more emulation devices may perform the one or more, including all, functions while not being implemented / deployed as part of a wired and / or wireless communication network. For example, the emulation devices may be utilized in a testing scenario in a testing laboratory and / or a non-deployed (e.g., testing) wired and / or wireless communication network in order to implement testing of one or more components. The one or more emulation devices may be test equipment. Direct RF coupling and / or wireless communications via RF circuitry (e.g., which may include one or more antennas) may be used by the emulation devices to transmit and / or receive data.

[0070] Described herein are methods and apparatuses for locating and reporting obstacles within a network. Current localization and positioning mechanisms facilitate determining the location of connected devices, such as, for example, WTRUs, TRPs (transmission-reception points), or the like, within a network (e.g., 3GPP system). This may be achieved based on physical layer measurements and positioning methods. In performing measurements, such as RSTD (reference signal time difference) measurements, ambiguity regarding position / location may arise due to multipath interference. Multipath interference may be a result of an obstacle(s). Thus, measurements may be impacted by obstacles in the vicinity of a connected WTRU performing the measurement. These measurements may be impacted by the location, material, surface characteristics, or the like, of the obstacle. Multipath measurements may be used to create information with certain ambiguity / uncertainty / inexactness regarding the number of obstacles and their locations, in vicinity of the WTRU. Uncertainty may occur due to timing synchronization, TRP locations, or the like. Currently, uncertainty coming from multipath is not recognized or utilized. Described herein are methods and apparatuses for utilizing multipath uncertainty for localization of obstacles.

[0071] FIG. 2 depicts an example LPP (long term evolution positioning protocol) procedure 200. LPP may be used in a point-to-point topology and may enable positioning target devices using positioning related measurements from one or multiple sources. For example, LPP messages may be exchanged between a first endpoint 202 (e.g., Endpoint A) and a second endpoint 204 (e.g., Endpoint B). Aspects for LPP may include configuration, sessions and transactions, positioning methods, and messages. Message types include Request Capabilities, Provide Capabilities, Request Assistance Data, Provide Assistance Data, Request Location Information, Provide Location Information, Abort, and Error. There may be an LPP procedure related to transfer of each of these messages. In the example shown in FIG. 2, at 210, the first endpoint 202 may send a first LPP message to the second endpoint 204. At 212, the first endpoint 202 and the second endpoint 204 may exchange first additional LPP messages. At 214, the first endpoint 202 and the second endpoint 204 may exchange second additional LPP messages. At 216, the first endpoint 202 and the second endpoint 204 may exchange a third LPP message. Each LPP message may provide a complete set of information for an invocation or response to an LPP transaction. The message body of the LPP may contain a message type and all LPP information related to that message type. For each of the messages, there may be a corresponding message body such as, for example, Requestcapabilities, ProvideCapabilities,RequestAssistanceData, ProvideAssistanceData, RequestLocationlnformation, ProvideLocationlnformation, Abort, or Error, or the like.

[0072] LPP may be based on measurements and methods for determining the location of target devices. These may be devices that are connected and part of the 3GPP system. A challenge may arise, however, when trying to determine the location of non-connected targets (referred to herein as obstacles). Localization of obstacles may in networks, such as 3GPP systems for example, may improve procedures related to beam management, scheduling, avoiding radio link failures, etc.

[0073] Described herein are methods and apparatuses for enable positioning of obstacles using measurements, such as RSTD, RSRP (reference signal received power) per path, for example, in the presence of uncertainty (e.g, multipath) in measurements. Obstacle positioning information may be provided to a NW (network) for facilitating operational procedures (for example: beam forming, scheduling, etc.).

[0074] A WTRU may report multipath measurements and / or associated uncertainty / inexactness information related to the number and / or locations of obstacles. A WTRU may receive (e.g, from the NW) a threshold (e.g, an uncertainty threshold) for one or more of beam (e.g., best beam) selection (e.g, BB_Threshold) and / or multipath measurements selection (e.g, MM_Threshold). The threshold may be a confidence interval, an empirically determined threshold value, and / or a probability threshold. The WTRU may receive (e.g, from the NW) a PRS configuration. The PRS configuration may include a set of multipath configurations identifying sets of TRPs and multipath measurements (e.g, ConfigA, ConfigB, ConfigC, ... etc.) to perform. For example, the PRS configuration may indicate a set of RSTD measurements to use such as [RSTDxlyl , RSTDx2y2, RSTDx3y3], where x1, x2, and x3 indicate a TRP and y 1 , y2, y3 indicate a multipath component (e.g, RSTD10 = RSTD measurement associated with TRP1 and first multipath component, RSTD21 = RSTD measurement associated with TRP2 and second multipath component).

[0075] The WTRU may perform measurements, referred to herein as multipath measurements, for multiple (e.g, at least three) TRPs that may each be transmitting a PRS (positioning reference signal) on one or more beams (e.g, using beam sweeping). For example, the WTRU may receive a plurality of PRSs based on the PRS configuration. The plurality of PRSs may be received from one or more TRPs. For each TRP the WTRU may perform the multipath measurements for the PRS signal on each beam (e.g, a total of Yi beams per TRPi). For example (for each TRP), for the PRS signal on each beam, the WTRU may determine a direct signal component (e.g, a first path or direct path) and one or more additional signal components (e.g, additional paths and / or multipath components). For example, the WTRU may detect a first path and at least one additional path for each of the plurality of PRSs. For each detected additional path (e.g, additional signal component) associated with each PRS signal (e.g, on each beam), the WTRU may determine a time difference measurement, for example, when a measurement of the respective detected additional path is greater than the threshold, as disclosed herein. The time difference measurement may be based on the time difference (e.g, RSTD) between a time of arrival of the direct signal component (e.g, first path or direct path) associated with the PRS and a time of arrival of the additional (first, second, third, ..., etc.) signal component (e.g, detected additional path(s)) associated with the PRS (e.g, the same PRS signal is used). For each direct signal component (e.g, first path or direct path) and each additional signal component (e.g, detected additional path) associated with the PRS signal on each beam, the WTRU may measure or determine a signal level and / or quality, e.g, RSRP.

[0076] For each TRP, the WTRU may select one or more beams (e.g, best beams) (Xi of Yi beams for TRPi) that the WTRU may use for finding one or more obstacles, e.g., based on the multipath measurements. For each beam of each TRP, the WTRU may determine, based on the measurements of each additional signal component (e.g., detected additional path), an uncertainty (e.g., a confidence level and / or probability) associated with an obstacle (e.g., an uncertainty associated with determining the presence of the obstacle). This uncertainty may be referred to as a presence uncertainty. A beam may be selected if the presence uncertainty determined for the beam satisfies a threshold (e.g., such as BB_Threshold). For example, a beam (e.g., beamj) may be selected if an obstacle determined to be present based on the multipath measurements associated with the beam (e.g., beamj) has a probability of actually being present greater than the threshold (e.g., BB_Threshold). In a first example, the WTRU may select one beam per TRP and in a second example, the WTRU may select more than one beam for one or more (e.g., all) of the TRPs.

