Method and device for tracking unmanned aerial systems - Patents.com

Abstract

A method for a vehicle control function UCF and a vehicle system UFC receiving a first positioning request message including UAV identification information and coordinates of interest from a traffic management function USS / UTM, using the USS / UTM to determine a positioning configuration for the coordinates of interest, sending a second positioning request message including the UAV identification information, the UAV positioning configuration to a location server, receiving positioning information for the UAV from the location server, and sending a positioning report message including the UAV identification information and the positioning information to the USS / UTM.

Description

[Background technology]

[0001] The number of Unmanned Aerial Vehicles (UAVs), often referred to as drones, has increased rapidly in recent years, and the applications enabled by UAVs have expanded to a wide variety of industries. However, conventional Unmanned Aerial Systems (UASs) (i.e., UAVs and controllers) rely primarily on direct point-to-point communications over unlicensed Industrial, Scientific and Medical (ISM) radio bands, which limits the operating range and communications are typically unreliable and unstable at low data rates. To further realize the potential of UAV applications, advanced cellular technologies such as Long Term Evolution (LTE) and 5G may be utilized to enable Beyond Visual Line of Sight (BVLOS) operations and higher performance and reliability communications for UASs.

[0002] Ubiquitous mobile network coverage can provide an operating range far beyond that limited by point-to-point communications using ISM frequencies. Advanced communication capabilities such as high bandwidth, low latency, and guaranteed QoS of modern cellular networks (especially 5G networks) can help improve the performance of UAV applications. Advanced security mechanisms of modern cellular networks can address security concerns involved in managing UAV applications. Summary of the Invention

[0003] A method for a vehicle control function UCF and a vehicle system UFC receiving a first positioning request message including UAV identification information and coordinates of interest from a traffic management function USS / UTM, determining a positioning configuration for the coordinates of interest using the USS / UTM, sending a second positioning request message including the UAV identification information, the UAV positioning configuration to a location server, receiving positioning information for the UAV from the location server, and sending a positioning report message including the UAV identification information and the positioning information to the USS / UTM.

[0004] Although various embodiments are described and / or claimed herein in which apparatus, systems, devices, etc. and / or any elements thereof perform operations, processes, algorithms, functions, etc. and / or any portions thereof, it should be understood that any embodiment described and / or claimed herein assumes that any apparatus, system, device, etc. and / or any elements thereof are configured to perform any operation, process, algorithm, function, etc. and / or any portion thereof. [Brief description of the drawings]

[0005] Additionally, like reference numbers in the figures refer to like elements.

[0006] [Figure 1A] FIG. 1 is a system diagram illustrating an example communication system in which one or more disclosed embodiments may be implemented.

[0007] [Figure 1B] 1A is a system diagram illustrating an example wireless transmit / receive unit (WTRU) that may be used within the communications system illustrated in FIG. 1A, according to one embodiment.

[0008] [Figure 1C] FIG. 1B is a system diagram illustrating an example radio access network (RAN) and an example core network (CN) that may be used within the communication system illustrated in FIG. 1A, according to one embodiment.

[0009] [Figure 1D] FIG. 1B is a system diagram illustrating a further exemplary RAN and a further exemplary CN that may be used within the communication system illustrated in FIG. 1A, according to one embodiment.

[0010] [Diagram 2] FIG. 1 illustrates an example system architecture for supporting UAS in a 5G network.

[0011] [Diagram 3] FIG. 1 illustrates a method for network-provided tracking assistance to a UAV-C, according to one embodiment.

[0012] [Figure 4] FIG. 1 illustrates a method for network-provided tracking assistance to a USS / UTM according to one embodiment.

[0013] [Diagram 5] FIG. 1 illustrates a method for network-assisted UAV tracking according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Exemplary Network for Implementing the Embodiments 1A illustrates an example communication system 100 in which one or more disclosed embodiments may be implemented. The communication system 100 may be a multiple access system that provides content, such as voice, data, video, messaging, broadcasts, etc., to multiple wireless users. The communication system 100 may enable multiple wireless users to access such content through sharing of system resources, including wireless bandwidth. For example, the communications system 100 may employ one or more channel access methods, such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), single-carrier FDMA (SC-FDMA), zero-tail unique-word DFT-Spread OFDM (ZT UW DTS-s OFDM), unique word OFDM (UW-OFDM), resource block filtered OFDM, filter bank multicarrier (FBMC), and / or the like.

[0015] 1A, communications system 100 may include wireless transmit / receive units (WTRUs) 102a, 102b, 102c, 102d, a radio access network (RAN) 104, a core network (CN) 106, a public switched telephone network (PSTN) 108, the Internet 110, and other networks 112, although it will be understood that the disclosed embodiments contemplate any number of WTRUs, base stations, networks, and / or network elements. Each of WTRUs 102a, 102b, 102c, 102d may be any type of device configured to operate and / or communicate in a wireless environment. By way of example, the WTRUs 102a, 102b, 102c, 102d, any of which may be referred to as a “station” and / or “STA,” may be configured to transmit and / or receive wireless signals and may include user equipment (UE), mobile stations, fixed or mobile subscriber units, subscription-based units, pagers, cellular phones, personal digital assistants (PDAs), smartphones, laptops, netbooks, personal computers, wireless sensors, hotspots or Mi-Fi devices, Internet of Things (IoT) devices, watches or other wearables, head-mounted displays (HMDs), vehicles, drones, medical devices and applications (e.g., remote surgery), industrial devices and applications (e.g., robots and / or other wireless devices operating in industrial and / or automated processing chain situations), consumer electronics devices, devices operating on commercial and / or industrial wireless networks, etc. Any of the WTRUs 102a, 102b, 102c, and 102d may be referred to interchangeably as a UE.

[0016] The communication system 100 may also include a base station 114a and / or a base station 114b. Each of the base stations 114a, 114b may be any type of device configured to wirelessly interface with at least one of the WTRUs 102a, 102b, 102c, 102d to facilitate access to one or more communication networks, such as the CN 106, the Internet 110, and / or other networks 112. By way of example, the base stations 114a, 114b may be a base transceiver station (BTS), a Node B, an eNodeB, a Home Node B, a Home eNodeB, a gNB, a NR NodeB, a site controller, an access point (AP), a wireless router, etc. Although the base stations 114a, 114b are each shown as a single element, it will be understood that the base stations 114a, 114b may include any number of interconnected base stations and / or network elements.

[0017] The base station 114a may be part of the RAN 104, which may also include other base stations and / or network elements (not shown), such as a base station controller (BSC), a radio network controller (RNC), relay nodes, etc. The base station 114a and / or the base station 114b may be configured to transmit and / or receive wireless signals on one or more carrier frequencies, which may be referred to as a cell (not shown). These frequencies may be licensed spectrum, unlicensed spectrum, or a combination of licensed and unlicensed spectrum. A cell may provide wireless service coverage for a particular geographic area, which may be relatively fixed or may change over time. A cell may be further divided into cell sectors. For example, the cell associated with the base station 114a may be divided into three sectors. Thus, in one embodiment, the base station 114a may include three transceivers, i.e., one for each sector of the cell. In one embodiment, the base station 114a may employ multiple-input multiple output (MIMO) technology and may utilize multiple transceivers for each sector of the cell, for example, using beamforming to transmit and / or receive signals in a desired spatial direction.

[0018] The base stations 114a, 114b may communicate with one or more of the WTRUs 102a, 102b, 102c, 102d over an air interface 116, which may be any suitable wireless communication link (e.g., radio frequency (RF), microwave, centimeter wave, micrometer wave, infrared (IR), ultraviolet (UV), visible light, etc.). The air interface 116 may be established using any suitable radio access technology (RAT).

