Relative location anchor group and local coordinate system

Abstract

The present invention provides a method for operating a location-estimating entity and a method for operating a wireless device. [Solution] A method for operating a wireless device includes performing a position estimation procedure between the wireless device and a set of anchors, including at least a set of anchors in a Relative Location Anchor Group (RLAG). The set of anchors in the RLAG is associated with known relative locations to each other. The method also includes joining the RLAG as a new anchor in response to the position estimation procedure. The RLAG is associated with environments where absolute position estimation is unavailable or does not meet the accuracy requirements of the position estimation procedure.

Claims

1. A method for operating a location-estimating entity, Determining a resource configuration associated with a position estimation procedure between a user device (UE) and a plurality of anchors, wherein the plurality of anchors comprises at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. Sending the aforementioned resource configuration, Receiving measurement data based on one or more positioning reference signals (PRS) associated with the position estimation procedure, A method comprising determining location information associated with the UE based on the measurement data.

2. The method according to claim 1, wherein the location information includes relative location information.

3. The aforementioned relative location information, The relative position estimate or relative distance of the UE to one or more anchors of the RLAG, or The estimated velocity of the aforementioned UE, or Collision detection between the UE and one or more objects having one or more known relative locations with respect to the RLAG, or The method according to claim 2, comprising those combinations.

4. The method according to claim 1, wherein the location information comprises an absolute position estimate of the UE derived from the measurement data.

5. The method according to claim 4, wherein the derived absolute position estimate is associated with conversion information.

6. The method according to claim 5, further comprising applying the transformation information to the derived absolute position estimate of the UE in order to obtain a more accurate absolute position estimate of the UE.

7. The method according to claim 5, further comprising transmitting the derived absolute position estimate to one or more external entities having knowledge of the transformation information.

8. The conversion information is configured to correct for intentional errors in the derived absolute position estimate in accordance with the position estimate security protocol, or The conversion information is configured to correct unintended RLAG eigenposition estimation errors in the derived absolute position estimate, or The method according to claim 5, which is a combination of those.

9. The aforementioned set of anchors comprises a group of indoor anchors, or The aforementioned set of anchors comprises a group of outdoor anchors, or The set of anchors comprises one or more anchors UE, or The set of anchors comprises one or more anchor transmit / receive points (TRPs), or The method according to claim 1, which is a combination of those.

10. The method according to claim 1, wherein the position estimation procedure is associated with an anchor from only one RLAG.

11. The method according to claim 1, further comprising receiving an instruction for the RLAG identifier of the RLAG from at least one anchor in the set of anchors of the RLAG.

12. The method according to claim 1, further comprising transmitting an instruction for the RLAG identifier of the RLAG to the UE.

13. The instruction includes a list of RLAGs, and each listed RLAG is associated with its respective set of RLAG identifiers and anchors, or The instruction includes a list of anchors, and each listed anchor is associated with its respective RLAG identifier, or The method according to claim 12, wherein the instruction includes a positioning reference signal (PRS) configuration on which the RLAG identifier is mapped.

14. The method according to claim 1, wherein the set of anchors comprises at least one anchor, and the at least one anchor is added to the RLAG in response to at least one position estimation procedure of the at least one anchor via the RLAG.

15. The method according to claim 1, wherein the location estimation entity corresponds to the UE, anchor UE, base station, or network component located remote from the base station.

16. A method for operating user equipment (UE), Receiving a resource configuration associated with a position estimation procedure between the UE and a plurality of anchors, wherein the plurality of anchors include at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. A method comprising communicating one or more positioning reference signals (PRS) with the set of anchors in accordance with the resource configuration of the position estimation procedure.

17. The method according to claim 16, wherein absolute position estimation based on the position estimation procedure using RLAG is associated with conversion information.

18. The method according to claim 17, further comprising receiving instructions from a location estimation entity for an absolute location estimate derived based on measurement data based on one or more PRSs.

19. The method according to claim 18, further comprising applying the transformation information to the derived absolute position estimate of the UE in order to obtain a true absolute position estimate of the UE.

20. The conversion information is configured to correct for intentional errors in the derived absolute position estimate in accordance with the position estimate security protocol, or The conversion information is configured to correct unintended RLAG eigenposition estimation errors in the derived absolute position estimate, or The method according to claim 18, which is a combination of those methods.