[0077] For each of the received multipath configurations (e.g., Config A, ConfigB, ConfigC), using the associated TRPs, selected beams, and / or multipath measurements, the WTRU may determine a number of obstacles, obstacle location , and / or an uncertainty (e.g., U-A, U-B, U-C) associated with each of the obstacles and / or location®. This uncertainty may be referred to as an obstacle uncertainty. For example, for a ConfigA corresponding to [RSTD10, RSTD20, RSTD30], the WTRU may determine a number of obstacles, obstacle location®, and / or an obstacle uncertainty (e.g., U-A) associated with the number and location® of obstacle(s) for the combination of TRP1- multipath componentl , TRP2-multipath componentl, and / or TRP3-multipath component! . When one beam is selected per TRP, the WTRU may make the determination (e.g., of number, locations, and / or uncertainty) using the multipath measurements associated with the selected beam for each TRP. When more than one beam is selected for at least one TRP, the WTRU may make the determination (e.g., of number, locations, and / or uncertainty) for each of one or more combinations of the selected beams (one beam per TRP) using the corresponding multipath measurements. For example, for a ConfigB corresponding to [RSTD11 , RSTD21 , RSTD30], the WTRU may determine a number of obstacles, obstacle location®, and / or an obstacle uncertainty (e.g., U-B) as similarly described with respect to ConfigA, wherein the determinations are made for the combination of TRP 1 -multipath component2, TRP2-multipath component2, and / or TRP3-multipath componentl.

[0078] For each of the received multipath configurations (e.g., ConfigA, ConfigB, ConfigC) for each combination of selected beams (with one beam per TRP), the WTRU may do the following (e.g., if there is only one beam selected per TRP, there is only one combination of selected beams). If the multipath measurements (e.g, RSRP and / or RSTD of the direct signal and each additional signal component) for one or more beams (e.g, for each or all the beams) in the combination of selected beams satisfies the MM_Threshold (e.g, measurement > MM_Threshold), then, for each TRP and each beam in the combination, the WTRU may associate the measurements (e.g, RSTD and / or RSRP) for the additional signal components (e.g, additional paths) determined forthat TRP and beam (e.g., each RSTDxy for TRPx for the beam) with a respective index. The respective index may be used to identify one or more of the obstacles. For each TRP and each beam in the combination, the WTRU may associate the measurement(s) (e.g., RSRP and / or RSTD) for the direct and additional signal components e , first path and at least one additional path) determined for that TRP and beam with a respective index. The respective index may be used to identify the location of one or more obstacles. The WTRU may transmit, to the LMF (location management function), a report, for each of the one or more subsets of measurements, comprising the measurements (e.g., RSTD and / or RSRP measurements) in the subset, an associated index (e.g, the subset of measurements used to identify each of the obstacles, the number of obstacles, obstacle location(s), obstacle location(s) relative to the WTRU location, and / or one or more paths between the WTRU and one or more TRPs), an indication of the PRS of the plurality of PRSs associated with each measurement (e.g, RSTD) in the subset, an indication of the selected beam per TRP for the combination of selected beams, an indication of the PRS and / or multipath configuration (e.g, A, B, or C), or the like, or any appropriate combination thereof.

[0079] If the multipath measurements (e.g, RSRP and / or RSTD of the direct signal and each additional signal component) for one or more beams (e.g, for each or all the beams) in the combination of selected beams do not satisfy the MM_Threshold (e.g, RSRP < MM_Threshold), the WTRU may transmit, to the LMF, a report comprising one or more of an indication of the selected beam per TRP for the combination of selected beams, or an indication of the PRS and / or multipath configuration (e.g, A, B, or C).

[0080] Throughout the various examples described herein, a network may include any of a base station (e.g. gNB, TRP, RAN (random access network) node, access node), core network function (e.g. AMF (access and mobility management function), SMF (session management function), PCF (policy changing function), NEF (network exposure function)) and application function (e.g. edge server function, remote server function), for example.

[0081] Throughout the examples described herein, the ambiguity / uncertainty / inexactness may refer to an ambiguity calculation, where the output of the calculation may not be an exact value, rather it may be based a value accompanied with a level of certainty, expressed and / or not limited to confidence intervals, probability, accuracy, etc.

[0082] Throughout the examples described herein, the ambiguity / uncertainty / inexactness threshold may refer to a threshold value which may be compared to the output value of the ambiguity calculation.

[0083] Throughout the examples described herein, configurations / configs for ambiguity calculation refers to any / all 3GPP configurations that may be used for conducting ambiguity calculations such as configurations determining Al (artificial intelligence) models, empirical or probabilistic models, where the input is measurements (for example multipath measurements) and the output is association of measurements with obstacle and number and obstacle(s) location .

[0084] Throughout the examples described herein, multipath measurements may refer to measurements such as RSTD and / or RSRP, however performed, on the same (for example PRS) signal. The measurements may be conducted to obtain the time difference and / or the power difference between the direct component in the channel impulse response and all the remaining measured components from the channel impulse response. The multipath measurements adopted in this disclosure may use the ambiguity of the multipath in order to determine the number and / or obstacle(s) location(s).

[0085] Throughout the examples described herein, main data may refer to information discerned as a result of using configurations and multipath measurements in ambiguity calculations, and consists of any of the following: associated multipath measurements (RSTD / RSRP) to obstacle(s), number, and / or obstacle(s) location(s).

[0086] Throughout the examples described herein, auxiliary data may refer to information relevant for performing ambiguity calculations and include of any or combination of the following: number of best beams out of the total number of beams, set or subset of the configurations and multipath measurements.

[0087] Throughout the examples described herein, PRS configuration may refer to the configuration of a PRS signal, including the structure hierarchy of the positioning frequency layer, resource information set, and / or resource elements spanned across the time / frequency grid.

[0088] Throughout the examples described herein, “Network” may include AMF, LMF, gNB, or NG-RAN. “Preconfiguration” and “configuration” may be used interchangeably in this disclosure. The terms “non-serving gNB” and “neighboring gNB” may be used interchangeably in this disclosure. The terms “gNB” and “TRP” may be used interchangeably in this disclosure. The terms “PRS”, “SRS”, “SRS for positioning” or “SRS for positioning purpose” can be used interchangeably in this disclosure. The terms “PRS” or “PRS resource” may be used interchangeably in this disclosure. The terms “PRS(s)” or “PRS resource(s)” may be used interchangeably in this disclosure. The aforementioned “PRS(s)” or “PRS resource(s)” may belong to different PRS resource sets. The terms “PRS” or “DL- PRS” or “DL PRS” or “DL RS” may be used interchangeably in this disclosure. The terms “Measurement gap” or “Measurement gap pattern" may be used interchangeably in this disclosure. “Measurement gap pattern” may include parameters such as measurement gap duration or measurement gap repetition period or measurement gap periodicity. “Beam” and “Resource” may be used interchangeably in this disclosure.

