Enhanced messaging to handle SPS spoofing

Abstract

Techniques are discussed herein for a user equipment (UE) to transmit location information to other UEs. The UE receives a satellite positioning system (SPS) signal and determines whether the SPS signal is reliable. The UE determines a location estimate to be transmitted to the other UE using the SPS signal if the SPS signal is determined to be reliable, or using non-SPS information if the SPS signal is determined to be unreliable. The location information is transmitted to the other UE in a message that includes an indication of a source of information used to generate the location estimate. A UE receiving the message may determine its location estimate based at least in part on the indication of the source of the information, e.g., by determining whether the SPS signal is reliable based at least in part on the indication of the source of the information received in the message.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Non-Provisional Application No. 17 / 244,770, entitled “ENHANCED MESSAGING TO HANDLE SPS SPOOFING,” filed April 29, 2021, which is assigned to the assignee of the present application and is expressly incorporated herein by reference in its entirety.

[0002] The subject matter disclosed herein relates to wireless communication systems, and more particularly, to methods and apparatus for location determination of user equipment within a wireless communication system and communication when location information is unreliable. [Background technology]

[0003] Obtaining a reliable and accurate location of one or more mobile devices may be useful for many applications, including, for example, emergency calls, personal navigation, asset tracking, locating friends or family, and the like. Existing positioning methods include methods based on measuring radio signals transmitted from various devices or entities, including satellite vehicles (SVs) and terrestrial radio sources in wireless networks, such as base stations and access points. Standardization for 5G (Fifth Generation) wireless networks is expected to include support for various positioning methods, which may utilize reference signals transmitted by base stations in a manner similar to how LTE (Long-Term Evolution) wireless networks currently utilize Positioning Reference Signals (PRSs) and / or Cell-specific Reference Signals (CRSs) for position determination. Obtaining accurate location information of user equipment, such as cellular phones or other wireless communication devices, is becoming commonplace in the communications industry. For example, obtaining highly accurate locations of vehicles or pedestrians is essential for autonomous vehicle driving and pedestrian safety applications.

[0004] A common means for determining the location of a device is to use a satellite positioning system (SPS), such as the well-known Global Positioning Satellite (GPS) system or the Global Navigation Satellite System (GNSS), which employs several satellites in orbit around the Earth. However, in some scenarios, location determination signals from the SPS may be unreliable or unavailable, for example in adverse weather conditions or in areas with poor satellite signal reception, such as tunnels or parking complexes. Moreover, satellite positioning system signals may be spoofed by overpowering or replacing existing SPS or other location-related signals, causing mobile devices and / or other devices to calculate an incorrect location or to obscure, impede, or in some cases, make reliable location determination difficult. In particular with respect to safety-related applications, it is desirable to ensure that location information being communicated between mobile devices is trustworthy. Summary of the Invention [Means for solving the problem]

[0005] Techniques are discussed herein for user equipment (UE) to transmit location information to other UEs. The UE receives satellite positioning system (SPS) signals and determines whether the received SPS signals are reliable. The UE determines a location estimate to be transmitted to the other UE using the SPS signals if the received SPS signals are determined to be reliable, and using non-SPS information if the received SPS signals are determined to be unreliable. The location information is transmitted to the other UE in a message that includes an indication of a source of information used to generate the location estimate. A UE receiving the message may determine its location estimate based at least in part on the indication of the source of the information, e.g., by determining whether the received SPS signals are reliable based at least in part on the indication of the source of the information received in the message.

[0006] In one implementation, a method performed by a user equipment (UE) for transmitting location information includes receiving a satellite positioning system (SPS) signal; determining whether the received SPS signal is reliable; determining a location estimate to be transmitted to other UEs, where if the received SPS signal is determined to be reliable, a source of information used to determine the location estimate is an SPS signal, and if the received SPS signal is determined to be unreliable, a source of information used to determine the location estimate is non-SPS information; and transmitting a wireless message to one or more UEs including a location estimate for the UE and an indication of the source of information used to generate the location estimate.

[0007] In one implementation, a user equipment (UE) configured to transmit location information includes at least one wireless transceiver configured to wirelessly communicate with entities in a wireless network; an SPS (Satellite Positioning System) receiver configured to receive SPS signals; at least one memory; and at least one processor coupled to the at least one wireless transceiver, the SPS receiver, and the at least one memory, wherein the at least one processor is configured to: receive SPS signals via the SPS receiver; determine whether the received SPS signals are reliable; determine a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is an SPS signal, and if the received SPS signals are determined to be unreliable, a source of information used to determine the location estimate is non-SPS information; and transmit, via the at least one wireless transceiver, a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate.

[0008] In one implementation, a user equipment (UE) configured to transmit location information includes means for receiving a satellite positioning system (SPS) signal, means for determining whether the received SPS signal is reliable, means for determining a location estimate to be transmitted to other UEs, where if the received SPS signal is determined to be reliable, a source of information used to determine the location estimate is an SPS signal, and if the received SPS signal is determined to be unreliable, a source of information used to determine the location estimate is non-SPS information, and means for transmitting a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate.

[0009] In one implementation, a non-transitory storage medium having program code stored thereon, the program code operable to configure at least one processor in a user equipment (UE) to transmit location information, the program code including instructions for receiving a satellite positioning system (SPS) signal; determining whether the received SPS signal is reliable; determining a location estimate to be transmitted to other UEs, where if the received SPS signal is determined to be reliable, a source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, a source of information used to determine the location estimate is non-SPS information; and transmitting a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate.

[0010] In one implementation, a method performed by a first user equipment (UE) for transmitting location information includes receiving a wireless message from the second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of the information including a satellite positioning system (SPS) signal or non-SPS information, and determining a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0011] In one implementation, a first user equipment (UE) configured to transmit location information includes at least one wireless transceiver configured to wirelessly communicate with entities in a wireless network, an SPS receiver configured to receive SPS (Satellite Positioning System) signals, at least one memory, and at least one processor coupled to the at least one wireless transceiver, the SPS receiver, and the at least one memory, wherein the at least one processor is configured to: receive, via the at least one wireless transceiver, a wireless message from the second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, where the source of information includes an SPS signal or non-SPS information; and determine a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0012] In one implementation, a first user equipment (UE) configured to transmit location information includes means for receiving a wireless message from the second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, where the source of the information includes a satellite positioning system (SPS) signal or non-SPS information, and means for determining a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0013] In one implementation, a non-transitory storage medium having program code stored thereon, the program code operable to configure at least one processor in a first user equipment (UE) configured to transmit location information, the program code including instructions for receiving from the second UE a wireless message including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of the information including a satellite positioning system (SPS) signal or non-SPS information; and determining a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0014] Non-limiting and non-exhaustive aspects are described with reference to the following figures, in which like reference numerals refer to like parts throughout the various figures unless otherwise specified. [Brief description of the drawings]

[0015] [Figure 1] 1 is a simplified diagram of an example wireless communication and satellite signaling environment. [Diagram 2] 2 is a block diagram of components of the exemplary user equipment shown in FIG. 1. [Diagram 3] 2 is a block diagram of components of the exemplary transmit / receive point shown in FIG. 1. [Figure 4] FIG. 2 is a block diagram of components of the exemplary server shown in FIG. [Diagram 5] 11 is a flow diagram illustrating determining a confidence level of an SPS-derived location estimate and selecting a location estimate for transmission to other UEs. [Figure 6] 3 is a simplified diagram of an environment in which the user equipment of FIG. 2 receives anomalous and non-anomalous signals. [Figure 7] FIG. 1 is a signaling and process flow diagram for identifying an abnormal signal. [Figure 8]A diagram showing the signaling and process for determining the reliability of an SPS-derived position estimate and transmitting a location estimate with the source of the estimate to other UEs. [Figure 9] 1 illustrates a wireless communication system and the transmission of a location information message including a location estimate and a source of location information used to determine the location estimate. [Figure 10] A diagram showing the signaling and process flow illustrating detection of unreliable SPS signals based on location information messages received from other UEs. [Figure 11] A diagram illustrating signaling and process flows illustrating identification of an unreliable or abnormal SPS based at least in part on SPS-derived location information from other UEs. [Figure 12] 4 is a flow diagram of a method for transmitting location information by a UE. [Figure 13] 4 is a flow diagram of a method for transmitting location information by a UE. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Device-to-device communication may be used, for example, for safety applications involving cooperative or autonomous operation. For example, vehicle-to-vehicle communication may be used for autonomous driving and vehicle safety applications. Vehicle-to-vehicle communication may be, for example, direct from vehicle to vehicle, or indirect, for example, via infrastructure components such as roadside units (RSUs), access points, or base stations. Vehicle-to-vehicle communication may include messages and information elements (IEs) by which vehicles can provide information required for autonomous driving.

[0017] For example, safe operation of an autonomous mobile device such as a vehicle requires that the relative location of the device be determined and communicated to other mobile devices. Location information of a device, e.g., a User Equipment (UE) in a vehicle, sometimes referred to as a V-UE, may be transmitted by other V-UEs and / or UEs carried by infrastructure such as an RSU or pedestrians using direct communication systems such as dedicated short-range communication (DSRC), cellular Vehicle-to-Everything (C-V2X) communication, and even 5G New Radio (NR) communication.

[0018] Entities in a wireless communication system may be enabled to continuously transmit and receive messages that include location information. As an example, a C-V2X enabled vehicle continuously transmits and receives Basic Safety Messages (BSMs) at a rate of 10 Hz. The BSMs include location information about the transmitting vehicle and may further include other information such as speed, direction, and any other information such as an indication that the vehicle is braking, a fault, etc. Safety features in a vehicle using such C-V2X messages may be highly dependent on the location of the received message.

[0019] A communication system that relies on communication between entities in the system for secure operation may include well-defined security mechanisms to ensure that the communication is trustworthy. For example, in a C-V2X ecosystem, each sending vehicle signs its outgoing BSM message with a certificate. A security system in a receiving vehicle may check the signature in the received BSM message to ensure that the message originated from a legitimate vehicle. In addition, the security system in the receiving vehicle may check the time and location in the BSM message to ensure that the BSM message was generated at the relevant location at the relevant time and has a valid certificate, but is not a replay message generated at another location or at another time. Current security mechanisms are directed at preventing the trust of messages from fraudulent vehicles, i.e., vehicles that are transmitting fraudulent or illegal messages.

[0020] A possible source of attack in a communication system such as the C-V2X ecosystem is causing a vehicle to inaccurately determine its location, for example, using spoofed Satellite Positioning System (SPS) signals. An attack using spoofed SPS signals may, for example, use a set of anomalous signals that overpower or replace existing SPS or other location-related signals to cause a mobile device to calculate an incorrect location or to obscure, impede, or in some cases make reliable location determination difficult. A vehicle may, for example, receive a spoofed SPS signal and calculate an incorrect location that is sent by the vehicle in a BSM message signed with a legitimate certificate.

[0021] A receiving vehicle that checks the signature in the received BSM message will determine that it is a valid certificate. Moreover, the time and location in the BSM message may be incorrect, but the time and location may be close enough to the expected value that the security mechanism in the receiving vehicle may not detect that the BSM is a replay message. Thus, the BSM message may be accepted, and the location information will be trusted and relied upon by the receiving vehicle, even though the location information is actually incorrect. Attacks using anomalous signals to transmit incorrect locations may be used to affect traffic, for example, to jam traffic, cause traffic accidents, or to direct autonomous vehicles to incorrect destinations or to interfere with asset tracking attempts. In non-vehicle devices, attacks using anomalous signals to transmit incorrect locations between devices may be used to scam location-enabled point-of-sale protection or other security-based ambient transactions that are limited to a specific geographic area or require different degrees of authentication depending on geography.

[0022] Alternatively, if a receiving vehicle detects an incorrect location or time in a transmitted message, it may treat the sending vehicle as a "rogue" vehicle and discard the message from the sending vehicle. The receiving vehicle may additionally report the sending vehicle as a "rogue" vehicle, causing the sending vehicle to lose its certification, which may inhibit the vehicle's ability to operate.

[0023] It is therefore important that the transmitting vehicle is aware of SPS spoofing attacks (or, in some cases, anomalous SPS signals) and does not send a location determined based on a spoofed SPS signal, or, in some cases, an anomalous SPS signal. For example, fundamental safety and advanced applications, such as cooperative driving, depend on the transmitting vehicle's location information, and sending inaccurate location information can undermine these applications.

[0024] Thus, in one implementation as discussed herein, UEs receiving SPS signals may determine whether those SPS signals are reliable, e.g., whether the SPS signals are spoofed or, in some cases, anomalous. The UE may determine a location estimate to be transmitted to other UEs using the SPS signals if the received SPS signals are determined to be reliable, or using non-SPS information if the received SPS signals are determined to be unreliable. The UE transmits the location information to other UEs in a message that includes a location estimate and an indication of the source of the information used to generate the location estimate. A UE that receives a message from another UE that includes a location estimate and a source of the location estimate may determine its own location based at least in part on the indication of the source of the information. For example, the UE may use the indication of the source of the information received in the message to aid in determining whether the received SPS signals are reliable, and may determine its own position estimate using the SPS signals if the SPS signals are determined to be reliable, or using non-SPS information if the SPS signals are determined to be unreliable.

[0025] 1 illustrates an exemplary wireless communication and satellite signaling environment 100 including a wireless communication system 110, mobile SPS-enabled devices 161, 162, 163, a satellite signal emulator 170, and satellite constellations 180, 190. The wireless communication system 110 includes user equipment (UE) 112, UE 113, UE 114, UE 115, UE 116, base transceiver stations (BTS) 120, 121, 122, 123, a network 130, a core network 140, and an external client 150. The core network 140 (e.g., a 5G core network (5GC)) may include backend devices including, among others, an Access and Mobility Management Function (AMF) 141, a Session Management Function (SMF) 142, a server 143, and a Gateway Mobile Location Center (GMLC) 144. The AMF 141, the SMF 142, the server 143, and the GMLC 144 are communicatively coupled with each other.The server 143 may, for example, provide a Location Management function that supports positioning of the UEs 112-116 (e.g., using techniques such as Assisted Global Navigation Satellite System (A-GNSS), OTDOA (Observed Time Difference of Arrival), e.g., Downlink (DL) OTDOA and / or Uplink (UL) OTDOA, Round Trip Time (RTT), Multi-cell RTT, RTK (Real Time Kinematic), PPP (Precise Point Positioning), DGNSS (Differential GNSS), E-CID (Enhanced Cell ID), AoA (Angle of Arrival), AoD (Angle of Departure), etc.). The communication system 110 may include additional or alternative components. The satellite signal emulator 170 may be configured to provide erroneous, e.g., spoofed, SPS (Satellite Positioning System) signals that appear to be from a satellite, which may result in an erroneous location determination, e.g., by one or more of the devices 161-163 and / or one or more of the UEs 112-116. The devices 161-163 and the UEs 112-116 may be configured to determine when an SPS-derived location estimate may be unreliable, e.g., based on a determined trust level generated from non-SPS information, and to provide a transmission message to other devices (the devices 161-163 and the UEs 112-116) with the location information, including the location estimate (determined using the SPS signals or non-SPS information), the level of trust in the location estimate, and the source of the information used to generate the location estimate.

[0026] The LMF may also be referred to as a Location Manager (LM), Location Function (LF), commercial LMF (CLMF), or value-added LMF (VLMF), etc. The server 143 (e.g., the LMF) and / or one or more other devices of the system 110 (e.g., one or more of the UEs 112-116) may be configured to determine the location of the UEs 112-116. The server 143 may communicate directly with the BTS 121 (e.g., a gNB) and / or one or more other BTSs, and may be integrated with the BTS 121 and / or one or more other BTSs. The SMF 142 may serve as an initial point of contact for a Service Control Function (SCF) (not shown) to create, control, and delete media sessions. The server 143 (e.g., an LMF) may be co-located or integrated with a gNB or a TRP (Transmission / Reception Point) or may be located remotely from the gNB and / or TRP and may be configured to communicate directly or indirectly with the gNB and / or TRP.

[0027] The AMF 141 may act as a control node that handles signaling between the UEs 112-116 and the core network 140, and provides Quality of Service (QoS) flow and session management. The AMF 141 may support mobility of the UEs 112-116, including cell changes and handovers, and may participate in supporting signaling connections to the UEs 112-116.

[0028] The system 110 is capable of wireless communication in that the components of the system 110 can communicate with each other (at least sometimes using wireless connections) directly or indirectly, e.g., via the BTSs 120-123 and / or the network 130 (and / or one or more other devices not shown, such as one or more other base transceiver stations). In indirect communication, the communication may be altered during transmission from one entity to another, e.g., to alter header information of data packets, to change format, etc. The illustrated UEs 112-116 are smart devices, such as smartphones or smart watches, tablet computers, and vehicle-based devices, but these are merely examples, as the UEs 112-116 are not required to be in any of these configurations and other configurations of UEs may be used. A smart device may be, for example, any electronic device that can be connected to other devices or networks via different wireless protocols, such as Bluetooth, Zigbee, NFC, Wi-Fi, LiFi, 5G, etc., that may generally operate bidirectionally and autonomously to some degree. The illustrated UEs 112, 113 are mobile wireless communication devices including mobile phones (including smartphones) and tablet computers (although they may communicate wirelessly or via a wired connection). The illustrated UEs 114 and 115 are vehicle-based mobile wireless communication devices (although UE 114 may communicate wirelessly or via a wired connection). UE 116 is illustrated as a generic UE and may be one or more types of UE, whether mobile or not, whether of the type illustrated or not. For example, UE 116 may include one or more UEs that may be or be associated with entities that are generally static or stationary devices, such as a roadside unit (RSU), a cash register, an automatic teller machine (ATM), a restaurant, or other building.Other types of UEs may include wearable devices (e.g., smart watches, smart jewelry, smart glasses, or headsets, etc.). Still other UEs, whether currently existing or developed in the future, may be used. Additionally, other wireless devices (whether mobile or not) may be implemented within the system 110 and may communicate with each other and / or with the UEs 112-116, the BTSs 120-123, the network 130, the core network 140, and / or the external clients 150. For example, such other devices may include internet of things (IoT) devices, medical devices, home entertainment and / or automation devices, etc. The core network 140 may communicate with the external clients 150 (e.g., computer systems) to, for example, enable the external clients 150 to request and / or receive location information regarding the UEs 112-116 (e.g., via the GMLC 144).

[0029] The UEs 112-116 or other devices may be configured to communicate within various networks and / or for various purposes and / or using various technologies (e.g., 5G, Wi-Fi communications, multiple frequencies of Wi-Fi communications), satellite positioning, one or more types of communications (e.g., GSM (Global System for Mobiles), CDMA (Code Division Multiple Access), LTE (Long Term Evolution), V2X (Vehicle-to-everything), e.g., V2P (Vehicle-to-Pedestrian), V2I (Vehicle-to-Infrastructure), V2V (Vehicle-to-Vehicle), etc.), IEEE 802.11p, etc.). The V2X communications may be cellular (C-V2X) and / or WiFi (e.g., DSRC (Dedicated Short-Range Connection)). The system 110 may support operation on multiple carriers (waveform signals at different frequencies). The multi-carrier transmitter may transmit modulated signals on multiple carriers simultaneously. Each modulated signal may be a Code Division Multiple Access (CDMA) signal, a Time Division Multiple Access (TDMA) signal, an Orthogonal Frequency Division Multiple Access (OFDMA) signal, a Single-Carrier Frequency Division Multiple Access (SC-FDMA) signal, etc. Each modulated signal may be sent on a different carrier and may carry pilots, overhead information, data, etc. The communication links illustrated in FIG. 1 are examples and not limitations of this disclosure. The UEs 112-116 may communicate with base stations, other UEs, etc.