21. The aforementioned set of anchors comprises a group of indoor anchors, or The aforementioned set of anchors comprises a group of outdoor anchors, or The set of anchors comprises one or more anchors UE, or The set of anchors comprises one or more anchor transmit / receive points (TRPs), or The method according to claim 16, which is a combination of those methods.

22. The method according to claim 16, further comprising receiving an instruction for the RLAG identifier of the RLAG.

23. A method for operating a wireless device, Performing a position estimation procedure between the wireless device and a plurality of anchors, including at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, and wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. A method comprising joining the RLAG as a new anchor in response to the position estimation procedure.

24. The method according to claim 23, further comprising determining an RLAG identifier associated with the RLAG.

25. The method according to claim 24, wherein the wireless device joins the RLAG by inheriting the RLAG identifier associated with the RLAG.

26. The method according to claim 24, further comprising transmitting instructions for the RLAG identifier to a location estimation entity.

27. A method for operating a location-estimating entity, To determine the set of local coordinate system (LCS) locations associated with the set of anchors associated with the position estimation of the user equipment (UE), A method comprising transmitting an LCS frame containing instructions for the set of LCS locations.

28. The method according to claim 27, wherein each LCS location in the set of LCS locations is associated with transformation information for converting each LCS location to an absolute location associated with an absolute coordinate system.

29. The aforementioned conversion information, The origin of the aforementioned LCS, or The x-axis position of the LCS location, or The y-axis position of the LCS location, or The z-axis position of the LCS location, or The method according to claim 28, applicable to one or more of those combinations.

30. The method according to claim 27, wherein the set of LCS locations is defined by Cartesian coordinates or polar coordinates.

31. Memory and At least one transceiver, A location estimation entity comprising the memory and at least one processor communicatively coupled to the at least one transceiver, wherein the at least one processor is Determining a resource configuration associated with a position estimation procedure between a user device (UE) and a plurality of anchors, wherein the plurality of anchors comprises at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. Transmitting the resource configuration via at least one of the transceivers, The system receives measurement data based on one or more positioning reference signals (PRS) associated with the position estimation procedure via the at least one transceiver, A location estimation entity configured to determine location information associated with the UE based on the aforementioned measurement data.

32. The location estimation entity according to claim 31, wherein the location information includes relative location information.

33. The aforementioned relative location information, The relative position estimate or relative distance of the UE to one or more anchors of the RLAG, or The estimated velocity of the aforementioned UE, or Collision detection between the UE and one or more objects having one or more known relative locations with respect to the RLAG, or A location estimation entity according to claim 32, comprising such combinations.

34. The location estimation entity according to claim 31, wherein the location information comprises an absolute position estimate of the UE derived from the measurement data.

35. The position estimation entity according to claim 34, wherein the derived absolute position estimate is associated with conversion information.

36. The aforementioned at least one processor, The position estimation entity according to claim 35, further configured to apply the transformation information to the derived absolute position estimation of the UE in order to obtain a more accurate absolute position estimation of the UE.

37. The aforementioned at least one processor, The position estimation entity according to claim 34, further configured to transmit the derived absolute position estimate to one or more external entities having knowledge of the transformation information via at least one transceiver.

38. The conversion information is configured to correct for intentional errors in the derived absolute position estimate in accordance with the position estimate security protocol, or The conversion information is configured to correct unintended RLAG eigenposition estimation errors in the derived absolute position estimate, or A combination thereof, the location estimation entity according to claim 34.

39. The aforementioned set of anchors comprises a group of indoor anchors, or The aforementioned set of anchors comprises a group of outdoor anchors, or The set of anchors comprises one or more anchors UE, or The set of anchors comprises one or more anchor transmit / receive points (TRPs), or A combination thereof, the location estimation entity according to claim 31.

40. The location estimation entity according to claim 31, wherein the location estimation procedure is associated with an anchor from only one RLAG.

41. The aforementioned at least one processor, The location estimation entity according to claim 31, further configured to receive instructions for the RLAG identifier of the RLAG from at least one anchor in the set of anchors of the RLAG via the at least one transceiver.

42. The aforementioned at least one processor, The location estimation entity according to claim 31, further configured to transmit instructions for the RLAG identifier of the RLAG to the UE via the at least one transceiver.