[0089] A PRU (positioning reference unit) may comprise a WTRU or TRP whose location (e.g, altitude, latitude, geographic coordinate, or local coordinate) is known by the network (e.g., gNB, LMF). Capabilities of PRUs may be the same as a WTRU or TRP, e.g, capable of receiving PRS or transmit SRS or SRS for positioning, return measurements, or transmit PRS. WTRUs acting as PRUs may be used by the network for calibration purposes (e.g, correct unknown timing offset, correct unknown angle offset).

[0090] An LMF is a non-limiting example of a node or entity (e.g., network node or entity) that may be used for or to support positioning. Any other node or entity may be substituted for LMF and still be consistent with this disclosure.

[0091] The WTRU may receive a preconfigured threshold(s) from the network (e.g., LMF, gNB).

[0092] A LOS (line of sight) indicator may be hard (e.g., 1 or O) or soft indicator (e.g., 0, 0.1, 0.2...,1) and it may indicate a likelihood of the presence of an LOS path between TRP and WTRU or along PRS. The LOS indicator may be associated with a TRP or PRS resource ID (e.g., index). The WTRU may receive the LOS indicator from the network per TRP or resource ID. Alternatively, the WTRU may determine the LOS indicator per TRP or resource ID based on measurements. A WTRU location may be expressed in terms of altitude, latitude, geographic coordinate, or local coordinate, for example.

[0093] A WTRU may send a request to the network for configuration (e.g., PRS configurations, SRSp configurations) in PUSCH (physical uplink shared channel), PUCCH (physical uplink control channel), UCI (uplink control information), MAC-CE (medium access control-control element) , RRC (radio resource control), or LPP message. The request from the WTRU may include configurations of a measurement gap, PRS processing window or window for transmission of SRS for positioning (SRSp). The WTRU may send an acknowledgement message in PUSCH or PUCCH for the grant received from the network. More than one condition / criteria may be used in a combination. The WTRU may be configured with more than one condition and associated WTRU behavior, and the WTRU may determine which behavior the WTRU may use based on the applicable condition. The WTRU may measure DL-PRS inside or outside of active BWP. The WTRU may transmit SRSp inside or outside of active BWP (bandwidth part). The WTRU may be preconfigured with parameters (e.g., measurement gaps, PRS processing windows, PRS configurations, SRSp configurations) via a semi-static message (e.g., LPP, RRC). Any actions the WTRU determines to take may be configured by the network. For example, the WTRU may be configured with a rule and according to the rule, the WTRU may determine to take an associated action. In addition to the measurements made on PRS, the WTRU may include at least one of the following cell-related measurements: an SSB (single sideband) RSRP from the serving cell with corresponding cell ID, a SSB RSRP from the neighboring cell(s) with corresponding cell ID(s), a RSRP of CSI-RS with CSI-RS resource ID, or a RSRS of DM-RS.

[0094] In one example, a PRS configuration may contain at least one of the following parameters: number of symbols, transmission power, number of PRS resources included in PRS resource set, muting pattern for PRS (for example, the muting pattern may be expressed via a bitmap), periodicity, type of PRS (e.g., periodic, semi-persistent, or aperiodic), slot offset for periodic transmission for PRS, vertical shift of PRS pattern in the frequency domain, time gap during repetition, repetition factor, RE (resource element) offset, comb pattern, comb size, spatial relation, QCL (quasi co-location) information (e.g., QCL target, QCL source) for PRS, number of PRUs, number of TRPs, Absolute Radio-Frequency Channel Number (ARFCN), subcarrier spacing, expected RSTD, uncertainty in expected RSTD, start Physical Resource Block (PRB), bandwidth, BWP ID, number of frequency layers, start / end time for PRStransmission, on / off indicator for PRS, TRP ID, PRS ID, cell ID, global cell ID, PRU ID, and applicable time window. The WTRU may apply a PRS configuration under a condition that the current time is within the applicable time window. “ID” may be used interchangeably with “index”.

[0095] In one example, SRS for positioning (SRSp) or SRS configuration may include at least one of: resource ID; comb offset values, cyclic shift values; start position in the frequency domain; number of SRSp symbols; shift in the frequency domain for SRSp; frequency hopping pattern; type of SRSp {e.g, aperiodic, semi-persistent or periodic); sequence ID used to generate SRSp, or other IDs used to generate SRSp sequence; spatial relation information, indicating which reference signal {e.g., DL RS, UL RS, CSI-RS, SRS, DM-RS) or SSB {e.g., SSB ID, cell ID of the SSB) the SRSp is related to spatially where the SRSp and DL RS may be aligned spatially; QCL information {e.g., a QCL relationship between SRSp and other reference signals or SSB); QCL type {e.g., QCL type A, QCL type B, QCL type C, QCL type D); resource set ID; list of SRSp resources in the resource set; transmission power related information; pathloss reference information which may contain index for SSB, CSI-RS or PRS; periodicity of SRSp transmission; and / or spatial information such as spatial direction information of SRSp transmission {e.g., beam information, angles of transmission), spatial direction information of DL RS reception {e.g., beam ID used to receive DL RS, angle of arrival). “ID” may be used interchangeably with “index”.

[0096] In one example, RSTD may be defined by the difference in time of arrival between PRSs transmitted from a reference TRP and target TRP. The WTRU may be configured with the reference TRP index and target TRP index. The WTRU may be configured with the PRS resource indices to make measurements. The WTRU may determine the time of arrival from TRP based on one or more PRS resources associated with the TRP. In another example, the RSTD may be defined as the difference in time of arrival between the reference PRS transmitted from a TRP and the target PRS transmitted from a TRP.

[0097] In one example, “WTRU Rx (receive) - Tx (transmit) time difference” may refer to the difference between arrival time of the reference signal transmitted by the TRP and transmission time of the reference signal transmitted from the WTRU. The WTRU Rx-Tx time difference may be associated with PRS resource ID and / or SRSp resource ID.

[0098] In one example, the WTRU may send the measurement report, containing the measurements {e.g., RSRP and / or RSTD measurements), to the network {e.g., LMF, gNB) via a semi-static {e.g., LPP, RRC) or dynamic message {e.g, UCI, MAC-CE). In another example, the WTRU may indicate PRS resource index, and / or PRS index or ID, associated with measurements, in the report to indicate which PRS(s) the WTRU measured to derive the measurements {e.g, RSTD). The WTRU may include a TRP ID or index in the measurement report to indicate which TRP’s PRS(s) the WTRU made measurements on.

[0099] As explained above, a WTRU may report multipath measurements (e.g, RSRP and / or RSTD of the direct signal and each additional signal component) and associated index (e.g, uncertainty / inexactness information related to the number and / or locations of obstacles). For example, a WTRU may receive (e.g, from the NW) a threshold (e.g, an uncertainty threshold) for one or more of beam (e.g, best beam) selection (e.g, BB_Threshold) and / or multipath measurements selection (e.g, MM_Threshold). The threshold may be a confidence interval, an empirically determined threshold value and / or a probability threshold. The WTRU may receive (e.g, from the NW) a PRS configuration. The PRS configuration may include a set of multipath configurations identifying sets of TRPs and multipath measurements (e.g, ConfigA, ConfigB, ConfigC, ... etc.) to perform. For example, the PRS configuration may indicate a set of RSTD measurements to use such as [RSTDxlyl , RSTDx2y2, RSTDx3y3], where x1, x2, and x3 indicate a TRP and y 1 , y2, y3 indicate a multipath component (e.g, RSTD10 = RSTD measurement associated with TRP1 and first multipath component, RSTD21 = RSTD measurement associated with TRP2 and second multipath component).