[0019] More specifically, as noted above, the communications system 100 may be a multiple access system and may employ one or more channel access schemes, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, etc. For example, the base stations 114a of the RAN 104 and the WTRUs 102a, 102b, 102c may implement a radio technology such as Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access (UTRA), which may establish the air interface 116 using wideband CDMA (WCDMA). WCDMA may include communications protocols such as High-Speed ​​Packet Access (HSPA) and / or Evolved HSPA (HSPA+). HSPA may include High-Speed ​​Downlink (DL) Packet Access (HSDPA) and / or High-Speed ​​Uplink (UL) Packet Access (HSUPA).

[0020] In one embodiment, the base station 114a and the WTRUs 102a, 102b, 102c in the RAN 104 may implement a radio technology such as Evolved UMTS Terrestrial Radio Access (E-UTRA), which may establish the air interface 116 using Long Term Evolution (LTE) and / or LTE-Advanced (LTE-A) and / or LTE-Advanced Pro (LTE-APro).

[0021] In one embodiment, the base station 114a and the WTRUs 102a, 102b, 102c in the RAN 104 may implement a radio technology such as NR radio access, which may establish the air interface 116 using New Radio (NR).

[0022] In one embodiment, the base station 114a and the WTRUs 102a, 102b, 102c in the RAN 104 may implement multiple radio access technologies. For example, the base station 114a and the WTRUs 102a, 102b, 102c may implement LTE radio access and NR radio access together, e.g., using dual connectivity (DC) principles. Thus, the air interface utilized by the WTRUs 102a, 102b, 102c may be characterized by multiple types of radio access technologies and / or transmissions sent to / from multiple types of base stations (e.g., eNBs and gNBs).

[0023] In other embodiments, the base station 114a and the WTRUs 102a, 102b, 102c may implement a wireless technology such as IEEE 802.11 (i.e., Wireless Fidelity, WiFi), IEEE 802.16 (i.e., Worldwide Interoperative for Microword Access (WiMAX)), CDMA2000, CDMA2000 1X, CDMA2000EV-DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), Global System for Mobile communications (GSM), GSM Evolution (Enhanced Data rates for GSM Evolution, EDGE), GSM EDGE (GERAN), or the like.

[0024] 1A may be, for example, a wireless router, a Home NodeB, a Home eNodeB, or an access point, and may utilize any suitable RAT to facilitate wireless connectivity in a localized area, such as a location of a business, a home, a vehicle, a campus, an industrial facility, an air corridor (e.g., for use by a drone), a roadway, etc. In one embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.11 to establish a wireless local area network (WLAN). In one embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.15 to establish a wireless personal area network (WPAN). In yet another embodiment, the base station 114b and the WTRUs 102c, 102d may establish a picocell or a femtocell using a cellular-based RAT (e.g., WCDMA, CDMA2000, GSM, LTE, LTE-A, LTE-A Pro, NR, etc.). As shown in FIG. 1A, the base station 114b may have a direct connection to the Internet 110. Thus, the base station 114b may not need to access the Internet 110 through the CN 106.

[0025] The RAN 104 may communicate with the CN 106, which may be any type of network configured to provide voice, data, application, and / or voice over internet protocol (VoIP) services to one or more of the WTRUs 102a, 102b, 102c, 102d. The data may have various quality of service (QoS) requirements, such as different throughput requirements, latency requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, etc. The CN 106 may provide call control, billing services, mobile location-based services, prepaid calling, Internet connectivity, video distribution, etc., and / or perform high-level security functions, such as user authentication. Although not shown in FIG. 1A, it will be appreciated that the RAN 104 and / or the CN 106 may communicate directly or indirectly with other RANs that use the same RAT as the RAN 104 or a different RAT. For example, in addition to being connected to the RAN 104, which may utilize NR radio technology, the CN 106 may also communicate with another RAN (not shown) using GSM, UMTS, CDMA2000, WiMAX, E-UTRA or WiFi radio technologies.

[0026] The CN 106 may also serve as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and / or other networks 112. The PSTN 108 may include a public switched telephone network providing plain old telephone service (POTS). The Internet 110 may include a global system of interconnected computer networks and devices that use common communication protocols, such as the transmission control protocol (TCP), user datagram protocol (UDP), and / or internet protocol (IP) of the TCP / IP Internet protocol suite. The other networks 112 may include wired and / or wireless communication networks owned and / or operated by other service providers. For example, the other networks 112 may include another CN connected to one or more RANs, which may use the same RAT as the RAN 104 or a different RAT.

[0027] Some or all of the WTRUs 102a, 102b, 102c, 102d in the communications system 100 may include multi-mode capabilities (e.g., the WTRUs 102a, 102b, 102c, 102d may include multiple transceivers for communicating with different wireless networks over different wireless links). For example, the WTRU 102c shown in FIG. 1A may be configured to communicate with a base station 114a that can use a cellular-based wireless technology and a base station 114b that can use an IEEE 802 wireless technology.

[0028] 1B is a system diagram illustrating an example WTRU 102. As shown in FIG. 1B, the WTRU 102 may include, among other things, a processor 118, a transceiver 120, a transmit / receive element 122, a speaker / microphone 124, a keypad 126, a display / touchpad 128, non-removable memory 130, removable memory 132, a power source 134, a chipset 136 for a positioning system, such as a Global Positioning System (GPS), and / or other elements 138. It will be understood that the WTRU 102 may include any sub-combination of the foregoing elements while remaining consistent with an embodiment.

[0029] The processor 118 may be a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), multiple microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) circuit, any other type of integrated circuit (IC), a state machine, etc. The processor 118 may perform signal coding, data processing, power control, input / output processing, and / or any other functionality that enables the WTRU 102 to operate in a wireless environment. The processor 118 may be coupled to the transceiver 120, which may be coupled to the transmit / receive element 122. Although FIG. 1B depicts the processor 118 and the transceiver 120 as separate components, it will be understood that the processor 118 and the transceiver 120 may be integrated together in an electronic package or chip.

[0030] The transmit / receive element 122 may be configured to transmit signals to or receive signals from a base station (e.g., the base station 114a of FIG. 1A) over the air interface 116. For example, in one embodiment, the transmit / receive element 122 may be an antenna configured to transmit and / or receive RF signals. In one embodiment, the transmit / receive element 122 may be an emitter / detector configured to transmit and / or receive, for example, IR, UV, or visible light signals. In yet another embodiment, the transmit / receive element 122 may be configured to transmit and / or receive both RF and light signals. It will be appreciated that the transmit / receive element 122 may be configured to transmit and / or receive any combination of wireless signals.

[0031] 1B as a single element, the WTRU 102 may include any number of transmit / receive elements 122. More specifically, the WTRU 102 may employ MIMO technology. Thus, in one embodiment, the WTRU 102 may include two or more transmit / receive elements 122 (e.g., multiple antennas) for transmitting and receiving wireless signals over the air interface 116.

[0032] The transceiver 120 may be configured to modulate signals transmitted by the transmit / receive element 122 and demodulate signals received by the transmit / receive element 122. As mentioned above, the WTRU 102 may have multi-mode capabilities. Thus, the transceiver 120 may include multiple transceivers to enable the WTRU 102 to communicate via multiple RATs, such as, for example, NR and IEEE 802.11.

[0033] The processor 118 of the WTRU 102 may be coupled to and may receive user input data from a speaker / microphone 124, a keypad 126, and / or a display / touchpad 128 (e.g., a liquid crystal display (LCD) display unit or an organic light-emitting diode (OLED) display unit). The processor 118 may also output user data to the speaker / microphone 124 and / or the display / touchpad 128. Additionally, the processor 118 may access information from and store data in any type of suitable memory, such as non-removable memory 130 and / or removable memory 132. The non-removable memory 130 may include a random access memory (RAM), a read-only memory (ROM), a hard disk, or any other type of memory storage device. The removable memory 132 may include a subscriber identity module (SIM) card, a memory stick, a secure digital (SD) memory card, or the like. In other embodiments, the processor 118 may access information from and store data in memory that is not physically located on the WTRU 102, such as on a server or home computer (not shown).

