Time-Dependent Networking for Positioning

Abstract

A wireless network including a user equipment (UE) and a base station is configured to perform position determination with low latency and high availability within a time-sensitive networking (TSN) framework. For example, the UE may be integrated as a sensor in a motion control system or similar application. The UE and the base station are synchronized with a TSN clock and configured to perform positioning measurements at specific points in time within the TSN framework. For example, the points in time may be global sampling points at which all sensor nodes perform position measurements within the TSN framework. A location server may receive positioning measurements or position estimates from the UE and provide the position estimates to an external client, such as a motion controller in a motion control system.

Description

[Technical Field]

[0001] Claiming priority under 35 U.S.C. § 119

[0001] This application claims the benefit of and priority under 35 U.S.C. § 119 of U.S. Provisional Application No. 63 / 011,863, entitled "TIME SENSITIVE NETWORKING FOR POSITIONING," filed April 17, 2020, and U.S. Nonprovisional Application No. 17 / 221,619, entitled "TIME SENSITIVE NETWORKING FOR POSITIONING," filed April 2, 2021, both of which are assigned to the assignee of this application and incorporated by reference in their entireties herein.

[0002] Aspects of the present disclosure generally relate to wireless communications and the like. [Background technology]

[0003] Wireless communication systems have developed through various generations, including first-generation analog wireless telephone service (1G), second-generation (2G) digital wireless telephone service (including ad-hoc 2.5G networks), third-generation (3G) high-speed data, Internet-enabled wireless service, and fourth-generation (4G) services (e.g., Long Term Evolution (LTE), WiMax). Currently, there are many different types of wireless communication systems in use, including cellular and personal communications services (PCS) systems. Examples of known cellular systems include the Cellular Analog Advanced Mobile Phone System (AMPS), and digital cellular systems based on code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), Global System for Mobile Access (GSM) variants of TDMA, and the like.

[0004]

[0004] Fifth-generation (5G) mobile standards call for higher data rates, a greater number of connections, and better coverage, among other improvements. The 5G standard from the Next Generation Mobile Network Alliance (also known as "New Radio" or "NR") is designed to provide data rates of tens of megabits per second to each of tens of thousands of users and 1 gigabit per second to dozens of workers on an office floor. To support large sensor deployments, hundreds of thousands of simultaneous connections should be supported. Therefore, the spectral efficiency of 5G mobile communications must be significantly improved compared to current 4G / LTE standards. Furthermore, signaling efficiency must be enhanced and latency must be substantially reduced compared to current standards.

[0005] Some location use cases require extremely high accuracy and low latency in providing the location of a mobile device to an external client. Examples include smart (automated) factories and warehouses where the location of tools, objects being manufactured, and packages may need to be known with an accuracy of 10 centimeters (cm) or less and a latency of less than one second; drones where location accuracy to one meter may need to be known within one second; public safety first responders in dangerous locations (e.g., in a burning or partially damaged building); and user cases related to moving vehicles and pedestrians (known as V2X). Other user cases related to extremely high location accuracy may also have extremely low latency requirements due to the rapid degradation of location accuracy for moving objects. For example, even at just 4 mph (a normal walking speed), an object will travel 1.79 meters in one second, thereby negating the benefit of one meter of location accuracy in less than one second. The desired accuracy and latency requirements for positioning information in use cases such as industrial control loops cannot be obtained with current wireless location solutions. Summary of the Invention

[0006] A wireless network including a user equipment (UE) and a base station is configured to perform positioning with low latency and high availability within a time sensitive networking (TSN) framework. For example, the UE may be integrated as a sensor in a motion control system or similar application. The UE and the base station are synchronized with a TSN clock and configured to perform positioning measurements at specific time points within the TSN framework. For example, the time points may be global sampling points at which all sensor nodes perform positioning measurements within the TSN framework. A location server may receive positioning measurements or position estimates from the UE and provide position estimates to an external client, such as a motion controller in the motion control system.

[0007]

[0007] In one implementation, a method performed by an entity in a wireless network for positioning a user equipment (UE) in the wireless network includes receiving a location request message including a first time point within a time-dependent networking (TSN) framework for performing positioning measurements for the UE, receiving positioning reference signals (PRS) from one or more other entities in the wireless network, performing positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements, and sending a location information report related to the positioning measurements to a location server.

[0008]

[0008] In one implementation, an entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes an external interface configured to communicate wirelessly with a network entity in the wireless network, at least one memory, and at least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to receive, via the external interface, a location request message including a first point in time within a Time Sensitive Networking (TSN) framework for performing positioning measurements for the UE, receive, via the external interface, positioning reference signals (PRS) from one or more other entities in the wireless network, perform positioning measurements using the PRS from the one or more other entities at the first point in time within the TSN framework specified in the location request message for performing the positioning measurements, and send, via the external interface, a location information report related to the positioning measurements to a location server.

[0009]

[0009] In one implementation, an entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes means for receiving a location request message including a first point in time within a time-dependent networking (TSN) framework for performing positioning measurements for the UE, means for receiving positioning reference signals (PRS) from one or more other entities in the wireless network, means for performing positioning measurements using the PRS from the one or more other entities at the first point in time within the TSN framework specified in the location request message for performing the positioning measurements, and means for sending a location information report related to the positioning measurements to a location server.

[0010]

[0010] In one implementation, a non-transitory computer-readable storage medium including stored program code, the program code operable to configure at least one processor in an entity in the wireless network to perform positioning of a user equipment (UE) in the wireless network, the non-transitory computer-readable storage medium including program code including instructions for receiving a location request message including a first point in time within a time-dependent networking (TSN) framework for performing positioning measurements for the UE, program code for receiving positioning reference signals (PRS) from one or more other entities in the wireless network, program code for performing positioning measurements using the PRS from the one or more other entities at the first point in time within the TSN framework specified in the location request message for performing the positioning measurements, and program code for sending a location information report related to the positioning measurements to a location server.

[0011]

[0011] In one implementation, a method performed by an entity in a wireless network for positioning of a user equipment (UE) in the wireless network includes receiving a PRS transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a positioning reference signal (PRS), and transmitting the PRS at the first point in time within the TSN framework specified in a location request message for transmitting the PRS.

[0012]

[0012] In one implementation, an entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes an external interface configured to communicate wirelessly with a network entity in the wireless network, at least one memory, and at least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to receive, via the external interface, a PRS transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a positioning reference signal (PRS), and to transmit, via the external interface, the PRS at the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS.

[0013]

[0013] In one implementation, an entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes means for receiving a PRS transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a positioning reference signal (PRS), and means for transmitting the PRS at the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS.

[0014]

[0014] In one implementation, a non-transitory computer-readable storage medium including stored program code, the program code operable to configure at least one processor in an entity in a wireless network to perform positioning of a user equipment (UE) in the wireless network, the non-transitory computer-readable storage medium including program code including instructions for receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS, and program code for transmitting the PRS at the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS.

[0015]

[0015] In one implementation, a method performed by a location server in a wireless network for positioning of a user equipment (UE) in the wireless network includes receiving a first location request message from a first entity requesting a location for the UE at a first time point within a time-sensitive networking (TSN) framework, sending a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message, receiving location information reports from the one or more entities based on the positioning measurements for the UE performed at the first time point, determining a position estimate for the UE based on the location information report, and sending the position estimate for the UE to the first entity.

[0016]

[0016] In one implementation, a location server in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes an external interface configured to communicate wirelessly with a network entity in the wireless network, at least one memory, and at least one processor coupled to the external interface and the at least one memory, wherein the at least one processor is configured to: receive, via the external interface, a first location request message from a first entity requesting a location for the UE at a first time point within a time-sensitive networking (TSN) framework; send, via the external interface, a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; receive, via the external interface, location information reports from the one or more entities based on the positioning measurements for the UE performed at the first time point; determine a position estimate for the UE based on the location information report; and send, via the external interface, the position estimate for the UE to the first entity.

[0017]

[0017] In one implementation, a location server in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network includes means for receiving a first location request message from a first entity requesting a location for the UE at a first time point within a time-sensitive networking (TSN) framework, means for sending a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message, means for receiving location information reports from the one or more entities based on the positioning measurements for the UE performed at the first time point, means for determining a position estimate for the UE based on the location information report, and means for sending the position estimate for the UE to the first entity.

[0018]

[0018] In one implementation, a non-transitory computer-readable storage medium including stored program code, the program code operable to configure at least one processor in a location server in the wireless network to perform positioning of a user equipment (UE) in the wireless network, the non-transitory computer-readable storage medium including: program code including instructions for receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework; program code for sending to one or more entities in the wireless network a second location request message requesting positioning measurements for the UE to be performed at the first point in time received in the first location request message; program code for receiving location information reports from the one or more entities based on the positioning measurements for the UE performed at the first point in time; program code for determining a position estimate for the UE based on the location information report; and program code for sending the position estimate for the UE to the first entity.

[0019]

[0019] The accompanying drawings are shown to aid in the explanation of various aspects of the present disclosure and are provided merely to illustrate the aspects thereof, not to limit them. [Brief explanation of the drawings]

[0020] [Figure 1]

[0020] FIG. 1 illustrates an example wireless communication system in accordance with various aspects of the present disclosure. [Figure 2A]

[0021] FIG. 1 illustrates an example wireless network structure in accordance with various aspects of the present disclosure. [Figure 2B] FIG. 1 illustrates an example wireless network structure in accordance with various aspects of the present disclosure. [Figure 3]

[0022] 2 is a block diagram of a design of a base station and a UE, which may be one of the base stations and one of the UEs in FIG. 1. [Figure 4]

[0023] 1 is a diagram of an exemplary subframe sequence structure with positioning reference signal (PRS) positioning occasions. [Figure 5]

[0024] FIG. 1 illustrates an example wireless communication system that implements positioning using Time Difference of Arrival (TDOA) techniques. [Figure 6]

[0025] FIG. 1 illustrates an example wireless communication system that implements positioning using Round Trip Time (RTT) (multi-RTT) techniques with multiple base stations. [Figure 7]

[0026] FIG. 1 illustrates a motion control system in a time-sensitive networking (TSN) framework that may include a UE as a position sensor. [Figure 8]

[0027] Diagram showing 5G and TSN clock distribution models for clock synchronization. [Figure 9]

[0028] FIG. 10 illustrates an alignment timeline for a controller, a UE, a base station, a location server, and TSN time. [Figure 10]

[0029] Message flow for a wireless network performing positioning within the TSN framework. [Figure 11]

[0030] 1 is a flowchart for an example method for performing positioning of a UE within a TSN framework performed by an entity in a wireless network. [Figure 12]

[0031] 1 is a flowchart for an example method for performing positioning of a UE within a TSN framework performed by an entity in a wireless network. [Figure 13]

[0032] 1 is a flowchart for an example method for performing positioning of a UE within a TSN framework performed by a location server in a wireless network. [Figure 14]

[0033] FIG. 1 is a schematic block diagram illustrating some example features of a UE enabled to perform positioning within a TSN framework. [Figure 15]

[0034] FIG. 1 is a schematic block diagram illustrating some example features of a base station in a wireless network that is enabled to perform positioning within a TSN framework. [Figure 16]

[0035] FIG. 1 is a schematic block diagram illustrating some example features of a location server in a wireless network enabled to perform positioning within a TSN framework. DETAILED DESCRIPTION OF THE INVENTION

[0021]

[0036] Aspects of the present disclosure are provided in the following description and related drawings, directed to various examples provided for purposes of illustration. Alternative aspects may be devised without departing from the scope of the present disclosure. Additionally, well-known elements of the present disclosure will not be described in detail or will be omitted so as not to obscure the relevant details of the present disclosure.

[0022]

[0037] The words "exemplary" and / or "example" are used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" and / or "example" is not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term "aspects of the present disclosure" does not require that all aspects of the present disclosure include the described feature, advantage or mode of operation.

[0023]

[0038] Those skilled in the art will appreciate that the information and signals described below may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the following description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof, depending in part on the particular application, in part on the desired design, in part on the corresponding technology, etc.

[0024]

[0039] Further, many aspects are described in terms of sequences of actions to be performed by, for example, elements of a computing device. It will be appreciated that various actions described herein may be performed by particular circuitry (e.g., an application-specific integrated circuit (ASIC)), by program instructions executed by one or more processors, or a combination of both. Furthermore, a sequence of actions described herein may be considered to be embodied as a whole in any form of non-transitory computer-readable storage medium storing a corresponding set of computer instructions that, when executed, cause or instruct associated processors of a device to perform the functions described herein. Accordingly, various aspects of the present disclosure may be embodied in a number of different forms, all of which are contemplated to be within the scope of the claimed subject matter. Furthermore, for each aspect described herein, the corresponding form of any such aspect may be described herein, for example, as “logic configured to” perform the described actions.

[0025]

[0040] The terms “user equipment” (UE) and “base station,” as used herein, are not intended to be specific to or otherwise limited to any particular radio access technology (RAT) unless otherwise specified. Generally, a UE can be any wireless communication device used by a user to communicate over a wireless communication network (e.g., a mobile phone, a router, a tablet computer, a laptop computer, a tracking device, a wearable (e.g., a smart watch, glasses, augmented reality (AR) / virtual reality (VR) headset, etc.), a vehicle (e.g., an automobile, a motorcycle, a bicycle, etc.), an Internet of Things (IoT) device, etc.), a sensor, an appliance, and other devices networked together in industrial applications (e.g., the Industrial Internet of Things (IIoT)). A UE can be mobile or (e.g., at some times) stationary and can communicate with a radio access network (RAN). As used herein, the term “UE” may be referred to interchangeably as an “access terminal” or “AT,” a “client device,” a “wireless device,” a “subscriber device,” a “subscriber terminal,” a “subscriber station,” a “user terminal” or UT, a “mobile terminal,” a “mobile station,” or variations thereof. Generally, a UE may communicate with a core network via a RAN, through which the UE may be connected to external networks such as the Internet and other UEs. Of course, other mechanisms for connecting to the core network and / or the Internet are also possible for a UE, such as via a wired access network, a wireless local area network (WLAN) network (e.g., based on IEEE 802.11, etc.), etc.

[0026]

[0041] Depending on the network in which it is deployed, a base station may operate according to one of several RATs communicating with UEs and may alternatively be referred to as an access point (AP), network node, Node B, evolved Node B (eNB), new radio (NR) Node B (also referred to as gNB or gNodeB), etc. Furthermore, in some systems, a base station may provide purely edge node signaling functionality, while in other systems, it may provide additional control and / or network management functionality. A communication link through which a UE can send signals to a base station is called an uplink (UL) channel (e.g., a reverse traffic channel, a reverse control channel, an access channel, etc.). A communication link through which a base station can send signals to a UE is called a downlink (DL) or forward link channel (e.g., a paging channel, a control channel, a broadcast channel, a forward traffic channel, etc.). As used herein, the term traffic channel (TCH) can refer to either a UL / reverse traffic channel or a DL / forward traffic channel.

[0027]

[0042] The term "base station" may refer to a single physical transmission point or to multiple physical transmission points, which may or may not be collocated. For example, when the term "base station" refers to a single physical transmission point, the physical transmission point may be an antenna of the base station corresponding to the base station's cell. When the term "base station" refers to multiple collocated physical transmission points, the physical transmission point may be an array of antennas of the base station (e.g., as in a multiple-input multiple-output (MIMO) system or when the base station employs beamforming). When the term "base station" refers to multiple non-collocated physical transmission points, the physical transmission point may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transport medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-collocated physical transmission points may be a serving base station that receives measurement reports from the UE and a neighbor base station from which the UE is measuring a reference RF signal.

[0028]

[0043] Wireless positioning has been proposed for use cases requiring high levels of accuracy and low latency. For example, one proposed implementation is a wireless positioning service for the Industrial Internet of Things (IIoT), where a UE may be attached to or embedded within some tool, object, part, or component used in a smart (automated) factory, or attached to or embedded within a package, object, or component in a smart (automated) warehouse or supply station. Such a UE may need to be located with high accuracy to enable fast, efficient, and smooth operation of the smart factory, warehouse, or supply station. Industrial control loops that may be implemented in the "factory of the future" will rely on accurate positioning information. As shown in Table 1, several "service levels" have been specified (by the 3rd Generation Partnership Project (3GPP)) with different requirements for accuracy and latency.

[0029] [Table 1]

[0030]

[0044] Although these requirements for various service levels shown in Table 1 have been proposed, it is not currently understood how to achieve these requirements, e.g., how to integrate them within traditional industrial control loops.

[0031]

[0045] Time-Sensitive Networking (TSN) is a set of standards under development within the IEEE 802.1 Working Group within the Institute of Electrical and Electronics Engineers (IEICE) Standards Association. TSN targets extremely low latency, high availability, real-time control streams in industrial facilities. There are three fundamental components within the TSN specification. One component is time synchronization, which requires every node in a communication network to have a common understanding of time. Another component is scheduling and traffic shaping, which requires every node to process and forward communication packets by respecting the same rules. Another component is communication path selection, where path reservation and fault tolerance are specified by shared rules. TSN was initially developed for Ethernet networks but has been proposed to be extended to work with wireless networks, such as fifth-generation (5G) wireless networks, to harness the full potential of industrial control combined with mobile sensors and actuators. However, existing solutions for wireless networks appear unable to achieve the necessary time synchronization components for TSN.