[0100] The WTRU may perform measurements, referred to herein as multipath measurements, for multiple (e.g, at least three) TRPs that may each be transmitting a PRS (positioning reference signal) on one or more beams (e.g, using beam sweeping). For example, the WTRU may receive a plurality of PRSs based on the PRS configuration. The plurality of PRSs may be received from one or more TRPs. For each TRP the WTRU may perform the multipath measurements for the PRS signal on each beam (e.g, a total of Yi beams per TRPi). For example (for each TRP), for the PRS signal on each beam, the WTRU may determine a direct signal component (e.g, a first path or direct path) and one or more additional signal components (e.g, additional paths and / or multipath components). For example, the WTRU may detect a first path and at least one additional path for each of the plurality of PRSs. For each detected additional path (e.g, additional signal component) associated with each PRS signal (e.g, on each beam), the WTRU may determine a time difference measurement, for example, when a measurement of the respective detected additional path is greater than the threshold, as disclosed herein. The time difference measurement may be based on the time difference (e.g, RSTD) between a time of arrival of the direct signal component (e.g, the first path or the direct path) associated with the PRS and a time of arrival of the additional (first, second, third, .., etc.) signal component (e.g, detected additional path) associated with the PRS (e.g, the same PRS signal is used). For each direct signal component (e.g, the first path or the direct path) and each additional signal component (e.g, the detected additional path) associated with the PRS signal on each beam, the WTRU may measure or determine a signal level and / or quality, e.g, RSRP.

[0101] For each TRP, the WTRU may select one or more beams (e.g, best beams) (XI of Yi beams for TRPi) that the WTRU may use for finding one or more obstacles, e.g, based on the multipath measurements. For each beam of each TRP, the WTRU may determine, based on the measurements of each additional signal component (e.g, detected additional path), an uncertainty (e.g, a confidence level and / or probability) associated with an obstacle(e.g,an uncertainty associated with determining the presence of the obstacle). This uncertainty may be referred to as a presence uncertainty. A beam may be selected if the presence uncertainty determined for the beam satisfies a threshold (e.g, such as BB_Threshold). For example, a beam (e.g, beamj) may be selected if an obstacle determined to be present based on the multipath measurements associated with the beam (e.g, beamj) has a probability of actually being present greater than the threshold (e.g., BB_Threshold). In a first example, the WTRU may select one beam per TRP and in a second example, the WTRU may select more than one beam for one or more (e.g, all) of the TRPs.

[0102] For each of the received multipath configurations (e.g., ConfigA, ConfigB, ConfigC), using the associated TRPs, selected beams, and / or multipath measurements, the WTRU may determine a number of obstacles, obstacle locations), and / or an uncertainty (e.g., U-A, U-B, U-C) associated with each of the obstacles and / or location . This uncertainty may be referred to as an obstacle uncertainty. For example, for a ConfigA corresponding to [RSTD10, RSTD20, RSTD30], the WTRU may determine a number of obstacles, obstacle location®, and / or an obstacle uncertainty (e.g., U-A) associated with the number and location® of obstacle(s) for the combination of TRP1- multipath component!, TRP2-multipath component!, and / or TRP3-multipath component! . When one beam is selected per TRP, the WTRU may make the determination (e.g., of number, locations, and / or uncertainty) using the multipath measurements associated with the selected beam for each TRP. When more than one beam is selected for at least one TRP, the WTRU may make the determination (e.g., of number, locations, and / or uncertainty) for each of one or more combinations of the selected beams (one beam per TRP) using the corresponding multipath measurements. For example, for a ConfigB corresponding to [RSTD11 , RSTD21 , RSTD30], the WTRU may determine a number of obstacles, obstacle location®, and / or an obstacle uncertainty (e.g., U-B) as similarly described with respect to ConfigA, wherein the determinations are made for the combination of TRP 1 -multipath component2, TRP2-multipath component2 and TRP3-multipath component! .

[0103] For each of the received multipath configurations (e.g., ConfigA, ConfigB, ConfigC) for each combination of selected beams (with one beam per TRP), the WTRU may do the following (e.g., if there is only one beam selected per TRP, there is only one combination of selected beams). If the multipath measurements (e.g, RSRP and / or RSTD of the direct signal and each additional signal component) for one or more beams (e.g, for each or all the beams) in the combination of selected beams satisfies the MM_Threshold (e.g, measurement > MM_Threshold), then, for each TRP and each beam in the combination, the WTRU may associate the measurements (e.g, RSTD and / or RSRP) for the additional signal components (e.g, additional paths) determined for that TRP and beam (e.g, each RSTDxy for TRPx for the beam) with a respective index. The respective index may be used to identify one or more of the obstacles. For each TRP and each beam in the combination, the WTRU may associate the measurement(s) (e.g, RSRP and / or RSTD) for the direct and additional signal components (eg, first path and at least one additional path) determined for that TRP and beam with a respective index. The respectiveindex may be used to identify the location of one or more of the obstacles. The WTRU may transmit, to the LMF (location management function), a report, for each of the one or more subsets of measurements comprising the measurements (e.g, RSTD and / or RSRP measurements) in the subset, an associated index (e.g, the subset of measurements used to identify each of the obstacles, the number of obstacles, obstacle locations), (obstacle location(s) relative to the WTRU location, and / or one or more paths between the WTRU and one or more TRPs), an indication of the PRS of the plurality of PRSs associated with each measurement (e.g, RSTD) in the subset, an indication of the selected beam per TRP for the combination of selected beams, an indication of the PRS and / or multipath configuration (e.g, A, B, or C), or the like, or any appropriate combination thereof.

[0104] If the multipath measurements (e.g., RSRP and / or of the direct signal and each additional signal component) for one or more beams (e.g, for each or all the beams) in the combination of selected beams do not satisfy the MM_Threshold (e.g., RSRP < MM_Threshold), the WTRU may transmit, to the LMF, a report comprising one or more of an indication of the selected beam per TRP for the combination of selected beams, or an indication of the multipath configuration (e.g, A, B, or C). In another example, the WTRU may send a message indicating that the measurements do not satisfy the condition. (e.g., MM_Threshold).

[0105] In an example, the WTRU may receive from the NW, two types of thresholds (e.g, uncertainty thresholds), first type relevant for one or more beams (e.g, best beam) selection (e.g., BB_Threshold) and / or a second type relevant for multipath measurements (e.g., MM_Threshold) selection. These two types of thresholds are relevant for the selection of beams and selection of multipath measurements which may result in estimating the number and / or locations of obstacles with a certain presence uncertainty. Both types of thresholds may be expressed as confidence intervals, empirically determined threshold values, or probabilities relevant for the ambiguity calculations. A few examples are provided in the paragraphs below.