[0034] The processor 118 may receive power from the power source 134 and may be configured to distribute and / or control the power to other components in the WTRU 102. The power source 134 may be any suitable device for providing power to the WTRU 102. For example, the power source 134 may include one or more dry batteries (e.g., nickel-cadmium (NiCd), nickel-zinc (NiZn), nickel metal hydride (NiMH), lithium-ion (Li-ion), etc.), solar cells, fuel cells, etc.

[0035] The processor 118 may also be coupled to a GPS chipset 136, which may be configured to provide location information (e.g., longitude and latitude) regarding a current location of the WTRU 102. In addition to or in lieu of information from the GPS chipset 136, the WTRU 102 may receive location information from a base station (e.g., base stations 114a, 114b) over the air interface 116 and / or determine its location based on the timing of signals being received from two or more nearby base stations. It will be appreciated that the WTRU 102 may obtain location information by way of any suitable location determination method while remaining consistent with an embodiment.

[0036] The processor 118 may be further coupled to other elements 138, which may include one or more software and / or hardware modules that provide additional features, functionality, and / or wired or wireless connectivity. For example, the elements 138 may include an accelerometer, an electronic compass, a satellite transceiver, a digital camera (for photos and / or videos), a universal serial bus (USB) port, a vibration device, a television transceiver, a hands-free headset, a Bluetooth module, a frequency modulated (FM) radio unit, a digital music player, a media player, a video game player module, an Internet browser, a Virtual Reality and / or Augmented Reality (VR / AR) device, an activity tracker, etc. Element 138 may include one or more sensors, which may be one or more of a gyroscope, an accelerometer, a Hall effect sensor, a magnetometer, an orientation sensor, a proximity sensor, a temperature sensor, a time sensor, a geolocation sensor, an altimeter, a light sensor, a touch sensor, a magnetometer, a barometer, a gesture sensor, a biometric sensor, and / or a humidity sensor.

[0037] The WTRU 102 may include a full-duplex radio where transmission and reception of some or all of the signals (e.g., associated with a particular subframe for both the UL (e.g., for transmission) and DL (e.g., for reception)) may be simultaneous and / or together. The full-duplex radio may include an interference management unit to reduce and / or substantially eliminate self-interference via hardware (e.g., a choke) or via signal processing via a processor (e.g., a separate processor (not shown) or processor 118). In one embodiment, the WRTU 102 may include a half-duplex radio for either transmission and reception of some or all of the signals (e.g., associated with a particular subframe for either the UL (e.g., for transmission) or downlink (e.g., for reception)).

[0038] 1C is a system diagram illustrating the RAN 104 and the CN 106 according to one embodiment. As mentioned above, the RAN 104 may communicate with the WTRUs 102a, 102b, 102c over the air interface 116 using E-UTRA radio technology. The RAN 104 may also communicate with the CN 106.

[0039] The RAN 104 may include eNode-Bs 160a, 160b, 160c, although it will be understood that the RAN 104 may include any number of eNode-Bs while remaining consistent with an embodiment. The eNode-Bs 160a, 160b, 160c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In an embodiment, the eNode-Bs 160a, 160b, 160c may implement MIMO technology. Thus, the eNode-B 160a may, for example, use multiple antennas to transmit wireless signals to and / or receive wireless signals from the WTRU 102a.

[0040] Each of the eNode-Bs 160a, 160b, 160c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, etc. As shown in FIG 1C, the eNode-Bs 160a, 160b, 160c may communicate with one another via an X2 interface.

[0041] 1C may include a mobility management entity (MME) 162, a serving gateway (SGW) 164, and a packet data network (PDN) gateway (or PGW) 166. Although each of the foregoing elements is depicted as part of the CN 106, it will be understood that any of these elements may be owned and / or operated by an entity other than the CN operator.

[0042] The MME 162 may be connected to each of the eNode-Bs 162a, 162b, 162c in the RAN 104 via an S1 interface and may function as a control node. For example, the MME 162 may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, bearer activation / deactivation, and selecting a particular serving gateway during initial attachment of the WTRUs 102a, 102b, 102c. The MME 162 may provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as GSM and / or WCDMA.

[0043] The SGW 164 may be connected to each of the eNode Bs 160a, 160b, 160c in the RAN 104 via an S1 interface. The SGW 164 may generally route and forward user data packets to / from the WTRUs 102a, 102b, 102c. The SGW 164 may perform other functions such as anchoring the user plane during inter-eNode B handovers, triggering paging when DL data is available to the WTRUs 102a, 102b, 102c, and managing and storing the context of the WTRUs 102a, 102b, 102c.

[0044] The SGW 164 may be connected to a PGW 166, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

[0045] The CN 106 may facilitate communications with other networks. For example, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to circuit-switched networks, such as the PSTN 108, to facilitate communications between the WTRUs 102a, 102b, 102c and traditional land-line communications devices. For example, the CN 106 may include or communicate with an IP gateway (e.g., an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 106 and the PSTN 108. Additionally, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to other networks 112, which may include other wired and / or wireless networks owned and / or operated by other service providers.

[0046] Although the WTRU is depicted in FIGS. 1A-1D as a wireless terminal, it is contemplated that in certain representative embodiments such a terminal may use a wired communications interface (e.g., temporarily or permanently) with the communications network.

[0047] In an exemplary embodiment, the other network 112 may be a WLAN.

[0048] A WLAN in infrastructure Basic Service Set (BSS) mode may have an Access Point (AP) of the BSS and one or more stations (STAs) associated with the AP. The AP may have access or interface to a Distribution System (DS) or another type of wired / wireless network that carries traffic within and / or outside the BSS. Traffic to a STA originating from outside the BSS may arrive through the AP and be delivered to the STA. Traffic originating from a STA to a destination outside the BSS may be sent to the AP and transmitted to the respective destination. Traffic between STAs within a BSS may be transmitted, for example, through the AP, where a source STA may send traffic to the AP, which may deliver the traffic to the destination STA. Traffic between STAs within a BSS may be considered and / or referred to as peer-to-peer traffic. Peer-to-peer traffic may be sent (e.g., directly) between a source STA and a destination STA using a direct link setup (DLS). In certain representative embodiments, the DLS may use 802.11e DLS or 802.11z tunneled DLS (TDLS). A WLAN using an Independent BSS (IBSS) mode may not have an AP, and STAs within or using the IBSS (e.g., all of the STAs) may communicate directly with each other. The IBSS mode of communication may be referred to herein as an "ad-hoc" communication mode.

[0049] When using an 802.11ac infrastructure mode of operation or a similar mode of operation, an AP may transmit a beacon on a fixed channel, such as a primary channel. The primary channel may be a fixed width (e.g., a 20 MHz wide bandwidth) or a width that is dynamically set via signaling. The primary channel may be an operating channel of the BSS and may be used by STAs to establish a connection with the AP. In some representative embodiments, for example, in an 802.11 system, Carrier Sense Multiple Access / Collision Avoidance (CSMA / CA) with collision avoidance may be implemented. With CSMA / CA, STAs (e.g., all STAs), including the AP, may sense the primary channel. If the primary channel is sensed / detected and / or determined to be busy by a particular STA, the particular STA may back off. One STA (e.g., only one station) may transmit at any given time in a given BSS.

[0050] A High Throughput (HT) STA may, for example, use a 40 MHz wide channel for communication via a combination of a primary 20 MHz channel and adjacent or non-adjacent 20 MHz channels to form a 40 MHz wide channel.

[0051] A Very High Throughput (VHT) STA may support 20 MHz, 40 MHz, 80 MHz, and / or 160 MHz wide channels. 40 MHz and / or 80 MHz may be formed by combining consecutive 20 MHz channels. A 160 MHz channel may be formed by combining eight consecutive 20 MHz channels or by combining two non-consecutive 80 MHz channels, which may be referred to as an 80+80 configuration. For the 80+80 configuration, after channel encoding, the data may pass through a segment parser that may split the data into two streams. Inverse Fast Fourier Transform (IFFT) processing and time domain processing may be performed separately on each stream. The streams may be mapped to two 80 MHz channels and the data may be transmitted by the transmitting STA. At the receiver of the receiving STA, the above operations for the 80+80 configuration may be reversed and the combined data may be transmitted to the Medium Access Control (MAC).