[0032]

[0046] 1 shows a diagram of an exemplary wireless network 100. The wireless communication system (also referred to as a wireless wide area network (WWAN)) includes a base station 102, a UE 104, and one or more core networks, shown as Evolved Packet Core (EPC) 160 and 5th Generation Core (5GC) 190. Although two core networks are shown, the wireless communication system may use only one core network, e.g., 5GC 190. The base station 102 may include a macrocell (high-power cellular base station) or a small cell (low-power cellular base station). A macrocell includes a base station. Small cells include femtocells, picocells, and microcells.

[0033]

[0047] A base station 102 configured for 4G LTE, referred to as an eNodeB (eNB) (collectively referred to as an Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)), may interface with the EPC 160 through a backhaul link 132 (such as an S1 interface). A base station 102 configured for 5G NR, referred to as a gNodeB (gNB) (collectively referred to as a Next Generation RAN (NG-RAN)), may interface with the 5G LTE Commission 190 through a backhaul link 184. In addition to other functions, the base stations 102 may perform one or more of the following functions: forwarding user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (such as handover and dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast services (MBMS), subscriber and equipment tracing, RAN information management (RIM), paging, positioning, and delivery of alert messages. The base stations 102 may communicate with each other directly or indirectly (such as through the EPC 160 or 5GC 190) via backhaul links 134 (such as an X2 interface). The backhaul links 134 may be wired or wireless.

[0034]

[0048] The base stations 102 may communicate wirelessly with the UEs 104. Each of the base stations 102 may provide communication coverage for a respective geographic coverage area 110. There may be overlapping geographic coverage areas 110. For example, a small cell 102' may have a coverage area 110' that overlaps with the coverage area 110 of one or more macro base stations 102. A "cell" is a logical communication entity used to communicate with a base station (e.g., via some frequency resource referred to as a carrier frequency, component carrier, carrier, band, etc.) and may be associated with an identifier (e.g., a physical cell identifier (PCID), a virtual cell identifier (VCID)) to distinguish cells operating over the same or different carrier frequencies. In some cases, different cells may be configured according to different protocol types (e.g., machine type communication (MTC), narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB), or others) that may provide access to different types of UEs. In some cases, the term "cell" may also refer to the geographic coverage area (e.g., sector) of a base station, so long as the carrier frequency can be detected and used for communication within some portion of the geographic coverage area 110.

[0035]

[0049] A network including both small cells and macro cells may be known as a heterogeneous network. A heterogeneous network may also include a Home Evolved Node B (eNB) (HeNB), which may serve a restricted group known as a Closed Subscriber Group (CSG). The communication link 120 between the base station 102 and the UE 104 may include an uplink (UL) transmission (also called a reverse link) from the UE 104 to the base station 102 or a downlink (DL) transmission (also called a forward link) from the base station 102 to the UE 104. The communication link 120 may use multiple-input multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, or transmit diversity. The communication link may be over one or more carriers. The base station 102 / UE 104 may use spectrum up to Y MHz bandwidth (5 MHz, 10 MHz, 15 MHz, 20 MHz, 100 MHz, 400 MHz, etc.) for each carrier allocated to the carrier aggregation, up to a total of Yx MHz (x component carriers) used for transmission in each direction. The carriers may or may not be adjacent to each other. The carrier allocation may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated to DL than UL).

[0036]

[0050] In 5G, the frequency spectrum in which wireless nodes (e.g., base station 102 / 180, UE 104 / 182) operate is divided into multiple frequency ranges: FR1 (450 to 6000 MHz), FR2 (24250 to 52600 MHz), FR3 (above 52600 MHz), and FR4 (between FR1 and FR2). In a multi-carrier system such as 5G, one of the carrier frequencies is called the “primary carrier” or “anchor carrier” or “primary serving cell” or “PCell,” and the remaining carrier frequencies are called “secondary carriers” or “secondary serving cells” or “SCells.” In carrier aggregation, the anchor carrier is the carrier operating on the primary frequency (e.g., FR1) utilized by the UE 104 / 182 and the cell in which the UE 104 / 182 either performs an initial radio resource control (RRC) connection establishment procedure or initiates an RRC connection re-establishment procedure. The primary carrier carries all common control channels and UE-specific control channels. The secondary carrier is a carrier operating on a second frequency (e.g., FR2) that may be configured once an RRC connection is established between the UE 104 and the anchor carrier and may be used to provide additional radio resources. The secondary carrier may contain only necessary signaling information and signals; for example, since both the primary uplink carrier and the primary downlink carrier are typically UE-specific, signaling information and signals that are UE-specific may not be present in the secondary carrier. This means that different UEs 104 / 182 in a cell may have different downlink primary carriers. The same is true for the uplink primary carrier. The network can change the primary carrier of any UE 104 / 182 at any time. This is done, for example, to balance the load on different carriers. Since a "serving cell" (whether a PCell or an SCell) corresponds to the carrier frequency / component carrier on which some base station is communicating, terms such as "cell," "serving cell," "component carrier," and "carrier frequency" may be used interchangeably.

[0037]

[0051] Several UEs 104 may communicate with each other using device-to-device (D2D) communication links 158. The D2D communication links 158 may use DL / UL WWAN spectrum. The D2D communication links 158 may use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH). The D2D communication may be through various wireless D2D communication systems, such as FlashLinQ, WiMedia, Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE, or NR.

[0038]

[0052] The small cell 102' may operate in a licensed or unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell 102' may employ NR and use the same 5 GHz unlicensed frequency spectrum used by Wi-Fi APs. A small cell 102' employing NR in the unlicensed frequency spectrum may boost coverage to or increase the capacity of an access network.

[0039]

[0053] The base station 102, whether a small cell 102′ or a large cell (such as a macro base station), may include an eNB, a gNodeB (gNB), or another type of base station. Some base stations, such as the gNB 180, may operate in the traditional sub-6 GHz spectrum, at millimeter wave (mmW) frequencies, or at near-mmW frequencies in communication with the UE 104. When the gNB 180 operates at mmW or near-mmW frequencies, it may be referred to as a millimeter wave or mmW base station. Extremely high frequency (EHF) is a portion of RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and a wavelength between 1 and 10 millimeters. Radio waves in the band are sometimes referred to as millimeter waves. Near-mmW may extend down to frequencies of 3 GHz with wavelengths of 100 millimeters. The very high frequency (SHF) band, also called centimeter wave, extends between 3 GHz and 30 GHz. Communications using the mmW / near-mmW radio frequency band (such as between 3 GHz and 300 GHz) have extremely high path loss and short range. The mmW base station 180 may utilize beamforming 182 with the UE 104 to compensate for the extremely high path loss and short range.

[0040]

[0054] The base station 180 may transmit beamformed signals to the UE 104 in one or more transmit directions 182′. The UE 104 may receive beamformed signals from the base station 180 in one or more receive directions 182″. The UE 104 may transmit beamformed signals to the base station 180 in one or more transmit directions. The base station 180 may receive beamformed signals from the UE 104 in one or more receive directions. The base station 180 and the UE 104 may perform beam training to determine the best receive and transmit directions for each of the base station 180 and the UE 104. The transmit and receive directions for the base station 180 may or may not be the same. The transmit and receive directions for the UE 104 may or may not be the same.

[0041]

[0055] Transmit beamforming is a technique for focusing an RF signal in a particular direction. Traditionally, when a network node (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omnidirectionally). In transmit beamforming, the network node determines where a given target device (e.g., UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that particular direction, thereby providing a faster (in terms of data rate) and stronger RF signal to the receiving device(s). To change the directionality of the RF signal when transmitting, the network node can control the phase and relative amplitude of the RF signal at each of one or more transmitters broadcasting the RF signal. For example, the network node may use an array of antennas (called a “phased array” or “antenna array”) that creates beams of RF waves that can be “steered” to point in different directions without actually moving the antennas. In particular, RF current from the transmitter is supplied to individual antennas with the proper phase relationship so that the waves from the separate antennas add together to increase radiation in desired directions while canceling and suppressing radiation in undesired directions.

[0042]

[0056] In receive beamforming, a receiver uses receive beams to amplify RF signals detected on a given channel. For example, the receiver can increase the gain setting and / or adjust the phase setting of an antenna array in a particular direction to amplify (e.g., increase its gain level) an RF signal received from that direction. Thus, when a receiver is said to beamform in a direction, it means that the beam gain in that direction is higher relative to the beam gains along other directions, or that the beam gain in that direction is the highest compared to the beam gains in that direction of all other receive beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal-to-interference-and-noise ratio (SINR), etc.) of RF signals received from that direction.

[0043]

[0057] The EPC 160 may include, for example, a mobility management entity (MME) 162, an enhanced serving mobile location center (E-SMLC) 164, a serving gateway 166, a gateway mobile location center (GMLC) 168, a home secure user plane location (SUPL) location platform (H-SLP) 170, and a packet data network (PDN) gateway 172. The MME 162 may be in communication with a home subscriber server (HSS) 174. The MME 162 is a control node that handles signaling between the UE 104 and the EPC 160. Generally, the MME 162 provides bearer and connection management. The E-SMLC 164 may support UE location determination using, for example, 3GPP control plane (CP) location resolution. All user Internet Protocol (IP) packets are forwarded through the serving gateway 166, which is itself connected to the PDN gateway 172. The PDN gateway 172 provides UE IP address allocation as well as other functions. The PDN gateway 172 is connected to IP services 176. The IP services 176 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), PS streaming services, and / or other IP services. The GMLC 168 may provide location access to the UE on behalf of external clients 169, which may be within or be part of the IP services 176, for example. The H-SLP 170 may support SUPL User Plane (UP) location solution defined by the Open Mobile Alliance (OMA) and may support location services for the UE based on subscription information for the UE stored in the H-SLP 170.

[0044]

[0058] The 5GC 190 may include an H-SLP 191, an Access and Mobility Management Function (AMF) 192, a Gateway Mobile Location Center (GMLC) 193, a Session Management Function (SMF) 194, a User Plane Function (UPF) 195, and a Location Management Function (LMF) 196. The AMF 192 may be in communication with a Unified Data Management (UDM) 197. The AMF 192 is a control node that handles signaling between the UE 104 and the 5GC 190, and may communicate with the LMF 196 for positioning functions, which may support determining the location of the UE. In some implementations, the LMF 196 may be co-located with the base station 102 in the NG-RAN and may be referred to as a Location Management Component (LMC). The GMLC 193 may be used to enable external clients 199 outside or within the IP service 198 to receive location information about the UE. All user Internet Protocol (IP) packets may be forwarded through UPF 195. UPF 195 provides UE IP address allocation as well as other functions. UPF 195 is connected to IP services 198. H-SLP 191 may likewise be connected to IP services 198. IP services 198 may include the Internet, an intranet, IP Multimedia Subsystem (IMS), PS streaming services, and / or other IP services.

[0045]

[0059] A base station may also be referred to as a gNB, Node B, evolved Node B (eNB), access point, base transceiver station, radio base station, radio transceiver, transceiver function, basic service set (BSS), extended service set (ESS), transmit reception point (TRP), or some other suitable terminology. The base station 102 provides an access point to the EPC 160 or 5GC 190 for the UE 104. Examples of UEs 104 include cellular phones, smartphones, session initiation protocol (SIP) phones, laptops, personal digital assistants (PDAs), satellite radios, global positioning systems, multimedia devices, video devices, digital audio players (such as MP3 players), cameras, game consoles, tablets, smart devices, wearable devices, vehicles, electricity meters, gas pumps, large and small kitchen appliances, healthcare devices, implants, sensors / actuators, displays, or any other similarly functional devices. Some of the UEs 104 may be referred to as IoT devices (such as parking meters, gas pumps, toasters, vehicles, heart monitors, etc.). For example, some of the UEs 104, such as sensors, equipment, and other devices networked together in an industrial application in a factory 105, may be referred to as IIoT devices. The UEs 104 may also be referred to as stations, mobile stations, subscriber stations, mobile units, subscriber units, wireless units, remote units, mobile devices, wireless devices, wireless communication devices, remote devices, mobile subscriber stations, access terminals, mobile terminals, wireless terminals, remote terminals, handsets, user agents, mobile clients, clients, or some other suitable terminology.

[0046]

[0060] 2A illustrates an exemplary wireless network structure 200. For example, an NGC 210 (also referred to as a “5GC”) may be functionally considered to have control plane functions 214 (e.g., UE registration, authentication, network access, gateway selection, etc.) and user plane functions 212 (e.g., UE gateway functions, access to data networks, IP routing, etc.) that operate cooperatively to form a core network. A user plane interface (NG-U) 213 and a control plane interface (NG-C) 215 connect a gNB 222 to the NGC 210, and in particular to the control plane functions 214 and user plane functions 212. In an additional configuration, an eNB 224 may also be connected to the NGC 210 via the NG-C 215 to the control plane functions 214 and the NG-U 213 to the user plane functions 212. Additionally, the eNB 224 may communicate directly with the gNB 222 via a backhaul connection 223. In some configurations, the new RAN 220 may have only one or more gNBs 222, while other configurations include one or more of both eNBs 224 and gNBs 222. Either the gNBs 222 or the eNBs 224 may be in communication with the UE 204 (e.g., any of the UEs shown in FIG. 1). Another optional aspect may include one or more location servers 230a, 230b (which may correspond to the LMF 196) (sometimes collectively referred to as location servers 230), which may be in communication with the control plane function 214 and the user plane function 212, respectively, in the NGC 210 to provide location assistance to the UE 204. The location servers 230 may be implemented as multiple separate servers (e.g., physically separate servers, different software modules on a single server, different software modules spread across multiple physical servers, etc.), or alternatively, may each correspond to a single server. The location server 230 may be configured to support one or more location services for UEs 204 that may connect to the location server 230 via a core network, an NGC 210, and / or the Internet (not shown).Furthermore, the location server 230 may be integrated into a component of the core network, or alternatively, may be outside the core network, for example in the new RAN 220.

[0047]

[0061] 2B shows another exemplary wireless network structure 250. For example, an NGC 260 (also referred to as "5GC") may be functionally considered to have control plane functions provided by an Access and Mobility Management Function (AMF) 264, a User Plane Function (UPF) 262, a Session Management Function (SMF) 266, an SLP 268, and an LMF 270, which operate cooperatively to form a core network (i.e., NGC 260). A user plane interface 263 and a control plane interface 265 connect the ng-eNB 224 to the NGC 260, specifically to the UPF 262 and the AMF 264, respectively. In an additional configuration, the gNB 222 may also be connected to the NGC 260 via the control plane interface 265 to the AMF 264 and the user plane interface 263 to the UPF 262. Additionally, the eNB 224 may communicate directly with the gNB 222 via the backhaul connection 223, with or without the gNB's direct connectivity to the NGC 260. In some configurations, the new RAN 220 may have only one or more gNBs 222, while other configurations include one or more of both the ng-eNB 224 and the gNB 222. Either the gNB 222 or the ng-eNB 224 may communicate with the UE 204 (e.g., any of the UEs shown in FIG. 1). The base stations of the new RAN 220 communicate with the AMF 264 via the N2 interface and with the UPF 262 via the N3 interface.

[0048]

[0062] The AMF functions include registration management, connection management, reachability management, mobility management, lawful interception, transport for session management (SM) messages between the UE 204 and the SMF 266, a transparent proxy service for routing SM messages, access authentication and authorization, transport for short message service (SMS) messages between the UE 204 and a short message service function (SMSF) (not shown), and a security anchor function (SEAF). The AMF also interacts with an authentication server function (AUSF) (not shown) and the UE 204 and receives intermediate keys established as a result of the UE 204 authentication process. In the case of UMTS (Universal Mobile Telecommunications System) subscriber identity module (USIM)-based authentication, the AMF retrieves security material from the AUSF. The AMF functions also include security context management (SCM). The SCM receives keys from the SEAF, which it uses to derive access network-specific keys. The AMF functions also include location service management for barred services, transport for location service messages between the UE 204 and the Location Management Function (LMF) 270 (which may correspond to the LMF 196) and between the new RAN 220 and the LMF 270, Evolved Packet System (EPS) bearer identifier allocation for interworking with EPS, and UE 204 mobility event notification. Additionally, the AMF also supports functions for non-3rd Generation Partnership Project (3GPP) access networks.