[0106] For example, a best beam threshold may be used to determine whether a beam or beams from a set of beams from a TRP may meet condition / conditions such that the beam(s) are selected as best beams. The conditions for best beam selection are detailed in the paragraphs further down in this section.

[0107] For example, a multipath measurement threshold may be used to determine whether a set of multipath measurements from a beam may meet condition / conditions such that the multipath measurements are selected to be used for association of measurements to obstacles, and / or for determining the number and / or location (s) of obstacles. The conditions for the multipath measurements selection are detailed in the paragraphs further down in this section.

[0108] In an example, the best beam threshold and the multipath measurements threshold may be expressed as confidence intervals. The confidence intervals may show the range of estimates for the measurements. For example the ToA (time of arrival), RSTD, and / or RSRP are commonly computed at a designated confidence level such as95%. For example, with a confidence level of 95%, the RSTD measurements may fall in the confidence interval range between [10ms-20ms], The unit for the confidence interval may be determined based on the measurement type, e.g., time unit if the measurement type is RSTD, dBm if the measurement type is power-related measurements. In another alternative, the best beam threshold and multipath measurements thresholds may be unitless values reflecting probabilities, accuracy, percentages, etc. For example, the threshold may define that of all the measurements (e.g., ToA, RSTD, RSRP), may fall within a predefined range with 90% accuracy or, half of the measurements may fall in a predefined range, or with probability of 0.5, the measurements are above predefined threshold value. In another example, the best beam threshold may be an RSRP threshold. In another example, the WTRU may determine the best beam based on the highest RSRP measured on a received PRS. Thus the best beam ID may correspond to the PRS resource ID with the highest RSRP.

[0109] In another example, the confidence interval may be expressed in terms of range (e.g., the WTRU indicates lower and upper bound value). For example, the range of uncertainty in RSTD measurements may be expressed as [-10ns, 10ns] where the range indicates that the RSTD measurement may fluctuate between Trstd - 10ns and Trstd+10ns where Trstd indicates the RSTD measurement.

[0110] In one example, the WTRU may receive a PRS configuration. The PRS configuration may include a set of multipath configurations (e.g., ConfigA, ConfigB, ConfigC, .., etc.), from the network (e.g., LMF, gNB), for identifying set of TRPs and / or multipath measurements. These multipath configurations may indicate a set of RSTD / RSRP measurements and / or assistance information related to multipath channels (e.g., paths in multipath channels to use to determine RSTDs) to be used and in this manner, the PRS configurations may be instructions from the NW for the WTRU, containing information on how the WTRU may process the multipath measurements. In one example, a PRS configuration (e.g., ConfigA) may indicate a set of measurements (e.g., RSTD measurements) for the WTRO to use as follows: RSTDxlyl , RSTDx2y2, RSTDx3y3, where x1 ,x2, and x3 indicate a TRP, and y1, y2, and y3 indicate a multipath component (e.g., RSTD10 = RSTD measurement associated with TRP1 and first multipath component with respect to the direct signal component, RSTD21 may be the RSTD measurement associated with TRP2 and second multipath component with respect to the direct signal component, RSTDIx may be the RSTD measurement between a pair of paths such as between direct signal component and xth path, etc). In another example, a particular configuration (e.g., ConfigA) may indicate to the WTRU to only consider the 'first-delay-path based only RSTD’ which means the WTRU will consider the direct and the first signal component, in calculating the RSTD. An example of ‘first-delay-path based only RSTD' may be RSTD10, RSTD20 and / or RSTD 30 in FIG. 3. the config may refer to the arrangement of parameters used for assessing the number and / or obstacle(s) location(s) as an output with a presence uncertainty value. The multipath configuration may be transmitted by the NW to the WTRU upon WTRU request, or it may be transmitted by the NW using a semi-static message (e.g, RRC configuration message, LPP message) that may also contain the best beam threshold and multipath measurements threshold. In anotherexample, the WTRU may receive a multipath measurement configuration indicating the measurement the WTRU should make on the received DL RS (e.g., PRS). For example, the multipath measurement configuration may indicate which path(s) and / or PRSs the WTRU should use to determine RSTD.

[0111] As described herein, the terms “multipath configurations”, “multipath measurement configurations”, “measurement configurations” and “measurement hypothesis” can be used interchangeably.

[0112] In one example, the WTRU may send a request to the network (e.g., LMF, gNB) for the set of multipath configurations. The WTRU may indicate the number of sets of multipath configurations to be sent from the network. The WTRU may send a request via a semi-static message (e.g., an RRC or LPP message). The WTRU may receive a reply from the network for the request, indicating multipath configurations and / or assistance information.

[0113] In one example, the WTRU may perform measurements, (e.g., multipath measurements), for multiple (e.g., at least three) TRPs that may each be transmitting PRS on one or more beams (e.g., using beam sweeping). For example, the WTRU may receive a plurality of PRSs based on the PRS configuration. The plurality of PRSs may be received from one or more TRPs. The WTRU, for each of the TRPs, may perform the multipath measurements for the PRS signal on each beam (e.g., total of Yi beams for TRPj). In one example, for each TRP, for the PRS signal on each beam, the WTRU may determine a direct component (e.g., a first path or direct path) and one or more additional signal components (e.g., additional paths and / or multipath components) from the same PRS signal. For example, the WTRU may detect a first path and at least one additional path for each of the plurality of PRs. For each detected additional path (e.g., additional signal component) associated with each PRS signal (e.g., on each beam), the WTRU may determine time difference, for example, when a measurement of the respective detected additional path is greater than the threshold, as disclosed herein.

[0114] The time difference measurement may be based on the time difference (e.g., RSTD) between a time of arrival of the direct signal component (e.g., first path or direct path) associated with the PRS and a time of arrival of the additional (first, second, third, .... etc.) signal components (e.g., detected additional path(s)) associated with the PRS (e.g., the same PRS signal is used). For each additional signal component (e.g., detected additional path(s)) associated with each PRS signal on each beam, the WTRU may determine power difference as follows. The power difference measurement may be the power difference between direct signal component (e.g., first path or direct path) associated with the PRS and the additional (first, second, third, .... etc.) signal components (e.g., detected additional paths(s)) associated with the PRS (e.g., the same PRS signal is used). For each additional signal component (e.g., detected additional paths(s)) associated with each PRS signal on each beam, the WTRU may determine signal quality difference (e.g., for example RSRP) as follows. The signal quality difference measurement may be the signal quality difference between direct signal component (e.g., first path or direct path) associated with the PRS and the additional (first, second, third, ..., etc.) signal components (e.g., detected additional paths(s)) associated with the PRS (e.g., the same PRS signal is used).