[0030] The BTSs 120-123 may wirelessly communicate with the UEs 112-116 in the system 110 via one or more antennas. The BTSs may also be referred to as base stations, access points, gNode Bs (gNBs), access nodes (ANs), Node Bs, evolved Node Bs (eNBs), etc. For example, each of the BTSs 120, 121 may be a gNB or a transmission point gNB, the BTS 122 may be a macrocell (e.g., a high-power cellular base station) and / or a small cell (e.g., a low-power cellular base station), and the BTS 123 may be an access point (e.g., a short-range base station configured to communicate using a short-range technology such as WiFi, WiFi-Direct (WiFi-D), Bluetooth, Bluetooth-low energy (BLE), Zigbee, etc.). One or more of the BTSs 120-123 may be configured to communicate with the UEs 112-116 via multiple carriers. Each of the BTSs 120, 121 may provide communication coverage for a respective geographic region, e.g., a cell. Each cell may be divided into multiple sectors according to base station antennas. The BTSs may be of various forms, such as desktop devices, roadside units (RSUs), etc.

[0031] Each of the BTSs 120-123 includes one or more transmit / receive points (TRPs). For example, each sector in a cell of the BTS may include a TRP, but multiple TRPs may share one or more components (e.g., may share a processor but have separate antennas). The system 110 may include only macro TRPs, or the system 110 may have different types of TRPs, such as macro TRPs, pico TRPs, and / or femto TRPs. A macro TRP may cover a relatively large geographic area (e.g., a radius of several kilometers) and may allow unrestricted access by terminals subscribing to the service. A pico TRP may cover a relatively small geographic area (e.g., a pico cell) and may allow unrestricted access by terminals subscribing to the service. A femto TRP or home TRP may cover a relatively small geographic area (e.g., a femto cell) and may allow restricted access by terminals having an association with a femto cell (e.g., a terminal for a user in a home).

[0032] The UEs 112-116 may be referred to as terminals, access terminals (ATs), mobile stations, mobile devices, subscriber units, etc. The UEs 112-116 may include various devices as described above and / or other devices. The UEs 112-116 may be configured to indirectly connect to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. The D2D P2P links may be supported using any suitable D2D radio access technology (RAT), such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), Bluetooth, etc. One or more of the groups of UEs 112-116 utilizing D2D communication may be within a geographic coverage area of ​​a TRP, such as one or more of the BTSs 120-123. Other UEs in such groups may be outside such geographic coverage areas or may not otherwise be able to receive transmissions from the base station. A group of UEs 112-116 communicating via D2D communication may utilize a one-to-many (1:M) system in which each UE may transmit to other UEs in the group. The TRP of the BTSs 120-123 may facilitate scheduling of resources for D2D communication. In other cases, D2D communication may be performed between UEs without the involvement of a TRP.

[0033] The UEs 112-116, such as the V-UEs 114 and 115, may use the V2X communication standard, where information is passed between the vehicle and other entities in the wireless communication network, such as the RSU 116. The V2X standard, as discussed herein, aims to develop autonomous or semi-autonomous driving systems, such as Advanced Driver Assistance Systems (ADAS), that can be used to aid drivers in decisions about lane changes, speed changes, overtaking speeds, and the like, and to assist with parking. The UEs 112-116 may communicate directly, for example, in peer-to-peer messaging, or through one or more intermediate entities, such as through the RSUs 116 or the BTSs 120-123 or the network 130 in structure-based messaging.

[0034] Generally, there are two operation modes for V2X services as defined in Third Generation Partnership Project (3GPP) TS 23.285. One operation mode uses direct wireless communication between V2X entities, which may be referred to as sidelink communication. The other operation mode uses network-based wireless communication between the entities. The two operation modes may be combined or other operation modes may be used if desired.

[0035] Entities using V2X communications, such as UEs 114 and 115, may operate using direct or indirect wireless communications. For example, the wireless communications may be via the Proximity-based Services (ProSe) Direct Communication (PC5) reference point defined, for example, in 3GPP TS 23.303, using wireless communications on the 5.9 GHz ITS band under IEEE 1609, Wireless Access in Vehicular Environments (WAVE), Intelligent Transport Systems (ITS), and IEEE 802.11p, or may use other wireless connections directly between the entities.

[0036] Thus, as shown, UE 114 and UE 115 can communicate directly using a vehicle-to-vehicle (V2V) communication link. UE 114 and 115 can also communicate directly with a roadside unit (RSU), e.g., UE 116, via a vehicle-to-infrastructure (V2I) communication link. RSU 116 may be a fixed infrastructure entity that may support, e.g., V2X applications and exchange messages with other entities that support V2X applications. RSU may be a logical entity that can combine V2X application logic with the functionality of a base station in a RAN, such as eNB, ng-eNB, or eLTE (referred to as eNB-type RSU) or gNB, or UE (referred to as UE-type RSU). UE 114, 115, and 116 can communicate with additional vehicles, RSUs, or additional entities, such as, e.g., pedestrian-held UE 113, using the direct communication link.

[0037] During direct communication with one or more entities in the V2X wireless communications system 100, each entity may provide V2X information, such as an identifier of the V2X entity, as well as other information in messages, such as Common Awareness Messages (CAMs) and Decentralized Notification Messages (DENMs) or Basic Safety Messages (BSMs), which may be used, for example, for ADAS or safety use cases.

[0038] In other implementations, the UEs 114 and 115 may communicate indirectly with each other, e.g., through the RSU 116 via a V2I communication link, respectively, or through other network infrastructure, such as the BTSs 120-123 and the network 130, e.g., using cellular vehicle-to-everything (C-V2X). For example, the vehicles may communicate through base stations in a Radio Access Network (RAN), such as an evolved Node B (eNB) or next generation evolved Node B (ng-eNB) in LTE wireless access and / or an evolved LTE (eLTE) wireless access or NR Node B (gNB) in fifth generation (5G) wireless access.

[0039] The mobile SPS-enabled devices 161-163 are configured with SPS capabilities (e.g., for determining location based on received SPS signals). One or more of the SPS-enabled devices 161-163 may be configured with other capabilities, e.g., communication capabilities similar to those of the UEs 112-116. Although device 161 is an airplane and device 162 is an unoccupied aerial vehicle (UAV), these are merely examples and not limitations of this disclosure. The mobile SPS-enabled device 163 is shown as a generic SPS-enabled device. The device 163 may be one or more mobile SPS-enabled devices, such as one or more land-based items (e.g., trains, trucks, tanks, etc.), one or more water-based items (e.g., ships, jet skis, etc.), and / or one or more air-based items (e.g., missiles, spacecraft, etc.). These examples are not limitations of this disclosure and other SPS-enabled devices may be used.

[0040] The communication system 110 may utilize information from a constellation 180 of satellite vehicles (SVs) 181, 182, 183 and / or a constellation 190 of SVs 191, 192, 193. Each of the constellations 180, 190 may correspond to a respective Global Navigation Satellite System (GNSS) (i.e., Satellite Positioning System (SPS)), such as the Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo, Beidou, or some other local or regional SPS, such as the Indian Regional Navigational Satellite System (IRNSS), the European Geostationary Navigation Overlay Service (EGNOS), or the Wide Area Augmentation System (WAAS). Although only three SVs are shown for each of the constellations 180, 190, a constellation of GNSS SVs will include four or more SVs.

[0041] Knowing the location of a UE is important in many applications and / or situations. Moreover, knowing the location of other nearby UEs may be important in many applications, such as vehicle operation. A UE may transmit messages to other nearby UEs, such as CAM and DENM messages, and BSM messages, which may be used for ADAS or other safety use cases. These messages include the current location of the transmitting UE, which may be derived, for example, using SPS signals. Current V2X standards, such as SAE (Society for Automotive Engineering) specifications J2945, J3161, J3224, J3186, encourage the sharing of location information with other UEs, including the accuracy of the location information. The accuracy of the location information is, for example, the uncertainty in the measurement location. However, if the transmitting UE determines an inaccurate location based on an abnormal SPS signal, the UE may believe that the measured location has a high accuracy, e.g., low uncertainty, but the location measurement may be inaccurate in nature. If a transmitting UE transmits an inaccurate location to other UEs, there could be serious consequences, including traffic accidents, compromising the reliability and safety of the UE's ability to operate. Current standards for sharing location information are limited because they do not allow for communication of the source of the location information being provided. For example, if a transmitting UE determines that it is under an SPS spoofing attack, or in some cases, that it cannot rely on received SPS signals, the transmitting UE can switch to estimating its position based on non-SPS information, such as cached locations, sensor information, and the locations of other C-V2X vehicles.However, current standards for sharing location information simply allow a transmitting UE to send a non-SPS-based location determination (with accuracy), but do not allow the transmitting UE to indicate that it has been provided with a source of location information, e.g., that the location information is based on non-SPS-based information, or, more specifically, the type of non-SPS-based information. Moreover, current standards do not allow the transmitting UE to communicate an indication that it may be under an SPS spoofing attack, or, in some cases, that it is receiving anomalous and unreliable SPS signals.

[0042] An inaccurate location may be determined based on erroneous input information, such as an inaccurate SPS signal, whether the inaccuracy of the SPS signal is accidental (e.g., due to SV error) or intentional (e.g., by an entity providing one or more spoofed signals). A spoofed signal is a signal that appears to be from a particular source (e.g., a known, trusted source) but from a different source. For example, a spoofed signal may have characteristics of a signal from a GPS SV but originate from a GLONASS SV or an SPS simulator (e.g., a ground-based SPS signal generator). Identifying an unreliable SPS-based location estimate, for example due to an anomalous SPS signal, and providing location information to other UEs including a reliable location estimate along with a confidence level of the location estimate and the source of the location estimate may help the UE mitigate the consequences of receiving such a signal and enable continued safe operation of the UE.

[0043] For example, in one implementation, a UE, such as a V-UE, may check its location information determined based on SPS with non-SPS information, such as cached location information and location information derived from other (non-SPS) sensors. Checking the location information will allow the UE to determine a confidence level of the reliability of the location estimate. It should be understood that the confidence level is an indication of the statistical probability that the estimated location is accurate, i.e., the confidence level is based on non-anomalous SPS signals as opposed to the uncertainty of the estimated location. The UE may additionally determine an approximate location estimate using non-SPS based location information, such as information from a trusted previously known location and non-SPS sensors. The UE further uses location information received from other UEs to assist in determining the approximate location. In some implementations, the UE may determine a confidence level of the SPS-derived location estimate by comparing the SPS-derived location estimate with an approximate location estimate determined using non-SPS based location information. In other implementations, the UE may determine an approximate location estimate using non-SPS based location information only if the confidence level of the SPS-based location estimate is low.

[0044] As discussed herein, if the UE determines that the SPS-based location estimate may be impaired (e.g., the confidence level is below a predetermined threshold), the UE may transmit a non-SPS-based location estimate to other UEs along with an indication of how the location estimate was derived. The UE may further transmit the confidence level of the non-SPS-based location estimate and may further provide an indication that the UE is receiving a spoofed SPS signal. By all UEs transmitting their estimated locations, along with an indication of how the estimated location was determined and the confidence level of the estimated location, each UE will know the "confidence level" of the location information of all other UEs it is receiving.

[0045] In practice, the SPS spoofing target may be a group of vehicles in a particular location, or one or a group of target vehicles. A vehicle under SPS spoofing attack may receive a "valid" SPS-based location from other vehicles receiving valid SPS signals, e.g., unspoofed SPS signals. The vehicle may then use accurate location information from the other vehicles to help estimate its own position. In addition, the vehicle may be enabled to delineate a moving map of vehicles under SPS spoofing attack, or areas therein where SPS signals are unreliable. The vehicle may send this information to a traffic management server to warn of possible spoofing of a particular vehicle or area. The traffic management server may, for example, provide a warning to the vehicle that SPS signals are unreliable in a particular identified area, which may also be usable by the UE when determining a confidence level of an SPS-derived location estimate.

[0046] 2 illustrates a UE 200, which is an example of any of the UEs 112-116, and which comprises a computing platform including at least one processor 210, a memory 211 including software (SW) 280, one or more sensors 213, a transceiver interface 214 for a transceiver 215, a user interface 216, a satellite positioning system (SPS) receiver 217, and a camera 218. If the UE 200 is a V-UE, the UE 200 may include a vehicle interface 270. The processor 210, the memory 211, the sensor 213, the transceiver interface 214, the user interface 216, the SPS receiver 217, the camera 218, and the vehicle interface 270 may be communicatively coupled to each other by a bus 220 (which may be configured for optical and / or electrical communication, for example). One or more of the depicted devices (e.g., camera 218, vehicle interface 270, and / or one or more of sensors 213, etc.) may be omitted from UE 200. Processor 210 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, an application specific integrated circuit (ASIC), etc. Processor 210 may include multiple processors, including a general purpose / application processor 230, a digital signal processor (DSP) 231, a modem processor 232, a video processor 233, a sensor processor 234, and / or a position processor 235 (sometimes referred to as a position engine 235), which may be configured to operate as a special purpose processor as discussed herein. One or more of processors 230-235 may comprise multiple devices (e.g., multiple processors). For example, sensor processor 234 may include a processor for, for example, radar, sonar, ultrasonic, and / or lidar, etc.The modem processor 232 may support dual SIM / dual connectivity (or even more SIMs). For example, a SIM (Subscriber Identity Module or Subscriber Identification Module) may be used by an Original Equipment Manufacturer (OEM) and another SIM may be used by an end user of the UE 200 for connectivity. The memory 211 is a non-transitory storage medium that may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM), etc. The memory 211 stores the software 280, which may be processor-readable processor-executable software code including instructions that, when executed, are configured to cause the processor 210 to operate as a special-purpose computer programmed to perform various functions described herein. Alternatively, the software 280 may not be directly executable by the processor 210, but may be configured to cause the processor 210 to perform a function, for example, when compiled and executed. The description may refer only to the processor 210 performing a function, but includes other implementations, such as the processor 210 executing software and / or firmware. The description may refer to the processor 210 performing a function as a shorthand for one or more of the processors 230-235 performing a function. The description may refer to the UE 200 performing a function as a shorthand for one or more of the appropriate components of the UE 200 performing a function. The processor 210 may include a memory with stored instructions in addition to and / or instead of the memory 211. The functionality of the processor 210 is discussed more fully below.

[0047] The configuration of UE 200 shown in FIG. 2 is an example and is not a limitation of aspects of the present disclosure, including the claims, and other configurations may be used. For example, an example configuration of a UE includes one or more of processors 230-235 of processor 210, memory 211, and wireless transceiver 240. Other example configurations include one or more of processors 230-235 of processor 210, memory 211, and wireless transceiver 240, as well as one or more of sensors 213, user interface 216, SPS receiver 217, camera 218, and / or wired transceiver 250.

[0048] The UE 200 may include a modem processor 232 that may be capable of performing baseband processing of signals received and downconverted by the transceiver 215 and / or the SPS receiver 217. The modem processor 232 may perform baseband processing of signals to be upconverted for transmission by the transceiver 215. Also or alternatively, the baseband processing may be performed by the processor 230 and / or the DSP 231. However, other configurations may be used to perform the baseband processing.

[0049] The UE 200 may include sensors 213, which may include one or more of various types of sensors, such as, for example, one or more inertial sensors, one or more magnetometers, one or more environmental sensors, one or more light sensors, one or more weight sensors, and / or one or more radio frequency (RF) sensors. An inertial measurement unit (IMU) may include, for example, one or more accelerometers (e.g., collectively corresponding to acceleration of the UE 200 in three dimensions) and / or one or more gyroscopes. The sensors 213 may include one or more magnetometers for determining an orientation (e.g., relative to magnetic north and / or true north), which may be used for any of a variety of purposes, for example, to support one or more compass applications. The environmental sensors may include, for example, one or more temperature sensors, one or more barometric pressure sensors, one or more ambient light sensors, one or more camera imagers, and / or one or more microphones, etc. The sensors 213 may include RADAR (Radio Detection and Ranging) sensors, LIDAR (Light Detection and Ranging) sensors, SONAR (Sound Navigation and Ranging), ultrasonic ranging, etc., for determining range to an object. The sensors 213 may further include a local oscillator for keeping track of time. The sensors 213 may include one or more device sensors, such as one or more vision systems (e.g., including cameras 218) and / or one or more vehicle sensors (e.g., odometer, speedometer, tachometer, wheel revolution counters, etc.), and / or one or more other sensors.The sensors 213 may generate analog and / or digital signals, and representations of the signals may be stored in memory 211 and processed by DSP 231 and / or processor 230, for example, in support of one or more applications, such as applications directed to positioning and / or navigation operations.

[0050] The sensors 213 may be used in relative location measurement, relative location determination, motion determination, etc. Information detected by the sensors 213 may be used for motion detection, relative displacement, dead reckoning, sensor-based location determination, and / or sensor-aided location determination. The sensors 213 may be useful in determining whether the UE 200 is fixed (stationary) or mobile and / or whether any useful information regarding the mobility of the UE 200 should be reported to the server 143. For example, based on the information acquired / measured by the sensors, the UE 200 may notify / report to the server 143 that the UE 200 has detected movement or that the UE 200 has moved, and may report a relative displacement / distance (e.g., via dead reckoning or sensor-based or sensor-aided location determination enabled by the sensors 213). In another example, for relative positioning information, the sensors / IMU may be used to determine the angle and / or orientation of other devices relative to the UE 200, etc.

[0051] The IMU may be configured to provide measurements on the direction of motion and / or speed of motion of the UE 200, which may be used in relative location determination. For example, one or more accelerometers and / or one or more gyroscopes of the IMU may detect the linear acceleration and rotational velocity of the UE 200, respectively. The linear acceleration and rotational velocity measurements of the UE 200 may be integrated over time to determine the instantaneous direction and displacement of the UE 200's motion. The instantaneous direction and displacement of the motion may be integrated to track the location of the UE 200. For example, a reference location of the UE 200 may be determined for a moment in time, for example, using the SPS receiver 217 (and / or by some other means), and measurements from the accelerometers and gyroscopes obtained after this moment in time may be used in dead reckoning to determine the current location of the UE 200 based on the movement (direction and distance) of the UE 200 compared to the reference location.

[0052] The magnetometer may determine magnetic field strength in different directions, which may be used to determine an orientation of the UE 200. For example, the orientation may be used to provide a digital compass for the UE 200. The magnetometer may be a two-dimensional magnetometer configured to detect and provide an indication of the magnetic field strength in two orthogonal dimensions. Alternatively, the magnetometer may be a three-dimensional magnetometer configured to detect and provide an indication of the magnetic field strength in three orthogonal dimensions. The magnetometer may provide a means for sensing the magnetic field and providing an indication of the magnetic field, for example, to the processor 210.