[0049]

[0063] The functions of the UPF include acting as an anchor point for intra / inter-RAT mobility (when applicable), acting as an external protocol data unit (PDU) session point for interconnection to a data network (not shown), providing packet routing and forwarding, packet inspection, user plane policy rule enforcement (e.g., gating, redirection, traffic steering), lawful interception (user plane collection), traffic usage reporting, Quality of Service (QoS) processing for the user plane (e.g., UL / DL rate enforcement, reflective QoS marking in DL), UL traffic validation (Service Data Flow (SDF) to QoS flow mapping), transport level packet marking in UL and DL, DL packet buffering and DL data notification triggering, and sending and forwarding one or more "end markers" to the source RAN node.

[0050]

[0064] The functions of the SMF 266 include session management, UE Internet Protocol (IP) address allocation and management, selection and control of user plane functions, configuration of traffic steering in the UPF to route traffic to the appropriate destination, control of policy enforcement and parts of QoS, and downlink data notification. The interface through which the SMF 266 communicates with the AMF 264 is called the N11 interface.

[0051]

[0065] Another optional aspect may include an LMF 270, which may be in communication with the NGC 260 to provide location assistance to the UE 204. The LMF 270 may be implemented as multiple separate servers (e.g., physically separate servers, different software modules on a single server, different software modules spread across multiple physical servers, etc.), or alternatively, may each correspond to a single server. The LMF 270 may be configured to support one or more location services for the UE 204, which may connect to the LMF 270 via the core network NGC 260 and / or via the Internet (not shown).

[0052]

[0066] 3 shows a block diagram of a design 300 of a base station 102 and a UE 104, which may be one of the base stations and one of the UEs in FIG. 1. The base station 102 may be equipped with T antennas 334a through 334t, and the UE 104 may be equipped with R antennas 352a through 352r, where in general, T≧1 and R≧1.

[0053]

[0067] At the base station 102, the transmit processor 320 may receive data from a data source 312 for one or more UEs, select one or more modulation and coding schemes (MCSs) for each UE based at least in part on a channel quality indicator (CQI) received from the UE, process (e.g., encode and modulate) the data for each UE based at least in part on the MCS selected for that UE, and provide data symbols for all UEs. The transmit processor 320 may also process system information and control information (e.g., for semi-static resource partitioning information (SRPI), etc.) and provide overhead symbols and control symbols. The transmit processor 320 may also generate reference symbols for reference signals (e.g., cell-specific reference signals (CRSs)) and synchronization signals (e.g., primary synchronization signals (PSSs) and secondary synchronization signals (SSSs)). The transmit (TX) multiple-input multiple-output (MIMO) processor 330 may perform spatial processing (e.g., precoding) on ​​the data symbols, control symbols, overhead symbols, and / or reference symbols, if applicable, and may provide T output symbol streams to T modulators (MODs) 332a through 332t. Each modulator 332 may process a respective output symbol stream (e.g., for OFDM, etc.) to obtain an output sample stream. Each modulator 332 may further process (e.g., convert to analog, amplify, filter, and upconvert) the output sample stream to obtain a downlink signal. The T downlink signals from modulators 332a through 332t may be transmitted via T antennas 334a through 334t, respectively. According to various aspects described in more detail below, synchronization signals may be generated using location coding to convey additional information.

[0054]

[0068] At the UE 104, the antennas 352a through 352r may receive downlink signals from the base station 102 and / or other base stations and may provide received signals to demodulators (DEMODs) 354a through 354r, respectively. Each demodulator 354 may condition (e.g., filter, amplify, downconvert, and digitize) the received signal to obtain input samples. Each demodulator 354 may further process the input samples (e.g., for OFDM, etc.) to obtain received symbols. A MIMO detector 356 may obtain received symbols from all R demodulators 354a through 354r, perform MIMO detection on the received symbols if applicable, and provide detected symbols. A receive processor 358 may process (e.g., demodulate and decode) the detected symbols and provide decoded data for the UE 104 to a data sink 360 and decoded control and system information to a controller / processor 380. The channel processor may determine a reference signal received power (RSRP), a received signal strength indicator (RSSI), a reference signal received quality (RSRQ), a channel quality indicator (CQI), etc. In some aspects, one or more components of the UE 104 may be included in a housing.

[0055]

[0069] On the uplink, at the UE 104, a transmit processor 364 may receive and process data from a data source 362 and control information from a controller / processor 380 (e.g., for reports comprising RSRP, RSSI, RSRQ, CQI, etc.). The transmit processor 364 may also generate reference symbols for one or more reference signals. The symbols from the transmit processor 364 may be precoded by a TX MIMO processor 366 if applicable, further processed by modulators 354a through 354r (e.g., for DFT-s-OFDM, CP-OFDM, etc.), and transmitted to the base station 102. At the base station 102, uplink signals from the UE 104 and other UEs may be received by antennas 334, processed by a demodulator 332, detected by a MIMO detector 336 if applicable, and further processed by a receive processor 338 to obtain decoded data and control information sent by the UE 104. The receive processor 338 may provide the decoded data to a data sink 339 and the decoded control information to the controller / processor 340. The base station 102 may include a communication unit 344 and may communicate with a location server 390 via the communication unit 344. For example, the location server 390 may be an LMF 196 or an E-SMLC 164. The location server 390 may include the communication unit 394, a controller / processor 391, and a memory 392.

[0056]

[0070] The controller / processor 340 of the base station 102, the controller / processor 380 of the UE 104, and / or the controller / processor 391 of the location server 390 of FIG. 3 may implement one or more techniques related to performing positioning of a UE within a TSN framework, as described in more detail elsewhere herein. For example, the controller / processor 340 of the base station 102, the controller / processor 380 of the UE 104, and / or the controller / processor 391 of the location server 390 may perform or direct the operation of, for example, process 1100 of FIG. 11 , process 1200 of FIG. 12 , process 1300 of FIG. 13 , and / or other processes described herein. The memories 342, 382, ​​and 392 may store data and program codes for the base station 102, the UE 104, and the location server 390, respectively. In some aspects, the memory 342 and / or the memory 382 and / or the memory 392 may comprise a non-transitory computer-readable medium that stores one or more instructions for wireless communication. For example, the one or more instructions, when executed by one or more processors of the base station 102, the UE 104, or the location server 390, may perform or direct the operation of, e.g., process 1100 of Figure 11, process 1200 of Figure 12, or process 1300 of Figure 13, and / or other processes described herein. The scheduler 346 may schedule UEs for data transmission on the downlink and / or uplink.

[0057]

[0071] As noted above, Figure 3 is provided as an example. Other examples may differ from those described with respect to Figure 3.

[0058]

[0072] FIG. 4 illustrates the structure of an example subframe sequence 400 with positioning reference signal (PRS) positioning occasions according to an embodiment of the present disclosure. The subframe sequence 400 may be applicable to broadcasting PRS signals from a base station (e.g., any of the base stations described herein) or other network nodes. The subframe sequence 400 may be used in an LTE system, and the same or similar subframe sequence may be used in other communication technologies / protocols, such as 5G and NR. In FIG. 4, time is represented horizontally (e.g., on the X-axis), increasing from left to right, and frequency is represented vertically (e.g., on the Y-axis), increasing (or decreasing) from bottom to top. As shown in FIG. 4, downlink and uplink radio frames 410 may each be of 10 milliseconds (ms) duration. For downlink frequency division duplex (FDD) mode, the radio frame 410 is organized into 10 subframes 412, each of 1 ms duration, in the illustrated example. Each subframe 412 comprises two slots 414, each of duration, for example, 0.5 ms.

[0059]

[0073] In the frequency domain, the available bandwidth may be divided into uniformly spaced orthogonal subcarriers 416 (also called "tones" or "bins"). For example, for a regular-length cyclic prefix (CP) using 15 kHz spacing, the subcarriers 416 may be grouped into groups of 12 subcarriers. A resource (represented as a block of subframes 412) one OFDM symbol long in the time domain and one subcarrier in the frequency domain is called a resource element (RE). Each grouping of 12 subcarriers 416 and 14 OFDM symbols is called a resource block (RB), and in the above example, the number of subcarriers in a resource block is

[0060]

number

[0061] For a given channel bandwidth, the number of available resource blocks on each channel 422, also referred to as the transmission bandwidth configuration 422, can be written as:

[0062]

number

[0063] For example, for a channel bandwidth of 3 MHz in the example above, the number of available resource blocks on each channel 422 can be expressed as:

[0064]

number

[0065] It should be noted that the frequency components of a resource block (e.g., 12 subcarriers) are called a physical resource block (PRB).

[0066]

[0074] A base station may transmit radio frames (e.g., radio frame 410) supporting PRS signals (i.e., downlink (DL) PRS), or other physical layer signaling sequences, according to either a similar or the same frame configuration as that shown in Figure 4, which may be measured and used for position estimation of a UE (e.g., any of the UEs described herein). Other types of wireless nodes in a wireless communications network (e.g., a distributed antenna system (DAS), a remote radio head (RRH), a UE, an AP, etc.) may also be configured to transmit PRS signals configured similarly (or the same) as that shown in Figure 4.

[0067]

[0075] A set of resource elements used for transmitting PRS signals is called a "PRS resource." A set of resource elements can span multiple PRBs in the frequency domain and N (e.g., one or more) consecutive symbols in a slot 414 in the time domain. For example, the shaded resource elements in slot 414 may be examples of two PRS resources. A "PRS resource set" is a set of PRS resources used for transmitting PRS signals, where each PRS resource has a PRS resource identifier (ID). Furthermore, PRS resources in a PRS resource set are associated with the same transmit reception point (TRP). A PRS resource ID in a PRS resource set is associated with a single beam transmitted from a single TRP (where a TRP may transmit one or more beams). Note that this does not have any implications regarding whether the TRP and the beam on which a signal is transmitted are known to the UE.

[0068]

[0076] PRS may be transmitted in special positioning subframes that are grouped into positioning occasions. A PRS occasion is an example of a periodically repeating time window (e.g., consecutive slots) in which a PRS is expected to be transmitted. Each periodically repeating time window may include a group of one or more consecutive PRS opportunities. Each PRS opportunity may comprise the number of consecutive positioning subframes, N PRS. PRS positioning opportunities for a cell supported by a base station may occur periodically at intervals indicated by the number of milliseconds or subframes, T PRS. As an example, FIG. 4 shows a periodicity of positioning opportunities, where N PRS is equal to 4 418 and T PRS is equal to or greater than 20 420. In some aspects, T PRS may be measured in terms of the number of subframes between the start of consecutive positioning opportunities. Multiple PRS opportunities may be associated with the same PRS resource configuration, in which case each such opportunity may be referred to as a "PRS resource opportunity," or the like.

[0069]

[0077] The PRS may be transmitted at a constant power. The PRS may also be transmitted at zero power (i.e., muted). Muting, which turns off regularly scheduled PRS transmissions but occurs at or near the same time, may be useful when PRS signals between different cells overlap. In this case, PRS signals from some cells may be muted while PRS signals from other cells are transmitted (e.g., at a constant power). Muting may assist UEs in signal acquisition and time-of-arrival (TOA) and reference signal time difference (RSTD) measurements of unmuted PRS signals (by avoiding interference from muted PRS signals). Muting may be considered as non-transmission of a PRS during a given positioning occasion for a particular cell. A muting pattern (also called a muting sequence) may be signaled to the UE using a bit string (e.g., using the LTE Positioning Protocol (LPP)). For example, if the bit in position j is set to '0' in the bit string signaled to indicate the muting pattern, the UE may infer that the PRS is muted during the jth positioning occasion.

[0070]

[0078] To further improve PRS audibility, the positioning subframe may be a low-interference subframe transmitted without a user data channel. As a result, in an ideally synchronized network, the PRS may experience interference not from data transmissions but from PRSs of other cells that have the same PRS pattern index (i.e., have the same frequency shift). The frequency shift may be determined by the PRS ID (

[0071]

number

[0072] ) or according to the Physical Cell Identifier (PCI) (

[0073]

number

[0074] , which results in an effective frequency reuse factor of 6.

[0075]

[0079] To also improve PRS audibility (e.g., when the PRS bandwidth is limited, such as when only six resource blocks correspond to a 1.4 MHz bandwidth), the frequency band for successive PRS positioning occasions (or successive PRS subframes) is changed in a known and predictable manner by frequency hopping. Furthermore, a cell supported by a base station may support two or more PRS configurations, where each PRS configuration may have a unique frequency offset (vshift), a unique carrier frequency, a unique bandwidth, a unique code sequence, and / or a unique sequence of PRS positioning occasions with a particular number of subframes per positioning occasion (NPRS) and a particular periodicity (TPRS). In some implementations, one or more of the PRS configurations supported in a cell may be for directional PRS and thus may have additional unique characteristics, such as a unique transmission direction, a unique horizontal angle range, and / or a unique vertical angle range.

[0076]

[0080] As described above, the PRS configuration, including the PRS transmission / mute schedule, is signaled to the UE to enable the UE to perform PRS positioning measurements. The UE is not expected to blindly perform PRS configuration detection.

[0077]

[0081] It should be noted that the terms "positioning reference signal" and "PRS" may sometimes refer to specific reference signals used for positioning in LTE systems. However, unless otherwise specified, the terms "positioning reference signal" and "PRS" as used herein refer to any type of reference signal that may be used for positioning, such as, but not limited to, a PRS signal in LTE, a navigation reference signal (NRS), a transmitter reference signal (TRS), a cell-specific reference signal (CRS), a channel state information reference signal (CSI-RS), a primary synchronization signal (PSS), or a secondary synchronization signal (SSS).

[0078]

[0082] Similar to the DL PRS transmitted by a base station described above, the UE 104 may transmit a UL PRS for positioning. The UL PRS is sometimes referred to as a sounding reference signal (SRS) for positioning. Using the DL PRS received from the base station and / or the UL PRS transmitted to the base station, the UE may perform various positioning methods, such as time of arrival (TOA), reference signal time difference (RSTD), time difference of arrival (TDOA), reference signal received power (RSRP), time difference between signal reception and transmission (Rx-Tx), angle of arrival (AoA) or angle of departure (AoD), etc. In some implementations, the DL PRS and UL PRS are transmitted and received together to perform round trip time (RTT) positioning measurements using one or more base stations (multi-RTT).

[0079]

[0083] FIG. 5 illustrates an exemplary wireless communications system 500 that implements positioning using time difference of arrival (TDOA) techniques. In the example of FIG. 5, a UE 104 is attempting to compute an estimate of its location or assist another entity (e.g., a base station or core network component, another UE, a location server, a third-party application, etc.) in computing an estimate of its location. The UE 104 may communicate wirelessly with multiple base stations 102-1, 102-2, and 102-3 (collectively base stations 102), which may correspond to any combination of base stations 102 of FIG. 1 using RF signals and standardized protocols for modulating the RF signals and exchanging information packets. By extracting different types of information from the exchanged RF signals and utilizing the layout of the wireless communications system 500 (i.e., base station locations, geometry, etc.), the UE 104 may determine, or assist in determining, its location in a predefined reference frame. In one aspect, the UE 104 may specify its location using a two-dimensional coordinate system, although the aspects disclosed herein are not so limited and may also be applicable to determining location using a three-dimensional coordinate system if additional dimensions are desired. Additionally, while FIG. 5 shows one UE 104 and three base stations 102, it will be appreciated that there may be more UEs 104 and more or fewer base stations 102.

[0080]

[0084] To support position estimation, base stations 102 may be configured to broadcast reference RF signals (e.g., PRS, CRS, CSI-RS, synchronization signals, etc.) to UEs 104 in their coverage areas to allow the UEs 104 to measure characteristics of such reference RF signals. For example, the UEs 104 may use an OTDOA positioning method, and the UEs 104 may measure RSTD between particular reference RF signals (e.g., PRS, CRS, CSI-RS, etc.) transmitted by different pairs of network nodes (e.g., base stations 102, antennas of the base stations 102, etc.).

[0081]

[0085] Generally, RSTD is measured between a reference network node (e.g., base station 102-1 in the example of FIG. 5) and one or more neighbor network nodes (e.g., base stations 102-2 and 102-3 in the example of FIG. 5). The reference network node remains the same for all RSTD measured by the UE 104 for any single positioning use of OTDOA and will generally correspond to the serving cell for the UE 104 or another nearby cell with good signal strength at the UE 104. In one aspect, if the measured network node is a cell supported by a base station, the neighbor network node will typically be a cell supported by a different base station than the base station for the reference cell and may have good or poor signal strength at the UE 104. Location calculations may be based on the measurement time difference (e.g., RSTD), knowledge of the network node locations, and relative transmission timing (e.g., regarding whether the network nodes are precisely synchronized or whether each network node transmits at some known time difference relative to the other network nodes).

[0082]

[0086] To assist in positioning operations, the location server (e.g., LMF 196) may provide OTDOA assistance data to UE 104 for a reference network node (e.g., base station 102-1 in the example of FIG. 5) and neighbor network nodes (e.g., base stations 102-2 and 102-3 in the example of FIG. 5) relative to the reference network node. For example, the assistance data may provide the center channel frequency of each network node, various reference RF signal configuration parameters (e.g., number of consecutive positioning subframes, periodicity of the positioning subframes, muting sequence, frequency hopping sequence, reference RF signal ID, bandwidth of the reference RF signal), global ID of the network node, and / or other cell-related parameters applicable to OTDOA, as described above. The OTDOA assistance data may also indicate the serving cell for UE 104 as the reference network node.