[0052] Sub-1 GHz operating modes are supported by 802.11af and 802.11ah. Channel operating bandwidths and carriers are reduced in 802.11af and 802.11ah compared to those used in 802.11n and 802.11ac. 802.11af supports 5 MHz, 10 MHz, and 20 MHz bandwidths in TV White Space (TVWS) spectrum, and 802.11ah supports 1 MHz, 2 MHz, 4 MHz, 8 MHz, and 16 MHz bandwidths using non-TVWS spectrum. According to representative embodiments, 802.11ah may support meter-type control / machine-type communications (MTC), such as MTC devices in macro coverage areas. MTC devices may have limited capabilities, including, for example, support for (e.g., support only for) specific and / or limited bandwidths. MTC devices may include batteries with battery life above a threshold (e.g., to maintain very long battery life).

[0053] WLAN systems that may support multiple channels and channel bandwidths, such as 802.11n, 802.11ac, 802.11af, and 802.11ah, include a channel that may be designated as a primary channel. The primary channel may have a bandwidth equal to the maximum common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel may be configured and / or limited by the STAs among all STAs operating in the BSS that support the smallest bandwidth operating mode. In an 802.11ah example, the primary channel may be 1 MHz wide for STAs (e.g., MTC type devices) that support (e.g., only) the 1 MHz mode, even if the AP and other STAs in the BSS support 2 MHz, 4 MHz, 8 MHz, 16 MHz, and / or other channel bandwidth operating modes. Carrier sensing and / or Network Allocation Vector (NAV) settings may depend on the condition of the primary channel. For example, if the primary channel is busy due to STAs (that only support the 1 MHz mode of operation) transmitting to the AP, the entire available frequency band may be considered busy even though most of the frequency band may remain idle and available for use.

[0054] In the United States, the available frequency bands that can be used by 802.11ah are 902MHz to 928MHz. In South Korea, the available frequency bands are 917.5MHz to 923.5MHz. In Japan, the available frequency bands are 916.5MHz to 927.5MHz. The total bandwidth available for 802.11ah is 6MHz to 26MHz depending on the country code.

[0055] 1D is a system diagram illustrating the RAN 113 and the CN 115 according to one embodiment. As mentioned above, the RAN 113 may communicate with the WTRUs 102a, 102b, 102c over the air interface 116 using NR radio technology. The RAN 113 may also communicate with the CN 115.

[0056] The RAN 113 may include gNBs 180a, 180b, 180c, although it will be understood that the RAN 113 may include any number of gNBs while remaining consistent with an embodiment. The gNBs 180a, 180b, 180c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In an embodiment, the gNBs 180a, 180b, 180c may implement MIMO technology. For example, the gNBs 180a, 180b, 180c may utilize beamforming to transmit and / or receive signals to the WTRUs 102a, 102b, 102c. Thus, the gNB 180a may transmit wireless signals to and / or receive wireless signals from the WTRUs 102a, 102b, 102c, for example, using multiple antennas. In one embodiment, the gNBs 180a, 180b, 180c may implement carrier aggregation technology. For example, the gNB 180a may transmit multiple component carriers (not shown) to the WTRU 102a. A subset of these component carriers may be on an unlicensed spectrum, and the remaining component carriers may be on a licensed spectrum. In one embodiment, the gNBs 180a, 180b, 180c may implement Coordinated Multi-Point (CoMP) technology. For example, the WTRU 102a may receive coordinated transmissions from the gNBs 180a and 180b (and / or gNB 180c).

[0057] The WTRUs 102a, 102b, 102c may communicate with the gNBs 180a, 180b, 180c using transmissions associated with a scalable numerology. For example, the OFDM symbol spacing and / or OFDM subcarrier spacing may vary for different transmissions, different cells, and / or different portions of the wireless transmission spectrum. The WTRUs 102a, 102b, 102c may communicate with the gNBs 180a, 180b, 180c using subframes or transmission time intervals (TTIs) of different or scalable lengths (e.g., including varying numbers of OFDM symbols and / or varying lengths of absolute time duration and varying times).

[0058] The gNBs 180a, 180b, 180c may be configured to communicate with the WTRUs 102a, 102b, 102c in a standalone configuration and / or a non-standalone configuration. In a standalone configuration, the WTRUs 102a, 102b, 102c may communicate with the gNBs 180a, 180b, 180c without accessing another RAN (e.g., eNode-Bs 160a, 160b, 160c in FIG. 1C ). In a standalone configuration, the WTRUs 102a, 102b, 102c may utilize one or more of the gNBs 180a, 180b, 180c as mobility anchor points. In a standalone configuration, the WTRUs 102a, 102b, 102c may communicate with the gNBs 180a, 180b, 180c using signals in unlicensed bands. The non-standalone configuration WTRUs 102a, 102b, 102c may communicate with and connect to a gNB 180a, 180b, 180c while also communicating with and connecting to another RAN, such as an eNode-B 160a, 160b, 160c. For example, the WTRUs 102a, 102b, 102c may implement DC principles to communicate with one or more gNBs 180a, 180b, 180c and one or more eNode-Bs 160a, 160b, 160c substantially simultaneously. In a non-standalone configuration, the eNode-Bs 160a, 160b, 160c may act as mobility anchors for the WTRUs 102a, 102b, 102c, and the gNBs 180a, 180b, 180c may provide additional coverage and / or throughput for serving the WTRUs 102a, 102b, 102c.

[0059] Each of the gNBs 180a, 180b, 180c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, support for network slicing, dual connectivity, interworking between NR and E-UTRA, routing of user plane data to User Plane Functions (UPFs) 184a, 184b, routing of control plane information to Access and Mobility Management Functions (AMFs) 182a, 182b, etc. As shown in FIG. 1D, the gNBs 180a, 180b, 180c may communicate with each other via an Xn interface.

[0060] 1D may include at least one AMF 182a, 182b, at least one UPF 184a, 184b, at least one Session Management Function (SMF) 183a, 183b, and possibly a Data Network (DN) 185a, 185b. Although each of the foregoing elements is depicted as part of the CN 115, it will be understood that any of these elements may be owned and / or operated by an entity other than the CN operator.

[0061] The AMF 182a, 182b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N2 interface and may function as a control node. For example, the AMF 182a, 182b may be responsible for user authentication of the WTRUs 102a, 102b, 102c, support for network slicing (e.g., handling different protocol data unit (PDU) sessions having different requirements), selection of the SMFs 183a, 183b for registration, management of registration areas, termination of NAS signaling, mobility management, etc. The network slicing may be used by the AMF 182a, 182b to customize the CN support of the WTRUs 102a, 102b, 102c based on the type of service utilizing the WTRUs 102a, 102b, 102c. For example, different network slices may be established for different use cases, such as services relying on ultra-reliable low latency (URLLC) access, services relying on enhanced massive mobile broadband (eMBB) access, services for MTC access, etc. The AMF 162 may provide a control plane function for switching between the RAN 113 and other RANs (not shown) that employ other radio technologies, such as LTE, LTE-A, LTE-A Pro, and / or non-3GPP access technologies, such as WiFi.

[0062] The SMFs 183a, 183b may be connected to the AMFs 182a, 182b in the CN 115 via an N11 interface. The SMFs 183a, 183b may also be connected to the UPFs 184a, 184b in the CN 115 via an N4 interface. The SMFs 183a, 183b may select and control the UPFs 184a, 184b and configure the routing of traffic through the UPFs 184a, 184b. The SMFs 183a, 183b may perform other functions such as managing and assigning UE IP addresses, managing PDU sessions, controlling policy enforcement and QoS, providing downlink data notification, etc. The PDU session type may be IP-based, non-IP-based, Ethernet-based, etc.