[0053] The transceiver 215 may include a wireless transceiver 240 and a wired transceiver 250 configured to communicate with other devices over wireless and wired connections, respectively. For example, the wireless transceiver 240 may include a transmitter 242 and a receiver 244 coupled to one or more antennas 246 to transmit (e.g., on one or more uplink channels) and / or receive (e.g., on one or more downlink channels) wireless signals 248 and convert signals from the wireless signals 248 to wired (e.g., electrical and / or optical) signals and from the wired (e.g., electrical and / or optical) signals to the wireless signals 248. Thus, the transmitter 242 may include multiple transmitters, which may be separate or combined / integrated components, and / or the receiver 244 may include multiple receivers, which may be separate or combined / integrated components. The wireless transceiver 240 may be configured to communicate signals (e.g., with the TRP and / or one or more other devices, such as other UEs) according to various radio access technologies (RATs), such as 5G New Radio (NR), GSM (Global System for Mobile), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Phone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, WiFi Direct (WiFi-D), Bluetooth, Zigbee, and the like.The wireless transceiver 240 may be configured to communicate signals in one or more of various types of networks, including a WWAN (Wireless Wide Area Network), a WLAN (Wireless Local Area Network), and the like. The new radio may use mm-wave and / or sub-6 GHz frequencies. The wired transceiver 250 may include a transmitter 252 and a receiver 254 configured for wired communication, e.g., with the network 130, e.g., for sending communications to and receiving communications from the UE 200. The transmitter 252 may include multiple transmitters, which may be separate components or combined / integrated components, and / or the receiver 254 may include multiple receivers, which may be separate components or combined / integrated components. The wired transceiver 250 may be configured for optical and / or electrical communication, for example. The transceiver 215 may be communicatively coupled to the transceiver interface 214, e.g., by an optical and / or electrical connection. The transceiver interface 214 may be at least partially integrated with the transceiver 215 .

[0054] The user interface 216 may comprise one or more of several devices, such as, for example, a speaker, a microphone, a display device, a vibrating device, a keyboard, a touch screen, etc. The user interface 216 may include two or more of any of these devices. The user interface 216 may be configured to allow a user to interact with one or more applications hosted by the UE 200. For example, the user interface 216 may store in the memory 211 representations of analog and / or digital signals to be processed by the DSP 231 and / or the general purpose processor 230 in response to an action from the user. Similarly, applications hosted on the UE 200 may store in the memory 211 representations of analog and / or digital signals to present output signals to the user. The user interface 216 may include audio input / output (I / O) devices, including, for example, speakers, microphones, digital-to-analog circuits, analog-to-digital circuits, amplifiers, and / or gain control circuits (including any two or more of these devices). Other configurations of audio I / O devices may be used. Also or alternatively, the user interface 216 may include one or more touch sensors that respond to contact and / or pressure, for example, on a keyboard and / or a touch screen of the user interface 216 .

[0055] The SPS receiver 217 (e.g., a Global Positioning System (GPS) receiver) may be capable of receiving and collecting SPS signals 260 via an SPS antenna 262. The antenna 262 is configured to convert the wireless signals 260 to wired signals, e.g., electrical or optical signals, and may be integrated with the antenna 246. The SPS receiver 217 may be configured to process the collected SPS signals 260, in whole or in part, to estimate the location of the UE 200. For example, the SPS receiver 217 may be configured to determine the location of the UE 200 by multilateration using the SPS signals 260. The SPS signals 260 may be from one or more SPS constellations, e.g., constellations 180, 190, and the SPS receiver 217 may be configured as a multi-SPS (multi-GNSS) to process SPS signals from multiple SPSs. The SPS signals 260 may include signals in various SPS frequency bands, and the SPS receiver 217 may be configured as a multi-band SPS receiver for receiving and processing SPS signals in multiple bands. At least one processor 230, memory 211, DSP 231, and / or one or more additional specialized processors (not shown) may be utilized in conjunction with the SPS receiver 217 to process the collected SPS signals in whole or in part and / or to calculate an estimated location of the UE 200. Any processor of the SPS receiver 217 for processing signals received by the SPS receiver 217 may be considered part of the processor 210, and thus the description herein may refer to a processor of a UE (e.g., processor 210 of the UE 200) as processing one or more SPS signals (e.g., determining one or more measurements of one or more SPS signals). Memory 211 may store representations (eg, measurements) of SPS signals 260 and / or other signals (eg, signals collected from wireless transceiver 240) for use in performing positioning operations.The general-purpose processor 230, the DSP 231, and / or one or more specialized processors configured to operate as a special-purpose computer, and / or the memory 211 may provide or support a location engine for use in processing the measurement results to estimate the location of the UE 200.

[0056] The UE 200 may include a camera 218 for capturing still or moving images. The camera 218 may comprise, for example, an imaging sensor (e.g., a charge-coupled device or CMOS imager), a lens, analog-to-digital circuitry, a frame buffer, etc. Additional processing, conditioning, encoding, and / or compression of signals representing the captured images may be performed by the general-purpose processor 230 and / or the DSP 231. Also or alternatively, a video processor 233 may perform conditioning, encoding, compression, and / or manipulation of signals representing the captured images. The video processor 233 may decode / decompress stored image data, for example, for presentation on a display device (not shown) of the user interface 216.

[0057] The position engine 235 may be configured to determine the location of the UE 200, the movement of the UE 200, and / or the relative location of the UE 200, and / or time. For example, the position engine 235 may be in communication with and / or include part or all of the SPS receiver 217. The position engine 235 may interface with one or more other processors and memory 211 in the processor 210 as appropriate to perform at least a portion of one or more positioning methods, although the description herein may only refer to the position engine 235 being configured to perform or performing in accordance with a positioning method. Moreover, the position engine 235 may be part of or integrated with any processor in the processor 210, such as the application processor 230. The position engine 235 may also or alternatively be configured to determine the location of the UE 200 using non-SPS information, such as terrestrial-based signals (e.g., at least some of the signals 248, such as received cellular signals, LAN signals such as WiFi, or other shortwave signals such as ultrawideband (UWB), mmWave, etc.) to assist in acquiring and using SPS signals 260, or both, for multilateration. The position engine 235 may also be configured to use one or more other techniques for determining the location of the UE 200 (e.g., relying on the UE's self-reported location (e.g., part of the UE's location beacon)) and may use a combination of techniques (e.g., SPS signals and terrestrial positioning signals) to determine the location of the UE 200.The position engine 235 may be further configured to determine the position of the UE 200 using non-SPS information, such as sensor information obtained from one or more of the sensors 213 (e.g., gyroscopes, accelerometers, magnetometers, etc.), which may sense previous (cached) location information, an orientation and / or movement of the UE 200, and may provide an indication that the processor 210 (e.g., the position engine 235, or the processor 230 and / or the DSP 231) may be configured to use to determine the movement (e.g., velocity vector and / or acceleration vector) of the UE 200. The position engine 235 may further use location information received from one or more UEs, such as estimated locations of other UEs, as well as determined ranges to the UE, to determine the position of the UE. The position engine 235 may be configured to provide an indication of uncertainty and / or error in the determined position and / or movement.

[0058] Vehicle interface 270 may be used by UE 200 to provide an interface with and control over the autonomous driving of a vehicle in which UE 200 may be located. Vehicle interface 270 may provide commands for the autonomous driving of the vehicle, such as, for example, control over acceleration, deceleration, speed, trajectory, etc.

[0059] The memory 211 may store software 280 including executable program code or software instructions that, when executed by the processor 210, may cause the processor 210 to operate as a special-purpose computer programmed to perform the functions disclosed herein. The description herein may refer to the UE 200 performing a function as shorthand for one or more suitable components of the UE 200 (e.g., the processor 210 configured by executable program code stored in the memory 211) performing the function. As shown, the memory 211 may include one or more components or modules that may be implemented by the processor 210 to perform the disclosed functions. Although the components or modules are illustrated as software 280 in the memory 211 executable by the processor 210, it should be understood that the components or modules may be stored in another computer-readable medium or may be dedicated hardware either in the processor 210 or external to the processor. Several software modules and data tables may reside in the memory 211 and be utilized by the processor 210 to manage both the communications and functionality described herein. It should be appreciated that the organization of the contents of memory 211 as shown is only an example, and thus the functionality of the modules and / or data structures may be combined, separated, and / or structured in different ways depending on the implementation.

[0060] The memory 211 may include a location determination module 282 that, for example, when implemented by the one or more processors 210, configures the one or more processors 210, e.g., processor 230 or position engine 235, to determine a location of the UE 200 in one or more ways. The one or more processors 210 may be configured to determine a location estimate of the UE 200 based on SPS signals received by the SPS receiver 217, which may include anomalous signals that would generate an inaccurate location estimate. The one or more processors 210 may be further configured to determine an estimated location of the UE 200 based on non-SPS information, such as a previously estimated location (i.e., cached location information stored in the memory 211), sensor information obtained from the sensor 213, location information received from other nearby UEs, e.g., via the transceiver 240, or a combination thereof. The one or more processors 210 may be configured to determine a location estimate using cellular and / or wireless local area network signals, e.g., from base transceiver stations (BTSs) 120, 121, 122, 123 or from other UEs in sidelink signaling, e.g., using time difference of arrival (TDOA), angle of arrival (AoA), received signal strength (RSS), or other known measurements. The one or more processors 210 may be configured to determine a time-filtered location of the UE 200 using a filter, e.g., a Kalman filter, e.g., to calculate a location using positioning results over time. The one or more processors 210 may be configured for dead reckoning from a previously estimated location, e.g., using sensor information received from the sensors 213.The one or more processors 210 may be configured to use sidelink positioning, e.g., using locations received from several different entities, e.g., the UE, along with ranging to the entities (e.g., from wireless ranging techniques such as radar, lidar, sonar, or round trip time measurements) to determine an estimated location, e.g., using multilateration techniques. The one or more processors 210 may be configured to use multiple different techniques and sources of data to determine a location estimate, e.g., using different weights based on the trust level for the various sources of data or techniques. For example, the one or more processors 210 may be configured to adjust weighting for the various sources of data (e.g., adding weighting factors from 0 to 1) or adjust weight positioning techniques (e.g., dead reckoning vs. RTT / multilateration) used in determining the location of the UE 200 based on the trust level of the source of the data. The one or more processors 210 may further be configured to determine a trust level of a non-SPS-derived location estimate, e.g., based on the type of data used to determine the location estimate, as well as the trust level associated with the data used.

[0061] The memory 211 may include, for example, an anomaly detection module 284 that, when implemented by the one or more processors 210, configures the one or more processors 210 to determine whether a received SPS signal is reliable or anomalous, e.g., spoofed, generating an unreliable location estimate. The one or more processors 210 may be configured, for example, to determine a confidence level of the SPS-derived location estimate. The confidence level may be determined, for example, by comparing a time derived from the SPS signal to a local time determined, for example, from a local oscillator in the sensor 213 or from a wireless signal received from the BTS via the transceiver 240, where, for example, a closely matching time provides a higher confidence level than a non-matching time. The one or more processors 210 may additionally or alternatively be configured to determine a confidence level based on the SPS-derived location estimate and non-SPS information, such as a previously estimated location (i.e., cached location information stored in memory 211), sensor information obtained from sensors 213, location information received from other nearby UEs, e.g., via transceiver 240, or a combination thereof. For example, the one or more processors 210 may be configured to determine the extent to which the SPS-derived location estimate matches the cached location estimate and / or a location received from nearby UEs. The one or more processors 210 may be configured to determine whether a change in the location of the UE 200 indicated by the SPS-derived location estimate relative to a previous location estimate corresponds to data, e.g., acceleration, velocity, orientation, obtained from sensors 213. The one or more processors 210 may be configured to determine a difference between the SPS-derived location estimate and a non-SPS-derived location estimate, e.g., generated using non-SPS information, where a closely matching location provides a higher confidence level than a non-matching location.In generating the confidence level, the one or more processors 210 may be configured to provide different weights to different types of disparity, e.g., a noisy sensor may be given a lower weight than a sensor with little noise. Additionally, the one or more processors 210 may be configured to compare the confidence level to a predefined threshold, e.g., to determine whether the SPS-based location estimate is reliable (if the confidence level is higher than the threshold) or unreliable (if the confidence level is below the threshold). The one or more processors 210 may be configured to determine the reliability of the SPS signal, and accordingly, the location estimate, based on the SPS signal or non-SPS information, based at least in part on information received from other UEs or a traffic location server, such as whether the source of the location information regarding the other UE is non-SPS information, the confidence level of the estimated location from the other UE, warning that an abnormal SPS signal is being detected by a nearby UE, etc. The one or more processors 210 may be configured to determine whether the SPS signal is reliable, e.g., based on location information messages received from one or more V-UEs. For example, the one or more processors 210 may be configured to determine whether an SPS signal is reliable based on some V-UE using non-SPS information for location estimation, associate a low confidence level with the SPS-based location estimate, provide an indication that the SPS signal received by the V-UE is determined to be anomalous, etc. In one implementation in which the UE 200 is an RSU, the one or more processors 210 may be configured to determine whether an SPS signal is reliable for the V-UE based on a location estimate provided by the V-UE, for example, and in some implementations based on additional information, such as a determined range between the V-UEs.

[0062] The memory 211 may include a location information reporting module 286 that, for example, when implemented by the one or more processors 210, is configured to cause the one or more processors 210 to generate and transmit, via the transceiver 240, a message including location information regarding the UE 200 or receive location information regarding other UEs. The location information includes a determined location estimate and a source of the location estimate. For example, the location estimate may be an SPS-derived location estimate if there is high confidence in the SPS-derived location estimate, i.e., if the received SPS signal is not determined to be anomalous, or may be a non-SPS-derived location estimate if there is low confidence in the SPS-derived location estimate. The source of the location estimate may be an identification of a source of data, for example, an SPS signal or non-SPS data. In some implementations, the source of data may be further refined to an SPS constellation, carrier frequency, etc., or a type of sensor data or technique used to generate the non-SPS-based location estimate, such as an SPS signal, a cellular signal, a LAN signal, a sidelink signal, TDOA measurements, AoA measurements, and RSS measurements. The transmitted or received transmitted location information may further include a determined confidence level associated with the location estimate in the location information message. The one or more processors 210 may additionally be configured to receive similar location information from one or more other UEs via the transceiver 240. The message may be a V2X type message or other direct or indirect message to other nearby UEs. The message may be, for example, a CAM, DENM, or BSM message used, for example, for safety applications, such as ADAS. In some implementations, other types of messaging may be used between UEs, for example, when the UE 200 is a non-vehicle associated UE.The one or more processors 210 may additionally be configured to send an indication, via the transceiver 240, to the traffic location server or other UEs when the received SPS signals are determined to be anomalous, along with location information, such as, for example, the determined location estimate and, optionally, the source and / or confidence level of the location estimate. The one or more processors 210 may additionally be configured to receive, via the transceiver 240, an alert from the traffic location server or other UEs along with an indication, when the SPS signals in the area of ​​the UE 200 have been determined to be anomalous by other UEs.

[0063] The methods described herein may be implemented by various means depending on the application. For example, the methods may be implemented in hardware, firmware, software, or any combination thereof. In a hardware implementation, the one or more processors 210 may be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or combinations thereof.

[0064] For a firmware and / or software implementation, the methods may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methods described herein. For example, software code may be coupled to and executed by one or more processors 210 and stored in a non-transitory computer-readable medium, such as memory 211. The memory may be implemented within the one or more processors or external to the one or more processors. The term "memory" as used herein refers to any type of long-term, short-term, volatile, non-volatile, or other memory and should not be limited to any particular type of memory or any particular number of memories, or to any particular type of medium on which the memory is stored.

[0065] When implemented in firmware and / or software, the functions may be stored as one or more instructions or program code on a non-transitory computer-readable medium, such as memory 211. Examples include computer-readable media encoded with data structures and computer-readable media encoded with a computer program. For example, a non-transitory computer-readable medium having program code stored thereon may include program code for determining an anomalous SPS signal and transmitting location information along with a source of the location information in a manner consistent with the disclosed embodiments. Non-transitory computer-readable media include physical computer storage media. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such non-transitory computer-readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer, where disk and disc as used herein include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0066] In addition to being stored on a computer-readable medium, such as memory 211, the instructions and / or data may be provided as signals on a transmission medium contained within a communications device. For example, a communications device may include a transceiver 240 or 250 having signals indicative of the instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communications device includes a transmission medium having signals indicative of information to perform the disclosed functions.

[0067] Memory 211 may represent any data storage mechanism. Memory 211 may include, for example, primary memory and / or secondary memory. Primary memory may include, for example, random access memory, read-only memory, etc. Although shown in this example as being separate from one or more processors 210, it should be understood that all or a portion of the primary memory may be provided within one or more processors 210, or in some cases may be co-located / coupled with one or more processors 210. Secondary memory may include, for example, the same or similar type of memory as the primary memory, and / or one or more data storage devices or systems, such as, for example, disk drives, optical disk drives, tape drives, solid state memory drives, etc.

[0068] In some implementations, the secondary memory may operatively receive a non-transitory computer-readable medium, or may be configurable to couple to a non-transitory computer-readable medium in some cases. Thus, in some example implementations, the methods and / or apparatuses presented herein may take the form, in whole or in part, of a computer-readable medium on which computer-implementable code may be stored, which when executed by one or more processors 210 may be effectively enabled to perform all or a portion of the example operations as described herein. The computer-readable medium may be part of the memory 211.

[0069] FIG. 3 illustrates an example of a TRP 300 of a BTS 120-123 that comprises a computing platform including at least one processor 310, a memory 311 including software (SW) 312, and a transceiver 315. The processor 310, the memory 311, and the transceiver 315 may be communicatively coupled to each other by a bus 320 (which may be configured for optical and / or electrical communication, for example). One or more of the illustrated devices (e.g., a wireless interface) may be omitted from the TRP 300. The processor 310 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, an application specific integrated circuit (ASIC), etc. The processor 310 may include multiple processors (e.g., including one or more of an application processor, a DSP, a modem processor, a video processor, and / or a sensor processor, as shown in FIG. 2). The memory 311 is a non-transitory storage medium that may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM), etc. The memory 311 stores the software 312, which may be processor-readable processor-executable software code including instructions that, when executed, are configured to cause the processor 310 to operate as a special-purpose computer programmed to perform various functions described herein. Alternatively, the software 312 may not be directly executable by the processor 310, but may be configured, for example, when compiled and executed, to cause the processor 310 to operate as a special-purpose computer programmed to perform functions. The present description may only refer to the processor 310 performing functions, but this includes other implementations, such as the processor 310 executing software and / or firmware. The present description may refer to the processor 310 performing functions as a shorthand for one or more of the processors included in the processor 310 performing functions.The description may refer to TRP 300 performing a function as shorthand for one or more suitable components of TRP 300 (and thus one of BTSs 120-123) performing the function. Processor 310 may include memory in addition to and / or in place of memory 311 on which instructions are stored. The functionality of processor 310 is discussed more fully below.

[0070] The transceiver 315 may include a wireless transceiver 340 and a wired transceiver 350 configured to communicate with other devices over wireless and wired connections, respectively. For example, the wireless transceiver 340 may include a transmitter 342 and a receiver 344 coupled to one or more antennas 346 to transmit (e.g., on one or more uplink channels) and / or receive (e.g., on one or more downlink channels) wireless signals 348 and convert signals from the wireless signals 348 to wired (e.g., electrical and / or optical) signals and from the wired (e.g., electrical and / or optical) signals to the wireless signals 348. Thus, the transmitter 342 may include multiple transmitters, which may be separate or combined / integrated components, and / or the receiver 344 may include multiple receivers, which may be separate or combined / integrated components. The wireless transceiver 340 may be configured to communicate signals (e.g., with the UE 200, one or more other UEs, and / or one or more other devices) according to various radio access technologies (RATs), such as 5G New Radio (NG), Global System for Mobiles (GSM), Universal Mobile Telecommunications System (UMTS), Advanced Mobile Phone System (AMPS), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Long Term Evolution (LTE), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, WiFi Direct (WiFi-D), Bluetooth, Zigbee, etc. The wired transceiver 350 may include a transmitter 352 and a receiver 354 configured for wired communication, e.g., with the network 130, e.g., for sending communications to and receiving communications from the server 143. The transmitter 352 may include multiple transmitters, which may be separate components or combined / integrated components, and / or the receiver 354 may include multiple receivers, which may be separate components or combined / integrated components.Wired transceiver 350 may be configured for, for example, optical and / or electrical communications.