[0115] FIG. 3 depicts an example of RSTD obstacle positioning 300. A WTRU 302 may be configured by the network (e.g, LMF, gNB) to perform RSTD measurements from multiple (e.g., at least 3) TRPs (e.g., such as TRP1 304, TRP2 306, and TRP3308), as well as RSRPP / RSRP measurements, thus obtaining time difference / power difference from the measured multipath profile from each of the TRPs. Each of the TRPs 302, 304, 306 may send a plurality of PRSs 310A, 310B, 310C. TRP1 304 may send a plurality of PRSs 310A, TRP2 306 may send a plurality of PRSs 310B, and TRP3 308 may send a plurality of PRSs 3100. The WTRU 302 may receive the PRSs 310A, 310B, 310C. The WTRU 302 may measure a time difference between the first plurality of PRSs 310A. The WTRU 302 may measure a time difference between the second plurality of PRSs 310B. The WTRU 302 may measure a time difference between the third plurality of PRSs 310C. The WTRU 302 may identify an obstacle 312 based on the time differences between one or more of the first plurality of PRSs 310A, the second plurality of PRSs 310B, or the third plurality of PRSs 310C. For example, one or more of the first plurality of PRSs 310A, one or more of the second plurality of PRSs 310B, and / or one or more of the third plurality of PRSs 310C may reflect off of the obstacle 312 before being received by the WTRU 302. The notation RSTDXY, indicates that the measurement is performed from TRP X, and the Y indicates what components (e.g., path, path index in multipath channel) from the channel impulse response are considered, as explained in the following.

[0116] Regarding RSTD1Y, where Y=0, the direct component (e.g., first path or direct path, the path with the earliest time of arrival) and the first component (e.g., second path or detected additional path, the path with the second earliest time of arrival) are considered. Hence, RSTD10 means time difference or difference in time of arrival between the measurements at the WTRU 302 on the signal received from TRP1 304, where the time difference is calculated between the time arrival of the direct (e.g. first path or direct path) and the time arrival of the first component (e.g. detected additional path(s)). RSRP follows the same notation pattern with power difference in the place of time difference. An example of RSTD 10 is shown in FIG. 3.

[0117] Regarding RSTD1Y, where Y=1 , the direct component (e.g., first path or direct path) and the second component (e.g., second path or detected additional path, the path with the second earliest time of arrival) are considered. Hence, RSTD11 means time difference between the measurements at the WTRU 302 on the signal received from TRP1 304, where the time difference is calculated between the time arrival of the direct and the time arrival of the second component. RSRP follows the same notation pattern, however, it refers to the power difference between the components.

[0118] FIG. 4. depicts an example of presence uncertainty 400 of the 'reference TRP’ location (obstacle location) based on the ellipses (e.g., RSTD10, RSTD11 , RSTD20, RSTD21, RSTD30) associated to all the RSTD measurements. As shown in FIG. 4, depending on which RSTD a WTRU 402 uses, different estimates of the location of an obstacle 412 may be obtained. For example, each curve (e.g., RSTD10, RSTD11 , RSTD20, RSTD21 ,RSTD30) may indicate the location of the obstacle 412 based on the RSTD measurement. Thus, an intersection of RSTD measurements yields an estimate of the obstacle location.

[0119] A WTRU 402 may assist in performing obstacle estimation. For example, a WTRU 402 may be configured with a method (e.g., TDOA) to estimate the location of the obstacle 412. The WTRU 402 may send the report (e.g, a position report containing measurements, and / or location of the obstacle 412) to the network via a semi-static message (e.g., a LPP or RRC message). For example, the WTRU 402 may be configured to send a report (e.g., a measurement report) to the network (e.g., LMF, gNB). If there are multipath measurements (e.g., the WTRU 402 observes more than one path for time of arrival of PRS) for at least one PRS measurement, the WTRU 402 may determine to perform at least one of the followings. The WTRU 402 may report relative time difference between each path, (e.g., RSTD 10, RSTD 11 in FIG. 4).

[0120] The WTRU 402 may associate RSTDs from more than one PRS measurements and report the association(s) and corresponding measurements. For example, the WTRU 402 may associate RSTD10, RSTD30 and RSTD20 in FIG. 4. The WTRU 402 may be configured with the number and / or maximum number of associations to report (e.g., N). For example if N=2, the WTRU 402 may report the first group of association(s) (e.g., RSTD10, RSTD30 and RSTD20 in FIG. 4) and / or the second group of association (s) (e.g., RSTD11 , RSTD 30 and RSTD20 in FIG. 4) to the network. In another example, the WTRU 402 may receive configurations or indications from the network to use the k-th path (e.g., first path or direct path) and m-th path (e.g., second path or detected additional path) in the multipath channel to determine the RSTD. In another example, the WTRU 402 may receive configuration or indication from the network to network to use the k-th path (e.g., first path or direct path) and m-th path (e.g., second path or detected additional path) in the multipath channel to determine RSTD and associate the RSTDs from more than one PRS measurements.

[0121] A WTRU may perform obstacle estimation. For example, a WTRU may be configured with a method (e.g., TDOA) to determine the location of the obstacle. The WTRU may report the location of the obstacle based on a request from the network. In one example, if there are multipath measurements (e.g., the WTRU observes more than one path for time of arrival of PRS) for at least one PRS measurement, the WTRU may determine to report which paths (e.g., by indicating path index or associated index) have been used to determine the location of the obstacle. In another example, the WTRU may receive a request from the network to report both location of the obstacle and WTRU location.

[0122] Using the example illustrated in FIG. 3, the WTRU 302 may observe 3 paths from the PRS received from TRP1 304, where each path is labelled with an index as path#1 , path#2 and path#3, where path#1 is the line-of-sight or direct path and path#2 and path#3 are delayed paths or detected additional paths.

[0123] For example, the WTRU 302 may report that path index (e.g, associated indices), associating them to the location of the obstacle(s) 312 in the report. For example, the WTRU 302 may report to the network that in addition to the first path (e.g first path or direct path), second path (e.g, detected additional path(s)) measurements are used to determine the location of the obstacle(s). In another example, the WTRU 302 may indicate to the network the component index (e.g, first signal component illustrated in FIG. 3) used to determine the location of the obstacle(s) 312. The WTRU 302 may indicate, in the report, that the measurements associated with the indicated component indices are used to determine the location of the obstacle(s) 312.