[0063] The UPFs 184a, 184b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N3 interface, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. The UPFs 184, 184b may perform other functions, such as routing and forwarding packets, enforcing user plane policies, supporting multi-homed PDU sessions, handling user plane QoS, buffering downlink packets, providing mobility anchoring, etc.

[0064] The CN 115 may facilitate communication with other networks. For example, the CN 115 may include or communicate with an IP gateway (e.g., an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 115 and the PSTN 108. Additionally, the CN 115 may provide the WTRUs 102a, 102b, 102c with access to other networks 112, which may include other wired and / or wireless networks owned and / or operated by other service providers. In an embodiment, the WTRUs 102a, 102b, 102c may be connected to local Data Networks (DNs) 185a, 185b through the UPFs 184a, 184b via an N3 interface to the UPFs 184a, 184b and an N6 interface between the UPFs 184a, 184b and the DNs 185a, 185b.

[0065] 1A-1D and the corresponding description thereof, one or more or all of the functions described herein with respect to one or more of the WTRUs 102a-d, base stations 114a-b, eNode-Bs 160a-c, MME 162, SGW 164, PGW 166, gNBs 180a-c, AMFs 182a-b, UPFs 184a-b, SMFs 183a-b, DNs 185a-b, and / or any other devices described herein may be performed by one or more emulation devices (not shown). The emulation devices may be one or more devices configured to emulate one or more or all of the functions described herein. For example, the emulation devices may be used to test other devices and / or to simulate network and / or WTRU functions.

[0066] The emulation devices may be designed to implement one or more tests of other devices in a lab environment and / or an operator network environment. For example, one or more emulation devices may perform one or more or all functions while fully or partially implemented and / or deployed as part of a wired and / or wireless communication network to test other devices in the communication network. One or more emulation devices may perform one or more or all functions while temporarily implemented / deployed as part of a wired and / or wireless communication network. The emulation devices may be directly coupled to another device for testing purposes and / or may perform testing using terrestrial wireless communication.

[0067] The one or more emulation devices may perform one or more functions, including but not limited to, while not implemented / deployed as part of a wired and / or wireless communication network. For example, the emulation devices may be utilized in a test scenario in a test lab and / or in an undeployed (e.g., test) wired and / or wireless communication network to implement testing of one or more components. The one or more emulation devices may be test equipment. Direct RF coupling and / or wireless communication via RF circuitry (which may include, for example, one or more antennas) may be used by the emulation devices to transmit and / or receive data.

[0068] Detailed Description 3GPP has specified system requirements for supporting UAS in 3GPP networks in 3GPP TS 22.125, “Unmanned Aerial System (UAS) support in 3GPP”, V16.2.0, and working group SA2 is currently conducting study item FS_ID_UAS-SA2 (3GPP SP-181114, “Study on supporting Unmanned Aerial Systems Connectivity, Identification and Tracking”, 2018-12) to address connectivity, identification and tracking of UAS.

[0069] 2 illustrates an example system architecture for supporting UAS in a 5G network. The system 200 may include a 5G core network 210 having at least one user plane function (UPF) 220a, 220b and a session management function (SMF) 240. The UPF may be operatively connected to one or more antennas 250a, 250b, 250c. A UAS traffic management (UTM) function 230 is operatively connected to the 5G core network 210, e.g., the SMF 240.

[0070] The system further includes a UAS illustrating possible scenarios.

[0071] The first UAS example includes a controller 262a and a UAV 264a, both of which operate a connection to a 5G network via antenna 250a and a direct connection to each other.

[0072] A second UAS example includes controller 262b and UAV 264b, both of which operate a connection to a 5G network via antenna 250b, but do not have a direct interconnection and therefore rely on a connection to antenna 250b to communicate.

[0073] A third example UAS includes a controller 262b connected to one antenna 250b and a UAV 264c connected to another antenna 250c, such that communications between the controller 262b and the UAV 264c can pass through the 5G core network.

[0074] UTM is a framework for UAS traffic management. The roles and responsibilities of UTM, as well as the procedures and protocols applied in UTM, are not within the scope of 3GPP studies and may therefore vary, for example, between regions or countries. From the point of view of 3GPP networks, UTM is "a set of functions to authenticate UAVs, authorize UAS services, manage UAS policies and control UAV traffic in the airspace". (3GPP TS 22.125, already cited). Via UTM, authorized users can, for example, query the identity of UAVs and their UAV-Cs and obtain their associated metadata. UTM can store data necessary for UAS to operate. Air traffic control authorities can use UTM servers to authorize, enforce and regulate UAS operations.

[0075] In the system architecture of Figure 2, the UAS (UAV or UAV-C) can communicate with the UTM via the network user plane for identification, authentication and authorization procedures, as well as other command and control message / data exchange. 3GPP network functions (SMF, PCF, etc.) can have a direct or indirect (e.g., via a network exposed function, NEF) control interface with the UTM.

[0076] A UAS (UAV and UAV-C) connected to a cellular network may include various types of cellular communications to carry out its mission, such as UAS-UTM communications, non-payload communications (command & control), and payload communications.

[0077] UAS-UTM Communications: Communications between the UAS and the UTM should be enabled for identification, authorization, and law enforcement activities. Although a user plane connection can be used between the UAS and the UTM, it is also possible to use control plane communications between the two.

[0078] Non-payload communications (Command & Control, C2, sometimes abbreviated as C&C): Command & control messages and data exchanges are typically important to the UAV mission and security concerns. Some C2 exchanges (e.g., position or flight data reports) can occur between the UAV and the UTM, and between the UAV and its UAV-C.

[0079] Typical C2 communication types (see GSMA, "Insights into supporting Unmanned Aircraft on Mobile Networks", V1.0) include telemetry reports from the UAV to a controller or network, such as the AV's altitude and speed, real-time remote flight control commands for non-autonomous UAVs, mission / flight plan / constraint / regulatory data updates, and collision avoidance assistance information.

[0080] Generally, C2 messages are small in size and require low data rates. However, different C2 message types may have different QoS requirements in terms of latency, data loss rate, etc. For example, pilot commands typically need to be in real-time, while mission updates may tolerate a certain delay.

[0081] Payload Communications: A UAV in a mission state can transmit payload data, such as real-time video or sensor data, to its UAV-C or to devices in the network, such as application servers or storage. Such payload communications are typically uplink heavy and downlink light.

[0082] UAVs typically include a positioning system, such as circuitry for calculating a position from signals received on a Global Navigation Satellite System (GNSS), e.g., GPS, GLONASS, Galileo, and BeiDou. However, for at least some use cases, the accuracy of a UAV positioning system may not be sufficient.

[0083] In the first use case, UAV-C may require precise UAV position information to perform normal flight operations. While this may generally be met by traditional periodic UAV reports that include GNSS readings, there may be situations where a higher precision of the UAV position is required or where GNSS measurements are degraded.

[0084] GNSS-based UAV positioning may be less accurate in some locations, such as dense urban areas (street canyons), and GNSS systems are known to be less accurate in vertical planes. Furthermore, in congested flight corridors, a more precise UAV position may be required than is independently possible using GNSS alone.

[0085] Additionally, UAV-C may want to verify the UAV reported position to identify malfunctioning on-board positioning units or areas of degraded GNSS performance.

[0086] In the second use case, a UAS service supplier (USS) / UTM may request UAV tracking information with higher accuracy than is possible using the on-board GNSS units. Furthermore, this additional information may be selectively required as part of the UAV flight plan. Furthermore, the USS / UTM may want to independently verify the tracking information provided by the UAV and UAV-C.