[0071] The configuration of the TRP 300 shown in Figure 3 is an example and not a limitation of the present disclosure, including the claims, and other configurations may be used. For example, the description herein discusses the TRP 300 being configured to perform or performing certain functions, but one or more of these functions may be performed by the server 143 and / or the UE 200 (i.e., the server 143 and / or the UE 200 may be configured to perform one or more of these functions).

[0072] 4 illustrates a server 400, which is an example of the server 143 and comprises a computing platform including at least one processor 410, a memory 411 including software (SW) 412, and a transceiver 415. The server 400 may be, for example, a traffic control server configured to receive an indication from a UE when an SPS signal is determined to be abnormal and provide an alert to the UE in the area where the abnormal SPS signal is detected. The processor 410, the memory 411, and the transceiver 415 may be communicatively coupled to each other by a bus 420 (which may be configured for optical and / or electrical communication, for example). One or more of the illustrated devices (e.g., a wireless interface) may be omitted from the server 400. The processor 410 may include one or more intelligent hardware devices, for example, a central processing unit (CPU), a microcontroller, an application specific integrated circuit (ASIC), etc. The processor 410 may include multiple processors (e.g., including at least one of an application processor, a DSP, a modem processor, a video processor, and / or a sensor processor, as shown in FIG. 2). The memory 411 is a non-transitory storage medium that may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM), etc. The memory 411 stores the software 412, which may be processor-readable processor-executable software code including instructions that, when executed, are configured to cause the processor 410 to operate as a special-purpose computer programmed to perform various functions described herein. Alternatively, the software 412 may not be directly executable by the processor 410, but may be configured, for example, when compiled and executed, to cause the processor 410 to operate as a special-purpose computer programmed to perform functions. Although the present description may only refer to the processor 410 executing functions, this includes other implementations, such as the processor 410 executing software and / or firmware.The description may refer to processor 410 performing a function as a shorthand for one or more of the processors included in processor 410 performing the function. The description may refer to server 400 performing a function as a shorthand for one or more suitable components of server 400 performing the function. Processor 410 may include memory having stored instructions in addition to and / or in place of memory 411. The functionality of processor 410 is discussed more fully below.

[0073] The transceiver 415 may include a wireless transceiver 440 and a wired transceiver 450 configured to communicate with other devices over wireless and wired connections, respectively. For example, the wireless transceiver 440 may include a transmitter 442 and a receiver 444 coupled to one or more antennas 446 to transmit (e.g., on one or more uplink channels) and / or receive (e.g., on one or more downlink channels) wireless signals 448 and convert signals from the wireless signals 448 to wired (e.g., electrical and / or optical) signals and from the wired (e.g., electrical and / or optical) signals to the wireless signals 448. Thus, the transmitter 442 may include multiple transmitters, which may be separate or combined / integrated components, and / or the receiver 444 may include multiple receivers, which may be separate or combined / integrated components. The wireless transceiver 440 may be configured to communicate signals (e.g., with the UE 200, one or more other UEs, and / or one or more other devices) according to various radio access technologies (RATs), such as 5G New Radio (NR), Global System for Mobile (GSM), Universal Mobile Telecommunications System (UMTS), Advanced Mobile Phone System (AMPS), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Long Term Evolution (LTE), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, WiFi Direct (WiFi-D), Bluetooth, Zigbee, etc. The wired transceiver 450 may include a transmitter 452 and a receiver 454 configured for wired communication, e.g., with the network 130, e.g., for sending communications to and receiving communications from the TRP 300. The transmitter 452 may include multiple transmitters, which may be separate components or combined / integrated components, and / or the receiver 454 may include multiple receivers, which may be separate components or combined / integrated components.The wired transceiver 450 may be configured for, for example, optical and / or electrical communications.

[0074] The configuration of the server 400 shown in FIG. 4 is an example and not a limitation of the aspects of the present disclosure, including the claims, and other configurations may be used. For example, the wireless transceiver 440 may be omitted. Also or alternatively, although the description herein discusses the server 400 being configured to perform or performing certain functions, one or more of these functions may be performed by the TRP 300 and / or the UE 200 (i.e., the TRP 300 and / or the UE 200 may be configured to perform one or more of these functions).

[0075] FIG. 5 shows a flowchart 500 for a UE, such as UE 200, to determine a trust level for its location information and use it to alert nearby UEs when an SPS spoofing attack is present and to correct the location information provided to nearby UEs.

[0076] As shown, the UE receives SPS signals used to generate location information from the position engine 235 of Figure 2 at block 502. The SPS signals may be non-anomalous, and thus the location information obtained at block 502 may include an accurate location estimate. Alternatively, the SPS signals may be anomalous, e.g., spoofed, and the location information obtained at block 502 may include an inaccurate location estimate.

[0077] The UE may further receive a wireless message from one or more other UEs, e.g., via transceiver 240 shown in FIG. 2, from which a location of the transmitting UE may be determined in block 504. The wireless message may further include a confidence level of the location of the transmitting UE and a source of the location estimate, as shown in block 504. The wireless message may be, by way of example, a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM), e.g., used for advanced driver assistance systems (ADAS) provided via C-V2X or other types of communications.

[0078] As shown in block 506, the UE may maintain a cache of its own location information. The cached location information may be, for example, a last known location that may be used, for example, in the event of power down. The cached location information may include a previously determined location estimate, which may be derived from non-SPS information, such as SPS information (if reliable) or information from non-SPS sensors, as well as previously cached location information and location information received from other UEs. The cached location information may further include additional information, such as a confidence level of the location estimate, an indication of the source of the location estimate, or a combination thereof.

[0079] At block 508, the UE may derive location information from non-SPS sensors, such as sensors 213, cameras 218, and wireless transceiver 240 of Figure 2. For example, the location information may include IMU data indicative of acceleration, orientation, wheel rotation count, RADAR data, LIDAR data, image information, etc. The location information may further include location information received from other UEs, or an indication that the received SPS signal may be unreliable, which may be received from other UEs or from a traffic management server, for example, via wireless transceiver 240 of Figure 2.

[0080] In block 510, the UE determines a confidence level of the location information determined using the SPS signal in block 502. The UE may, for example, determine whether the received SPS signal is anomalous and therefore whether the confidence level of the location information determined using the SPS signal is accordingly low. In some implementations, the UE may compare the change in position and time determined using the SPS signal with information derived from non-SPS information, including cached location information, sensor information, and location information received from other UEs. For example, a spoofed SPS signal may convey a time that is different from the actual SPS time. When spoofing occurs, for example, the difference between the local time derived from the local oscillator of the sensor 213 of FIG. 2 and the SPS time received from the SPS signal may undergo a sudden change that does not normally occur, and the observation of this change may indicate an anomalous SPS signal and low confidence in the SPS-derived location estimate.

[0081] In addition, anomalous SPS signals may generate an inaccurate location estimate. Thus, anomalous SPS signals may be detected, for example, by determining that a location estimate derived from a received SPS signal is inaccurate based on non-SPS information. For example, a sudden change in location would necessarily require a corresponding signal from a non-SPS sensor in the UE, such as a sudden acceleration to accommodate the sudden change in location; RADAR and LIDAR would observe a sudden change in the surrounding environment, RADAR would detect a sudden rise in Doppler signals, steering column sensors would have to register a yaw change, while wheel sensors would have to register a vehicle speed change. In the absence of a corresponding indication of a sudden location change from a non-SPS sensor, a sudden change in the SPS-derived location estimate may indicate that the SPS signal is anomalous and suspect, and necessary corrective steps may be required.

[0082] Thus, the SPS-derived location estimate may be compared, for example, to non-SPS information from non-SPS sensors, a cached location, and a location received from one or more other UEs. In some implementations, the non-SPS-based information compared to the SPS-derived location estimate may be another location estimate derived from a non-SPS source, such as a non-SPS sensor, a cached location, and the location of the other UE, for example, as determined in block 516. This comparison would allow for determining a confidence level of the estimated location derived from the SPS signal. For example, if the SPS signal is spoofed, there may be a significant difference in location between the cached location information and the SPS-derived location that does not match the non-SPS sensor information. Similarly, if the SPS signal is spoofed, the SPS-derived location estimate may differ significantly from the location information received from other UEs.

[0083] The confidence level for the SPS-derived location estimate may be determined based on the magnitude and type of difference between the SPS-derived location estimate and the non-SPS information. As an example, if the non-SPS information and the SPS-derived location estimate differ only by a small amount, or only data from a single non-SPS sensor differs, and the remaining non-SPS sensors closely match, the confidence level may be relatively high. In contrast, if the difference is large or all non-SPS sensors show significant differences, the confidence level may be relatively low. In determining the confidence level, data from different sensors may be weighted differently. When the SPS-derived location estimate is compared to a non-SPS-derived location estimate (e.g., generated in block 516), the confidence level of the SPS-derived location estimate may be high if the location estimates closely match or are within the corresponding uncertainty range, and conversely, low if there is a discrepancy in the location estimates or the location estimate is outside the uncertainty range.

[0084] In some implementations, the SPS-derived location estimate (from block 502) may continue to be compared to cached location information (from block 506), and in some implementations, to location information from the sensors (from block 508). For example, the SPS-derived location estimates may be continuously generated, e.g., at a rate of 10 Hz, and each SPS-derived location estimate may be compared to the previous cached location from block 506. The previous cached location may be updated based on the estimated movement of the vehicle, e.g., the speed and direction of the vehicle obtained from the location information from the sensors (block 508), e.g., dead reckoning. The difference between the SPS-derived location estimate and the updated, cached location (e.g., dead reckoning position) may be compared to a predetermined threshold to determine whether they match sufficiently. In some implementations, the predetermined threshold may be based on the speed of the vehicle. If the comparison is successful, a high confidence level may be set based on the filter, e.g., 90, and if the comparison is unsuccessful, a low confidence level may be set based on the filter, e.g., 20. In some implementations, the trust level may depend on the difference in the comparison, for example, multiple pre-defined thresholds may be used to generate different trust levels.

[0085] In some implementations, additional filtering steps may be performed that may further increase or decrease the confidence level. For example, if an initial comparison between the SPS-derived location estimate and an updated, cached location (e.g., dead-reckoning position) is unsuccessful, additional factors such as locations derived from other sensors and locations received from other UEs (from block 504) may be used to modify the confidence level. For example, the SPS-derived location estimate may be compared to a non-SPS-derived location estimate determined using, for example, multilateration based on locations received from other UEs (from block 504) and ranges to other UEs (from block 508), or, for example, a cellular-based location estimate, or any other positioning information, for example, vision-based positioning, wireless local area network (WLAN)-based positioning, wireless personal area network (WPAN)-based positioning, etc. In some implementations, the comparison of the SPS-derived location estimate and the non-SPS-derived location estimate may be compared to a predefined threshold (or several thresholds) to determine whether the match is unsuccessful or successful and the corresponding confidence level. The threshold value may be based, for example, on the speed of the vehicle. If the match in the subsequent filter is unsuccessful, the confidence level may be further reduced, or conversely, if the match in the subsequent filter is successful, the confidence level may be further increased.

[0086] In some implementations, instead of running multiple filters, a single non-SPS-derived location estimate may be generated based on all available information, e.g., cached locations (block 506), sensor information (block 508), and locations of other UEs (block 504), that may be compared to the SPS-derived location estimate. The resulting difference may be compared to one or more thresholds to generate a corresponding confidence level. The threshold may be based, for example, on the speed of the vehicle.

[0087] Table 1 shows, by way of example, various confidence levels and associated descriptions that may be generated based on a comparison of an SPS-derived location estimate to non-SPS-derived location information. Other confidence levels may be used, if desired, and additional confidence levels may be included where different actions are taken in response to the comparison.

[0088] [Table 1]

[0089] At block 512, the trust level determined at block 510 may be compared to a predefined threshold, e.g., as shown in Table 1. If the trust level of the SPS-derived location estimate is higher than the predefined threshold, the UE may transmit location information including the SPS-derived location estimate to the other UE at block 514 along with a source of the location estimate. In some implementations, the location information may further include a trust level for the location estimate. The message may be, for example, a CAM, DENM, or BSM message sent via C-V2X or other type of communication. The location information cached at block 506 may be updated accordingly.

[0090] On the other hand, if the confidence level of the SPS-derived location estimate is below the predetermined threshold in block 512, the SPS-derived location estimate is deemed unreliable and the UE will not transmit the SPS-derived location estimate to other UEs. Instead, the UE may transmit location information to other UEs, including a location estimate determined from non-SPS information.

[0091] For example, in block 516, the UE may derive a location estimate using non-SPS information including cached location information from block 506, non-SPS sensor information (e.g., using dead reckoning or other position determination techniques) in block 508, and location information received from other UEs, e.g., in block 504. For example, if location information is received from multiple trusted UEs, this crowd-sourced information may be used to help estimate the current location of the UE using ranging information for the trusted UEs derived, e.g., using radar, lidar, or other wireless ranging techniques, such as round trip time measurements. The location estimate may be determined, for example, by one or more processors 210 implementing the position engine 235 and location determination module 282 of FIG. 2. A trust level of the non-SPS derived location estimate may be determined, for example, based on the trust level of the non-SPS data used, e.g., the trust level of the cached location information and the trust level in the location information received from other UEs. In some implementations, the trust level of the non-SPS-derived location estimate may be derived in a manner similar to the trust level derived for the SPS-derived location estimate, as discussed above. For example, a non-SPS-derived location estimate may be generated and compared to a previously cached location, which may be updated based on the estimated movement of the vehicle, e.g., the speed and direction of the vehicle, using dead reckoning. The difference may be compared to one or more predefined thresholds to determine whether they match sufficiently and a corresponding trust level generated. The UE may transmit location information including the non-SPS-derived location estimate to other UEs along with the source of the location estimate in block 514. In some implementations, the location information may further include a trust level for the location estimate. The location information cached in block 506 may be updated accordingly.

[0092] In addition, the UE may further send a message to, for example, a traffic management server via the RSU or BTS to provide an indication that the received SPS signal is anomalous and unreliable. The message may include location information, such as a non-SPS derived location estimate, and in some implementations, the source and trust level of the location estimate, so that the traffic management server may identify whether the anomalous SPS signal is associated with a particular area or vehicle. The traffic management server may, for example, provide a warning to vehicles in a particular area if the anomalous SPS signal is associated with the area.

[0093] A UE that receives location information from a transmitting UE that indicates that the source of the location estimate is non-SPS information (or, possibly, that the SPS-derived location estimate is unreliable) may alternatively flag the transmitting UE as transmitting spoofed or, possibly, unreliable location information. The receiving UE may ignore or weight the location information accordingly. Moreover, a UE that receives an indication that the SPS-derived location estimate is unreliable may use this information to reduce the confidence level of its own SPS-derived location estimate.

[0094] FIG. 6 illustrates an example environment 600 in which a UE 200 may receive one or more anomalous SPS signals according to various scenarios and provide location information to a UE 114 including a non-SPS derived position estimate, a source of the location estimate, and a confidence level of the location estimate. For example, an SV 183 may send an anomalous SPS signal 680 to a UE 200. The anomalous SPS signal 680 may be anomalous in one or more manners. For example, the signal 680 may be a spoofed signal that is generated in a format associated with an SV 183 but is inaccurate, e.g., has inaccurate timing, which may result in an inaccurate determination of the range from the UE 200 to the SV 183. As another example, the signal 680 may be a spoofed signal that has a format associated with another SV, e.g., another SV of the same constellation (i.e., constellation 180) that includes the SV 183, or another SV of a different constellation, e.g., constellation 190. In this case, the pseudo range determined for the signal 680 may correspond to a range from the UE 200 to the SV183, but the UE 200 will use this range as the range from the UE 200 to the expected location of the SV191 (e.g., as indicated by ephemeris data). In either of these scenarios, i.e., imprecise information in the signal in the SV183 format or a simulation of another SV format, the UE 200 may calculate an inaccurate location for the UE 200 if the UE 200 does not recognize the signal 680 as anomalous and therefore does not take appropriate action, e.g., if the UE 200 determines and provides a non-SPS derived location estimate to the UE along with an indication of the source of the location estimate. The anomalous SPS signal 680 has a carrier frequency, which may be a frequency often used by UEs to determine location using SPS signals, such as the L1 frequency (1575.42 MHz) of the GPS system. The SV 183 may also send one or more non-fault SPS signals, such as the non-fault SPS signal 683, particularly if the fault SPS signal 680 was sent due to an operational error of the SV 183.The non-anomalous SPS signal 683 may have a different carrier frequency than the abnormal SPS signal 680 .

[0095] As another example of the UE 200 receiving an abnormal SPS signal, the UE 200 may receive one or more abnormal SPS signals 615, 625 from satellite signal emulators 610, 620, respectively. The satellite signal emulators 610, 620 may be SPS signal simulators configured to generate and send signals that mimic SPS signals. The abnormal SPS signals 615, 625 may thus emulate signals from an SV, such as SVs 191, 192, respectively (e.g., may have a format (e.g., pseudorandom code) corresponding to the SV). When received by the UE 200, the abnormal SPS signals 615, 625 may have much higher power than the non-abnormal SPS signals 691, 692 from the SVs 191, 192, which may cause the UE 200 to lock onto the abnormal SPS signals 615, 625 rather than (instead of) the non-abnormal SPS signals 691, 692 actually sent by the SVs 191, 192.

[0096] As discussed, the UE 200 may use one or more other entities in the environment 600 to help identify anomalous signals that are anomalous, for example, by determining the compatibility or incompatibility of the anomalous signal with other information. For example, the UE 200 may further use non-SPS information, such as cached location information, non-SPS sensor information, locations of other UEs, or a combination thereof, to determine the reliability of the received SPS signal. For example, the UE 200 may determine that the time derived from the SPS signal does not match the time determined from a local oscillator or other local source. The UE 200 may determine a non-SPS derived location estimate, for example, from the non-SPS information, which may be compared to the SPS derived location estimate to generate a confidence level. In another example, the UE 200 may compare any changes in location to non-SPS sensor information, such as an indication of acceleration, that should correspond to a change in location. In another example, the UE 200 may be configured to determine a distance to the UE 114 using signaling 630 (e.g., radar, sonar, and / or lidar signals). The UE 200 may use this distance information and the location of the UE 114 provided by the UE 114 to the UE 200, for example, to help determine the compatibility of one or more SPS signals with the approximate location of the UE 200. The UE 200 may be configured to use visual information (e.g., light rays 642 reflected off of the landmarks 640) to determine the approximate location of the UE 200. The UE 200 may, for example, capture one or more images of the landmarks 640 using the camera 218, identify the landmarks 640, find the location of the landmarks 640 in a lookup table of landmarks and locations (or by querying another entity, such as the server 400, for this information), and use the location of the landmarks 640 as the approximate location of the UE 200.

[0097] If the UE 200 determines that the SPS-derived location estimate has a low confidence level, e.g., below a predetermined threshold, the UE may send location information to the UE 114 (and other UEs) including the non-SPS-derived location estimate, the source of the location estimate (i.e., the non-SPS information), and the confidence level of the location estimate.

[0098] 7 illustrates a signaling and process flow 700 illustrating a UE 200 receiving one or more anomalous SPS signals and identifying the anomalous SPS signals as anomalous, which may correspond, for example, to blocks 510 and 512 of FIG. 5. Flow 700 includes the steps shown, which are by way of example only, and steps may be added, reordered, and / or removed. Also, to facilitate understanding, a limited amount of SPS signals are shown, although numerous other signals may be received by the UE 200, some of which will be discussed.