[0083]

[0087] In one aspect, a location server (e.g., LMF 196) may send assistance data to the UE 104, but alternatively, the assistance data may originate directly from the network node (e.g., base station 102) itself (e.g., in periodically broadcast overhead messages, etc.) Alternatively, the UE 104 may detect neighboring network nodes on its own without using assistance data.

[0084]

[0088] 5, the measurement time differences between the reference cell of base station 102-1 and the neighboring cells of base stations 102-2 and 102-3 are represented as τ−τ and τ−τ, where τ, τ, and τ represent the transmission times of reference RF signals from the transmit antennas of base stations 102-1, 102-2, and 102-3, respectively, to UE 104, including any measurement noise at UE 104. UE 104 may then convert the ToA measurements for different network nodes into RSTD measurements (e.g., as defined in 3GPP TS 36.214 entitled “Physical layer; Measurements”) and (optionally) send them to a location server (e.g., LMF 196). Using (i) RSTD measurements, (ii) known absolute or relative transmission timing of each network node, (iii) known locations of physical transmitting antennas for reference and neighboring network nodes, and / or (iv) directional reference RF signal characteristics such as direction of transmission, the location of the UE 104 can be determined (either by the UE 104 or a location server (e.g., the LMF 196)).

[0085]

[0089] ToATi at the UE 104 for the shortest path from base station i is given by

[0086]

number

[0087] where Di is the Euclidean distance between base station i at location (qi) and UE 104 at location (p), c is the speed of light in air (299700 km / s), and qi is known through the cell information database. The Euclidean distance (i.e., the linear distance between two points) is given by:

[0088]

number

[0089]

[0090] where D is the distance between two points on the Earth's surface, R is the Earth's radius (6371 km), φ1 and φ2 are the latitude (in radians) of the first point and the latitude (in radians) of the second point, respectively, and β1 and β2 are the longitude (in radians) of the first point and the latitude (in radians) of the second point, respectively.

[0090]

[0091] To identify the ToA of a reference RF signal transmitted by a given network node, the UE 104 first processes all resource elements (REs) on the channel on which that network node (e.g., base station 102) is transmitting the reference RF signal together and performs an inverse Fourier transform to convert the received RF signal to the time domain. Converting the received RF signal to the time domain is called estimating the channel energy response (CER). The CER indicates the peaks on the channel over time, and therefore the earliest “significant” peak should correspond to the ToA of the reference RF signal. Generally, the UE uses a noise-related quality threshold to filter out spurious local peaks, thereby likely correctly identifying the significant peak on the channel. For example, the UE 104 may select a ToA estimate that is the earliest local maximum of the CER that is at least X dB higher than the median CER and up to Y dB lower than the dominant peak on the channel. The UE 104 determines the CER for each reference RF signal from each network node to determine the ToA of each reference RF signal from different network nodes.

[0091]

[0092] When the UE 104 uses the OTDOA measurement time differences to obtain a location estimate itself, necessary additional data (e.g., network node locations and relative transmission timing) may be provided to the UE 104 by a location server (e.g., the LMF 196). In some implementations, a location estimate for the UE 104 may be obtained (e.g., by the UE 104 itself or by a location server (e.g., the LMF 196)) from the OTDOA measurement time differences and from other measurements made by the UE 104 (e.g., measurements of signal timing from GPS or other GNSS satellites). In these implementations, known as hybrid positioning, the OTDOA measurements may contribute to obtaining a location estimate for the UE 104 but may not completely determine the location estimate.

[0092]

[0093] Uplink Time Difference of Arrival (UTDOA) is a positioning method similar to OTDOA, but is based on an uplink reference RF signal, e.g., a UL PRS or SRS transmitted by a UE (e.g., UE 104). Additionally, transmit and / or receive beamforming at the network node and / or UE 104 can enable wide bandwidth at the cell edge for increased accuracy. Beam refinement can also leverage channel reciprocity procedures in 5G NR.

[0093]

[0094] 6 shows an example wireless communication system 600 that implements positioning using a round trip time (RTT) (multi-RTT) technique with multiple base stations 102. For example, both the UE 104 and the base stations 102 may transmit PRS from which Rx-Tx may be measured. For example, the base stations 102 may provide the UE 104 with the transmission times of their DL PRS signals and the arrival times of the UL PRS from the UE 104, from which the UE 104 may determine the Rx-Tx and RTT for each base station 102.

[0094]

[0095] In order to determine the position of the UE 104, some information about the network geometry must be known, such as the geographic location of each of the base stations 102 in a reference coordinate system. In a UE-based positioning procedure, the network geometry can be provided to the UE 104 in any way, such as by providing the information in beacon signals, by using a server, for example, by providing the information in positioning assistance data, by using a uniform resource identifier, etc.

[0095]

[0096] As shown, distances D1, D2, and D3 between the UE 104 and each base station 102-1, 102-2, and 102-3 are determined using the RTT. Once the distance to each base station 102 is known and the location of each base station is known, the location of the UE 104 can be solved using various known geometric techniques, such as, for example, trilateration. From Figure 6, it can be seen that circles 602, 604, and 606 centered on each base station 102-1, 102-2, and 102-3 have radii equal to the distances D1, D2, and D3. The location of the UE 104 would ideally be at the common intersection of all of the circles 602, 604, and 606.

[0096]

[0097] Other known positioning techniques may be implemented to determine the location of the UE 104 using DL and / or UL wireless signals, such as angle of arrival (AoA) or angle of departure (AoD).

[0097]

[0098] As described above, the wireless system 100 can be used in various applications for precise positioning. For example, the UE 104 can be, attached to, or embedded within some tool, object, part, or component used in a smart (automated) factory, or attached to or embedded within a package, object, or component in a smart (automated) warehouse or supply depot. For example, the UE 104 can be used in a motion control system, as described, for example, in 3GPP Technical Report (TR) 22.804. A motion control system is used to control the movement and / or rotation of parts of machinery in a well-defined manner.

[0098]

[0099] FIG. 7 illustrates, by way of example, a motion control system 700 that may include a UE 104 as a position sensor. As illustrated, a motion controller 702 may periodically send desired target values ​​to one or more actuators 704, which may be, for example, linear actuators or servo drives. The actuators 704 perform corresponding actions on one or more processes 706, such as, for example, moving or rotating one or more components. Simultaneously, sensors 708 determine the current state of the processes 706, e.g., the current position and / or rotation of one or more components. Some or all of the sensors 708 may include the UE 104 and the base station 102. Using wireless signals such as DL PRS and / or UL PRS, the UE 104 and / or base station 102 may perform positioning measurements. The UE 104 and / or base station 102 may provide a location report with information related to the positioning measurements, such as positioning measurements (e.g., in a UE-assisted positioning process) or position estimates (e.g., in a UE-based positioning process), to a location server 710. The location server 710 may determine a position estimate for the UE 104 based on the received location reports. The location server 710 sends actual values, e.g., the location of the UE 104, back to the movement controller 702. Thus, the sensors 708 (including the UE 104 and the gNB 102) and the location server 710 work together to measure actual values ​​of the sensor positions and provide them to the movement control 702, as indicated by box 712.

[0099]

[0100] Motion control is performed in a strictly cyclical and deterministic manner, such that during one communication cycle time Tcycle, the motion controller 702 sends updated target values ​​to all actuators 704, and all sensors 708, when the sensors 708 include a UE 104 and / or a gNB 102, send their actual values ​​back to the motion controller 702 via the location server 710. For example, within each communication cycle of duration Tcycle, the following steps are performed in a strictly cyclical manner: The motion controller 702 may send target values ​​to all actuators 704. The actuators 704 may take these target values ​​and place them in internal buffers. All sensors, including the UE 104, send their current actual values ​​from their internal buffers to the motion controller 702 via the location server 710. Furthermore, at a distinct point in time within the current cycle, commonly referred to as the “global sampling point,” the actuators 704 retrieve the most recent target values ​​received from the motion controller 702 from their internal buffers and act accordingly on the process 706. At the same time, sensors 708, including UE 104 and / or gNB 102, measure the current state of process 706 and provide measurement information to location server 710, which transmits new actual values ​​to motion controller 702. A very high degree of synchronicity, for example on the order of 1 μs, is desired between all involved devices (motion controller 702, sensors 708, actuators 704) with respect to the global sampling point.

[0100]

[0101] As an example, Table 2 gives typical values ​​for the number of nodes, cycle time and payload size for some application areas of motion control systems: printing machines, machine tools or packaging machines.

[0101] [Table 2]

[0102]

[0102] In the case of the integration of wireless networks within the TSN framework, time is synchronized between the two systems. The TSN framework is being completely redefined and extended to wireless networks such as 5G.

[0103]

[0103] Figure 8 shows a 5G and TSN clock distribution model 800 via a 5G system (5GS) 801 as described in 3GPP TR 23.501. To support TSN time synchronization, the 5GS is integrated with external networks as a TSN bridge as described in 3GPP TR 23.501. The 5GS can be modeled as an IEEE 802.1AS-compliant entity. For TSN synchronization, the entire E2E 5G system can be considered an IEEE 802.1AS "time-aware system." Only the TSN Translators (TTs) at the edge of the 5G system 801 need to support IEEE 802.1AS operation. The UE 104, gNB 102, UPF 195, NW-TT 802, and DS-TT 804 are synchronized with a 5G Grandmaster Clock (GM) 806 (i.e., the 5G internal system clock), which keeps these network elements synchronized. The TTs 802 and 804 located at the edges of the 5G system 801 may fulfill all the functions related to IEEE 802.1AS, such as (g)PTP support, time stamping, best master clock algorithm (BMCA), and rateRatio.

[0104] The 5G and TSN clock distribution model 800 illustrates 5GS 801 synchronization and TSN domain 820 synchronization, as well as these two synchronization systems of master (M) and slave (S) ports that are considered when a TSN grandmaster (GM) clock 822 is located in the TSN working domain 821. The 5GS 801 synchronization may be used, for example, for NG RAN synchronization as specified in 3GPP TS 38.331. The TSN domain 820 synchronization provides synchronization services to the TSN network and may comply with IEEE 802.1AS. The two synchronization processes may be considered independent of each other, and the gNB 102 (and, in some implementations, the location server 803 (which may be the LMF 196)) may only need to be synchronized to the 5G GM clock 806. To enable TSN synchronization, the 5GS 801 may calculate the measured residence time between the TTs 802 and 804 and add it to the correction field (CF) of the synchronization packet of the TSN working domain.

[0105]

[0105] Therefore, time synchronization between the TSN domain and a wireless network, for example, the 5GC domain, is possible. However, currently, wireless positioning cannot support the synchronization required within the TSN working domain. For example, current wireless positioning allows for periodic reporting, as described in, for example, 3GPP TS37.355. Table 3 shows part of the field description from 3GPP TS37.355.

[0106] [Table 3]

[0107]

[0106] Therefore, the periodic reporting currently implemented under 3GPP TS37.355 does not support, for example, the motion control system or other use cases defined by 3GPP TR22.804 described above. For example, the reporting period under 3GPP TS37.355 is too long, e.g., 1, 2, 4, 8, 10, 16, 20, 32, and 64 seconds, while several milliseconds are required for motion control systems such as those described above. Furthermore, the concept of a "period" under 3GPP TS37.355 allows every node to have a different response time, and therefore fails to achieve the synchronicity required within the control loop for a motion control system, as described above.

[0108] To integrate a wireless positioning system, e.g., the UE 104, as a sensor within the TSN framework for motion control or other similar use cases, the positioning measurements performed by the UE 104 and / or the base station 102 may be performed at a distinct point in time within the current cycle, e.g., control loop, such as a global sampling point, as described with respect to Figure 7, to provide the desired synchronicity. For example, the distinct point in time may be, for example, a phase within a period sometimes referred to as a burst arrival time.

[0109]

[0108] Similar to the Time-Sensitive Communication (TSC) assistance information described in 3GPP TS23.501, which includes burst arrival times, the Location Information Request / Provide LPP message type must include optional additional information with points in time, e.g., global sampling points, that allow tracking of the period and phase during which a positioning fix is ​​expected.

[0110] The use of defined time points for position measurements can be for both UE-assisted or UE-based positioning processes. Furthermore, the defined time points can be used to report position estimates. For example, as shown in FIG. 7, the location server 710 will ultimately return a position estimate to the motion controller 702, and therefore it may be advantageous for the location server 710 to have access to defined time points, e.g., global sampling points.

[0111]

[0110] Furthermore, for example, the latency, e.g., time gap, between a positioning measurement at a defined point in time, e.g., a global sampling point, and a location fix reaching the movement controller may be determined based on a time stamp provided in the positioning measurement and / or position estimate.

[0112]

[0111] Thus, the UE 104, the base station 102 and the location server 710 may share the concept of a well-defined point in time during the measurement period, for example a global sampling point, and may be time-synchronized according to the TSN framework.

[0113] 9 shows an aligned timeline 900 including a timeline 902 for the controller 702, a timeline 904 for the UE 104, a timeline 906 for the base station 102, a timeline 908 for the location server 196, and TSN time 910. The controller 702, the UE 104, the base station 102, and, in some implementations, the location server 196 are synchronized in time based on a TSN framework (e.g., TSN time). The timeline 900 shows a single control cycle, illustrating events and actions performed by different entities with respect to each other and with respect to TSN time 910. The control cycle may be periodic, and thus the events shown in FIG. 9 may repeat for a set number of cycles or until an end message is issued.

[0114] As illustrated in controller timeline 902, the controller 702 provides globally synchronized movement commands to, for example, the actuators 704 shown in FIG. 7. In response, the actuators initiate movement. The UE 104 acts as a movement / position sensor, and thus the UE timeline 904 shows the starting movement aligned with the movement command on the controller timeline 902. After a period of time, the movement may be completed, as illustrated in the UE timeline 904. In some implementations, the movement may continue throughout the entire control cycle.

[0115] At the global sampling point shown at TSN time 910, the UE 104 and / or base station 102 perform positioning measurements as indicated by the sensor measurements on the UE timeline 904 and the base station timeline 906. For example, in some implementations, only DL positioning measurements may be performed by the UE 104, or only UL positioning measurements may be performed by the base station 102, or both DL and UL positioning measurements may be performed by the UE 104 and the base station 102. As shown, the positioning measurements are closely aligned with a defined point in time, e.g., the global sampling point, e.g., within 1 μs. The UE 104 and / or base station 102 then send positioning measurements to the location server 196 as indicated by the transmitted sensor measurements on the UE timeline 904 and the base station timeline 906 and receive the sensor measurements on the location server timeline 908. The positioning measurements may include, for example, a timestamp. In some implementations, additional messages providing measurement information, such as, for example, a transmission time or arrival time of a PRS signal, may be transmitted between the UE 104 and the base station 102. Further, in some implementations, e.g., a UE-based process, the UE 104 may determine a position estimate, and the sensor measurements provided by the UE 104 may include the position estimate. As illustrated in TSN time 910, transmission of positioning measurements by the UE 104 and / or base station 102 may be at (or before) a defined time, e.g., a measurement reporting time.

[0116] The location server 196 determines a position estimate for the UE 104 based on the received positioning measurements. For example, the location server 196 may determine a position estimate using positioning measurements received from the UE 104 and / or the base station 102. Alternatively, sensor measurements from the UE 104 may include a position estimate, and the location server 196 may use and / or confirm the position estimate determined by the UE 104. The location server 196 then sends location information including the position estimate to the controller 702, as shown by the transmitted location information on the location server timeline 908 and the received location information on the controller timeline 902. The location information may include a timestamp for the positioning measurements. As shown in TSN time 910, transmission of the location information by the location server 196 may be at a defined point in time, e.g., at (or before) the estimated reporting time. The controller 702 may determine a next movement command, as shown by the next movement command calculated on the controller timeline 902, and the control cycle may repeat.

[0117] 10 is a message flow 1000 with various messages sent between entities in a wireless system, including a UE 104, a serving base station 102s, a neighboring base station 102n, a location server 1002, and an external client 1004, which may be, for example, a motion controller 702. The serving base station 102s and the neighboring base station 102n may be referred to as base stations 102. The message flow 1000 further illustrates a TSN timeline indicating when certain actions occur. The UE 104 may be configured to perform UE-assisted or UE-based positioning, in which the UE itself determines its location, for example, using assistance data provided to it, and may be configured to perform multi-cell RTT positioning. The message flow 1000 assumes that the UE 104 and the location server 1002 communicate using the LPP positioning protocol, although the use of NPP or a combination of LPP and other future protocols, such as NPP or NRPPa, is also possible. It should be understood that preliminary or additional conventional steps not shown in FIG. 10 may be performed, such as capability requests and responses, requests for assistance data, etc.