[0124] The multipath measurements may be impacted by obstacle(s) in the vicinity of the WTRU performing the measurements (based on location, material, surface characteristics of the obstacle, etc.), as shown in the Table 1 below (time values for each path are labelled with T for the RSTD, power values for each path are labelled with P for RSRPP, are approximative and expressed in [ms] and [dBm], just for representation purposes). Table 1 shows the measured values at the WTRU side.Table 1. Example multipath measurements received at the WTRU

[0125] Based on these measurements the WTRU may create information with certain presence uncertainty regarding the number and / or obstacle(s) location(s) and may associate measurement for each of the obstacles to an index. The uncertainty / inexactness occurs because of timing synchronization, and TRP locations. For example, the WTRU, for each TRP may select one or more beams (e.g, best beams) (Xi of Yi beams for TRPi) that the WTRU may use for finding one or more obstacles, e.g., based on the multipath measurements. For example, for each beam of each TRP, the WTRU may determine, based on the measurements of each additional signal component (e.g, detected additional path(s)) an uncertainty (e.g, determines a confidence level and / or probability) associated with an obstacle (e.g, an uncertainty associated with determining the presence of the obstacle). This uncertainty may be referred to as a presence uncertainty. The uncertainty may include a range of estimates computed with a certainpredefined confidence level (for example 95%), and this range may be expressed in units such as meters. An example would be: for obstacle A, there is a 95% confidence level that the location of that obstacle is between the range [Xa-1, Xa+1] and [Ya-1 , Ya+1] that means that the obstacle is located within 1m from the coordinates Xa, and Ya, in the two-dimensional coordinate system representation. The WTRU may select a beam if the presence uncertainty determined for the beam meets / satisfies a threshold (e.g., the BB_Thresold). For example, a beam (e.g, beam!) may be selected if an obstacle determined to be present based on multipath measurements associated with the beam (e.g, beami) has a probability of actually being present greater than the threshold (e.g, BB_Threshold). In first example, the WTRU may select one best beam per TRP, whereas in a second example, the WTRU may select more than one beam for one or more (e.g., all) TRPs. In another example, the uncertainty may be expressed in terms of a range. For example, if the estimated coordinate of the obstacle is denoted as [X, Y], the uncertainty in each dimension may be expressed as [X-dx,X- ix] and / or [Y-dy,Y+dy],

[0126] In an example, the WTRU, for each of the received multipath configurations (e.g, Config A, Config B, , etc.), using the associated TRPs, selected beams, and / or multipath measurements, the WTRU may determine number of obstacles, obstacle location(s), and / or uncertainty (e.g, U-A, U-B, U-C) associated with each of the obstacle(s) and / or location . This uncertainty may be referred to as an obstacle uncertainty which is two-fold. First, it may refer to a range of values where the true location of the obstacle(s) resides. For example, if there are two obstacles, the U-A may be a set of two elements, where each element contains ranges for where the true values of each of the obstacles reside such as [Xa1 , Xa2] and [Ya1, Ya2] for obstacle A, and [Xb1 , Xb2] and [Yb1, Yb2] for obstacle B. Second, it may refer to obstacle uncertainty in terms of whether an actual obstacle exists and it may be expressed as a probability value such as: there is 80% chance that there are two obstacles, or there is an obstacle A with 50% chance, and obstacle B with 85% chance. So the term ‘obstacle uncertainty’ may cover both aspects: the existence of the obstacle and / or the location of the obstacle In one example, where ConfigA is assumed [RSTD10, RSTD20, RSTD30], the WTRU may determine the obstacle location and / or obstacle uncertainty (e.g, U-A) associated the combination of TRP1 -multipath componentl, TRP2-multipath component!, and TRP3-multipath componentl . In one example, when one beam is selected per TRP, the WTRU may make the determination of number of obstacle(s), location (s) of obstacle(s), and / or uncertainty of obstacle location (s) using the multipath measurements associated with the selected beam for each TRP. In another example, when more than one beam is selected for at least one TRP, the WTRU makes the determination (of number, locations, and uncertainty) for each of one or more combinations of the selected beams (one beam per TRP) using the corresponding multipath measurements. In another example where Config B is assumed [RSTD11 , RSTD21 , RSTD30], the WTRU determines a number of obstacles, obstacle location(s) and an obstacle uncertainty (e.g, U-B) as described for ConfigA, except the determinations are made for the combination of TRP1 -multipath component2, TRP2-multipath component2 and TRP3-multipath componentl .

[0127] In an example, for each of the received multipath configurations (e.g., Config A, Config B, ConfigC) for each combination of selected beams (with one beam per TRP), the WTRU may do the following (e.g., if there is only one beam selected per TRP, there is only one combination of selected beams). In the first example, if the multipath measurements (e.g., RSRP and / or RSTD of the direct signal (e.g. first path or direct path) and each additional signal component (e.g, additional path(s)). For example, RSRP per path (e.g, where RSRP is measured for each path observed or measured by the WTRU) for one or more beams (e.g., for each and / or all the beams) in the combination of selected beams meet the threshold (e.g, MM_Threshold, RSRP of the beam, or RSRP of the corresponding DL RS resource is over the threshold), where the threshold comparison is done for each beam and considering the direct (e.g, first path or direct path) and additional signal component (e.g. additional path(s)) within that beam (e.g., RSRP > MM_Threshold). In this first example, when the combination of selected beams satisfies / meets the threshold (e.g, MM_Threshold) then the following actions are performed at the WTRU.

[0128] For each TRP and each beam in the combination, the WTRU may associate the RSTD measurements for the additional signal components (e.g, additional path(s)) determined for that TRP and beam (e.g, each RSTDxy for TRP x for the beam) to one or more of the obstacles.

[0129] For each TRP and each beam in the combination, the WTRU may associate the RSRP measurements for the direct (e.g, first path or direct path) and additional signal components (e.g, additional path(s)) determined for that TRP and beam to one or more of the obstacles.

[0130] The WTRU may transmit, to the LMF, a report, for each of the one or more subsets, one or more RSTD and RSRP measurements in the subset, an associated index (e.g., the subset of measurements used to identify each of the obstacles, the number of obstacles, obstacle location(s), the obstacle locations relative to the WTRU location, and / or one or more paths between the WTRU and one or more TRPs), an indication of the PRS of the plurality of PRSs associated with each measurement (e.g, RSTD) in the subset, an indication of the selected beam per TRP for the combination of selected beams, and / or an indication of the PRS and / or multipath configuration (e.g, A, B, or C).

[0131] In second example, when the combination of selected beams or DL RS resources or PRS resources does not satisfy / meet the threshold (e.g, measurement < MM_Threshold) then the WTRU may transmit to the LMF, a report comprising one or more of the following: a request for a change in PRS configurations where the WTRU may include the desired PRS configurations (e.g., number of TRPs, spatial direction of PRS beams by indicating other RSs such as CSI-RS as spatial relationship information or QCL association), an indication of the selected beam per TRP for the combination of selected beams, and / or an indication of the multipath configuration (e.g., A, B, or C). In a variation of this second example, the WTRU may also report all the measurements (e.g., RSTD measurements on configured TRPs and PRSs made by the WTRU, RSRP per DL RS resource, and / or RSRP per path per DL RS resource), to the LMF. The reported measurements may be related to the request change for the PRS configuration, related to the indication of the selected beam per TRP, and / or the multipath configurations. The WTRU may receivefrom the NW, at least one PRS signal from each (e.g., at least three) of the TRPs on the combination of selected beams with different PRS configuration to the previously received PRS signal configuration. Different PRS configuration may mean different time / frequency resource elements, different spatial direction (e.g., indicated by different QCL relationship or association), and / or different resource sets or different PRS from different positioning frequency layer. Receiving signals with different PRS configuration may provide different capabilities and may result in the combination of selected beams to meet the threshold (e.g., MM_Threshold). The WTRU behavior is similar to the first example when the combination of selected beams meets the threshold (e.g. MM_Threshold).