[0099] At stage 710, the UE 200 receives anomalous SPS signals 680, 625 from the SV183 and the satellite signal emulator 620, respectively. The anomalous SPS signal 680 may have a format corresponding to the SV183, for example, but may be inaccurate in some respects (e.g., timing, power, etc.). As another example, the signal 680 may have the format of another SV, i.e., an SV other than the source of the signal 680, SV183 in this example. The anomalous SPS signal 625 may have the format of an SPS signal corresponding to an SV, SV191 in this example.

[0100] In stage 720, the UE 200 may perform a sky aperture test to determine whether the received signal is expected to be received and / or whether the received signal originates from an expected region in the sky. For example, the anomaly detection module 284 may be configured to use an estimate of the location of the UE 200 to determine which SVs should be visible and / or which SVs should not be visible to the UE 200. The estimate of the location of the UE 200 may be determined using one or more of a variety of techniques, such as dead reckoning based on a previously determined location, or using a known location of the serving base station as the estimated location, or another technique. The module 284 may be configured to determine the expected visibility based on one or more constellations of the SVs and ephemeris data (indicative of current and future SV locations) regarding the approximate location of the UE 200. The approximate location of the UE 200 may be based, for example, on the received base station signal and the known location of the signaling base station, the previously determined location of the UE, and the time since the location determination, etc. The anomaly detection module 284 may be configured to identify a signal as anomalous if the signal corresponds to an SV that should not be visible at the current approximate location of the UE 200. Also or alternatively, the anomaly detection module 284 may be configured to determine an approximate direction (possibly corresponding to a region of the sky) from which the received signal was sent. For example, the module 284 may use sensor information from one or more of the sensors 213 regarding the orientation of the UE 200 and the angle of arrival of the received signal relative to the UE 200 to determine a region relative to the location of the UE 200 from which the received signal originated, i.e., a source region. The source region may be a range of angles relative to the location of the UE 200, e.g., multiple combinations of the spherical coordinates θ and φ. For example, the source region may be a source direction determined from the angle of arrival and orientation of the UE 200 and an uncertainty around the source direction, such that the source region includes the source direction and any angle within a threshold angle (e.g., 5°) of the source direction.The module 284 may be configured to determine whether the source region corresponds to (includes) an expected location of an SV (e.g., an SV sending a signal having the same format as that of the received signal) corresponding to the received signal (e.g., based on ephemeris data). The module 284 may be configured to identify the received signal as an anomalous PS signal if the signal did not originate from the expected location of the SV, e.g., if the expected location is not within the determined source region. In the exaggerated example shown in FIG. 6, the module 284 may determine that for the anomalous signal 615, the source region (which would include the satellite signal emulator 610) does not include the SV 191, and thus the module 284 may mark the anomalous signal 615 as anomalous.

[0101] In stage 730, non-fault SPS signals 682, 683, 691, 692 are sent by SV 182, 183, 191, 192 and received by UE 200. The timing of the SPS signals shown is an example, and the SPS signals may be received at times in addition to or instead of the times shown. For example, non-fault SPS signal 691 may be sent by SV 191 and received by UE 200 before the fault SPS signal 615 is sent by satellite signal emulator 620 and received by UE 200. Non-fault SPS signal 683 may have a different carrier frequency than fault SPS signal 680, for example. Non-fault SPS signal 691 may have the same carrier frequency as fault SPS signal 615, for example. Non-fault SPS signals 682, 692 may have the same carrier frequency as non-fault SPS signals 683, 691, for example, respectively.

[0102] At stage 740, the UE 200 may perform position determination from non-SPS information, such as dead reckoning position determination. For example, the processor 210 may use one or more motion sensor measurements to determine an amount (and possibly a direction) of movement of the UE 200 from a time of a previously determined location. The processor 210 may be configured to determine one or more expected current SPS signal measurements using the determined movement of the UE 200 and one or more previous SPS signal measurements (e.g., one or more raw measurements, such as time of arrival, and / or one or more processed measurements, such as pseudo ranges). For example, the processor 210 may be configured to determine an approximate current location of the UE 200 using the determined movement (e.g., magnitude and direction) and a previously determined location of the UE 200. The processor 210 may be configured to determine an expected current SPS signal measurement using the approximate current location of the UE 200 and the time since the previously determined location was determined. The processor 210 may be configured to trigger a conformance check in response to an expected current SPS signal measurement differing from a corresponding actual current SPS signal measurement by more than a threshold amount. The threshold may take various forms (e.g., a percentage, a unit amount of measurement (e.g., power)) and may have various values.

[0103] In stage 750, the UE 200 may check SPS signal compatibility to determine whether the SPS signal is abnormal. The anomaly detection module 284 may be configured to determine whether one or more incompatibilities exist with respect to one or more SPS signals received by the UE 200 relative to one or more expectations. The SPS signal incompatibility may be, for example, an unexpected signal measurement result determined relative to one or more other SPS signals from the same SV and / or relative to one or more other SPS signals (from the same constellation and / or one or more other constellations) from one or more other SVs and / or based on a determined location approximation. For example, the anomaly detection module 284 may be configured to determine whether an inconsistency exists between SPS signals of different bands (carrier frequencies of different bands) and / or between SPS signals of different SVs (within and / or between constellations). Other examples for determining SPS signal incompatibility are possible.

[0104] The anomaly detection module 284 may be configured to determine whether the SPS signal has a received power that does not conform to one or more expectations. For example, the module 284 may be configured to detect that the received power differs significantly from another received signal power by an expected amount. The anomaly detection module 284 may be configured to determine an actual power difference between the received signals and a corresponding expected power difference, and determine whether the actual power difference differs from the expected power difference by a power threshold. The analyzed SPS signals may correspond to the same SV, may have the same or different carrier frequencies, or the analyzed SPS signals may correspond to different SVs (within the same constellation or in different constellations). For example, in response to an anomaly signal 615 having a format that corresponds to (similar to or identical to) the format of a signal sent by SV191, the anomaly detection module 284 may determine an actual power difference between the anomalous SPS signal 615 (from the satellite signal emulator 620) and the non-anomalous SPS signal 691 (from SV191), thereby revealing that the anomalous signal 615 originated from SV191. The anomaly detection module 284 may further determine an expected power difference for multiple SPS signals received from the SV 191. For example, in the case of multiple SPS signals with the same carrier frequency both received from the SV 191 within a threshold amount of time of each other, the anomaly detection module 284 may determine (e.g., retrieved from the memory 211) an expected power difference that is very small. The anomaly detection module 284 may determine whether the actual power difference between the signals 615, 691 differs from the expected power difference by more than a power threshold. For example, the expected power difference for signals from the same SV within a small time window may be zero (or near zero), and the power threshold may be small, e.g., 1 dB. Because the anomalous signal 615 comes from the satellite signal emulator 620, the power of the signal 615 may be much higher than the power of the signal 691, and therefore the power difference between the signals 615, 691 may be much higher than 1 dB, in response to which the anomaly detection module 284 may identify the signal 615 as anomalous (and / or identify the signal 691 as anomalous).Comparing signals over time that are believed to be from the same SV and have the same carrier frequency can help detect the introduction of a spoofed SPS signal. As another example, the anomaly detection module 284 can determine the actual and expected power difference for the signals 615, 691, where the signals 615, 691 have different frequencies. In this case, the expected power difference can be small (e.g., zero or near zero) and the power threshold can be small, e.g., 1 dB. Comparing signals from the same SV but with different frequencies can help identify a spoofed signal, since a signal can only be spoofed for an SV (or constellation) over one carrier frequency (or at least less than all carrier frequencies). As another example, the anomaly detection module 284 can determine the actual and expected power difference between the anomalous SPS signal 615 and another SPS signal of another SV, e.g., one of the SPS signals 682, 683, 692. The anomaly detection module 284 may determine an expected power difference based on ephemeris data for the appropriate SVs 182, 183, 192 and the approximate location of the UE 200. The power threshold may depend on the expected power difference or may be independent of the power difference, e.g., a percentage or decibel amount. Comparing signals from different SVs may help identify spoofed signals, since a signal may only be spoofed for one constellation (or at least less than all constellations). For example, if the UE 200 is indoors, all SPS signals will generally be received at very low power, if any, whereas a spoofed SPS signal may be received at a much higher power than the actual SPS signal and at a power sufficient for location determination. The SV may be selected based on its visibility to the UE 200 and / or its relative position in the sky. For example, the anomaly detection module 284 may select SPS signals for SVs that are sufficiently close to each other that the attenuation and / or multipath effects on the SPS signals from the SVs are likely to be similar, e.g., such that the expected power difference is close to zero.

[0105] Received power inconsistencies over time and / or between SVs (e.g., between constellations) may be particularly useful in identifying indoor SPS signal spoofing. For example, if the anomaly detection module 284 determines that the power of an SPS signal from an SV in one constellation, e.g., SV 181 in constellation 180, decreases (e.g., by the UE 200 moving from outdoors to indoors), but the supposed received power from an SPS signal from another SV in another constellation, e.g., SV 191 in constellation 190, increases or at least does not decrease as much as the power decrease of the SPS signal from SV 181, then the anomaly detection module 284 may identify the SPS signal from SV 191 as anomalous. The anomaly detection module 284 may be configured to analyze the SPS signals from multiple SVs of multiple constellations such that if the received power of the SPS signals does not decrease approximately as much as the received power of the SPS signals from another constellation (or the power even increases approximately as much as their power), the anomaly detection module 284 may identify the SPS signal of one constellation as anomalous.

[0106] The anomaly detection module 284 may be configured to determine whether the SPS signal has a corresponding pseudo range that does not conform to an expectation. For example, the anomaly detection module 284 may be configured to determine that a pseudo range for an SV based on a time-filtered location determination differs from a pseudo range determined using an SPS signal supposed to be from that SV by more than a pseudo range threshold. The anomaly detection module 284 may use a filter result (e.g., a Kalman filter result) for the location of the UE 200 to determine an expected pseudo range for an expected location of the SV based on the ephemeris data. The anomaly detection module 284 may determine a measured pseudo range to the SV based on a measured SPS signal corresponding to the SV (e.g., having a format of a signal from the SV). The anomaly detection unit may identify a measured SPS signal as anomalous if the expected pseudo range differs from the measured pseudo range by more than a pseudo range threshold, e.g., 1%, or 5%, or 10%. This may be useful for identifying a signal from an SV of one constellation that emulates a signal from another constellation as anomalous. As another example, the anomaly detection module 284 may be configured to determine that pseudo ranges based on received (real or spoofed) SPS signals purportedly from the same SV deviate from expected by more than a pseudo threshold amount. For example, the anomaly detection module 284 may identify a change in pseudo range between pseudo range determinations of more than 1%, or more than 5%, or more than 10% to indicate that the SPS signal corresponding to the later pseudo range determination is anomalous. The value of the pseudo range threshold may depend on the time between receipt of the SPS signals corresponding to the pseudo ranges being compared (e.g., the higher the pseudo range threshold has a value (e.g., a higher percentage), the longer the time between signal receipts resulting in the compared pseudo ranges). As another example, the anomaly detection module 284 may be configured to determine whether the pseudo range differences based on measured SPS signals differ from expected by more than a threshold amount.Similar to the above discussion regarding power differences, the anomaly detection module 284 may determine a measured pseudo range difference based on measured signals, e.g., the anomalous signal 615 and the non-anomalous signal 692, determine an expected pseudo range difference for the corresponding SV191, 192 (e.g., based on the approximate location of the UE 200 and ephemeris data for the SV191, 192), and identify at least one of the signals 615, 691 as anomalous if the difference between the measured pseudo range difference and the expected pseudo range difference differs by more than a threshold amount, e.g., 1%, 5%, 10%.

[0107] The anomaly detection module 284 may select which SPS signal to use to perform a compatibility check, e.g., to determine received power difference and / or pseudo range difference. For example, the anomaly detection module 284 may be configured to select one or more SPS signals corresponding to one or more respective SVs based on a priority of the SVs and / or constellations. The anomaly detection module 284 may select an SPS signal for an SV based on, e.g., a level of trust for the SVs and / or constellations and / or based on one or more criteria. For example, a native SPS (i.e., an SPS owned by the country associated with the UE 200) may be given the highest level of trust. For example, GPS may be given the highest trust (over other SPSs) by UEs associated with (e.g., believed to be currently located there or purchased there) the United States, Galileo by UEs associated with Europe, Beidou by UEs associated with China, and GLONASS by UEs associated with Russia. A non-native SPS may be given lower trust, e.g., in a hierarchy of trust that may, e.g., depend on the native SPS. UE200 may, for example, use the SPSs in order of trustworthiness, using the most trustworthy SPS or the two most trustworthy SPSs to determine an approximate location of UE200, and use this approximate location to check compatibility with one or more of the remaining SPSs.

[0108] In stage 760, the UE 200 receives a base station signal 765 from the TRP 300 (e.g., one or more of the base stations 120-123 or another base station). The base station signal 765 may include a positioning signal (e.g., a PRS) and / or a communication signal.

[0109] In stage 770, the base station signal 765 may be used by the anomaly detection module 284 to detect a match between the base station signal 765 and one or more SPS signals. For example, the anomaly detection module 284 may be configured to use the base station signal 765 from the TRP 300 (e.g., from the BTS 120 or BTS 123 as shown in FIG. 6) to determine an approximate location of the UE 200. The module 284 may be configured to use the approximate location to determine one or more expected received powers of one or more SPS signals and / or to determine one or more expected pseudo ranges for one or more SVs. The module 284 may be configured to determine whether the expected received powers and / or expected pseudo ranges match the measured SPS signals or expected received powers and / or pseudo ranges determined from the measured SPS signals. For example, the module 284 may determine whether the measured received power and the expected received power differ by less than a power threshold and / or whether the measured pseudo range and the expected pseudo range differ by less than a pseudo range threshold.

[0110] At stage 780, the UE 200 may perform a compatibility check using one or more other techniques, i.e., non-SPS techniques. For example, the anomaly detection module 284 may be configured to obtain location information based on radar, lidar, WAN, and / or Wi-Fi technologies, as such information is available. The anomaly detection module 284 may be configured to use location information obtained by one or more of these other technologies to determine whether the location of the UE 200 according to such information matches one or more SPS signals, e.g., received power levels and / or determined pseudo ranges or locations. For example, the anomaly detection module 284 may obtain an approximate location using signaling 630 (e.g., radar, lidar, sonar) between the UE 200 and the UE 114 to determine an approximate location of the UE 200 based on the location of the UE 114 and the distance between the UE 114 and the UE 200. As another example, the anomaly detection module 284 may use visual information to determine an approximate location of the UE 200, for example, by using visual information recognizing the landmarks 640, and use the location of the landmarks (e.g., stored in the memory 211, provided by the landmarks 640, or provided by another entity, such as the server 400) as the approximate location of the UE 200. The anomaly detection module 284 may combine techniques, for example, using visual information of the landmarks to identify the landmarks and obtain the location of the landmarks, using radar to determine the distance from the landmarks, and using this distance and the landmark location to determine the approximate location of the UE 200. As another example, the anomaly detection module 284 may use information regarding constraints on the location of the UE 200 to help identify the SPS signal as anomalous. For example, the anomaly detection module 284 may use map information and information regarding the characteristics of the UE 200 and / or the vehicle in which the UE 200 resides.Thus, for example, the anomaly detection module 284 may compare the determined location and / or pseudoranges corresponding to the SPS signals to identify as anomalous an SPS signal indicating that the UE 200 is in an impossible (or at least unlikely) location, such as on land if the UE 200 is (or is in) a boat, in water if the UE 200 is (or is in) a land vehicle, such as a car or truck, significantly off the train track if the UE 200 is (or is in) a train, etc. As another example, the UE 200 may check one or more other UEs within communication range to determine whether a location determined by the other UE corresponds to an SPS signal measurement obtained by the UE 200. For example, the UE 200 may request the location of another UE and / or receive a notification (e.g., a safety notification) pushed by another UE (e.g., the UE 114 shown in FIG. 6) indicating the location of the other UE. The UE 200, for example, the anomaly detection module 284, may determine whether the location indicated by the notification or provided in response to the request matches SPS signal measurements (e.g., pseudo ranges, locations (e.g., time-filtered locations), etc.) obtained by the UE 200 from the received SPS signal to determine whether the received SPS signal is anomalous.

[0111] The anomaly detection module 284 may be configured to perform one or more of the suitability checks of stage 750 again and / or perform one or more of the suitability checks of stages 770, 780. The anomaly detection module 284 may be configured to perform such checks for all signals based on one or more criteria, such as every Nth SPS signal, or in response to an identification of an SPS signal as an anomaly in stage 750. The anomaly detection module 284 may be configured to perform different suitability checks and / or different amounts of suitability checks based on a sensitivity level of awareness of the location of the UE 200. For example, an anomaly detection module 284 for a smartphone may be configured to perform no suitability checks beyond the SPS signal check in stage 750 for athletic applications, while an anomaly detection module 284 for a military aircraft may be configured to perform all suitability checks for which information is available. The suitability checks and rechecks of anomalous SPS signals may help to confirm or negate the initial identification of the SPS signal as an anomaly. If an SPS signal is identified as anomalous but a subsequent conformance check reveals that the SPS signal conforms to one or more other SPS signals and / or other forms of conformance check, the SPS signal may not be re-identified as anomalous.

[0112] In stage 790, the anomaly detection module 284 may send a message to the server 400, which may be a traffic management server, to provide an indication that the received SPS signal is anomalous and unreliable. The message may include location information, such as a non-SPS derived location estimate, and in some implementations, the source and confidence level of the location estimate, so that the traffic management server may identify whether the anomalous SPS signal is associated with a particular area or vehicle. The traffic management server may, for example, provide a warning to vehicles in a particular area if the anomalous SPS signal is associated with the area.

[0113] 8 illustrates a signaling and process flow 800 in which a UE 200 receives an SPS signal, determines whether the SPS signal is anomalous, and sends location information to other UEs, including a location estimate and the source of the location estimate, and in some implementations, a confidence level of the location estimate. Flow 800 includes the steps shown, which are by way of example only, and steps may be added, reordered, and / or removed. Also, to facilitate understanding, a limited amount of SPS signals are shown, although numerous other signals may be received by the UE 200, some of which will be discussed.

[0114] In step 810, a non-faulty SPS signal is sent by the SVs 181, 182, 183 and received by the UE 200.

[0115] At stage 815, the UE 200 may receive an abnormal SPS signal from the satellite signal emulator 620. The abnormal SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time in addition to or instead of the times shown. For example, a non-abnormal SPS signal may be sent by the SV and received by the UE 200 after the abnormal SPS signal has been sent by the satellite signal emulator 620 and received by the UE 200. The abnormal SPS signal may have the same or a different carrier frequency as some or all of the non-abnormal SPS signals.

[0116] At stage 820, the UE 200 may determine an SPS-based location estimate using the received SPS signals from stage 810 and the anomalous SPS signals received in stage 815 (if any). The processor 210 may be configured to determine an SPS-derived estimated location for the UE 200 using SPS signal measurements, such as time of arrival, and / or one or more processed measurements, such as pseudoranges.

[0117] At stage 830, the UE 200 receives wireless messages from one or more other UEs 114, e.g., via the transceiver 240 shown in FIG. 2, including a location estimate for each transmitting UE, a source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal), and a confidence level of the location estimate. The wireless messages may be, e.g., V2X or other types of messages used for ADAS, such as CAM, DENM, or BSM. The UE 200 may further receive messages broadcast by a traffic control server, which may indicate whether an abnormal SPS signal has been reported within the area of ​​the UE 200.