[0118] In stage 1, the location server 1002 receives a location request message from the external client 1004 requesting one or more location estimates for the UE 104 at a time point within the TSN framework for performing positioning measurements. For example, the time point may be a global sampling point. The global sampling point may include a period and a phase within the period at which the positioning measurements will be performed. For example, the period may be a TSN cycle, and the phase may be a time instant within the period or the TSN cycle. The location request may further include a time point for the location information and / or the position estimate. The location request may be for periodic positioning of the UE and may, for example, indicate a sequence of time points within each period for obtaining positioning measurements and for reporting location information and a position estimate.

[0119]

[0118] In stage 2, the location server 1002 requests configuration information and the base station 102 provides the configuration information.

[0120] In stage 3, the location server 1002 sends, for example, a location request message to the UE 104 via the serving base station 102s, requesting the location of the UE. The location request may be for periodic positioning of the UE and may indicate, for example, a sequence of time points within each period for obtaining positioning measurements and reporting location information. In some implementations, the location server 1002 may provide assistance data to the UE 104. In some implementations, the location request message may include a PRS transmission request message to request transmission of the UL PRS, or the PRS transmission request message may be separate from the location request message. The PRS transmission request may be for periodic transmission of the PRS and may indicate time points within each period for transmitting the PRS. The location request message includes time points within the TSN framework for performing positioning measurements based on the received DL PRS and / or for transmitting the UL PRS. The location request may further include time points for reporting the positioning measurements.

[0121] In stage 4, the location server 1002 may send a location request message to the base station 102, for example, to request the location of the UE. The location request may be for periodic positioning of the UE and may indicate, for example, a sequence of time points within each period for obtaining positioning measurements and reporting location information. In some implementations, the location request message may include a PRS transmission request message to request transmission of a DL PRS, or the PRS transmission request message may be separate from the location request message. The PRS transmission request may be for periodic transmission of a PRS and may indicate a time point within each period for transmitting the PRS. The location request message includes a time point within the TSN framework for performing positioning measurements based on the received UL PRS and / or for transmitting a DL PRS. The location request may further include a time point for reporting the positioning measurements.

[0122] For example, if the location request instructed base station 102 to transmit a DL PRS in stage 4, then base station 102 may transmit the DL PRS in stage 5. The transmission of the DL PRS may be aligned with the time point for the positioning measurements as specified in the stage 4 location request message.

[0123] For example, if the location request instructed the UE 104 to transmit an UL PRS in stage 3, then the UE 104 may transmit the UL PRS in stage 6. The transmission of the UL PRS may be aligned with the time points for the positioning measurements as specified in the stage 3 location request message.

[0124] In step 7a, the UE 104 performs positioning measurements using the received DL PRS. The positioning measurements are performed at the time points for the positioning measurements, which may be global sampling points, as specified in the location request in step 3, as illustrated on the TSN timeline. The UE 104 may perform positioning methods such as time of arrival (TOA), reference signal time difference (RSTD), time difference of arrival (TDOA), reference signal received power (RSRP), time difference between reception and transmission of a signal (Rx-Tx), etc.

[0125] In steps 7b and 7c, the base station 102 may perform positioning measurements using the received UL PRS. The positioning measurements are performed at the time points for the positioning measurements, which may be global sampling points, as specified in the location request in step 4, as illustrated on the TSN timeline. The base station 102 may perform positioning methods such as time of arrival (TOA), reference signal received power (RSRP), time difference between reception and transmission of a signal (Rx-Tx), etc.

[0126]

[0125] In step 8, the base station 102 may send positioning information to the UE 104, such as the positioning measurements performed in steps 7b and 7c, the transmission time of the DL PRS, and the arrival time of the UL PRS, which can be used by the UE 104 for positioning methods such as Rx-Tx, RTT, and multi-RTT.

[0127]

[0126] In step 9, the UE 104 may optionally determine a position estimate using the positioning measurements performed in step 7a, the positioning information received in step 8, and the position of the base station 102, which may be provided, for example, in the assistance data provided in step 3.

[0128] In stage 10, the UE 104 may send a location information report to the location server 1002. The location information report may provide the position measurement and / or location estimate from stage 9, if determined, and may include a timestamp for the position measurement. The location information report may be provided at or before the time specified in the location information report in the location request during stage 3, as illustrated on the TSN timeline.

[0129] In stage 11, the base station 102 may send a location information report to the location server 1002. The location information report may provide a position measurement and may include a timestamp for the position measurement. The location information report may be provided at or before the time specified in the location information report in the location request during stage 4, as illustrated on the TSN timeline.

[0130]

[0129] In step 12, the location server 1002 may determine a position estimate for the UE 104 based on the positioning measurements received in the location information report from steps 10 and 11, or may verify the position estimate for the UE if received in the location information report in step 10.

[0131] In stage 13, the location server 1002 may provide a location report to the external client 1004 that includes a position estimate for the UE 104. The location report may include timestamps for the positioning measurements. The location report may be provided at or before the time specified in the location report in the location request during stage 1, as illustrated on the TSN timeline.

[0132] FIG. 11 shows a flowchart for an example method 1100 for performing positioning of a user equipment (UE) within a wireless network performed by an entity in the wireless network.

[0133] In block 1102, an entity receives a location request message including a first point in time within a time-dependent networking (TSN) framework for performing positioning measurements for a UE, e.g., as described in steps 3 and 4 of FIG. 10. In block 1104, a positioning reference signal (PRS) is received from one or more other entities in the wireless network, e.g., as described in steps 5 and 6 of FIG. 10. In block 1106, positioning measurements are performed using the PRS from the one or more other entities at the first point in time within the TSN framework specified in the location request message for performing the positioning measurements, e.g., as described in steps 7a, 7b, and 7c of FIG. 10. In block 1108, a location information report related to the positioning measurements is transmitted to a location server, e.g., as described in steps 10 and 11 of FIG. 10.

[0134]

[0133] In one implementation, the location request message may further include a second time point for providing a location information report, for example, as described in steps 3, 4, 10 and 11 of FIG. 10, wherein the location information report is transmitted to the location server at or before the second time point.

[0135]

[0134] In one implementation, for example, as described in steps 5 and 7a of Figure 10, the entity in the wireless network may be a UE and the PRS is a downlink PRS.

[0136]

[0135] In one implementation, the entity in the wireless network may be a base station and the PRS is an uplink PRS, for example as described in steps 6 and 7b and 7c of Figure 10 .

[0137]

[0136] In one implementation, the wireless network and the TSN framework may be synchronized in time, for example, as described in Figures 9 and 10.

[0138] In one implementation, the first point in time within the TSN framework specified in the location request message for performing positioning measurements may be a global sampling point, for example, as described in steps 1, 7a, 7b, and 7c of Figure 10. The global sampling point may be a period and a phase. For example, the period may be a TSN cycle and the phase may be a time instant within the period, for example, as described in steps 1, 7a, 7b, and 7c of Figure 10.

[0139] In one implementation, for example, as described in steps 9 and 10 of Figure 10, the entity may be a UE, the one or more other entities may be one or more base stations, the UE may determine a position estimate for the UE based on the positioning measurements, and the location information report related to the positioning measurements may include the position estimate for the UE. For example, as described in steps 8 and 9 of Figure 10, the UE may further receive positioning measurements from one or more other entities, where the position estimate for the UE is determined further based on the positioning measurements received from the one or more other entities.

[0140]

[0139] In one implementation, the location information report related to the positioning measurement may be a positioning measurement, for example as described in step 10 of FIG.

[0141]

[0140] In one implementation, the entity may further receive a request to transmit a PRS including a first point in time within the TSN framework for transmitting the PRS, for example as described in steps 3 and 5 or steps 4 and 6 of Figure 10, and may transmit the PRS to one or more other entities at the first point in time within the TSN framework specified in the location request message for transmitting the UL PRS.

[0142]

[0141] In one implementation, a location information report related to a positioning measurement may include a timestamp for the positioning measurement, for example, as described in steps 10 and 11 of FIG.

[0143]

[0142] In one implementation, the UE is a sensor in a motion control system using a TSN framework, for example as described in Figures 7 and 10.

[0144] FIG. 12 shows a flowchart for an example method 1200 for performing positioning of a user equipment (UE) within a wireless network performed by an entity in the wireless network.

[0145] In block 1202, the entity receives a positioning reference signal (PRS) transmission request message that includes a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS, e.g., as described in steps 3 and 4 of Figure 10. In block 1204, the PRS is transmitted at the first point in time within the TSN framework specified in the location request message for transmitting the PRS, e.g., as described in steps 5 and 6 of Figure 10.

[0146]

[0145] In one implementation, for example, as described in step 6 of Figure 10, the entity in the wireless network may be a UE and the PRS is an uplink PRS.

[0147]

[0146] In one implementation, the entity in the wireless network may be a base station and the PRS is a downlink PRS, for example as described in step 6 of Figure 10 .

[0148]

[0147] In one implementation, the wireless network and the TSN framework are synchronized in time, for example as described in Figures 9 and 10.

[0149] In one implementation, the first point in time within the TSN framework specified in the location request message for transmitting the PRS comprises a global sampling point, e.g., as described in steps 1, 7a, 7b, and 7c of Figure 10. The global sampling point may be a period and a phase. For example, the period may be a TSN cycle and the phase may be a time instant within the period, e.g., as described in steps 1, 7a, 7b, and 7c of Figure 10.

[0150]

[0149] In one implementation, the UE may be a sensor in a motion control system, for example, as described in Figures 7 and 10.

[0151] FIG. 13 illustrates a flowchart for an example method 1300 of performing positioning of a user equipment (UE) in a wireless network performed by a location server in the wireless network.

[0152] In block 1302, a location server receives a first location request message from a first entity requesting a location for a UE at a first time point within a time-sensing networking (TSN) framework, for example, as described in step 1 of FIG. 10. In block 1304, a second location request message is transmitted to one or more entities in the wireless network requesting positioning measurements for the UE at the first time point received in the first location request message, for example, as described in steps 3 and 4 of FIG. 10. In block 1306, a location information report is received from one or more entities based on positioning measurements for the UE performed at the first time point, for example, as described in steps 10 and 11 of FIG. 10. In block 1308, a position estimate for the UE is determined based on the positioning report, for example, as described in step 12 of FIG. 10. In block 1310, the position estimate for the UE is transmitted to the first entity, for example, as described in step 13 of FIG. 10.

[0153]

[0152] In one implementation, the first location request message may further include a second time point for providing a position estimate, for example, as described in steps 1 and 13 of FIG. 10, wherein the position estimate is transmitted to the first entity at or before the second time point.

[0154]

[0153] In one implementation, the wireless network and the TSN framework are synchronized in time, for example as described in Figures 9 and 10.

[0155] In one implementation, the first point in time within the TSN framework may be a global sampling point, for example, as described in steps 1, 7a, 7b, and 7c of Figure 10. The global sampling point may be a period and a phase. For example, the period may be a TSN cycle and the phase may be a time instant within the period, for example, as described in steps 1, 7a, 7b, and 7c of Figure 10.

[0156]

[0155] In one implementation, as described in steps 10, 11, and 12 of FIG. 10, the location information report based on positioning measurements for the UE may include one of positioning measurements performed by the UE based on a downlink (DL) positioning reference signal (PRS) received by the UE, positioning measurements performed by a base station based on an uplink (UL) PRS transmitted by the UE, or a combination thereof, and determining a position estimate for the UE may include generating a position estimate using the positioning measurements for the UE received in the positioning report.

[0157]

[0156] In one implementation, the location information report based on the positioning measurements for the UE may be a position estimate for the UE determined by the UE, for example, as described in steps 9 and 10 of Figure 10 .

[0158]

[0157] In one implementation, for example, as described in steps 10, 11, and 13 of FIG. 10, a location information report based on positioning measurements for a UE may include a timestamp for the positioning measurements, wherein the position estimate for the UE includes a timestamp for the positioning measurements.

[0159]

[0158] In one implementation, for example, as described in Figure 10, the UE and the location server are sensors, and the first entity is a motion controller in a motion control system using a TSN framework.

[0160] 14 shows a schematic block diagram illustrating some example features of a UE 1400, which may be, for example, the UE 104 shown in FIG. 1, configured to perform positioning within a wireless network, e.g., within a TSN framework, as described herein. The UE 1400 may, in one example, be a sensor in a motion control system using the TSN framework. The UE 1400 may include, for example, one or more processors 1402, memory 1404, and an external interface (e.g., a wireless network interface), such as at least one wireless transceiver 1410, which may be operably coupled with one or more connections 1406 (e.g., a bus, a line, a fiber, a link, etc.) to a non-transitory computer-readable medium 1420 and memory 1404. The UE 1400 may further include a clock 1416, which may be synchronized in time with a TSN clock. The UE 1400 may further include additional items not shown, such as a user interface that may include, for example, a display, a keypad or other input device such as a virtual keypad on the display by which a user may interface with the UE, or a satellite positioning system receiver. In some example implementations, all or a portion of the UE 1400 may take the form of a chipset or the like. The wireless transceiver 1410 may include, for example, a transmitter 1412 that may be enabled to transmit one or more signals over one or more types of wireless communication networks and a receiver 1414 for receiving one or more signals transmitted over the one or more types of wireless communication networks.

[0161] In some embodiments, the UE 1400 may include an antenna 1411, which may be internal or external. The UE antenna 1411 may be used to transmit and / or receive signals processed by the wireless transceiver 1410. In some embodiments, the UE antenna 1411 may be coupled to the wireless transceiver 1410. In some embodiments, measurements of signals received (transmitted) by the UE 1400 may be performed at the connection point between the UE antenna 1411 and the wireless transceiver 1410. For example, the measurement point of reference for measurements of received (transmitted) RF signals may be the input (output) terminal of the receiver 1414 (transmitter 1412) and the output (input) terminal of the UE antenna 1411. In a UE 1400 with multiple UE antennas 1411 or an antenna array, the antenna connector may be considered a virtual point representing the aggregate output (input) of the multiple UE antennas. In some embodiments, the UE 1400 may measure received signals, including signal strength and TOA measurements, and the raw measurements may be processed by one or more processors 1402.

[0162] The one or more processors 1402 may be implemented using a combination of hardware, firmware, and software. For example, the one or more processors 1402 may be configured to perform the functions described herein by implementing one or more instructions or program code 1408 on a non-transitory computer-readable medium, such as the medium 1420, and / or the memory 1404. In some embodiments, the one or more processors 1402 may represent one or more circuits configurable to perform at least a portion of a data signal computation procedure or process related to the operation of the UE 1400.

[0163] The medium 1420 and / or memory 1404 may store instructions or program code 1408, including executable code or software instructions that, when executed by the one or more processors 1402, cause the one or more processors 1402 to operate as a special-purpose computer programmed to perform the techniques disclosed herein. As shown in the UE 1400, the medium 1420 and / or memory 1404 may include one or more components or modules that may be implemented by the one or more processors 1402 to perform the methods described herein. While the components or modules are shown as software in the medium 1420 executable by the one or more processors 1402, it should be understood that the components or modules may be stored in the memory 1404 or may be dedicated hardware within the one or more processors 1402 or separate from the processor(s).

[0164] A number of software modules and data tables may reside in the medium 1420 and / or memory 1404 and may be utilized by the one or more processors 1402 to manage both the communications and functionality described herein. It should be appreciated that the organization of the contents of the medium 1420 and / or memory 1404 as shown in the UE 1400 is only an example, and thus the functionality of the modules and / or data structures may be combined, separated, and / or structured in various ways depending on the implementation of the UE 1400.

[0165] The medium 1420 and / or memory 1404 may include a location request module 1422 that, when implemented by the one or more processors 1402, configures the one or more processors 1402 to receive, from a location server, e.g., via the wireless transceiver 1410, a location request message including a first point in time within a time-sensing networking (TSN) framework to perform positioning measurements for the UE. The location request message may additionally or alternatively request transmission of an UL PRS at the first point in time within the TSN framework. The location request message may include, for example, an additional point in time for providing a location report to the location server. The point in time may be a global sampling point. The global sampling point may include a time period and a phase within the time period at which positioning measurements are to be performed. For example, the time period may be a TSN cycle, and the phase may be a time instant within the time period or the TSN cycle.

[0166]

[0165] The medium 1420 and / or memory 1404 may include a time point module 1424 that, when implemented by one or more processors 1402, configures the one or more processors 1402 to monitor the clock 1416 to perform certain actions, such as positioning measurements and location reporting, at requested times in the TSN framework.

[0167]

[0166] The medium 1420 and / or memory 1404 may include a DL PRS receiving module 1426 that, when implemented by one or more processors 1402, configures the one or more processors 1402 to receive DL PRS transmitted by one or more base stations via the wireless transceiver 1410.

[0168] The medium 1420 and / or the memory 1404 may include a UL PRS transmission module 1428 that, when implemented by the one or more processors 1402, configures the one or more processors 1402 to transmit multiple UL PRSs, e.g., SRSs, for positioning via the wireless transceiver 1410. The one or more processors 1402 may be configured to transmit the UL PRSs at requested times within a TSN framework.