[0087] 3GPP TS 22.125, already cited, specifies the following UAS tracking related requirements: "The 3GPP system shall support detection, identification and reporting of problematic UAV(s) and the UAV controller to a UTM" and "The 3GPP network should be able to provide supplement location information of UAV and its controller to a UTM. NOTE: This supplementation may be trust-based (i.e. the [Mobile Network Operator] MNO informs the UTM that the UAV location information is trustworthy) or it may be additional location information based on network information.

[0088] The USS / UTM may wish to identify UAVs and UAV-Cs with tampered position reporting systems. The USS / UTM may also wish to monitor the position of UAVs as they pass through areas of known degraded GNSS performance (e.g., street canyons in dense urban scenarios). Additionally, the USS / UTM may wish to augment UAV-supplied tracking information with network-derived positioning information to achieve higher combined accuracy.

[0089] In a third use case, a UAV may wish to augment its internally derived positioning information (e.g., with an on-board GNSS unit) in certain locations or situations. The UAV's internal GNSS unit may not be able to provide position information with sufficient accuracy as required by the UAV-C or USS / UTM. Furthermore, as already mentioned, this accuracy may not be sufficient in certain locations, such as GNSS-derived positions in certain dense urban areas.

[0090] The 3GPP positioning protocols, for both LTE and NR, allow the network to estimate the UE position based on reported measurements and use several techniques such as Extended Cell Id (E-CID), Time Difference of Arrival (TDOA), and Reference Signal Time Difference (RSTD). While these techniques may not be more accurate than GNSS-based positioning alone, because they are based on independent measurements, they can supplement and / or augment UAV-supplied GNSS measurements, thereby improving overall accuracy, or can be used to confirm or validate UAV reported values.

[0091] The UAS Control Function (UCF) 330 is a network entity that provides positioning or tracking assistance to network entities, such as UAV-C 320. Two architecture options are described. First, the UCF 330 queries the position server 340 and communicates with the network entities, such as UAV / UAV-C, via an Access and Mobility Management Function (AMF), not shown. Second, the UCF 330 communicates with the 5GC / position server 340 via a Network Exposure Function (NEF), not shown, which then communicates with the network entities, such as UAV / UAV-C, via a user plane. If the UCF 330 is part of the 5GC, all or part of its functions described herein may be collocated with other functions (e.g. UAV-C provisioning of flight / segment related information in the PCF).

[0092] FIG. 3 illustrates a method 300 for network-provided tracking assistance to a UAV-C 320, according to one embodiment.

[0093] In an embodiment, it is assumed that UAV-C320 requires accurate UAV310 position information. In some conventional cases, this may be provided by UAV310 using an on-board GNSS unit (not shown) or other means, and may be part of command and control (C2) communications between UAV310 and UAV-C320. However, UAV-C320 may require more accurate tracking information that may be provided through network assistance. Note that tracking information reported by the UAV may be verified by UAV-C320 using network assistance.

[0094] In steps S360 and S362, a positioning protocol, e.g., an NR positioning protocol or an LTE positioning protocol, is established between UAV 310 and UAV-C 320, respectively, and a location server 340 in the network. Measurement configurations such as periodicity and positioning type (e.g., E-CID, A-GNSS, RSTD, etc.) may also be established as part of the protocol establishment.

[0095] In step S364, the UAV 310 reports position measurements associated with the positioning protocol, such as its position coordinates, to the location server 340. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during the positioning protocol establishment.

[0096] In step S366, UAV-C 320 may report position measurements associated with the positioning protocol, such as its position coordinates, to position server 340. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during positioning protocol establishment.

[0097] The reported position measurements may be transmitted (essentially) periodically as part of the 3GPP positioning protocol.

[0098] In step S368, the UAV310 reports its location or tracking information to the UAV-C320 as part of the C2 communication. Relevant parameters such as accuracy, periodicity, etc. are typically determined during the configuration phase of the C2 communication setup between the UAV310 and the UAV-C320. These reports may include readings from an on-board GNSS unit and may be augmented by an inertial measurement unit if available. These reports are typically sent periodically (essentially).

[0099] In step S370, the UAV 310 reports its position or tracking information, as required, to the USS / UTM 350. These parameters are typically exchanged prior to flight authorization.

[0100] In step S372, UAV-C320 sends a UAS positioning request message to UCF330. This message can include the UAS ID, the UAV flight plan, which may include multiple segments, and the positioning or tracking quality required for different flight phases. The UAS ID is an identification assigned to the UAV by the USS / UTM. The UAS ID can take one of the forms of remote ID described in ASTM WK 65041 "Remote ID and Tracking Overview". The UAS ID can also be referred to as the Civil Aviation Authority (CAA) level UAV ID.

[0101] It should be noted that positioning or tracking requirements (e.g., accuracy, periodicity, etc.) may differ between the UAV-C 320 and the USS / UTM 350. For example, the UAV-C 320 may require more frequent positioning / tracking information of the UAV 310, while reporting parameters to the USS / UTM 350 may be dictated by regulations. These reports are typically sent periodically.

[0102] A flight plan may include three-dimensional waypoints (latitude, longitude, altitude) and associated flight volumes (i.e., the volume of space where the UAV is expected to be located at a given time due to positioning and / or flight control tolerances). Additionally, a flight plan may be divided into multiple flight segments. Each flight segment may have different positioning or tracking quality requirements. This may be due to different levels of positioning or tracking quality available in different flight segments (e.g., due to different GNSS signal quality due to known obstacles, etc.) or due to different levels of flight activity in each flight segment. Positioning or tracking requirements may include quantities such as accuracy, maximum allowable error, periodicity, etc.

[0103] Alternatively, the flight segments may already be known to the network and each segment may be assigned a unique ID during flight authorization. The flight segment identification information may be provisioned to the UAV-C 320 or UAV 310 by the UCF 330 or PCF. In this alternative, the UAS positioning request may include the UAS ID, the segment ID, and the associated requested positioning quality parameters. In another alternative, the UAS positioning request / response messaging exchange may be omitted and the UAV-C 320 may directly send the UAS positioning activation message described with respect to step S376.

[0104] In step S374, in response to the UAS positioning request message, the UCF 330 transmits a UAS positioning response message conveying the UCF 330's ability to fulfill the positioning request from the UAV-C 320 with respect to the requested accuracy and tolerance for the specified flight segment. This may be signaled in the form of either "accept" or "reject" for each flight segment. Along with the "reject" response, the UCF 330 may also include alternative values ​​for the parameters specified in the corresponding request, such as the accuracy and maximum tolerance for each flight segment. The UCF 330 may also include associated costs for different configurations of the specified parameters, such as the accuracy and maximum tolerance for each flight segment.

[0105] The UCF 330 can determine the ability to meet the requested measurement quality for various flight segments, for example, by a) obtaining available positioning or tracking quality information for different network regions in advance, for example from the position server 340, and b) obtaining available positioning or tracking quality information for the requested flight segment according to the UAV-C request.

[0106] If UAV310 is already in flight and the flight plan is changed, for example due to weather, collision avoidance, or emergency reasons, or the positioning reporting requirements change, UAV-C320 may need to complete a UAS positioning request / response message exchange.

[0107] It should be noted that there may be multiple exchanges of UAS Positioning Request Messages and UAS Positioning Response Messages between UAV-C320 and UCF330 to determine a mutually acceptable set of positioning or tracking parameters.

[0108] In step S376, for example, upon receiving the UAS positioning response message, UAV-C310 may send a UAS positioning activation message to UCF330 to signal the end of the positioning parameter negotiation phase and activate positioning report transmission by the UAS control function.

[0109] In step S378, the UCF330 sends a positioning request to the location server 340, including the UASID and the positioning configuration determined after negotiation with the UAV-C320.

[0110] In step S380, the location server 340 transmits available location information for the indicated UAV 310 to the UCF 330. The provided UAV tracking or positioning information typically complies with a required configuration in terms of accuracy, periodicity, etc.

[0111] Alternatively, if the UAV-C320 is registered with the USS / UTM350 to access positioning services, the UAV-C320 may receive UAV positioning / tracking information from the USS / UTM350.