[0118] At stage 832, the UE 200 may collect data input from non-SPS based sensors, such as IMU sensors, cameras, wireless transceivers, etc. The data input may include, for example, data related to acceleration, heading, speed, wheel rotation count, radar data, lidar data, image information, etc. Of course, it should be understood that the sensor input data is not necessarily collected at one particular moment in time, but may be collected continuously over time as the data becomes available.

[0119] At stage 834, the UE 200 collects its cached location data, e.g., one or more previous location estimates stored by the UE 200. The location data may include the source of the location estimate (e.g., whether the location estimate was derived from an SPS signal or a non-SPS signal) and a confidence level of the location estimate.

[0120] At stage 840, the UE 200 may determine a non-SPS derived location estimate using, e.g., non-SPS information, such as, for example, cached location information, sensor data, and location information received from other UEs, as discussed with reference to FIG. 5. For example, the processor 210 may be further configured to use one or more sensor measurements to determine an amount (and possibly a direction) of movement of the UE 200 from a time of the cached location estimate, e.g., using dead reckoning. The processor 210 may be further configured to use location information from other UEs, if trusted, to assist in determining the location estimate, e.g., using ranging information for other UEs derived from wireless ranging techniques such as radar, lidar, or round trip time measurements. The processor 210 may be configured to use a trust level associated with the cached location information and location information from other UEs to assist in the position determination, e.g., by weighting trusted information more heavily than untrusted information, to determine a trust level of the determined location estimate.

[0121] At stage 850, the UE 200 determines whether the received SPS signal is reliable, for example, as discussed in FIG. 5 and FIG. 7. For example, the UE 200 may determine a trust level of the SPS-derived location estimate. For example, the trust level of the SPS-derived location estimate may be determined as discussed in FIG. 5, FIG. 6, and FIG. 7. The processor 210 may be configured to determine whether the SPS-derived location estimate is reliable using the movement of the UE 200 determined from a sensor, cached location inputs, the location of other UEs, or a combination thereof. For example, a local time for the UE 200 derived from a local oscillator or from a BTS via wireless communication may be compared to an SPS time derived from an SPS signal, for example. In another example, the SPS-derived location estimate may be compared to cached location information or the location of other UEs. In another example, a change in the position of the UE 200 based on, for example, a difference between the SPS-derived location estimate and a previous location estimate from cached location information may be compared to sensor information such as acceleration data, orientation data, etc. In another example, the SPS-derived location estimate may be compared to a non-SPS-derived location estimate. The processor 210 may be configured to determine a confidence level for the SPS-derived location estimate based on an expectation of its variation and a magnitude of its variation relative to the source. The processor 210 may be configured to determine the reliability of the SPS signal based on information received, e.g., from other UEs, e.g., in stage 830, such as a source of location information, a confidence level of the location estimate, or a warning that the received SPS signal has been determined to be anomalous.The processor 210 may be configured to generate an initial trust level at the update rate of the SPS position fixes, and if the trust level is too low to derive additional location information such as a second non-SPS-derived location estimate in stage 840 (e.g., based on other UE location information and sensor information), to determine the trust level, e.g., using a single filter to derive a single non-SPS-derived location estimate from all available non-SPS location information in stage 840, which is compared with the SPS-derived location estimate, or, e.g., using multiple filters to derive a first non-SPS-derived location estimate in stage 840 (e.g., based on cached location information and speed and direction information).

[0122] At stage 860, the UE 200 selects an SPS-derived location or a non-SPS-derived location based on the reliability of the SPS signal. For example, the processor 210 may be configured to check a confidence level against a predetermined threshold. If the confidence level is below the threshold (indicating low confidence), the processor 210 may select a non-SPS-derived location estimate, and if the confidence level is above the threshold (indicating high confidence), the processor 210 may select an SPS-derived location estimate.

[0123] At stage 870, the UE 200 sends, e.g., via the transceiver 240 shown in FIG. 2, a wireless message including the selected location estimate and a source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or non-SPS information, and in some implementations, a type of non-SPS information) to one or more other UEs 114. In some implementations, a confidence level of the location estimate may be sent. The wireless message may be, e.g., a C-V2X or other type of message used for ADAS, such as a CAM, DENM, or BSM. If the UE 200 selects a non-SPS-derived location estimate, the UE 200 may further send a message to the traffic control server to indicate that an abnormal SPS signal has been detected by the UE 200 and may include location information, e.g., the non-SPS-derived location estimate, the source of the location estimate, and a confidence level of the location estimate.

[0124] FIG. 9 illustrates a wireless communication system 900 in which UEs 902 and 904 (shown as vehicles) transmit wireless location information messages to provide location estimates for the UEs, as well as sources of location information, to one or more other entities. As shown in FIG. 9, UE 902 may wirelessly communicate with other entities, such as UE 904 (shown as another vehicle) via communication link 903, UE 910 (shown as an RSU) via communication link 907, and UE 912 (carried by pedestrian 914) via communication link 913. UE 904 is also shown wirelessly communicating with UE 910 via communication link 915. The communication may be direct communication using any suitable signaling, such as a PC5 interface, e.g., DSRC or C-V2X, or may be indirect communication using infrastructure such as an RSU 910, or over a Uu interface, mmWave, or any wireless communication using a base station (e.g., as shown in FIG. 1).

[0125] 9 shows UE 902 sending a location information message 920 to UE 904, which may be sent to UE 910 and UE 912 as well, for example, using a broadcast, multicast, or unicast transmission. Additionally, the various UEs 904, 910, and 912 may provide similar location information messages to UE 902 and to each other, as shown, for example, by location information message 921, which may be sent from UE 904 to UE 910 and also sent to UE 902 via communication link 903. Location information messages 920 and 921 may be the same as the messages sent in stages 830 and 870 of FIG. 8, for example. Location information message 921 may have the same format as location information message 920, but the contents of location information messages 920 and 921 are specific to UE 902 and 904, respectively.

[0126] In some implementations, the location information message 920 may be split into two or more portions including a first portion 922 including a location estimate determined for the UE 902 and a second portion 924 including a source of location information used to derive the location estimate. The location information message 920 may further include a third portion 926 providing a determined confidence level for the location estimate. The location information message 920 may further include a fourth portion 928 indicating that the received SPS signal was determined to be anomalous (e.g., the UE 902 is under an SPS spoofing attack).

[0127] For example, the various portions 922, 924, 926, and 928 of the location information message 920 may be different information elements (IEs). The IE 924 may indicate in the IE 922 the source of the location information used to generate the location estimate. The source of the location information in the IE 924 may simply identify whether the source of the location information is an SPS or non-SPS. In other implementations, the source of the location information in the IE 924 may identify the type of information used to generate the location estimate, such as whether the source is an SPS signal, a cellular signal, a local area network (LAN) signal, a sidelink signal (e.g., from another UE or RSU), a time difference of arrival (TDOA), an angle of arrival (AoA), and a received signal strength (RSS). In some implementations, the IE 924 may include a multi-bit value used to identify the type of source of the location information from an enumerated list of sources. Table 2 shows, by way of example, application layer IEs that may provide the location source using the enumerated values ​​that may be included in the Source IE 924 of the Location Information message 920. Of course, other sources may be enumerated as appropriate.

[0128] [Table 2]

[0129] In some implementations, the Source IE 924 in the Location Information message 920 may indicate the source of the location information using a binary variable, such as, for example, SPS or non-SPS. Table 3 shows, by way of example, application layer IEs that may be included in the Source IE 924 of the Location Information message 920 and provide a location source, such as SPS or non-SPS.

[0130] [Table 3]

[0131] The receiving UE 904 (or any of the UEs 910 and 912) may use the source of the location information in the location information message 920 to assist in its own location determination and in determining whether the received SPS signal may be anomalous. For example, if the UE 904 receives location information messages from multiple sources, and some of the location information messages indicate that the source of the location information is an SPS signal and other location information messages indicate that the source of the location information is an SPS signal, the UE 904 may select to use location estimates from other UEs originating from SPS signals to assist in the location determination. The UE 904 may use location estimates from other UEs, e.g., originating from SPS signals, as a filter to verify whether the SPS signals received by the UE 904 may be abnormal (e.g., as discussed in FIG. 5), and if the SPS signals are determined to be reliable, may determine a location estimate using the received SPS signals and possibly using non-SPS information (location estimates from other UEs, originating from SPS signals, and ranges to other UEs, e.g., in sidelink positioning, or previously cached location and sensor information, e.g., dead reckoning, etc.). Moreover, if multiple other UEs report that their source of location information is non-SPS-based information, the UE 904 may be triggered to check the validity or reduce the confidence level in its own SPS-derived location estimate. Thus, sources of location information from other UEs may be used for autonomous / cooperative driving use cases.

[0132] Additionally, the location information message 920 may include an IE including a trust level for the location estimate, which may also be used to determine a location estimate and to determine a trust level for the location estimate, as discussed above, e.g., in FIG. 5.

[0133] In addition, if the UE 902 determines that it is under an SPS spoofing attack (or possibly receiving an unreliable anomalous SPS signal), the UE 902 can include an IE 928 in the location information message 920 that alerts the UE that its received SPS signal is unreliable. An indication of an unreliable SPS signal (e.g., due to an SPS spoofing attack or other anomalous signal) can be provided to other UEs, e.g., the UE 904, which can use the alert to reduce the chance of misidentifying the UE 902 as a "rogue" vehicle and trigger its own validation of the SPS signal. An indication of an unreliable SPS signal can be provided explicitly by the UE 902 as a separate IE 928, e.g., as a single bit, or can be provided implicitly when the position location source IE 924 indicates that the source of the location information is non-SPS.

[0134] As shown in FIG. 9, a traffic server 930 may be present and connected to the RSU 910 via a communication link 932, which may be, for example, a backhaul link 911, or via a wireless connection through the network 130 as shown in FIG. 1. The traffic server 930 may be a spectrum cheating authority that may be used to collect reports, for example, V2X cheating reports, for example, to detect unauthorized use of licensed bands. However, when relying on a central authority for identification of RF issues, latency is an issue. For example, for safety applications and advanced applications such as cooperative driving, delays in obtaining information about RF issues or cheating are undesirable. Thus, in some implementations, the RSU 910 (or other sidelink UEs) may be used to identify fraudulent behavior of signals.

[0135] In one implementation, the RSU 910 may be used to detect unreliable SPS signals based on location information messages provided by one or more UEs. For example, the RSU 910 may receive location information messages 920 and 921 from the UEs 902 and 904 and may determine whether the SPS signals in the area of ​​the RSU 910 are unreliable from the contents of one or more of the location information messages 920 and 921. The RSU 910 may report the presence of the unreliable SPS signals to a competent authority, such as, for example, the indicated traffic server 930 and / or the UEs 902 and 904.

[0136] FIG. 10 illustrates a signaling and process flow 1000 illustrating detection of an unreliable SPS signal by a UE 1002 based on location information messages received from UEs 1006-1, 1006-2, 1006-3 (which may be collectively referred to as UEs 1006). The UE 1002 may be an RSU, sometimes referred to herein as an RSU 1002, but may also be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. The UE 1006 may be the same as the UE 200, for example, and may individually determine whether the received SPS signal is abnormal and send location information to the other UEs and the RSU 1002. The flow 1000 includes the steps shown, but are by way of example only, and steps may be added, reordered, and / or removed. Also, to facilitate understanding, a limited amount of UEs 1006 and SPS signals are shown, but numerous other signals and UEs may be included.

[0137] In step 1010 , a non-faulty SPS signal is sent by the SVs 181 , 182 , 183 and received by the UE 1006 .

[0138] In stage 1015, the UE 1006 may receive an abnormal SPS signal from the satellite signal emulator 620. The abnormal SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time in addition to or instead of the times shown. For example, a non-abnormal SPS signal may be sent by the SV and received by the UE 1006 after the abnormal SPS signal has been sent by the satellite signal emulator 620 and received by the UE 1006. The abnormal SPS signal may have the same or a different carrier frequency as some or all of the non-abnormal SPS signals.

[0139] In stage 1020, the UE 1006 may determine whether the received SPS signal is abnormal and may select whether to use the SPS signal or a non-SPS signal for location estimation, e.g., as described in stages 820-860 of FIG. 8 or elsewhere herein.

[0140] At stage 1030, the RSU 1002 may be configured to receive, e.g., via the transceiver 240 shown in FIG. 2, a wireless message from the UE 1006 including the selected location estimate and a source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or a non-SPS signal). The message sent at stage 1030 may be, e.g., similar to stage 870 shown in FIG. 8. In some implementations, the message may further include a confidence level of the location estimate and / or an indication of whether the received SPS signal was detected as anomalous. The wireless message may be, e.g., a V2X or other type of message used for ADAS, such as a CAM, DENM, or BSM.

[0141] At stage 1040, the processor 210 in the RSU 1002 may be configured to determine whether the SPS signal is reliable based on the one or more messages received from the UE 1006.

[0142] The RSU 1002 may determine, for example, from one or more location information messages 1030, whether the SPS in an area around the RSU 1002 (e.g., an area within wireless range from the UE 1006 to the RSU 1002) is reliable or unreliable. For example, in some implementations, the RSU 1002 may determine, from a source of information in the location information message 1030, whether a location estimate is derived from an SPS signal or a non-SPS signal. If a large number of vehicles are generating location estimates based on non-SPS signals, the RSU 1002 may determine that the SPS signals in the area around the RSU 1002 are unreliable. For example, if the number of UEs deriving location estimates based on non-SPS signals (within a predetermined time period) is greater than a predetermined threshold, the SPS signals may be determined to be unreliable. The number of UEs may be, for example, the rate at which UEs send location information messages, and, for example, if the percentage of UEs deriving location estimates based on non-SPS signals (within a predetermined time period) is higher than a predetermined threshold, it may be determined that the SPS signals are unreliable.

[0143] In some implementations, the RSU 1002 may determine whether the SPS signals in an area are reliable or unreliable from the trust level of the location estimates. For example, if some location estimates in the location information message 1030 are derived from SPS signals but the trust level for the location estimates is low, the SPS signals in the area of ​​the RSU 1002 may be determined to be unreliable. A threshold number of low trust levels may be used, and if the number of location estimates with low trust levels is higher than the threshold, the SPS signals may be identified as unreliable. Different thresholds or weightings may be used for different levels of trust. The RSU 1002 may determine the reliability of the SPS signals in an area based on both the source of information and the trust level. For example, if some location estimates are derived from non-SPS signals and some remaining location estimates derived from SPS signals are assigned low trust levels, the RSU 1002 may determine that the SPS signals in the area are unreliable.

[0144] In some implementations, the RSU 1002 may determine whether the SPS signals in the area are reliable from an indication in the location information message 1030 that the received SPS signals have been determined to be abnormal by the UE. For example, if several vehicles are sending location information messages warning that the received SPS signals have been determined to be abnormal, the RSU 1002 may determine that the SPS signals in the area around the RSU 1002 are unreliable. In some implementations, receipt of a single indication warning that the received SPS signals have been determined to be abnormal may be sufficient to determine that the SPS signals in the area are unreliable, while in other implementations a larger number or threshold percentage of UEs may be required.

[0145] At stage 1050, the RSU 1002 may be configured to send, when the SPS signals are determined to be unreliable at stage 1040, a wireless message to one or more UEs 1006 (e.g., UEs within wireless range), e.g., via the transceiver 240 shown in FIG. 2, having an indication that the SPS signals in the area are unreliable. For example, the message provided to the UEs 1006 may be transmitted via a Wave Service Advertisement (WSA) or other channel and may provide an implicit or explicit suggestion to use non-SPS signals to derive a location estimate.

[0146] In stage 1055, when it is determined that the SPS signal in an area within the wireless range of the RSU 1002 is unreliable, the RSU 1002 may be configured to send a message to the traffic server 1004, for example, via the transceiver 240 or the transceiver 250 shown in FIG. 2, having an indication that the SPS signal is unreliable.

[0147] Referring to FIG. 9, in another implementation, the RSU 910 may be used to identify unreliable or abnormal SPS signals based on location information messages provided by one or more UEs. For example, in some implementations where the UEs 902 and 904 do not determine whether an SPS signal is abnormal but provide an SPS-based location estimate to the RSU 910, some or all of the UEs within range of the RSU 910 may receive an abnormal SPS signal and may not be aware that the SPS signal is abnormal. This may cause the UE to send an inaccurate location estimate based on the abnormal SPS signal. Thus, the RSU 910 may determine, for example, whether an SPS signal in the area of ​​the RSU is unreliable based at least in part on the location estimate. For example, the RSU 910 may compare a distance between location estimates for a pair of UEs to a range between the pair of UEs provided by the UEs in, for example, location information messages 920 and 921. A discrepancy between the estimated locations and ranges of the UEs may be used to identify unreliable SPS signals in the area. The RSU 910 may report the presence of an unreliable SPS signal to a competent authority, such as, for example, the traffic server 930 and / or the UEs 902 and 904 as shown.

[0148] FIG. 11 illustrates a signaling and process flow 1100 illustrating identification of an unreliable or abnormal SPS signal by a UE 1102 based on location information messages received from UEs 1106-1, 1106-2, 1106-3 (which may be collectively referred to as UEs 1106). The UE 1102 may be an RSU, sometimes referred to herein as an RSU 1102, but may also be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. The UE 1106 may be the same as, for example, the UE 200, but may not be able to individually determine whether a received SPS signal is abnormal. The flow 1100 includes the steps shown, but are by way of example only, and steps may be added, reordered, and / or removed. Also, to facilitate understanding, a limited amount of UEs 1106 and SPS signals are shown, but numerous other signals and UEs may be included.

[0149] At step 1110 , a non-faulty SPS signal is sent by the SVs 181 , 182 , 183 and received by the UE 1106 .

[0150] In stage 1115, the UE 1106 may receive an abnormal SPS signal from the satellite signal emulator 620. The abnormal SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time in addition to or instead of the times shown. For example, a non-abnormal SPS signal may be sent by the SV and received by the UE 1106 after the abnormal SPS signal has been sent by the satellite signal emulator 620 and received by the UE 1106. The abnormal SPS signal may have the same or a different carrier frequency as some or all of the non-abnormal SPS signals.

[0151] At stage 1120, the UE 1106 may determine a location estimate based on the received SPS signals, including the spoofed SPS signals from stage 1115. The UE 1106 may further determine ranges to other nearby UEs using well-known wireless ranging techniques (WAN and / or Wi-Fi technologies), such as RADAR sensors, LIDAR sensors, and / or round-trip time measurements.

[0152] In stage 1130, the RSU 1102 may be configured to receive a wireless message from the UE 1106, e.g., via the transceiver 240 shown in FIG. 2, that includes an SPS-based location estimate and may include a range to other UEs. Because the UE 1106 does not determine whether the received SPS signal is anomalous in this implementation, the message of stage 1130 may not include a source of the information or a confidence level associated with the location estimate. The wireless message may be, e.g., a V2X or other type of message used for ADAS, such as a CAM, DENM, or BSM.

[0153] At stage 1140, the processor 210 in the RSU 1102 may be configured to determine, based on the one or more messages received from the UE 1106, whether the SPS signal is reliable.

[0154] The RSU 1102 may, for example, determine whether the SPS signals in an area around the RSU 1102 (e.g., an area within wireless range from the UE 1106 to the RSU 1102) are reliable or unreliable, based at least in part on the location estimate received in the message at stage 1130. As discussed herein, for example, the RSI 1102 may check the suitability of the location estimate for each UE over time. If the location estimate for the UE is changed, for example, to not match the expected movement of the UE (e.g., a vehicle moving sideways or backwards on a highway), the RSU 1102 may determine that the SPS signals are unreliable. Additionally or alternatively, the RSU 1102 may check the suitability of the estimated position against the range provided in the message 1130. For example, the RSU 1102 may determine the distance between the UE pair based on its location estimate provided in the message 1130 and compare the distance to the range between the UEs provided in the message 1130. The RSU 1102 may determine whether the SPS signal is reliable based on a comparison of the distance and the range to one or more pairs of UEs.