43. The instruction includes a list of RLAGs, and each listed RLAG is associated with its respective set of RLAG identifiers and anchors, or The instruction includes a list of anchors, and each listed anchor is associated with its respective RLAG identifier, or The position estimation entity according to claim 42, wherein the instruction includes a positioning reference signal (PRS) configuration on which the RLAG identifier is mapped.

44. The location estimation entity according to claim 31, wherein the set of anchors comprises at least one anchor, and the at least one anchor is added to the RLAG in response to at least one location estimation procedure of the at least one anchor via the RLAG.

45. The location estimation entity according to claim 31, wherein the location estimation entity corresponds to the UE, anchor UE, base station, or network component located remote from the base station.

46. Memory and At least one transceiver, A user device (UE) comprising the memory and at least one processor communicatively coupled to the at least one transceiver, wherein the at least one processor is Receiving a resource configuration associated with a position estimation procedure between the UE and a plurality of anchors via the at least one transceiver, wherein the plurality of anchors include at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. A user device (UE) configured to communicate one or more positioning reference signals (PRS) to the set of anchors via at least one transceiver, in accordance with the resource configuration of the position estimation procedure.

47. The UE according to claim 46, wherein absolute position estimation based on the position estimation procedure using the RLAG is associated with conversion information.

48. The aforementioned at least one processor, The UE according to claim 47, further configured to receive instructions from a position estimation entity via at least one transceiver for an absolute position estimate derived based on measurement data based on one or more PRSs.

49. The aforementioned at least one processor, The UE according to claim 48, further configured to apply the transformation information to the derived absolute position estimate of the UE in order to obtain a true absolute position estimate of the UE.

50. The conversion information is configured to correct for intentional errors in the derived absolute position estimate in accordance with the position estimate security protocol, or The conversion information is configured to correct unintended RLAG eigenposition estimation errors in the derived absolute position estimate, or The UE described in claim 48 is a combination of those.

51. The aforementioned set of anchors comprises a group of indoor anchors, or The aforementioned set of anchors comprises a group of outdoor anchors, or The set of anchors comprises one or more anchors UE, or The set of anchors comprises one or more anchor transmit / receive points (TRPs), or The UE described in claim 46 is a combination of those.

52. The aforementioned at least one processor, The UE according to claim 46, further configured to receive instructions for the RLAG identifier of the RLAG via the at least one transceiver.

53. Memory and At least one transceiver, A wireless device comprising the memory and at least one processor communicatively coupled to the at least one transceiver, wherein the at least one processor is Performing a position estimation procedure between the wireless device and a plurality of anchors, including at least a set of anchors of a relative location anchor group (RLAG), wherein the set of anchors of the RLAG is associated with known relative locations to one another, and wherein the RLAG is associated with relative location information with greater accuracy than with absolute location information. A wireless device configured to join the RLAG as a new anchor in response to the position estimation procedure.

54. The aforementioned at least one processor, The wireless device according to claim 53, further configured to determine an RLAG identifier associated with the RLAG.

55. The wireless device according to claim 54, wherein the wireless device joins the RLAG by inheriting the RLAG identifier associated with the RLAG.

56. The aforementioned at least one processor, The wireless device according to claim 54, further configured to transmit instructions for the RLAG identifier to a location estimation entity via the at least one transceiver.

57. Memory and At least one transceiver, A location estimation entity comprising the memory and at least one processor communicatively coupled to the at least one transceiver, wherein the at least one processor is To determine the set of local coordinate system (LCS) locations associated with the set of anchors associated with the position estimation of the user equipment (UE), A location estimation entity configured to transmit an LCS frame containing instructions for the set of LCS locations via at least one transceiver.

58. The position estimation entity according to claim 57, wherein each LCS location in the set of LCS locations is associated with transformation information for converting each LCS location to an absolute location associated with an absolute coordinate system.

59. The aforementioned conversion information, The origin of the aforementioned LCS, or The x-axis position of the LCS location, or The y-axis position of the LCS location, or The z-axis position of the LCS location, or A location estimation entity according to claim 58, applicable to one or more of those combinations.

60. The location estimation entity according to claim 57, wherein the set of LCS locations is defined by Cartesian coordinates or polar coordinates.

Images