[0112] In step S382, upon receiving the UAV positioning information from the position server 340, the UCF 330 may augment the UE-supplied position information with network-supplied position or tracking information and transmit it to the requesting UAV-C 320. By combining a UE-supplied position estimate (e.g., using an on-board GNSS receiver) with network positioning measurements, the UCF 330 may improve the accuracy of the UAV position or tracking information provided to the UAV-C 320 compared to a UAV-derived position estimate (e.g., using only an on-board GNSS unit).

[0113] The UCF 330 may also verify the validity of the UE reported position (e.g., using an on-board GNSS receiver) by comparing it to the reported network positioning estimate and report the result to the requesting UAV-C 320. If a maximum allowable error is configured, the UCF 330 may notify the UAV-C 320 when the difference between the two measurements exceeds this allowable error. Alternatively, the UCF 330 may report the difference between the two measurements.

[0114] In step S384, the UCF 330 reports the UAV positioning or tracking information in the reported configuration to the requesting UAV-C 320. The report may include augmented UAV position information, the UCF 330's assessment of the validity of the UAV-reported positioning information, or both. Depending on the requested format, the report may be sent periodically, whenever the network-reported UAV position differs from the UE-reported value by a significant amount (e.g., by more than a pre-configured threshold), or both.

[0115] FIG. 4 illustrates a method 400 for network-provided tracking assistance to a USS / UTM 450 according to one embodiment.

[0116] In this embodiment, assume that the USS / UTM 450 needs to know the location of the UAV 410 during flight due to regulatory requirements. This location may be provided by the UAV 410 using an on-board GNSS unit or other means, and may be part of the communication interface between the UAV 410 and the USS / UTM 450. However, as will be described below, the USS / UTM 450 may obtain more accurate UAV tracking information by utilizing network positioning assistance, and furthermore, the tracking information reported by the UAV may be verified by the USS / UTM 450 with network assistance.

[0117] In steps S460 and S462, a positioning protocol is established between UAV 410 and UAV-C 420, respectively, and location server 440, eg, as previously described with reference to steps S360 and S362.

[0118] In step S464, the UAV 410 reports position measurements associated with the positioning protocol, such as its position coordinates, to the location server 440. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during the positioning protocol establishment.

[0119] In step S466, UAV-C 420 may report position measurements associated with the positioning protocol, such as its position coordinates, to the position server 440. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during positioning protocol establishment.

[0120] In step S468, the UAV 410 reports its position or tracking information to the USS / UTM 450, typically in accordance with regulatory requirements (e.g., periodicity, accuracy, etc.) on the communication interface between the UAV 410 and the USS / UTM 450. Reporting configurations are typically provided prior to flight authorization. These reports may include readings from an on-board GNSS unit, possibly augmented by an inertial measurement unit if available.

[0121] In step S470, the USS / UTM 450 sends a UAS positioning request message to the UCF 430. This message can include the UAS ID, the UAV flight plan or a particular portion of the flight plan, which may include multiple segments, and the positioning or tracking quality required for different flight phases. The UAS ID can take one of the forms of a remote ID. The flight plan can include three-dimensional waypoints (latitude, longitude, altitude) and associated flight volume. Furthermore, the flight plan may be divided into multiple flight segments. Each flight segment may have different positioning or tracking quality requirements. The particular portion of the flight plan may include or correspond to a particular geographic area of ​​interest (e.g., the USS / UTM performs geofencing to detect when the UAV approaches / enters / exits a zone). This may be due to different levels of positioning or tracking quality available in different flight segments (e.g., due to different GNSS signal quality due to known obstacles, etc.), or due to different levels of flight activity in each flight segment. The positioning or tracking requirements may include quantities such as accuracy, maximum allowable error, periodicity, etc. The message may include the UAS ID of the associated UAV-C to request location information of the UAV-C as part of the UAV's positioning report.

[0122] Alternatively, the flight segments may already be known to the network and each segment may be assigned a unique ID during flight authorization, in which case the UAS positioning request may include the UASID, segment ID, and associated requested positioning quality parameters, or in yet another alternative, the UAS positioning request / response messaging exchange may be omitted and the USS / UTM 450 may directly send a UAS positioning activation message (see step S474).

[0123] If UAV 410 is already in flight and the flight plan is changed, for example due to weather, collision avoidance, or emergency reasons, or if position reporting requirements change, USS / UTM 450 may need to complete a UAS positioning request / response message exchange.

[0124] In step S472, upon receiving the UAS positioning request message from the USS / UTM 450, the UCF 430 responds with a UAS positioning response message that may convey the UCF 430's ability to fulfill the positioning request from the USS / UTM 450 in terms of the requested accuracy and tolerance for the specified flight segment. The decision may take the form of either "accept" or "reject" for each flight segment. Along with the reject response, the UCF 430 may also include alternative values ​​for the specified parameters in the corresponding request, such as the accuracy and maximum tolerance for each flight segment. The UCF 430 may also include associated costs for different configurations of the specified parameters, such as the accuracy and maximum tolerance for each flight segment.

[0125] Note that there may be multiple exchanges of UAS Positioning Request Messages and UAS Positioning Response Messages between the USS / UTM 450 and the UCF 430 to determine a mutually acceptable set of positioning or tracking parameters. These parameters may be determined based on the requested positioning accuracy, the requested position size of interest (e.g., mapping to a tracking area, cell coverage area, or smaller).

[0126] In step S474, for example, upon receiving the UAS positioning response message, the USS / UTM 450 may send a UAS positioning activation message to the UCF 430 to signal the end of the positioning parameter negotiation phase and activate positioning report transmission by the UCF 430.

[0127] In step S476, the UCF 430 sends a positioning request to the location server 440, including the UASID and the positioning configuration of the UAV determined after negotiation with the USS / UTM 450, to obtain the position information of the UAV, for example. Similar steps can be performed to obtain the position information of the associated UAV-C using the UAS ID of the UAV-C. The positioning configuration can include network relative coordinates, such as a tracking area or cell ID, corresponding to the geographic area of ​​interest (longitude, latitude, altitude) requested by the USS / UTM.

[0128] In step S478, the location server 440 transmits available location information for the indicated UAV 410 to the UCF 430. The provided UAV tracking or positioning information typically complies with the required configuration in terms of accuracy, periodicity, etc.

[0129] In step S480, upon receiving the UAV positioning information from the position server 440, the UCF 430 may augment the UE-supplied position information with network-supplied position or tracking information and transmit it to the requesting USS / UTM 450. By combining the UE 410-provided position estimate (e.g., using an on-board GNSS receiver) with the network positioning measurements, the UCF 430 may improve the accuracy of the UAV position or tracking information provided to the USS / UTM 450 compared to a UAV-derived position estimate (e.g., using only an on-board GNSS unit). Furthermore, the UCF 430 may forward the UAV's network positioning estimate to the USS / UTM, which then compares it to the UAV-reported position (e.g., to detect discrepancies).

[0130] The UCF 430 may also verify the validity of the UE reported position (e.g., using an on-board GNSS receiver) by comparing it to the reported network positioning estimate and report the result to the requesting USS / UTM 450. If a maximum allowable error is configured, the UCF 430 may notify the USS / UTM 450 when the difference between the two measurements exceeds this allowable error. Alternatively, the UCF 430 may report the difference between the two measurements.

[0131] In step S482, the UCF 430 reports the UAV 410, and optionally, if requested, the UAV-C 420 positioning or tracking information in the reported configuration to the USS / UTM 450. The report may include augmented UAV (and possibly UAV-C) position information, or may include the UCF 430's assessment of the validity of the UAV (and possibly UAV-C) reported positioning information. Depending on the requested format, the report may be sent periodically, whenever the network reported UAV or UAV-C position differs from the UE reported value by a significant amount (e.g., above a pre-configured threshold), or both.