[0155] At stage 1150, the RSU 1102 may be configured to send, when the SPS signals are determined to be unreliable at stage 1140, a wireless message to one or more UEs 1106 (e.g., UEs within wireless range), e.g., via the transceiver 240 as shown in FIG. 2, having an indication that the SPS signals in the area are unreliable. For example, the message provided to the UEs 1106 may be transmitted via a wave service advertisement (WSA) or other channel and may implicitly or explicitly notify the vehicle to check location information fidelity or may recommend modifying the source of location information used to determine a location estimate.

[0156] In stage 1155, when it is determined that the SPS signal in an area within the wireless range of the RSU 1102 is unreliable, the RSU 1102 may be configured to send a message to the traffic server 1104, for example, via the transceiver 240 or the transceiver 250 shown in FIG. 2, having an indication that the SPS signal is unreliable.

[0157] Thus, detection of anomalous SPS signals may be offloaded to an RSU, which may have access to more diverse sources of information than any one UE, e.g., from various UEs. Moreover, by using an RSU to identify anomalous SPS signals compared to using a remote traffic server, latency may be reduced, and the RSU may provide useful information to the traffic server.

[0158] FIG. 12 is a flow chart 1200 illustrating a method of transmitting location information by a user equipment (UE), such as UE 200.

[0159] In block 1202, the UE receives SPS signals, e.g., as discussed in FIG. 5, steps 710 and 730 of FIG. 7, and steps 810 and 815 of FIG. 8. The SPS signals may be non-anomalous signals or may be anomalous signals, such as those generated by a spoofed signal source. The means for receiving SPS signals may be, for example, an SPS receiver 217 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location determination module 282 in UE 200.

[0160] In block 1204, the UE determines whether the received SPS signals are reliable, e.g., as discussed in blocks 510 and 512 of Figure 5, Figure 7, and stage 850 of Figure 8. The means for determining whether the received SPS signals are reliable may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as anomaly detection module 284 in the UE 200.

[0161] In block 1206, the UE determines a location estimate to be transmitted to other UEs, e.g., as discussed in blocks 512 and 514 of Figure 5, Figure 7, and step 860 of Figure 8, where if the received SPS signals are determined to be reliable, the source of information used to determine the location estimate is the SPS signals, and if the received SPS signals are determined to be unreliable, the source of information used to determine the location estimate is non-SPS information. The non-SPS information may be, e.g., at least one of a cached location for the UE, sensor information including information from radar, sonar, lidar, accelerometer, gyroscope, magnetometer, etc., location information received for other UEs, received cellular signals, received LAN signals such as WiFI signals, other short-range signals such as UWB, mmWave, etc., or a combination thereof. The means for determining a location estimate to be transmitted to other UEs, where if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information, may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as a location determination module 282, an anomaly detection module 284, and a location information reporting module 286 in the UE 200.

[0162] At block 1208, the UE transmits a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate, e.g., as discussed in blocks 512, 514, and 516 of FIG. 5, stages 860 and 870 of FIG. 8, and FIG. 9. In one implementation, the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, a smart device, e.g., as discussed in FIG. 1 and in FIGS. 8 and 9. In one implementation, the wireless message may be one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message. For example, the wireless message may be one of a common awareness message (CAM), a distributed notification message (DENM), or a basic safety message (BSM). In one implementation, for example, an indication of the source of information may be provided in an information element in a location information message transmitted to one or more UEs. In one example, the indication of the source of information may be a variable indicating whether the source of information is an SPS signal or non-SPS information, for example, as shown in Table 3. In another example, the indication of the source of information may identify a type of source of information, for example, as shown in Table 2. The indication of the source of information may be a variable identifying a type of source of information, for example, as shown in Table 2. The type of source of information may be identified from an enumerated list of types of source of information. For example, the enumerated list of types of source of information may include, for example, one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or a combination thereof.Means for transmitting a message to one or more UEs including a location estimate for the UE and an indication of the source of information used to generate the location estimate may be, for example, the transceiver 240 shown in FIG. 2 , one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0163] In one implementation, the UE may provide an indication of whether the SPS signal is reliable in a message transmitted to one or more UEs, for example, as shown in step 870 of Figure 8 and in Figure 9. Means for providing an indication of whether the SPS signal is reliable in a message transmitted to one or more UEs may be, for example, the transceiver 240 shown in Figure 2 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0164] In one implementation, the UE may further determine a first location estimate based on the SPS signal, e.g., as discussed in stage 502 of FIG. 5 and stage 850 of FIG. 8, and may determine a second location estimate based on the non-SPS signal, e.g., as discussed in stage 516 of FIG. 5 and stage 840 of FIG. 8. The UE may compare the first location estimate to the second location estimate, e.g., as discussed in stages 510 and 512 of FIG. 5 and stages 850 and 860 of FIG. 8. For example, whether the received SPS signal is reliable may be determined based on a comparison of the first location estimate to the second location estimate, e.g., as discussed in stages 510 and 512 of FIG. 5 and stages 850 and 860 of FIG. 8. The means for determining a first location estimate based on the SPS signal may be one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, e.g., location determination module 282 in UE 200. The means for determining the second location estimate based on the non-SPS information may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location determination module 282 in UE 200. The means for comparing the first location estimate with the second location estimate may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as anomaly detection module 284 in UE 200.

[0165] For example, in one implementation, the UE may determine a location estimate to be transmitted to other UEs by selecting a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable and selecting a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable, e.g., as discussed in stages 510 and 512 of Figure 5 and stages 850 and 860 of Figure 8. The means for selecting a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable and selecting a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable may be one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, e.g., anomaly detection module 284, location information reporting module 286 in UE 200.

[0166] FIG. 13 is a flow chart 1300 illustrating a method of transmitting location information by a user equipment (UE), such as UE 200.

[0167] In block 1302, the UE receives a wireless message from a second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, e.g., as discussed in block 504 of FIG. 5, stages 830 and 870 of FIG. 8, and FIG. 9, where the source of information includes a satellite positioning system (SPS) signal or non-SPS information. In one implementation, the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, a smart device, e.g., as discussed in FIG. 1 and in FIGS. 8 and 9. In one implementation, the wireless message may be one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message. For example, the message may be one of a common awareness message (CAM), a distributed notification message (DENM), or a basic safety message (BSM). In one implementation, for example, an indication of the source of information may be provided in an information element in a location information message sent to one or more UEs. In one example, the indication of the source of information may be a variable indicating whether the source of information is an SPS signal or non-SPS information, for example, as shown in Table 3. In another example, the indication of the source of information may identify a type of source of information, for example, as shown in Table 2. The indication of the source of information may be a variable identifying a type of source of information, for example, as shown in Table 2. The type of source of information may be identified from an enumerated list of types of source of information. For example, the enumerated list of types of source of information may include, for example, one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or a combination thereof.

[0168] The means for receiving a message from the second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, where the source of information includes a Satellite Positioning System (SPS) signal or non-SPS information, may be, for example, the transceiver 240 shown in FIG. 2 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0169] In block 1304, the UE determines a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE, e.g., as discussed in blocks 502, 516, 510, and 514 of Figure 5, stages 840, 850, and 860 of Figure 8, and Figure 9. Means for determining a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE may be, e.g., the transceiver 240 shown in Figure 2 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location determination module 282 in UE 200.

[0170] In one implementation, the UE may determine a location estimate for the first UE based at least in part on an indication of a source of information by receiving an SPS signal, e.g., as discussed in FIG. 5, steps 710 and 730 of FIG. 7, and steps 810 and 815 of FIG. 8, determine whether the received SPS signal is reliable based at least in part on an indication of the source of information used to generate the local estimate received from the second UE, e.g., as discussed in blocks 510 and 512 of FIG. 5, FIG. 7, and step 850 of FIG. 8, and determine a local estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable, and using non-SPS information if the received SPS signal is determined to be unreliable, e.g., as discussed in blocks 512 and 514 of FIG. 5, FIG. 7, and step 860 of FIG. 8. For example, the non-SPS information may include at least one of, or a combination of, a location cached for the UE, sensor information, including information from radar, sonar, lidar, accelerometer, gyroscope, magnetometer, etc., received location information for other UEs, received cellular signals, received LAN signals, such as WiFi signals, or other short-range signals, such as UWB, mmWave, etc. The means for receiving SPS signals may be, for example, an SPS receiver 217 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as a location determination module 282 in the UE 200. The means for determining whether the received SPS signals are trustworthy based at least in part on an indication of a source of information used to generate the location estimate received from the second UE may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as an anomaly detection module 284 in the UE 200.The means for determining a location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable, and using non-SPS information if the received SPS signal is determined to be unreliable, may be, for example, one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as a location determination module 282, an anomaly detection module 284, and a location information reporting module 286 in the UE 200.

[0171] In one implementation, the UE may receive an indication of whether the SPS received by the second UE is reliable in a message received from the second UE, and determining a location estimate for the first UE is further based at least in part on the indication of whether the SPS signals received by the second UE are reliable, e.g., as shown in step 870 of Figure 8 and in Figure 9. The means for receiving an indication of whether the SPS signals received by the second UE are reliable in a message received from the second UE, and determining a location estimate for the first UE is further based at least in part on the indication of whether the SPS signals received by the second UE are reliable, may be, for example, the transceiver 240 shown in Figure 2 and one or more processors 210 having dedicated hardware or implementing executable code or software instructions in memory 211, such as location information reporting module 286 in UE 200.

[0172] References throughout this specification to "one example," "an example," "some examples," or "exemplary implementations" mean that a particular feature, structure, or characteristic described with respect to a feature and / or example may be included in at least one feature and / or example of the claimed subject matter. Thus, the appearances of the phrases "in one example," "an example," "in a particular example," or "in some implementations" or other similar phrases in various places throughout this specification are not necessarily all referring to the same features, examples, and / or limitations. Furthermore, particular features, structures, or characteristics may be combined in one or more examples and / or characteristics.

[0173] Some portions of the detailed description contained herein are presented in terms of algorithms or symbolic representations of operations on binary digital signals stored in a memory of a specific apparatus or a dedicated computing device or platform. In the context of this particular specification, the term specific apparatus or the like includes a general purpose computer after it has been programmed to perform certain operations according to instructions from program software. Algorithmic descriptions or symbolic representations are examples of techniques used by those skilled in the signal processing or related arts to convey the substance of their work to others skilled in the art. An algorithm is herein, and generally, considered to be a self-consistent sequence of operations or similar signal processing that produces a desired result. In this context, operations or processing involve physical manipulations of physical quantities. Typically, though not necessarily, such quantities may take the form of electrical or magnetic signals that can be stored, transferred, combined, compared, or otherwise manipulated. It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, data, values, elements, symbols, characters, terms, numbers, numeric values, or the like. It should be understood, however, that all of these or similar terms should be associated with the appropriate physical quantities and are merely convenient labels. Unless otherwise indicated, and as will be apparent from the description herein, it should be understood that throughout this specification, descriptions utilizing terms such as "processing," "calculating," "computing," "determining," and the like refer to the actions or processes of a particular apparatus, such as a special purpose computer, a special purpose computing apparatus, or a similar special purpose electronic computing device. Thus, in the context of this specification, a special purpose computer or a similar special purpose electronic computing device is capable of manipulating or transforming signals, which are typically represented as physical electronic or magnetic quantities in the memory, registers, or other information storage, transmission, or display devices of the special purpose computer or similar special purpose electronic computing device.

[0174] In the above detailed description, numerous specific details are set forth to provide a thorough understanding of the claimed subject matter. However, it will be understood by those skilled in the art that the claimed subject matter may be practiced without these specific details. In other instances, methods and apparatuses that would be known by those skilled in the art have not been described in detail so as not to obscure the claimed subject matter.

[0175] The terms "and," "or," and "and / or" as used herein may include a variety of meanings that are also expected to depend at least in part on the context in which such terms are used. Typically, when "or" is used to link a list such as A, B, or C, it is intended to mean A, B, and C, which are used herein in an inclusive sense, as well as A, B, or C, which are used herein in an exclusive sense. In addition, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe a plurality of features, structures, or characteristics, or some other combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and claimed subject matter is not limited to this example.

[0176] While what are presently considered to be exemplary features have been illustrated and described, it would be understood by those skilled in the art that various other modifications may be made and equivalents may be substituted without departing from the claimed subject matter. Additionally, many modifications may be made to adapt a particular situation to the teachings of the claimed subject matter without departing from the central concept described herein.

[0177] The following numbered clauses describe example implementations.

[0178] Clause 1. A method performed by a user equipment (UE) for transmitting location information, comprising:

[0179] receiving an SPS (Satellite Positioning System) signal;

[0180] determining whether the received SPS signal is reliable;

[0181] determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is SPS signals, and if the received SPS signals are determined to be unreliable, a source of information used to determine the location estimate is non-SPS information;

[0182] transmitting a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate; A method comprising:

[0183] Clause 2. The method of clause 1, wherein an indication of a source of the information is provided in an information element in a Location Information message sent to one or more UEs.

[0184] Clause 3. The method of any of clauses 1 or 2, wherein the indication of the source of the information includes a variable that indicates whether the source of the information is an SPS signal or non-SPS information.

[0185] Clause 4. Any of the methods of clauses 1 to 3, in which the indication of the source of the information identifies the type of source of the information.

[0186] Clause 5. The method of clause 4, wherein the indication of the source of the information includes a variable that identifies the type of source of the information.

[0187] Clause 6. The method of clause 4, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0188] Clause 7. The method of clause 6, wherein the enumerated list of types of sources of information includes one or more of, or a combination of, SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning.

[0189] Clause 8. The method of any of clauses 1 to 7, further comprising providing in a wireless message transmitted to one or more UEs an indication of whether the SPS signal is reliable.

[0190] Clause 9.

[0191] determining a first location estimate based on the SPS signal;

[0192] determining a second location estimate based on the non-SPS information;

[0193] comparing the first location estimate to a second location estimate; Further comprising:

[0194] Whether the received SPS signal is reliable is determined based on a comparison of the first location estimate to the second location estimate. Any of the methods set out in clauses 1 to 8.

[0195] Clause 10. The method of clause 9, wherein determining a location estimate to be transmitted to other UEs includes selecting a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable, and selecting a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable.

[0196] Clause 11. The method of any of clauses 1 to 10, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information about other USs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0197] Clause 12. The method of any of clauses 1 to 11, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0198] Clause 13. The method of any of clauses 1 to 12, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0199] Clause 14. Any of the methods of clauses 1 to 13, wherein the wireless message is one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

[0200] Clause 15. A user equipment (UE) configured to transmit location information, comprising:

[0201] at least one wireless transceiver configured to wirelessly communicate with entities in a wireless network;

[0202] a satellite positioning system (SPS) receiver configured to receive SPS signals;

[0203] At least one memory;

[0204] at least one processor coupled to at least one wireless transceiver, an SPS receiver, and at least one memory; at least one processor

[0205] receiving an SPS signal via an SPS receiver;

[0206] determining whether the received SPS signal is reliable;

[0207] determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is SPS signals, and if the received SPS signals are determined to be unreliable, a source of information used to determine the location estimate is non-SPS information;

[0208] transmitting, via the at least one wireless transceiver, a wireless message to one or more UEs that includes a location estimate for the UE and an indication of a source of information used to generate the location estimate; A user equipment (UE) configured to perform the above.

[0209] Clause 16. The UE of clause 15, wherein an indication of a source of the information is provided in an information element in a Location Information message sent to one or more UEs.

[0210] Clause 17. The UE of any of clauses 15 or 16, wherein the indication of the source of the information includes a variable indicating whether the source of the information is an SPS signal or non-SPS information.

[0211] Clause 18. The UE of any of clauses 15 to 17, wherein the indication of the source of information identifies the type of source of information.

[0212] Clause 19. The UE of clause 18, wherein the indication of the source of the information includes a variable identifying the type of source of the information.

[0213] Clause 20. The UE of clause 18, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0214] Clause 21. The UE of clause 20, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0215] Clause 22. The UE of any of clauses 15 to 21, wherein the at least one processor is further configured to provide an indication of whether the SPS signal is reliable in a wireless message transmitted to the one or more UEs.

[0216] Clause 23. At least one processor:

[0217] determining a first location estimate based on the SPS signal;

[0218] determining a second location estimate based on the non-SPS information;

[0219] Comparing the first location estimate to the second location estimate;

[0023] 20. The method according to claim 1, further comprising:

[0220] 23. The UE of any of clauses 15-22, wherein whether the received SPS signal is reliable is determined based on a comparison of the first location estimate to the second location estimate.

[0221] Clause 24. The UE of clause 23, wherein the at least one processor is configured to determine a location estimate to be transmitted to other UEs by being configured to select a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable and to select a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable.

[0222] Clause 25. The UE of any of clauses 15 to 24, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0223] Clause 26. The UE of any of clauses 15 to 25, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0224] Clause 27. The UE of any of clauses 15 to 26, wherein the wireless message is one of a Vehicle-to-Everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0225] Clause 28. The UE of any of clauses 15 to 27, wherein the wireless message is one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

[0226] Clause 29. A user equipment (UE) configured to transmit location information, comprising:

[0227] means for receiving SPS (Satellite Positioning System) signals;

[0228] means for determining whether a received SPS signal is reliable;

[0229] means for determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is SPS signals, and if the received SPS signals are determined to be unreliable, a source of information used to determine the location estimate is non-SPS information;

[0230] means for transmitting a wireless message to one or more UEs that includes a location estimate for the UE and an indication of a source of information used to generate the location estimate; A user equipment (UE).

[0231] Clause 30. The UE of clause 29, wherein an indication of a source of the information is provided in an information element in a location information wireless message transmitted to one or more UEs.

[0232] Clause 31. The UE of any of clauses 29 or 30, wherein the indication of the source of the information includes a variable indicating whether the source of the information is an SPS signal or non-SPS information.

[0233] Clause 32. The UE of any of clauses 29 to 31, wherein the indication of the source of information identifies the type of source of the information.

[0234] Clause 33. The UE of clause 32, wherein the indication of the source of the information includes a variable identifying the type of source of the information.

[0235] Clause 34. The UE of clause 32, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0236] Clause 35. The UE of clause 34, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0237] Clause 36. The UE of any of clauses 29 to 35, further comprising means for providing within a wireless message transmitted to one or more UEs an indication of whether the SPS signal is reliable.

[0238] Clause 37.

[0239] means for determining a first location estimate based on the SPS signal;

[0240] means for determining a second location estimate based on the non-SPS information;

[0241] means for comparing the first location estimate with the second location estimate; Further comprising:

[0242] 36. The UE of any of clauses 29-35, wherein whether the received SPS signal is reliable is determined based on a comparison of the first location estimate to the second location estimate.

[0243] Clause 38. The UE of clause 37, wherein the means for determining a location estimate to be transmitted to other UEs includes means for selecting a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable, and selecting a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable.