[0169] The medium 1420 and / or the memory 1404 may include a positioning measurement module 1430 that, when implemented by the one or more processors 1402, configures the one or more processors 1402 to perform positioning measurements using received DL PRS and / or UL PRS at requested times within the TSN framework. For example, the positioning measurements may be, for example, TOA, RSTD, OTDOA, Rx-Tx, RSRP, RTT, multi-RTT, AoA, or AoD.

[0170] The medium 1420 and / or the memory 1404 may include a location information module 1432 that, when implemented by the one or more processors 1402, configures the one or more processors 1402 to receive location information from one or more base stations via the wireless transceiver 1410. The location information may include, for example, positioning measurements including a transmission time of a transmitted DL PRS and a time of arrival of a received UL PRS.

[0171]

[0170] The medium 1420 and / or memory 1404 may include a location estimation module 1434 that, when implemented by one or more processors 1402, configures the one or more processors 1402 to estimate the location of the UE 1400 during a UE-based positioning process using location measurements performed by the UE 1400 and location information provided by the base station together with the location of the base station received in assistance data that may be received together with a location request message or in a separate assistance data provision message.

[0172]

[0171] The medium 1420 and / or memory 1404 may include a timestamp module 1436 that, when implemented by one or more processors 1402, configures the one or more processors 1402 to associate a positioning measurement with the time the positioning measurement was performed using a timestamp.

[0173]

[0172] The medium 1420 and / or memory 1404 may include a reporting module 1438 that, when implemented by one or more processors 1402, configures the one or more processors 1402 to transmit location reports related to positioning measurements, which may be positioning measurements and / or position estimates and timestamps, to a location server via the wireless transceiver 1410.

[0174]

[0173] The methods described herein can be implemented by various means depending on the application. For example, these methods can be implemented in hardware, firmware, software, or any combination thereof. In the case of a hardware implementation, the one or more processors 1402 can be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or combinations thereof.

[0175] For a firmware and / or software implementation, the methods may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methods described herein. For example, software code may be stored in non-transitory computer-readable medium 1420 or memory 1404 coupled to and executed by one or more processors 1402. The memory may be implemented within the one or more processors or external to the one or more processors. The term “memory,” as used herein, may refer to long-term memory, short-term memory, volatile memory, non-volatile memory, or any other type of memory, and should not be limited to any particular type or number of memories or the type of medium on which the memory is stored.

[0176] If implemented in firmware and / or software, the functions may be stored as one or more instructions or program code 1408 on a non-transitory computer-readable medium, such as the medium 1420 and / or the memory 1404. Examples include computer-readable media encoded with a data structure and computer-readable media encoded with a computer program 1408. For example, a non-transitory computer-readable medium with program code 1408 stored thereon may include program code 1408 for supporting positioning of UEs in a TSN framework in a manner consistent with the disclosed embodiments. The non-transitory computer-readable medium 1420 includes a physical computer storage medium. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such non-transitory computer-readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disc storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code 1408 in the form of instructions or data structures and that can be accessed by a computer; disk and disc, as used herein, include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0177] In addition to being stored on the computer-readable medium 1420, the instructions and / or data may be provided as signals on a transmission medium contained in a communications device. For example, a communications device may include a wireless transceiver 1410 having signals indicative of instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communications device includes a transmission medium with signals indicative of information to perform the disclosed functions.

[0178] Memory 1404 may represent any data storage mechanism. Memory 1404 may include, for example, primary memory and / or secondary memory. Primary memory may include, for example, random access memory, read-only memory, etc. While shown in this example as being separate from one or more processors 1402, it should be understood that all or a portion of the primary memory may be provided within one or more processors 1402, or in some cases co-located / coupled with one or more processors 1402. Secondary memory may include, for example, the same or similar type of memory as the primary memory, and / or one or more data storage devices or systems, such as, for example, disk drives, optical disk drives, tape drives, solid-state memory drives, etc.

[0179] In some implementations, the secondary memory may be operatively capable of receiving, or possibly configurable to be coupled to, a non-transitory computer-readable medium 1420. Thus, in some example implementations, the methods and / or apparatuses presented herein may take the form, in whole or in part, of a computer-readable medium 1420, which may include computer-implementable code 1408 stored thereon, which, when executed by one or more processors 1402, may be operatively enabled to perform all or a portion of the example operations described herein. The computer-readable medium 1420 may be part of the memory 1404.

[0180] An entity in a wireless network, such as a UE 1400, may be configured to perform positioning of a user equipment (UE) in the wireless network and may include means for receiving a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE, which may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a location request module 1422. Means for receiving a positioning reference signal (PRS) from one or more other entities in the wireless network may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a DL PRS receiving module 1426. The means for performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in the location request message for performing the positioning measurements may be, for example, one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a time point module 1424 and a positioning measurement module 1430. The means for sending location information reports related to the positioning measurements to the location server may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a reporting module 1428.

[0181] In some implementations, the entity may further include means for determining a position estimate for the UE based on the positioning measurements, which may be one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as, for example, position estimation module 1434, wherein the location information report related to the positioning measurements comprises the position estimate for the UE. In one example, the entity may further include means for receiving positioning measurements from one or more other entities, which may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as, for example, a location information module 1432, wherein the position estimate for the UE is further determined based on the positioning measurements received from the one or more other entities.

[0182] In some implementations, the entity may further include means for receiving a request to transmit a PRS including a first point in time within the TSN framework for transmitting the PRS, which may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a location request module 1422. The means for transmitting the PRS to one or more other entities at the first point in time within the TSN framework specified in the location request message for transmitting the UL PRS may be, for example, a wireless transceiver 1410 and one or more processors 1402 with dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a UL PRS transmission module 1428.

[0183] An entity in a wireless network, such as a UE 1400, may be configured to perform positioning of a user equipment (UE) in the wireless network and may include means for receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS, which may be, for example, a wireless transceiver 1410 and one or more processors 1402 having dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a location request module 1422. The means for transmitting a PRS at the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS may be, for example, a wireless transceiver 1410 and one or more processors 1402 having dedicated hardware or implementing executable code or software instructions in memory 1404 and / or medium 1420, such as a UL PRS transmission module 1428.

[0184] FIG. 15 shows a schematic block diagram illustrating some example features of a base station 1500, which may be, for example, the base station 102 shown in FIG. 1, configured to perform positioning for UEs within a wireless network, e.g., in a TSN framework, as described herein. The UE may, in one example, be a sensor in a motion control system using the TSN framework. The base station 1500 may include, for example, one or more processors 1502, memory 1504, an external interface (e.g., a wireless network interface), such as at least one wireless transceiver 1510, and a communication interface 1518 (e.g., a wireline or wireless network interface to other base stations and / or the core network and a location server), which may be operably coupled with one or more connections 1506 (e.g., a bus, a line, a fiber, a link, etc.) to a non-transitory computer-readable medium 1520 and a memory 1504. The base station 1500 may further include a clock 1516 that may be synchronized in time with a TSN clock. In some example implementations, all or a portion of the base station 1500 may take the form of a chipset, etc. The wireless transceiver 1510 may include, for example, a transmitter 1512 that may be enabled to transmit one or more signals over one or more types of wireless communication networks and a receiver 1514 for receiving one or more signals transmitted over the one or more types of wireless communication networks.

[0185] In some embodiments, the base station 1500 may include an antenna 1511, which may be internal or external. The antenna 1511 may be used to transmit and / or receive signals processed by the wireless transceiver 1510. In some embodiments, the antenna 1511 may be coupled to the wireless transceiver 1510. In some embodiments, measurements of signals received (transmitted) by the base station 1500 may be performed at the connection point between the antenna 1511 and the wireless transceiver 1510. For example, the reference measurement point for measurements of the received (transmitted) RF signal may be the input (output) terminal of the receiver 1514 (transmitter 1512) and the output (input) terminal of the antenna 1511. In a base station 1500 with multiple antennas 1511 or an antenna array, the antenna connector may be considered a virtual point representing the aggregate output (input) of the antennas of multiple UEs. In some embodiments, the base station 1500 may measure received signals, including signal strength and TOA measurements, and the raw measurements may be processed by one or more processors 1502.

[0186] The one or more processors 1502 may be implemented using a combination of hardware, firmware, and software. For example, the one or more processors 1502 may be configured to perform the functions described herein by implementing one or more instructions or program code 1508 on a non-transitory computer-readable medium, such as the medium 1520, and / or the memory 1504. In some embodiments, the one or more processors 1502 may represent one or more circuits configurable to perform at least a portion of a data signal computation procedure or process related to the operation of the base station 1500.

[0187] The medium 1520 and / or memory 1504 may store instructions or program code 1508, including executable code or software instructions that, when executed by the one or more processors 1502, cause the one or more processors 1502 to operate as a special-purpose computer programmed to perform the techniques disclosed herein. As shown in base station 1500, the medium 1520 and / or memory 1504 may include one or more components or modules that may be implemented by the one or more processors 1502 to perform the methods described herein. While the components or modules are shown as software in the medium 1520 executable by the one or more processors 1502, it should be understood that the components or modules may be stored in memory 1504 or may be dedicated hardware within the one or more processors 1502 or separate from the processors.

[0188] A number of software modules and data tables may reside in the medium 1520 and / or memory 1504 and may be utilized by the one or more processors 1502 to manage both the communications and functionality described herein. It should be appreciated that the organization of the contents of the medium 1520 and / or memory 1504 as shown in the base station 1500 is only an example, and thus the functionality of the modules and / or data structures may be combined, separated, and / or structured in various ways depending on the implementation of the base station 1500.

[0189] The medium 1520 and / or the memory 1504 may include a location request module 1522 that, when implemented by the one or more processors 1502, configures the one or more processors 1502 to receive, e.g., via the communication interface 1518, from a location server a location request message including a first point in time within a time-sensing networking (TSN) framework to perform positioning measurements for the UE. The location request message may additionally or alternatively request transmission of a DL PRS at the first point in time within the TSN framework. The location request message may include, for example, an additional point in time for providing a location report to the location server. The point in time may be a global sampling point. The global sampling point may include a time period and a phase within the time period at which positioning measurements are to be performed. For example, the time period may be a TSN cycle, and the phase may be a time instant within the time period or the TSN cycle.

[0190]

[0189] The medium 1520 and / or memory 1504 may include a time point module 1524 that, when implemented by one or more processors 1502, configures the one or more processors 1502 to monitor the clock 1516 to perform certain actions, such as positioning measurements and location reporting, at requested times in the TSN framework.

[0191] The medium 1520 and / or the memory 1504 may include a DL PRS transmission module 1526 that, when implemented by the one or more processors 1502, configures the one or more processors 1502 to transmit a DL PRS via the wireless transceiver 1510. The one or more processors 1502 may be configured to transmit the DL PRS at a requested time within a TSN framework.

[0192]

[0191] The medium 1520 and / or the memory 1504 may include a UL PRS receiving module 1528 that, when implemented by one or more processors 1502, configures the one or more processors 1502 to receive a UL PRS, e.g., an SRS, from a UE for positioning via the wireless transceiver 1510.

[0193] The medium 1520 and / or the memory 1504 may include a positioning measurement module 1530 that, when implemented by the one or more processors 1502, configures the one or more processors 1502 to perform positioning measurements using received UL PRS and / or DL ​​PRS at requested times within the TSN framework. For example, the positioning measurements may be, for example, TOA, RSTD, OTDOA, Rx-Tx, RSRP, RTT, multi-RTT, AoA, or AoD.

[0194] The medium 1520 and / or the memory 1504 may include a location information module 1532 that, when implemented by the one or more processors 1502, configures the one or more processors 1502 to transmit location information to the UE via the wireless transceiver 1510. The location information may include, for example, positioning measurements including a transmission time of a transmitted DL PRS and an arrival time of a received UL PRS.

[0195]

[0194] The medium 1520 and / or memory 1504 may include a timestamp module 1536 that, when implemented by one or more processors 1502, configures the one or more processors 1502 to associate a positioning measurement with the time the positioning measurement was performed using a timestamp.

[0196]

[0195] The medium 1520 and / or memory 1504 may include a reporting module 1538 that, when implemented by one or more processors 1502, configures the one or more processors 1502 to send a location report related to the positioning measurements, which may be positioning measurements and timestamps, to a location server via the communication interface 1518.

[0197]

[0196] The methods described herein can be implemented by various means depending on the application. For example, these methods can be implemented in hardware, firmware, software, or any combination thereof. In the case of a hardware implementation, the one or more processors 1502 can be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or combinations thereof.

[0198] For a firmware and / or software implementation, the methods may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methods described herein. For example, software code may be stored in non-transitory computer-readable medium 1520 or memory 1504 coupled to and executed by one or more processors 1502. The memory may be implemented within the one or more processors or external to the one or more processors. The term “memory,” as used herein, may refer to long-term memory, short-term memory, volatile memory, non-volatile memory, or any other type of memory, and should not be limited to a specific type or number of memories or the type of medium on which the memory is stored.

[0199] If implemented in firmware and / or software, the functions may be stored as one or more instructions or program code 1508 on a non-transitory computer-readable medium, such as the medium 1520 and / or the memory 1504. Examples include computer-readable media encoded with a data structure and computer-readable media encoded with a computer program 1508. For example, non-transitory computer-readable media with program code 1508 stored thereon may include program code 1508 for supporting positioning of UEs in a TSN framework in a manner consistent with the disclosed embodiments. The non-transitory computer-readable media 1520 includes physical computer storage media. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such non-transitory computer-readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disc storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code 1508 in the form of instructions or data structures and that can be accessed by a computer; disk and disc, as used herein, include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0200] In addition to being stored on the computer-readable medium 1520, the instructions and / or data may be provided as signals on a transmission medium contained in a communications device. For example, a communications device may include a wireless transceiver 1510 having signals indicative of instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communications device includes a transmission medium with signals indicative of information to perform the disclosed functions.

[0201] Memory 1504 may represent any data storage mechanism. Memory 1504 may include, for example, primary memory and / or secondary memory. Primary memory may include, for example, random access memory, read-only memory, etc. While shown in this example as being separate from one or more processors 1502, it should be understood that all or a portion of the primary memory may be provided within one or more processors 1502, or in some cases co-located / coupled with one or more processors 1502. Secondary memory may include, for example, the same or similar type of memory as the primary memory, and / or one or more data storage devices or systems, such as, for example, disk drives, optical disk drives, tape drives, solid-state memory drives, etc.

[0202] In some implementations, the secondary memory may be operatively receptive of, or possibly configurable to couple to, a non-transitory computer-readable medium 1520. Thus, in some example implementations, the methods and / or apparatuses presented herein may take the form, in whole or in part, of a computer-readable medium 1520, which may include computer-implementable code 1508 stored thereon, which, when executed by one or more processors 1502, may be operatively enabled to perform all or a portion of the example operations described herein. The computer-readable medium 1520 may be part of the memory 1504.

[0203] An entity in a wireless network, such as a base station 1500, may be configured to perform positioning of user equipment (UE) in the wireless network and may include means for receiving a location request message including a first point in time within a time-sensing networking (TSN) framework for performing positioning measurements for the UE, which may be, for example, a communication interface 1518 and one or more processors 1502 having dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a location request module 1522. Means for receiving a positioning reference signal (PRS) from one or more other entities in the wireless network may be, for example, a wireless transceiver 1510 and one or more processors 1502 having dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a UL PRS receiving module 1528. The means for performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in the location request message for performing the positioning measurements may be, for example, one or more processors 1502 with dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a time point module 1524 and a positioning measurement module 1530. The means for sending location information reports related to the positioning measurements to the location server may be, for example, a communication interface 1518 and one or more processors 1502 with dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a reporting module 1538.

[0204] In some implementations, the entity may further include means for receiving a request to transmit a PRS including a first point in time within the TSN framework for transmitting the PRS, which may be, for example, a communications interface 1518 and one or more processors 1502 with dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a location request module 1522. The means for transmitting the PRS to one or more other entities at the first point in time within the TSN framework specified in the location request message for transmitting the UL PRS may be, for example, a wireless transceiver 1510 and one or more processors 1502 with dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a DL PRS transmission module 1526.

[0205] An entity in a wireless network, such as a base station 1500, may be configured to perform positioning of user equipment (UE) in the wireless network and may include means for receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS, which may be, for example, a communication interface 1518 and one or more processors 1502 having dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a location request module 1522. The means for transmitting a PRS at the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS may be, for example, a wireless transceiver 1510 and one or more processors 1502 having dedicated hardware or implementing executable code or software instructions in memory 1504 and / or medium 1520, such as a DL PRS transmission module 1526.