[0132] FIG. 5 illustrates a method 500 for network-assisted UAV tracking according to one embodiment.

[0133] In this embodiment, it is assumed that at least one of the USS / UTM 550 and the UAV-C 520 may require precise UAV position information during flight. This may be provided by the UAV 510 using an on-board GNSS unit or other means. However, the UAV 510 may provide more accurate positioning or tracking information when assisted by a network.

[0134] The UCF 530 is a network entity that provides positioning or tracking assistance to the UAV-C 520 and the USS / UTM 550. Note that a UAV may be a trusted device.

[0135] In steps S560 and S562, a positioning protocol is established, for example as previously described with reference to steps S360 and S362.

[0136] In step S564, the UAV 510 reports position measurements related to the positioning protocol, such as its position coordinates, to the location server 540. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during the positioning protocol establishment.

[0137] In step S566, UAV-C 520 may report position measurements associated with the positioning protocol, such as its position coordinates, to position server 540. The amount of reporting, periodicity, and other quantities are typically dependent on configurations exchanged during positioning protocol establishment.

[0138] In step S568, the UAV 510 sends a UAS positioning assistance request to the UCF 530. This message may include a UAS ID, a UAV flight plan that may include multiple flight segments, and the positioning or tracking quality required for different flight phases. The UAS ID may take one of the forms of a remote ID. The flight plan may include three-dimensional waypoints (latitude, longitude, altitude) and associated flight volume. Furthermore, the flight plan may be divided into multiple flight segments. Each flight segment may have different positioning or tracking quality requirements. This may be due to different levels of positioning or tracking quality available in different flight segments (e.g., due to different GNSS signal quality due to known obstacles, etc.) or due to different levels of flight activity in each flight segment. The positioning or tracking requirements may include quantities such as accuracy, maximum allowable error, periodicity, etc.

[0139] In step S570, upon receiving the UAS Positioning Assistance Request message from the UAV 510, the UCF 530 responds with a UAS Positioning Response message that may convey the UCF 530's ability to fulfill the positioning request from the UAV 510 in terms of the requested accuracy and tolerance for the specified flight segment. The decision may take the form of either "accept" or "reject" for each flight segment. Along with "reject", the UCF 530 may also include alternative values ​​for the specified parameters in the corresponding request, such as the accuracy and maximum tolerance for each flight segment. The UCF 530 may also include associated costs of different configurations of the specified parameters, such as the accuracy and maximum tolerance for each flight segment.

[0140] It should be noted that there may be multiple exchanges of UAS positioning assistance request messages and UAS positioning assistance response messages between the UAV 510 and the UCF 530 to determine a mutually acceptable set of positioning or tracking parameters.

[0141] In step S572, for example, upon receiving the UAS positioning assistance response message, the UAV 510 may send a UAS positioning assistance confirmation message to the UCF 530 to signal the end of the positioning parameter negotiation phase and activate positioning report transmission by the UCF 530.

[0142] In step S574, the UCF 530 sends a positioning request to the location server 540, including, for example, the UASID and a positioning configuration determined after negotiation with the UAV 510.

[0143] In step S576, the location server 540 transmits the location information for the indicated UAV 510 to the UCF 530. The provided UAV tracking or positioning information typically conforms to a required configuration in terms of accuracy, periodicity, etc.

[0144] In step S578, upon receiving the UAV positioning information from position server 540, UCF 530 may populate the positioning assistance report with a network estimated UAV position estimate, or populate the positioning assistance report with expected positioning measurements at requested waypoints along the flight plan according to an agreed upon configuration, which is referred to as a set of nominal measurements.

[0145] In step S580, UCF 530 transmits a positioning assistance report containing the requested positioning or tracking information to UAV 510. The report may include network estimated UAV position information or nominal measurements for a range of waypoints along the reported flight plan. Depending on the requested format, the report may be transmitted on a periodic basis or at the beginning of UAV 510 flight when nominal measurements for all waypoints along the flight plan have been reported to UAV 510.

[0146] In step S582, the UAV 510 performs, for example, depending on the format and configuration of the positioning assistance information: Augmenting its own location estimate obtained from an on-board GNSS receiver, for example with network-supplied positioning or tracking information; For example, comparing its own position estimate obtained from an on-board GNSS receiver against network-supplied positioning or tracking information and generating an event based on an observed difference between the two; It can compare its positioning measurements (e.g., RSTD measurements) to nominal values ​​provided by the network at configured waypoints and generate events based on the difference between the two values.

[0147] In steps S584 and S586, the UAV 510 may capture and transmit positioning reports to the UAV-C 520 and the USS / UTM 550, respectively, according to the accepted configuration. The positioning reports may include at least one of augmented UAV positioning or tracking information derived from combining UAV-estimated UAV positioning or tracking information with network-provided UAV positioning or tracking information, an event identifier indicating the difference between the UAV-estimated UAV position and the network-provided UAV position, and an event identifier indicating the difference between the UAV-estimated positioning measurements and network-provided nominal values ​​for one or more waypoints along the UAV flight plan. If the enhanced UAV positioning information is configured, the positioning reports may be transmitted essentially periodically, when one of the configured positioning events is declared by the UAV, or both.

Claims

1. 1. A method for operation by a network device, comprising: receiving a first positioning request message from an unmanned aerial vehicle system service supplier, the first positioning request message including information indicative of an identity of the unmanned aerial vehicle; sending a second positioning request message to a location server, the second positioning request message including information indicative of the identification information of the unmanned aerial vehicle; receiving positioning information for the unmanned aerial vehicle from the location server, the positioning information being reported to the location server by the unmanned aerial vehicle; obtaining an assessment of the validity of the position reported by the unmanned aerial vehicle by comparing the position reported by the unmanned aerial vehicle with network-reported positioning information; transmitting information indicative of the identification and the rating of the unmanned aerial vehicle to the unmanned aerial vehicle system service supplier; A method comprising:

2. 2. The method of claim 1 , wherein transmitting to the unmanned aerial vehicle system service supplier further comprises transmitting information indicating an identification of an unmanned aerial vehicle controller associated with the unmanned aerial vehicle and position coordinates of the unmanned aerial vehicle controller.

3. The method of claim 1 , wherein the first position request message further includes information indicating a geographic area of ​​interest.

4. The method of claim 3 , wherein the first positioning request message includes information indicative of a flight plan for the unmanned aerial vehicle, the flight plan including the geographic area of ​​interest.

5. The method of claim 4 , wherein the flight plan includes a plurality of flight segments.

6. 1. A network device, comprising: a memory for storing computer program instructions executable by a processor; a processor executing the computer program instructions, receiving a first positioning request message from an unmanned aerial vehicle system service supplier, the first positioning request message including information indicative of an identity of the unmanned aerial vehicle; sending a second positioning request message to a location server, the second positioning request message including information indicative of the identification information of the unmanned aerial vehicle; receiving positioning information for the unmanned aerial vehicle from the location server, the positioning information being reported to the location server by the unmanned aerial vehicle; obtaining an assessment of the validity of the position reported by the unmanned aerial vehicle by comparing the position reported by the unmanned aerial vehicle with network-reported positioning information; transmitting information indicative of the identification and the rating of the unmanned aerial vehicle to the unmanned aerial vehicle system service supplier; A processor configured to execute A network device comprising:

7. 7. The network device of claim 6, wherein transmitting to the unmanned aerial vehicle system service supplier further comprises transmitting information indicating an identification of an unmanned aerial vehicle controller associated with the unmanned aerial vehicle and location coordinates of the unmanned aerial vehicle controller.

8. The network device of claim 6 , wherein the first position request message further includes information indicating a geographic area of ​​interest.

9. The network device of claim 8 , wherein the first positioning request message includes information indicative of a flight plan for the unmanned aerial vehicle, the flight plan including the geographic area of ​​interest.

10. The network device of claim 9 , wherein the flight plan includes a plurality of flight segments.

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