[0244] Clause 39. The UE of any of clauses 29 to 38, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0245] Clause 40. The UE of any of clauses 29 to 39, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0246] Clause 41. The UE of any of clauses 29 to 40, wherein the wireless message is one of a Vehicle-to-Everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0247] Clause 42. The UE of any of clauses 29 to 41, wherein the wireless message is one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

[0248] Clause 43. A non-transitory storage medium having program code stored thereon, the program code operable to configure at least one processor in a user equipment (UE) to transmit location information, the program code comprising:

[0249] Receiving an SPS (Satellite Positioning System) signal;

[0250] determining whether the received SPS signal is reliable;

[0251] determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is SPS signals, and if the received SPS signals are determined to be unreliable, a source of information used to determine the location estimate is non-SPS information;

[0252] transmitting a wireless message to one or more UEs including a location estimate for the UE and an indication of a source of information used to generate the location estimate; A non-transitory storage medium containing instructions for performing the steps of:

[0253] Clause 44. The non-transitory storage medium of clause 43, wherein an indication of the source of the information is provided in an information element in a location information message sent to one or more UEs.

[0254] Clause 45. The non-transitory storage medium of either clause 43 or 44, wherein the indication of the source of the information includes a variable that indicates whether the source of the information is an SPS signal or non-SPS information.

[0255] Clause 46. A non-transitory storage medium as defined in any of clauses 43 to 45, in which the indication of the source of the information identifies the type of source of the information.

[0256] Clause 47. The non-transitory storage medium of clause 46, in which the indication of the source of the information includes a variable that identifies the type of source of the information.

[0257] Clause 48. The non-transitory storage medium of clause 46, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0258] Clause 49. The non-transitory storage medium of clause 48, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0259] Clause 50. The non-transitory storage medium of any of clauses 43 to 49, the program code further comprising instructions for providing within a wireless message transmitted to one or more UEs an indication of whether the SPS signal is reliable.

[0260] Article 51. If the program code:

[0261] determining a first location estimate based on the SPS signal;

[0262] determining a second location estimate based on the non-SPS information;

[0263] Comparing the first location estimate to the second location estimate; and further comprising instructions to:

[0264] Whether the received SPS signal is reliable is determined based on a comparison of the first location estimate to the second location estimate. Any non-transitory storage medium referred to in clauses 43 to 50.

[0265] Clause 52. The non-transitory storage medium of clause 51, wherein the instructions for determining a location estimate to be transmitted to other UEs include instructions for selecting a first location estimate to be transmitted to other UEs if the received SPS signals are determined to be reliable and selecting a second location estimate to be transmitted to other UEs if the received SPS signals are determined to be unreliable.

[0266] Clause 53. The non-transitory storage medium of any of clauses 43 to 52, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0267] Clause 54. The non-transitory storage medium of any of clauses 43 to 53, wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0268] Clause 55. The non-transitory storage medium of any of clauses 43 to 54, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0269] Clause 56. The non-transitory storage medium of any of clauses 43 to 55, wherein the wireless message is one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

[0270] Clause 57. A method performed by a first user equipment (UE) for transmitting location information, comprising:

[0271] receiving a wireless message from a second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including a satellite positioning system (SPS) signal or non-SPS information;

[0272] determining a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE; A method comprising:

[0273] Clause 58. The step of determining a location estimate for the first UE based at least in part on an indication of the source of information, comprising:

[0274] receiving an SPS signal;

[0275] determining whether the received SPS signal is reliable based at least in part on an indication of a source of information used to generate the location estimate received from the second UE;

[0276] determining a location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable and using non-SPS information if the received SPS signal is determined to be unreliable. The methods of clause 57, including:

[0277] Clause 59. The method of clause 58, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0278] Clause 60. The method of any of clauses 57 to 59, wherein the indication of the source of the information is provided in an information element in the location information message received from the second UE.

[0279] Clause 61. The method of any of clauses 57 or 60, wherein the indication of the source of the information includes a variable that indicates whether the source of the information is an SPS signal or non-SPS information.

[0280] Clause 62. Any of clauses 57 to 61, in which the indication of the source of the information identifies the type of source of the information.

[0281] Clause 63. The method of clause 62, wherein the indication of the source of the information includes a variable that identifies a type of source of the information.

[0282] Clause 64. The method of clause 62, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0283] Clause 65. The method of clause 64, wherein the enumerated list of types of sources of information includes one or more of, or a combination of, SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning.

[0284] Clause 66. The method of any of clauses 57-65, further comprising receiving within the wireless message received from the second UE an indication of whether the SPS signals received by the second UE are reliable, and wherein determining a location estimate for the first UE is further based at least in part on the indication of whether the SPS signals received by the second UE are reliable.

[0285] Clause 67. The method of any of clauses 57 to 66, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0286] Clause 68. The method of any of clauses 57 to 67, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0287] Clause 69. The method of any of clauses 57 to 68, wherein the wireless message is one of a common awareness message (CAM), a distributed notification message (DENM), or a basic safety message (BSM).

[0288] Clause 70. A first user equipment (UE) configured to transmit location information,

[0289] at least one wireless transceiver configured to wirelessly communicate with entities in a wireless network;

[0290] a satellite positioning system (SPS) receiver configured to receive SPS signals;

[0291] At least one memory;

[0292] at least one processor coupled to at least one wireless transceiver, an SPS receiver, and at least one memory; at least one processor

[0293] receiving, via at least one wireless transceiver, a wireless message from the second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including an SPS signal or non-SPS information;

[0294] determining a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE; A first user equipment (UE) configured to:

[0295] Article 71. At least one processor:

[0296] receiving an SPS signal via an SPS receiver;

[0297] determining whether the received SPS signal is reliable based at least in part on an indication of a source of information used to generate the location estimate received from the second UE;

[0298] determining a location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable and using non-SPS information if the received SPS signal is determined to be unreliable; 71. The first UE of clause 70, configured to determine a location estimate for the first UE based at least in part on an indication of the source of the information.

[0299] Clause 72. The first UE of clause 71, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0300] Clause 73. The first UE of any of clauses 70 to 72, wherein an indication of a source of the information is provided in an information element in a location information message received from the second UE.

[0301] Clause 74. The first UE of any of clauses 70 to 73, wherein the indication of the source of the information includes a variable indicating whether the source of the information is an SPS signal or non-SPS information.

[0302] Clause 75. The first UE of any of clauses 70 to 74, wherein the indication of the source of the information identifies a type of source of the information.

[0303] Clause 76. The first UE of clause 75, wherein the indication of the source of the information includes a variable that identifies a type of source of the information.

[0304] Clause 77. The first UE of clause 75, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0305] Clause 78. The first UE of clause 77, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0306] Clause 79. The first UE of any of clauses 70-78, wherein the at least one processor is further configured to receive, within the wireless message received from the second UE, an indication of whether the SPS signals received by the second UE are reliable, wherein a location estimate for the first UE is further determined based at least in part on the indication of whether the SPS signals received by the second UE are reliable.

[0307] Clause 80. The first UE of any of clauses 70 to 79, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0308] Clause 81. The first UE of any of clauses 70 to 80, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0309] Clause 82. The first UE of any of clauses 70 to 81, wherein the wireless message is one of a common awareness message (CAM), a distributed notification message (DENM), or a basic safety message (BSM).

[0310] Clause 83. A first user equipment (UE) configured to transmit location information,

[0311] means for receiving from the second UE a wireless message including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including a satellite positioning system (SPS) signal or non-SPS information;

[0312] means for determining a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE; A first user equipment (UE) including:

[0313] Clause 84. The means for determining a location estimate for the first UE based at least in part on the indication of the source of information, comprising:

[0314] means for receiving an SPS signal;

[0315] means for determining whether the received SPS signal is reliable based at least in part on an indication of a source of information used to generate the location estimate received from the second UE;

[0316] means for determining a location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable and using non-SPS information if the received SPS signal is determined to be unreliable. The first UE of Article 83, including:

[0317] Clause 85. The first UE of clause 84, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0318] Clause 86. The first UE of any of clauses 83 to 85, wherein an indication of a source of the information is provided in an information element in a location information message received from the second UE.

[0319] Clause 87. The first UE of any of clauses 83 to 86, wherein the indication of the source of the information includes a variable indicating whether the source of the information is an SPS signal or non-SPS information.

[0320] Clause 88. The first UE of any of clauses 83 to 87, wherein the indication of the source of the information identifies a type of source of the information.

[0321] Clause 89. The first UE of clause 88, wherein the indication of the source of the information includes a variable that identifies a type of source of the information.

[0322] Clause 90. The first UE of clause 88, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0323] Clause 91. The first UE of clause 90, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0324] Clause 92. The first UE of any of clauses 83-91, further including means for receiving within the wireless message received from the second UE an indication of whether the SPS signals received by the second UE are reliable, wherein a location estimate for the first UE is further determined based at least in part on the indication of whether the SPS signals received by the second UE are reliable.

[0325] Clause 93. The first UE of any of clauses 83 to 92, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0326] Clause 94. The first UE of any of clauses 83 to 93, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0327] Clause 95. The first UE of any of clauses 83 to 94, wherein the wireless message is one of a common awareness message (CAM), a distributed notification message (DENM), or a basic safety message (BSM).

[0328] Clause 96. A non-transitory storage medium having program code stored thereon, the program code operable to configure at least one processor in a first user equipment (UE) configured to transmit location information, the program code comprising:

[0329] receiving a wireless message from a second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including a satellite positioning system (SPS) signal or non-SPS information;

[0330] determining a location estimate for the first UE based at least in part on an indication of a source of information used to generate the location estimate received from the second UE; A non-transitory storage medium containing instructions for performing the steps of:

[0331] Clause 97. The instructions for determining a location estimate for the first UE based at least in part on an indication of the source of the information, comprising:

[0332] receiving an SPS signal;

[0333] determining whether the received SPS signal is reliable based at least in part on an indication of a source of information used to generate the location estimate received from the second UE;

[0334] determining a location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable and using non-SPS information if the received SPS signal is determined to be unreliable; (c) a non-transitory storage medium pursuant to Article 96 containing instructions to carry out the

[0335] Clause 98. The non-transitory storage medium of clause 97, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0336] Clause 99. The non-transitory storage medium of any of clauses 96 to 98, wherein an indication of a source of the information is provided in an information element in a location information message received from the second UE.

[0337] Clause 100. The non-transitory storage medium of any of clauses 96 to 99, wherein the indication of the source of the information includes a variable that indicates whether the source of the information is an SPS signal or non-SPS information.

[0338] Clause 101. A non-transitory storage medium according to any of clauses 96 to 100, in which the indication of the source of the information identifies the type of source of the information.

[0339] Clause 102. The non-transitory storage medium of clause 101, wherein the indication of the source of the information includes a variable that identifies a type of source of the information.

[0340] Clause 103. The non-transitory storage medium of clause 101, wherein the type of source of information is identified from an enumerated list of types of source of information.

[0341] Clause 104. The non-transitory storage medium of clause 103, wherein the enumerated list of types of sources of information includes one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof.

[0342] Clause 105. The non-transitory storage medium of any of clauses 96-104, the program code further comprising instructions for receiving, within the wireless message received from the second UE, an indication of whether the SPS signals received by the second UE are reliable, wherein a location estimate for the first UE is further determined based at least in part on the indication of whether the SPS signals received by the second UE are reliable.

[0343] Clause 106. Any of clauses 96 to 105. The non-transitory storage medium, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0344] Clause 107. The non-transitory storage medium of any of clauses 96 to 106, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0345] Clause 108. The non-transitory storage medium of any of clauses 96 to 107, wherein the wireless message is one of a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

[0346] It is intended therefore that claimed subject matter not be limited to the particular examples disclosed, but that such claimed subject matter may include all embodiments falling within the scope of the appended claims and equivalents thereof. [Explanation of symbols]

[0347] 100 Wireless Communications and Satellite Signaling Environments 110 Wireless communication system, communication system, system 112 User Equipment (UE) 113 User Equipment (UE) 114 User Equipment (UE), V-UE 115 User Equipment (UE), V-UE 116 User Equipment (UE) 120 Base Transceiver Station (BTS) 121 Base Transceiver Station (BTS) 122 Base Transceiver Station (BTS) 123 Base Transceiver Station (BTS) 130 Network 140 Core Network 141 Access and Mobility Function (AMF) 142 Session Management Facility (SMF) 143 Server 144 Gateway Mobile Location Center (GMLC) 150 external clients 161 Mobile SPS-enabled devices, devices 162 Mobile SPS-enabled devices, devices 163 Mobile SPS-enabled devices, devices 170 Satellite Signal Emulator 180 satellite constellation, constellation 181 Satellite Vehicle (SV) 182 Satellite Vehicle (SV) 183 Satellite Vehicle (SV) 190 satellite constellation, constellation 191SV 192SV 193SV 200UE 210 Processor 211 Memory 213 Sensor 214 Transceiver Interface 215 Transceiver 216 User Interface 217 Satellite Positioning System (SPS) Receiver 218 Camera 220 Bus 230 Application Processors, Processors, General Purpose Processors 231 Digital Signal Processor (DSP), Processor 232 modem processor, processor 233 Video Processor, Processor 234 Sensor Processor, Processor 235 Location processor, location engine, processor 240 Wireless transceiver, transceiver 242 Transmitter 244 Receiver 246 Antenna 248 Wireless Signal, Signal 250 Wired Transceiver 252 Transmitter 254 Receiver 260 SPS signal, wireless signal 262 SPS Antenna, Antenna 270 Vehicle Interface 280 Software (SW) 282 Location Determination Module 284 Anomaly Detection Module 286 Location Information Reporting Module 300 TRP 310 Processor 311 Memory 312 Software (SW) 315 Transceiver 320 Bus 340 Wireless Transceiver 342 Transmitter 344 Receiver 346 Antenna 348 Wireless Signal 350 Wired Transceiver 352 Transmitter 354 Receiver 400 Servers 410 Processor 411 Memory 412 Software (SW) 415 Transceiver 420 Bus 440 Wireless Transceiver 442 Wireless transmitter, transmitter 444 Wireless receiver, receiver 446 Antenna 448 Wireless Signal 450 Wired Transceiver 452 Transmitter 454 Receiver 500 Flowchart 600 Environment 610 Satellite Signal Emulator 615 Abnormal SPS signal, signal 620 Satellite Signal Emulator 625 Abnormal SPS signal 630 Signaling 640 Landmarks 642 Ray of light 680 Abnormal SPS signal, signal 682 Non-abnormal SPS signal 683 Non-abnormal SPS signal 691 Non-abnormal SPS signal, signal 692 Non-abnormal SPS signal 700 Signaling and Process Flows, Flows 800 Signaling and Process Flows, Flows 900 Wireless Communication System 902 UE 903 Communication Links 904 UE, receiving UE 907 Communication Links 910 UE, RSU 911 Backhaul Link 912 UE 913 Communication Links 914 Pedestrians 915 Communication Links 920 Location Information Message 921 Location Information Message 922 1st part, part, IE 924 Second Part, Part, IE 926 Third Part, Part 928 Fourth Part, Part, IE 930 Traffic Server 932 Communication Links 1000 Signaling and Process Flows, Flows 1002 UE, RSU 1004 Traffic Server 1006UE 1006-1UE 1006-2 UE 1006-3 UE 1030 Location Information Message 1100 Signaling and Process Flows, Flows 1102 UE, RSU 1104 Traffic Server 1106UE 1106-1 UE 1106-2 UE 1106-3 UE 1130 Message 1200 Flowchart 1300 Flowchart

Claims

1. 1. A method performed by a user equipment (UE) for transmitting location information, comprising: receiving an SPS (Satellite Positioning System) signal; determining whether the received SPS signal is reliable; determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is the SPS signals, and if the received SPS signals are determined to be unreliable, the source of information used to determine the location estimate is non-SPS information; transmitting to one or more UEs a wireless message including the location estimate for the UE and an indication of the source of information used to generate the location estimate; Including, The indication of the source of information includes a variable identifying a type of the source of information, the type of the source of information being identified from an enumerated list of types of the source of information, the enumerated list of types of the source of information including one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof. method.

2. The method of claim 1 , wherein the indication of the source of information is provided within an information element in a Location Information message sent to the one or more UEs.

3. 10. The method of claim 1, further comprising providing within the wireless message transmitted to the one or more UEs an indication of whether the SPS signal is reliable.

4. determining a first location estimate based on the SPS signal; determining a second location estimate based on the non-SPS information; comparing the first location estimate to the second location estimate; Further comprising: determining whether the received SPS signal is reliable based on the comparison of the first location estimate to the second location estimate; Preferably, the step of determining the location estimate to be transmitted to the other UE comprises the steps of: selecting the first location estimate to be transmitted to the other UE if the received SPS signals are determined to be reliable; and selecting the second location estimate to be transmitted to the other UE if the received SPS signals are determined to be unreliable. The method of claim 1.

5. 2. The method of claim 1, wherein the non-SPS information comprises at least one of a cached location for the UE, sensor information, received location information for the other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

6. The method of claim 1 , wherein the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

7. 2. The method of claim 1, wherein the wireless message is one of a Vehicle-to-Everything (V2X) message, a Peer-to-Peer message, an Infrastructure-Based Message, a Common Awareness Message (CAM), a Distributed Notification Message (DENM), or a Basic Safety Message (BSM).

8. A method performed by a first user equipment (UE) for transmitting location information, comprising: receiving a wireless message from a second UE including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including a satellite positioning system (SPS) signal or non-SPS information, the indication of the source of information including a variable identifying a type of the source of information, the type of the source of information being identified from an enumerated list of types of the source of information, the enumerated list of types of the source of information including one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof; determining a location estimate for the first UE based at least in part on the indication of a source of information used to generate the location estimate received from the second UE. method.

9. The method of claim 8, further comprising: determining a location estimate for the first UE based at least in part on the indication of the source of information, the step of: receiving an SPS signal; determining whether the received SPS signal is reliable based at least in part on the indication of a source of information used to generate the location estimate received from the second UE; determining the location estimate for the first UE using the received SPS signal if the received SPS signal is determined to be reliable and using non-SPS information if the received SPS signal is determined to be unreliable. The method of claim 8.

10. The method of claim 1, wherein the non-SPS information includes at least one of a cached location for the UE, sensor information, received location information for other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof. The method of claim 9.

11. The method of claim 10, further comprising: receiving within the wireless message received from the second UE an indication of whether an SPS signal received by the second UE is reliable, wherein the determining the location estimate for the first UE is further based at least in part on the indication of whether the SPS signal received by the second UE is reliable. The method of claim 10.

12. The method according to claim 11, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device. The method of claim 10.

13. A user equipment (UE) configured to transmit location information, means for receiving SPS (Satellite Positioning System) signals; means for determining whether the received SPS signal is reliable; means for determining a location estimate to be transmitted to other UEs, where if the received SPS signals are determined to be reliable, a source of information used to determine the location estimate is the SPS signals, and if the received SPS signals are determined to be unreliable, the source of information used to determine the location estimate is non-SPS information; and means for transmitting a wireless message to one or more UEs including the location estimate for the UE and an indication of the source of information used to generate the location estimate; The indication of the source of information includes a variable identifying a type of the source of information, the type of the source of information being identified from an enumerated list of types of the source of information, the enumerated list of types of the source of information including one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof. User Equipment (UE).

14. A first user equipment (UE) configured to transmit location information, means for receiving from a second UE a wireless message including a location estimate for the second UE and an indication of a source of information used to generate the location estimate, the source of information including a Satellite Positioning System (SPS) signal or non-SPS information, the indication of the source of information including a variable identifying a type of the source of information, the type of the source of information being identified from an enumerated list of the source types of information, the enumerated list of the source types of information including one or more of SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, or combinations thereof; means for determining a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE; A first user equipment (UE) including:

15. A non-transitory computer-readable storage medium having instructions stored thereon that, when executed by one or more processors of a user equipment (UE), cause the UE to perform the method of any one of claims 1 to 12. A non-transitory computer-readable storage medium.

Images