[0132] The WTRU may transmit / report to the LMF, as discussed above via RRC message or MAC CE, and transmitting / reporting may be done based on trigger condition and / or upon request.

[0133] Measurement configurations may or may not be configured. For example, if the WTRU is not configured with the multipath configuration, the WTRU may determine to report the multipath measurements to the network for WTRU-assisted obstacle estimation. The WTRU may determine to associate measurements (e.g. RSTD and / or RSRP measurements) to an obstacle location. For example, in the example illustrated in FIG. 3, the WTRU may determine to group the measurements RSTD10, RSTD20 and RSTD30, and assign an index to the group, and report them to the network, including the index. In another example, the WTRU may determine to report the measurements (e.g., RSTD and / RSRP).

[0134] In one example, when the WTRU is configured to perform WTRU-based obstacle estimation, the WTRU may determine to associate the details of the measurements (e.g., path index used to determine the RSTD) to the estimated location of the obstacle. For example, using the example in FIG. 3, the WTRU may indicate, to the network, that path index 2 is used to obtain measurements (e.g. RSTD) for TRP1 , TRP2 and TRP3 to estimate the location of the obstacle.

[0135] FIG. 5 depicts an example process for RSTD obstacle positioning 500. At 510, a WTRU may receive one or more uncertainty thresholds, for example, from the network. The one or more uncertainty thresholds may include one or more of a best beam threshold or a multipath measurements threshold. At 512, the WTRU may receive a PRS configuration (e.g., a set of configurations from the network). The PRS configuration may identify a set of TRPs and multipath measurements. At 514, the WTRU may perform multipath measurements. For example, the WTRU may perform the multipath measurements on multiple (e.g., at least three) TRPs. Each of the multiple TRPs may transmit PRS on one or more beams. The WTRU may perform the multipath measurements on each of the one or more beams. At 516, the WTRU may select one or more of the beams for finding one or more obstacles. For example, the WTRU may select beam(s) for each TRP based on the multipath measurements. At 518, the WTRU may determine a number of obstacles, a location of the obstacle(s), and an uncertainty, for example, for each multipath configuration, using associated TRPs, selected beams, and / or multipath measurements.

[0136] At 520, the WTRU may determine whether the multipath measurements meet one or more of the thresholds. When the multipath measurements meet the threshold(s), the WTRU may associate, at 522, the measurements to one or more obstacles and / or one or more obstacle locations. At 524, the WTRU may transmit, to the LMF, associated measurements, a number of obstacles, obstacle location(s), an indication of the selected beam per TRP, and / or an indication of the PRS configuration(s). In another example, if the WTRU receives a request from the network to report measurements, the WTRU may report measurements and associated PRS configurations (e.g., PRS resource ID, TRP ID) to the network. The WTRU may receive, from the network, an indication which PRSs or paths to measure.

[0137] When the multipath measurements do not meet the threshold(s) (e.g., measurement such as RSRP is below the threshold), the WTRU may transmit, at 526, to the LMF, an indication of the selected beam per TRP and / or an indication of the PRS configuration(s).

Claims

CLAIMSWhat is claimed is:1 . A wireless transmit / receive unit (WTRU) comprising: a processor configured to: receive a positioning reference signal (PRS) configuration and a threshold; receive a plurality of PRSs based on the PRS configuration; determine a first path and at least one additional path for a first PRS of the plurality of PRSs and a second PRS of the plurality of PRSs; determine, for the at least one detected additional path of the first PRS and the second PRS, when a measurement of the at least one detected additional path is greater than the threshold, a reference signal time difference (RSTD) measurement based on a time difference between a time of arrival of the at least one detected additional path of the first PRS or the second PRS and a time of arrival of the detected first path of the first PRS or the second PRS; associate one or more subsets of the RSTD measurements with an index; and send a report that comprises, for the one or more subsets, the RSTD measurements in the subset, an indication of the first PRS or the second PRS of the plurality of PRSs associated with the RSTD measurements in the subset, and the index.

2. The WTRU of claim 1 , wherein the index is used to identify a location of an obstacle.

3. The WTRU of claim 1 , wherein the processor is further configured to perform one or more multipath measurements on the plurality of PRSs.

4. The WTRU of claim 1 , wherein the processor is further configured to determine an uncertainty associated with an obstacle based on the one or more multipath measurements.

5. The WTRU of claim 1 , wherein the threshold is associated with one or more confidence intervals.

6. The WTRU of claim 5, wherein the one or more confidence intervals define ranges of estimates for one or more multipath measurements on the plurality of PRSs.

7. The WTRU of claim 1 , wherein the threshold is associated with one or more of probabilities, accuracy, or percentages associated with one or more multipath measurements on the plurality of PRSs.

8. The WTRU of claim 1 , wherein being configured to associate the one or more subsets of the RSTD measurements with the index comprises being configured to identify which of the RSTD measurements are associated with the index.

9. The WTRU of claim 1 , wherein the index identifies one or more paths between the WTRU and one or more transmission reception points (TRPs).

10. The WTRU of claim 1 , wherein the report further comprises one or more of an indication of a selected beam for each transmission reception point (TRP) or an indication of a multipath configuration.

11. A method performed by a wireless transmi t / receive unit (WTRU), the method comprising: receiving a positioning reference signal (PRS) configuration and a threshold; receiving a plurality of PRSs based on the PRS configuration; detecting a first path and at least one additional path for a first PRS of the plurality of PRSs and a second PRS of the plurality of PRSs; determining, for the at least one detected additional path of the first PRS and the second PRS, when a measurement of the at least one detected additional path is greater than the threshold, a reference signal time difference (RSTD) measurement based on a time difference between a time of arrival of the at least one detected additional path of the first PRS or the second PRS and a time of arrival of the detected first path of the first PRS or the second PRS; associating one or more subsets of the RSTD measurements with an index; and sending a report that comprises, for the one or more subsets, the RSTD measurements in the subset, an indication of the first PRS or the second PRS of the plurality of PRSs associated with the RSTD measurements in the subset, and the index.

12. The method of claim 11, wherein the index is used to identify a location of an obstacle.

13. The method of claim 11 , further comprising performing one or more multipath measurements on the plurality of PRSs.14 The method of claim 11, further comprising determining an uncertainty associated with an obstacle based on the one or more multipath measurements.

15. The method of claim 11 , wherein the threshold is associated with one or more confidence intervals.

16. The method of claim 15, wherein the one or more confidence intervals define ranges of estimates for one or more multipath measurements on the plurality of PRSs.

17. The method of claim 11 , wherein the threshold is associated with one or more of probabilities, accuracy, or percentages associated with one or more multipath measurements on the plurality of PRSs.

18. The method of claim 11, wherein associating the one or more subsets of the RSTD measurements with the index comprises identifying which of the RSTD measurements are associated with the index.

19. The method of claim 11 , wherein the index identifies one or more paths between the WTRU and one or more transmission reception points (TRPs).

20. The method of claim 11, wherein the report further comprises one or more of an indication of a selected beam for each transmission reception point (TRP) or an indication of a multipath configuration.

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