[0206] FIG. 16 shows a schematic block diagram illustrating some example features of a location server 1600, e.g., the LMF 196 of FIG. 1, configured to perform positioning for a UE within a wireless network, e.g., in a TSN framework, as described herein. The UE may, in one example, be a sensor in a motion control system using the TSN framework. The location server 1600 may include, e.g., one or more processors 1602, memory 1604, and an external interface that may include a communication interface 1618 (e.g., a wireline or wireless network interface to a base station and / or entity in a core network), that may be operably coupled to a non-transitory computer-readable medium 1620 and a memory 1604 via one or more connections 1606 (e.g., a bus, a line, a fiber, a link, etc.). The location server 1600 may further include a clock 1616 that may be synchronized in time with a TSN clock. In some example implementations, all or a portion of the location server 1600 may take the form of a chipset or the like.

[0207] The one or more processors 1602 may be implemented using a combination of hardware, firmware, and software. For example, the one or more processors 1602 may be configured to perform the functions described herein by implementing one or more instructions or program code 1608 on a non-transitory computer-readable medium, such as the medium 1620, and / or the memory 1604. In some embodiments, the one or more processors 1602 may represent one or more circuits configurable to perform at least a portion of a data signal calculation procedure or process related to the operation of the location server 1600.

[0208] The medium 1620 and / or memory 1604 may store instructions or program code 1608, including executable code or software instructions that, when executed by the one or more processors 1602, cause the one or more processors 1602 to operate as a special-purpose computer programmed to perform the techniques disclosed herein. As shown in location server 1600, the medium 1620 and / or memory 1604 may include one or more components or modules that may be implemented by the one or more processors 1602 to perform the methods described herein. While the components or modules are shown as software in the medium 1620 executable by the one or more processors 1602, it should be understood that the components or modules may be stored in memory 1604 or may be dedicated hardware in one or more processors 1602 or separate from the processor(s).

[0209] A number of software modules and data tables may reside in the medium 1620 and / or memory 1604 and may be utilized by the one or more processors 1602 to manage both the communications and functionality described herein. It should be appreciated that the organization of the contents of the medium 1620 and / or memory 1604 as shown in the location server 1600 is only an example, and thus the functionality of the modules and / or data structures may be combined, separated, and / or structured in various ways depending on the implementation of the location server 1600.

[0210] The medium 1620 and / or the memory 1604 may include a location request receiving module 1622 that, when implemented by the one or more processors 1602, configures the one or more processors 1602 to receive a location request message from another entity, such as a controller, via the communication interface 1618, requesting a location for the UE at a time point within a time-sensing networking (TSN) framework. The location request message may include additional time points, for example, for providing a location report to a location server and returning a position estimate to the entity. The time points may be global sampling points. The global sampling points may include a time period and a phase within the time period at which positioning measurements will be performed. For example, the time period may be a TSN cycle, and the phase may be a time instant within the time period or the TSN cycle.

[0211] The medium 1620 and / or the memory 1604 may include a location request sending module 1624 that, when implemented by the one or more processors 1602, configures the one or more processors 1602 to, for example, send a location request message to a UE and / or a base station via the communication interface 1618, requesting positioning measurements for the UE to be performed at a time point. The transmitted location request message may include, for example, an additional time point for the location report to be provided to a location server. The time point may be a global sampling point. The global sampling point may include a time period and a phase within the time period at which the positioning measurements are to be performed. For example, the time period may be a TSN cycle, and the phase may be a time instant within the time period or the TSN cycle.

[0212]

[0211] The medium 1620 and / or memory 1604 may include a time point module 1626 that, when implemented by one or more processors 1602, configures the one or more processors 1602 to monitor the clock 1616 to perform certain actions, such as reporting a position estimate at a requested time point in the TSN framework.

[0213] The medium 1620 and / or the memory 1604 may include a location information receiving module 1628 that, when implemented by the one or more processors 1602, configures the one or more processors 1602 to receive location reports with location information from one or more UEs and / or one or more base stations via the communication interface 1618. The location information may include, for example, positioning measurements performed by the UE and / or one or more base stations at a requested time, a position estimate determined by the UE, and a timestamp associated with when the positioning measurements were performed.

[0214]

[0213] The medium 1620 and / or memory 1604 may include a position estimation module 1630 that, when implemented by one or more processors 1602, configures the one or more processors 1602 to determine a position estimate for the UE, for example, using position measurements performed by the UE and / or base station together with the location of the base station, or by generating a position estimate for the UE using a position estimate provided by the UE.

[0215]

[0214] The medium 1620 and / or memory 1604 may include a timestamp module 1632 that, when implemented by one or more processors 1602, configures the one or more processors 1602 to associate a timestamp for the positioning measurement with the position estimate.

[0216]

[0215] The medium 1620 and / or memory 1604 may include a reporting module 1634 that, when implemented by one or more processors 1602, configures the one or more processors 1602 to transmit a position estimate, which may include a timestamp, to a requesting entity via the communication interface 1618.

[0217]

[0216] The methods described herein can be implemented by various means depending on the application. For example, these methods can be implemented in hardware, firmware, software, or any combination thereof. In the case of a hardware implementation, the one or more processors 1602 can be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or combinations thereof.

[0218] For a firmware and / or software implementation, methods may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methods described herein. For example, software code may be stored in non-transitory computer-readable medium 1620 or memory 1604 coupled to and executed by one or more processors 1602. Memory may be implemented within the one or more processors or external to the one or more processors. The term “memory,” as used herein, may refer to long-term memory, short-term memory, volatile memory, non-volatile memory, or any other type of memory, and should not be limited to any particular type or number of memories or the type of medium on which the memory is stored.

[0219] If implemented in firmware and / or software, the functions may be stored as one or more instructions or program code 1608 on a non-transitory computer-readable medium, such as the medium 1620 and / or the memory 1604. Examples include computer-readable media encoded with a data structure and computer-readable media encoded with a computer program 1608. For example, non-transitory computer-readable media with program code 1608 stored thereon may include program code 1608 for supporting positioning of UEs in a TSN framework in a manner consistent with the disclosed embodiments. The non-transitory computer-readable media 1620 includes physical computer storage media. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such non-transitory computer-readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code 1608 in the form of instructions or data structures and that can be accessed by a computer; as used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0220] In addition to being stored on the computer-readable medium 1620, the instructions and / or data may be provided as signals on a transmission medium included in a communications device. For example, the communications device may include a communications interface 1618 having signals indicative of the instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communications device includes a transmission medium with signals indicative of information to perform the disclosed functions.

[0221] Memory 1604 may represent any data storage mechanism. Memory 1604 may include, for example, primary memory and / or secondary memory. Primary memory may include, for example, random access memory, read-only memory, etc. While shown in this example as being separate from one or more processors 1602, it should be understood that all or a portion of the primary memory may be provided within one or more processors 1602, or in some cases co-located / coupled with one or more processors 1602. Secondary memory may include, for example, the same or similar type of memory as the primary memory, and / or one or more data storage devices or systems, such as, for example, disk drives, optical disk drives, tape drives, solid-state memory drives, etc.

[0222] In some implementations, the secondary memory may be operatively capable of receiving, or possibly configurable to be coupled to, a non-transitory computer-readable medium 1620. Thus, in some example implementations, the methods and / or apparatuses presented herein may take the form, in whole or in part, of a computer-readable medium 1620, which may include computer-implementable code 1608 stored thereon, which, when executed by one or more processors 1602, may be operatively enabled to perform all or a portion of the example operations described herein. The computer-readable medium 1620 may be part of the memory 1604.

[0223] A location server in a wireless network, such as location server 1600, may be configured to perform positioning of user equipment (UE) in the wireless network and may include means for receiving from a first entity a first location request message requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework, which may be, for example, a communication interface 1618 and one or more processors 1602 with dedicated hardware or implementing executable code or software instructions in memory 1604 and / or medium 1620, such as a location request receiving module 1622. Means for transmitting to one or more entities in the wireless network a second location request message requesting positioning measurements for the UE to be performed at the first point in time received in the first location request message may be, for example, a communication interface 1618 and one or more processors 1602 with dedicated hardware or implementing executable code or software instructions in memory 1604 and / or medium 1620, such as a location request transmitting module 1624. Means for receiving location information reports from one or more entities based on positioning measurements for the UE performed at a first time point may be, for example, the communication interface 1618 and one or more processors 1602 with dedicated hardware or implementing executable code or software instructions in the memory 1604 and / or the medium 1620, such as a location information receiving module 1628. Means for determining a position estimate for the UE based on the location information reports may be, for example, the one or more processors 1602 with dedicated hardware or implementing executable code or software instructions in the memory 1604 and / or the medium 1620, such as a position estimation module 1630.The means for transmitting a position estimate for the UE to the first entity may be, for example, the communication interface 1618 and one or more processors 1602 having dedicated hardware or implementing executable code or software instructions in the memory 1604 and / or medium 1620, such as a reporting module 1634.

[0224] References throughout this specification to "one example," "an example," "certain examples," or "exemplary implementation" mean that a particular feature, structure, or characteristic described with respect to a feature and / or example may be included in at least one feature and / or example of the claimed subject matter. Thus, appearances of the phrases "in one example," "in an example," "in certain examples," or "in certain implementations," or other similar phrases, in various places throughout this specification do not necessarily all refer to the same features, examples, and / or limitations. Furthermore, those particular features, structures, or characteristics may be combined in one or more examples and / or features.

[0225] Some portions of the detailed descriptions contained herein are presented in terms of algorithms or symbolic representations of operations on binary digital signals stored within the memory of a particular apparatus or special-purpose computing device or platform. In the context of this particular specification, the term specific apparatus or the like includes a general-purpose computer after being programmed to perform particular operations pursuant to instructions from program software. Algorithmic descriptions or symbolic representations are examples of techniques used by those skilled in the signal processing or related arts to convey the substance of their work to others skilled in the art. An algorithm, as used herein, and generally, is considered to be a self-consistent sequence of operations or similar signal processing leading to a desired result. In this context, operations or processing involve physical manipulations of physical quantities. Typically, though not necessarily, such quantities can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, or otherwise manipulated. It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, data, values, elements, symbols, characters, terms, numbers, numerals, or the like. It should be understood, however, that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless expressly stated otherwise, as will be apparent from the description herein, it should be appreciated that throughout this specification, descriptions utilizing terms such as "processing," "computing," "calculating," "determining," etc. refer to operations or processes of a particular apparatus, such as a special purpose computer, a special purpose computing apparatus, or a similar special purpose electronic computing device. Thus, in the context of this specification, a special purpose computer or a similar special purpose electronic computing device is capable of manipulating or transforming signals, generally represented as electronic or magnetic physical quantities, within memories, registers, or other information storage, transmission, or display devices of the special purpose computer or similar special purpose electronic computing device.

[0226]

[0225] In the above detailed description, numerous specific details have been set forth to provide a thorough understanding of the claimed subject matter. However, it will be understood by those skilled in the art that the claimed subject matter may be practiced without these specific details. In other instances, methods and apparatuses that would be known to those skilled in the art have not been described in detail so as not to obscure the claimed subject matter.

[0227] As used herein, the terms “and,” “or,” and “and / or” can have a variety of meanings that are expected to depend, at least in part, on the context in which such terms are used. Generally, when “or” is used to link a list such as A, B, or C, it shall mean A, B, and C, which is used herein in an inclusive sense, as well as A, B, or C, which is used herein in an exclusive sense. Furthermore, as used herein, the term “one or more” may be used to describe any feature, structure, or characteristic in the singular, or it may be used to describe multiple features, structures, or characteristics, or some other combination of features, structures, or characteristics. It should be noted, however, that this is merely an illustrative example, and that claimed subject matter is not limited to this example.

[0228]

[0227] While what are presently considered to be exemplary features have been illustrated and described, those skilled in the art will recognize that various other modifications may be made and equivalents may be substituted without departing from the claimed subject matter. Additionally, many modifications may be made to adapt a particular situation to the teachings of the claimed subject matter without departing from the central concept described herein.

[0229]

[0228] In view of this specification, embodiments may include different combinations of features. Example implementations are described in the following numbered clauses.

[0230]

[0229] Clause 1. A method for positioning of a user equipment (UE) in a wireless network, performed by an entity in the wireless network, comprising:

[0230] Receiving a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE;

[0231] receiving positioning reference signals (PRS) from one or more other entities in the wireless network;

[0232] performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in a location request message for performing the positioning measurements;

[0233] sending a location information report relating to the positioning measurement to a location server; A method comprising:

[0231]

[0234] Clause 2. The method of clause 1, wherein the location request message further includes a second time point for providing the location information report, wherein the location information report is transmitted to the location server at or before the second time point.

[0232]

[0235] Clause 3. The method of any of clauses 1 or 2, wherein the entity in the wireless network comprises a UE and the PRS is a downlink PRS.

[0233]

[0236] Clause 4. The method of any one of clauses 1 to 3, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS.

[0234]

[0237] Clause 5. The method of any one of clauses 1 to 4, wherein the wireless network and the TSN framework are synchronized in time.

[0235]

[0238] Clause 6. The method of any of clauses 1 to 5, wherein the first point in time within the TSN framework specified in the location request message for performing positioning measurements comprises a global sampling point.

[0236]

[0239] Clause 7. The method of clause 6, wherein the global sampling points comprise a period and a phase.

[0237]

[0240] Clause 8. The method of clause 7, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0238]

[0241] Clause 9. The entity is a UE, and the one or more other entities comprise one or more base stations, and the method comprises:

[0242] determining a position estimate for the UE based on the positioning measurements;

[0243] wherein the location information report related to the positioning measurement comprises a position estimate for the UE; 9. The method of any one of clauses 1 to 8, further comprising:

[0239]

[0244] Clause 10. The method of clause 9, further comprising receiving positioning measurements from one or more other entities, wherein determining a position estimate for the UE is further based on the positioning measurements received from the one or more other entities.

[0240]

[0245] Clause 11. The method of any of clauses 1 to 10, wherein the location information report relating to positioning measurements comprises the positioning measurements.

[0241]

[0246] Article 12.

[0242]

[0247] receiving a request to transmit a PRS including a first point in time within a TSN framework for transmitting the PRS;

[0248] transmitting the PRS to one or more other entities at a first time within the TSN framework specified in a location request message for transmitting the UL PRS; 12. The method of any one of clauses 1 to 11, further comprising:

[0243]

[0249] Clause 13. The method of any of clauses 1 to 12, wherein the location information report relating to the positioning measurement comprises a timestamp for the positioning measurement.

[0244]

[0250] Clause 14. The method according to any one of clauses 1 to 13, wherein the location request message is for periodic positioning of the UE.

[0245]

[0251] Clause 15. The method of any one of clauses 1 to 14, wherein the UE is a sensor in a motion control system using a TSN framework.

[0246]

[0252] Clause 16. An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0253] an external interface configured to wirelessly communicate with a network entity in a wireless network;

[0254] at least one memory;

[0255] at least one processor coupled to an external interface and to at least one memory; wherein at least one processor comprises:

[0256] receiving, via an external interface, a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE;

[0257] receiving, via an external interface, positioning reference signals (PRS) from one or more other entities in the wireless network;

[0258] performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in a location request message for performing the positioning measurements;

[0259] sending location information reports relating to positioning measurements to a location server via an external interface; An entity configured to:

[0247]

[0260] Clause 17. The entity of clause 16, wherein the location request message further includes a second time point for providing a location information report, wherein the location information report is sent to the location server at or before the second time point.

[0248]

[0261] Clause 18. The entity of either clause 16 or 17, wherein the entity in the wireless network comprises a UE and the PRS is a downlink PRS.

[0249]

[0262] Clause 19. The entity according to any one of clauses 16 to 18, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS.

[0250]

[0263] Clause 20. The entity according to any of clauses 16 to 19, wherein the wireless network and the TSN framework are synchronized in time.

[0251]

[0264] Clause 21. The entity according to any of clauses 16 to 20, wherein the first point in time within the TSN framework specified in the location request message for performing positioning measurements comprises a global sampling point.

[0252]

[0265] Clause 22. The entity of clause 21, wherein the global sampling point comprises a period and a phase.

[0253]

[0266] Clause 23. The entity of clause 22, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0254]

[0267] Clause 24. The entity is a UE and the one or more other entities comprise one or more base stations, wherein at least one processor:

[0268] determining a position estimate for the UE based on the positioning measurements;

[0269] wherein the location information report related to the positioning measurement comprises a position estimate for the UE; 24. The entity of any of clauses 16 to 23, further configured to:

[0255]

[0270] Clause 25. The entity of Clause 24, wherein the at least one processor is further configured to receive positioning measurements from one or more other entities, and wherein the at least one processor is configured to determine a position estimate for the UE further based on the positioning measurements received from the one or more other entities.

[0256]

[0271] Clause 26. An entity according to any one of clauses 16 to 25, wherein the location information report relating to positioning measurements comprises the positioning measurements.

[0257]

[0272] Article 27. At least one processor:

[0273] receiving, via an external interface, a request to transmit a PRS including a first point in time within a TSN framework for transmitting the PRS;

[0274] transmitting the PRS via an external interface to one or more other entities at a first time within the TSN framework specified in a location request message for transmitting the UL PRS; 27. The entity of any of clauses 16 to 26, further configured to:

[0258]

[0275] Clause 28. The entity according to any of clauses 16 to 27, wherein a location information report relating to a positioning measurement comprises a timestamp for the positioning measurement.

[0259]

[0276] Clause 29. The entity according to any one of clauses 16 to 28, wherein the location request message is for periodic positioning of the UE.

[0260]

[0277] Clause 30. The entity according to any of clauses 16 to 29, wherein the UE is a sensor in a motion control system using the TSN framework.

[0261]

[0278] Clause 31. An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0279] means for receiving a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE;

[0280] means for receiving positioning reference signals (PRS) from one or more other entities in the wireless network;

[0281] means for performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in a location request message for performing the positioning measurements;

[0282] means for transmitting location information reports relating to positioning measurements to a location server; An entity comprising:

[0262]

[0283] Clause 32. The entity of clause 31, wherein the location request message further includes a second time point for providing a location information report, wherein the location information report is sent to the location server at or before the second time point.

[0263]

[0284] Clause 33. The entity of either clause 31 or 32, wherein the entity in the wireless network comprises a UE and the PRS is a downlink PRS.

[0264]

[0285] Clause 34. The entity according to any one of clauses 31 to 33, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS.

[0265]

[0286] Clause 35. The entity according to any one of clauses 31 to 34, wherein the wireless network and the TSN framework are synchronized in time.

[0266]

[0287] Clause 36. The entity according to any of clauses 31 to 35, wherein the first point in time within the TSN framework specified in the location request message for performing positioning measurements comprises a global sampling point.

[0267]

[0288] Clause 37. The entity of clause 36, wherein the global sampling point comprises a period and a phase.

[0268]

[0289] Clause 38. The entity of clause 37, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0269]

[0290] Clause 39. The entity is a UE, and the one or more other entities comprise one or more base stations, and the entity:

[0291] means for determining a position estimate for the UE based on the positioning measurements;

[0292] wherein the location information report related to the positioning measurement comprises a position estimate for the UE; 39. The entity of any of clauses 31 to 38, further comprising:

[0270]

[0293] Clause 40. The entity of clause 39, further comprising means for receiving positioning measurements from one or more other entities, wherein the means for determining a position estimate for the UE further uses the positioning measurements received from the one or more other entities.

[0271]

[0294] Clause 41. An entity according to any one of clauses 31 to 40, wherein the location information report relating to a positioning measurement comprises the positioning measurement.

[0272]

[0295] Article 42.

[0273]

[0296] means for receiving a request to transmit a PRS including a first point in time within a TSN framework for transmitting the PRS;

[0297] means for transmitting the PRS to one or more other entities at a first time within the TSN framework specified in a location request message for transmitting the UL PRS; 42. The entity of any one of clauses 31 to 41, further comprising:

[0274]

[0298] Clause 43. The entity according to any of clauses 31 to 42, wherein a location information report relating to a positioning measurement comprises a timestamp for the positioning measurement.

[0275]

[0299] Clause 44. The entity according to any one of clauses 31 to 43, wherein the location request message is for periodic positioning of the UE.

[0276]

[0300] Clause 45. The entity according to any one of clauses 31 to 44, wherein the UE is a sensor in a motion control system using the TSN framework.

[0277]

[0301] Clause 46. A non-transitory storage medium having stored thereon program code, the program code operable to configure at least one processor in an entity in a wireless network to perform positioning of user equipment (UE) in the wireless network, the program code comprising:

[0302] receiving a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE;

[0303] receiving a positioning reference signal (PRS) from one or more other entities in the wireless network;

[0304] performing positioning measurements using PRSs from one or more other entities at a first time point within the TSN framework specified in a location request message for performing the positioning measurements;

[0305] sending a location information report relating to the positioning measurement to a location server; A non-transitory storage medium containing instructions for performing the steps of:

[0278]

[0306] Clause 47. The non-transitory storage medium of clause 46, wherein the location request message further includes a second time point for providing a location information report, wherein the location information report is transmitted to the location server at or before the second time point.

[0279]

[0307] Clause 48. The non-transitory storage medium of either clause 46 or 47, wherein the entity in the wireless network comprises a UE and the PRS is a downlink PRS.

[0280]

[0308] Clause 49. A non-transitory storage medium according to any one of clauses 46 to 48, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS.

[0281]

[0309] Clause 50. A non-transitory storage medium according to any one of clauses 46 to 49, wherein the wireless network and the TSN framework are synchronized in time.

[0282]

[0310] Clause 51. A non-transitory storage medium according to any of clauses 46 to 50, wherein the first point in time within the TSN framework specified in the location request message for performing positioning measurements comprises a global sampling point.

[0283]

[0311] Clause 52. The non-transitory storage medium of clause 51, wherein the global sampling points have a period and a phase.

[0284]

[0312] Clause 53. The non-transitory storage medium of clause 52, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0285]

[0313] Clause 54. The entity is a UE, and the one or more other entities comprise one or more base stations, and the program code comprises:

[0314] determining a position estimate for the UE based on the positioning measurements;

[0315] wherein the location information report related to the positioning measurement comprises a position estimate for the UE; 54. A non-transitory storage medium according to any of clauses 46 to 53, further comprising instructions for:

[0286]

[0316] Clause 55. The non-transitory storage medium of Clause 54, wherein the program code further includes instructions for receiving positioning measurements from one or more other entities, and wherein the instructions for determining a position estimate for the UE further use the positioning measurements received from the one or more other entities.

[0287]

[0317] Clause 56. A non-transitory storage medium according to any one of clauses 46 to 55, wherein the location information report relating to the positioning measurement comprises the positioning measurement.

[0288]

[0318] Article 57. The program code

[0319] receiving a request to transmit a PRS including a first point in time within a TSN framework for transmitting the PRS;

[0320] transmitting the PRS to one or more other entities at a first time within the TSN framework specified in a location request message for transmitting the UL PRS; 57. A non-transitory storage medium according to any of clauses 46 to 56, further comprising instructions to:

[0289]

[0321] Clause 58. A non-transitory storage medium according to any one of clauses 46 to 57, wherein the location information report relating to the positioning measurement comprises a timestamp for the positioning measurement.

[0290]

[0322] Clause 59. A non-transitory storage medium according to any one of clauses 46 to 58, wherein the location request message is for periodic positioning of the UE.

[0291]

[0323] Clause 60. A non-transitory storage medium according to any one of clauses 46 to 59, wherein the UE is a sensor in a motion control system using a TSN framework.

[0292]

[0324] Clause 61. A method for positioning of a user equipment (UE) in a wireless network, the method being performed by an entity in the wireless network, comprising:

[0325] receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-sensing networking (TSN) framework for transmitting a PRS;

[0326] transmitting the PRS at a first time point within the TSN framework specified in a PRS transmission request message for transmitting the PRS; A method comprising:

[0293]

[0327] Clause 62. The method of clause 61, wherein the entity in the wireless network comprises a UE and the PRS is an uplink PRS.

[0294]

[0328] Clause 63. The method of any of clauses 61 or 62, wherein the entity in the wireless network is a base station and the PRS is a downlink PRS.

[0295]

[0329] Clause 64. The method of any of clauses 61 to 63, wherein the wireless network and the TSN framework are synchronized in time.

[0296]

[0330] Clause 65. The method of any of clauses 61 to 64, wherein the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS comprises a global sampling point.

[0297]

[0331] Clause 66. The method of clause 65, wherein the global sampling points comprise a period and a phase.

[0298]

[0332] Clause 67. The method of clause 66, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0299]

[0333] Clause 68. The method according to any one of clauses 61 to 67, wherein the PRS transmission request message is for periodic PRS transmission.

[0300]

[0334] Clause 69. The method of any one of clauses 61 to 68, wherein the UE is a sensor in a motion control system.

[0301]

[0335] Clause 70. An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0336] an external interface configured to wirelessly communicate with a network entity in a wireless network;

[0337] at least one memory;

[0338] at least one processor coupled to an external interface and to at least one memory; wherein at least one processor comprises:

[0339] receiving, via an external interface, a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS;

[0340] Transmitting the PRS via an external interface at a first time within the TSN framework specified in a PRS transmission request message for transmitting the PRS; An entity configured to:

[0302]

[0341] Clause 71. The entity of clause 70, wherein the entity in the wireless network comprises a UE and the PRS is an uplink PRS.

[0303]

[0342] Clause 72. The entity of either clause 70 or 71, wherein the entity in the wireless network is a base station and the PRS is a downlink PRS.

[0304]

[0343] Clause 73. The entity according to any of clauses 70 to 72, wherein the wireless network and the TSN framework are synchronized in time.

[0305]

[0344] Clause 74. The entity according to any of clauses 70 to 73, wherein the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS comprises a global sampling point.

[0306]

[0345] Clause 75. The entity of clause 74, wherein the global sampling point comprises a period and a phase.

[0307]

[0346] Clause 76. The entity of clause 75, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0308]

[0347] Clause 77. The entity according to any one of clauses 70 to 76, wherein the PRS transmission request message is for periodic PRS transmission.

[0309]

[0348] Clause 78. The entity according to any one of clauses 70 to 77, wherein the UE is a sensor in a motion control system.

[0310]

[0349] Clause 79. An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0350] means for receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS;

[0351] means for transmitting a PRS at a first time point within a TSN framework specified in a PRS transmission request message for transmitting the PRS; An entity comprising:

[0311]

[0352] Clause 80. The entity of clause 79, wherein the entity in the wireless network comprises a UE and the PRS is an uplink PRS.

[0312]

[0353] Clause 81. The entity according to either clause 79 or 80, wherein the entity in the wireless network is a base station and the PRS is a downlink PRS.

[0313]

[0354] Clause 82. The entity according to any of clauses 79 to 81, wherein the wireless network and the TSN framework are synchronized in time.

[0314]

[0355] Clause 83. The entity according to any of clauses 79 to 82, wherein the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS comprises a global sampling point.

[0315]

[0356] Clause 84. The entity of clause 83, wherein the global sampling point comprises a period and a phase.

[0316]

[0357] Clause 85. The entity of clause 84, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0317]

[0358] Clause 86. The entity according to any one of clauses 79 to 85, wherein the PRS transmission request message is for periodic PRS transmission.

[0318]

[0359] Clause 87. The entity according to any one of clauses 79 to 86, wherein the UE is a sensor in a motion control system.

[0319]

[0360] Clause 88. A non-transitory storage medium having stored thereon program code, the program code operable to configure at least one processor in an entity in a wireless network to perform positioning of user equipment (UE) in the wireless network, the program code comprising:

[0361] receiving a positioning reference signal (PRS) transmission request message including a first point in time within a time-dependent networking (TSN) framework for transmitting a PRS;

[0362] transmitting the PRS at a first time point within the TSN framework specified in a PRS transmission request message for transmitting the PRS; A non-transitory storage medium containing instructions for performing the steps of:

[0320]

[0363] Clause 89. The non-transitory storage medium of clause 88, wherein the entity in the wireless network comprises a UE and the PRS is an uplink PRS.

[0321]

[0364] Clause 90. The non-transitory storage medium of either clause 88 or 89, wherein the entity in the wireless network is a base station and the PRS is a downlink PRS.

[0322]

[0365] Clause 91. A non-transitory storage medium according to any one of clauses 88 to 90, wherein the wireless network and the TSN framework are synchronized in time.

[0323]

[0366] Clause 92. A non-transitory storage medium according to any of clauses 88 to 91, wherein the first point in time within the TSN framework specified in the PRS transmission request message for transmitting the PRS comprises a global sampling point.

[0324]

[0367] Clause 93. The non-transitory storage medium of clause 92, wherein the global sampling points have a period and a phase.

[0325]

[0368] Clause 94. The non-transitory storage medium of clause 93, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0326]

[0369] Clause 95. A non-transitory storage medium according to any one of clauses 88 to 94, wherein the PRS transmission request message is for periodic PRS transmission.

[0327]

[0370] Clause 96. A non-transitory storage medium according to any one of clauses 88 to 95, wherein the UE is a sensor in a motion control system.

[0328]

[0371] Clause 97. A method for positioning a user equipment (UE) in a wireless network, the method being performed by a location server in the wireless network, comprising:

[0372] receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework;

[0373] transmitting a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message;

[0374] receiving location information reports from one or more entities based on positioning measurements for the UE performed at a first time point;

[0375] determining a position estimate for the UE based on the location information report;

[0376] transmitting a position estimate for the UE to a first entity; A method comprising:

[0329]

[0377] Clause 98. The method of clause 97, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point.

[0330]

[0378] Clause 99. The method of any of clauses 97 or 98, wherein the wireless network and the TSN framework are synchronized in time.

[0331]

[0379] Clause 100. The method of any of clauses 97 to 99, wherein the first point in time within the TSN framework comprises a global sampling point.

[0332]

[0380] Clause 101. The method of clause 100, wherein the global sampling points comprise a period and a phase.

[0333]

[0381] Clause 102. The method of clause 101, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0334]

[0382] Clause 103. The method of any of clauses 97 to 102, wherein the location information report based on positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein determining a position estimate for the UE comprises generating a position estimate using the positioning measurements for the UE received in the location information report.

[0335]

[0383] Clause 104. The method of any of clauses 97 to 103, wherein the location information report based on the positioning measurements for the UE comprises a position estimate for the UE determined by the UE.

[0336]

[0384] Clause 105. The method of any of clauses 97 to 104, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes a timestamp for the positioning measurements.

[0337]

[0385] Clause 106. The method of any one of clauses 97 to 105, wherein the first location request message and the second location request message are for periodic positioning of the UE.

[0338]

[0386] Clause 107. The method of any of clauses 97 to 106, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using a TSN framework.

[0339]

[0387] Clause 108. A location server in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0388] an external interface configured to wirelessly communicate with a network entity in a wireless network;

[0389] at least one memory;

[0390] at least one processor coupled to an external interface and to at least one memory; wherein at least one processor comprises:

[0391] receiving, via an external interface, a first location request message from a first entity requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework;

[0392] transmitting, via the external interface to one or more entities in the wireless network, a second location request message requesting positioning measurements for the UE to be performed at the first time point received in the first location request message;

[0393] receiving, via an external interface, location information reports from one or more entities based on positioning measurements for the UE performed at a first point in time;

[0394] determining a position estimate for the UE based on the location information report;

[0395] transmitting a position estimate for the UE to a first entity via an external interface; a location server configured to:

[0340]

[0396] Clause 109. The location server of clause 108, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point.

[0341]

[0397] Clause 110. The location server according to either clause 108 or 109, wherein the wireless network and the TSN framework are synchronized in time.

[0342]

[0398] Clause 111. The location server of any of clauses 108 to 110, wherein the first point in time within the TSN framework comprises a global sampling point.

[0343]

[0399] Clause 112. The location server of clause 111, wherein the global sampling point comprises a period and a phase.

[0344]

[0400] Clause 113. The location server of clause 112, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0345]

[0401] Clause 114. A location server as described in any of clauses 108 to 113, wherein the location information report based on positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, wherein at least one processor is configured to determine a position estimate for the UE by being configured to generate a position estimate using the positioning measurements for the UE received in the location information report.

[0346]

[0402] Clause 115. The location server of any of clauses 108 to 114, wherein the location information report based on the positioning measurements for the UE comprises a position estimate for the UE determined by the UE.

[0347]

[0403] Clause 116. A location server according to any of clauses 108 to 115, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes the timestamp for the positioning measurements.

[0348]

[0404] Clause 117. The location server according to any one of clauses 108 to 116, wherein the first location request message and the second location request message are for periodic positioning of the UE.

[0349]

[0405] Clause 118. A location server according to any one of clauses 108 to 117, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using a TSN framework.

[0350]

[0406] Clause 119. A location server in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising:

[0407] means for receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a Time Sensitive Networking (TSN) framework;

[0408] means for transmitting a second location request message to one or more entities in the wireless network, the second location request message requesting positioning measurements for the UE to be performed at the first time point received in the first location request message;

[0409] means for receiving location information reports from one or more entities based on positioning measurements for the UE performed at a first point in time;

[0410] means for determining a position estimate for the UE based on the location information report;

[0411] means for transmitting a position estimate for the UE to a first entity; A location server comprising:

[0351]

[0412] Clause 120. The location server of clause 119, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point.

[0352]

[0413] Clause 121. The location server according to either clause 119 or 120, wherein the wireless network and the TSN framework are synchronized in time.

[0353]

[0414] Clause 122. The location server of any of clauses 119 to 121, wherein the first point in time within the TSN framework comprises a global sampling point.

[0354]

[0415] Clause 123. The location server of clause 122, wherein the global sampling point comprises a period and a phase.

[0355]

[0416] Clause 124. The location server of clause 123, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0356]

[0417] Clause 125. The location server of clauses 119 to 124, wherein the location information report based on positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein the means for determining a position estimate for the UE comprises means for generating a position estimate using the positioning measurements for the UE received in the location information report.

[0357]

[0418] Clause 126. The location server of any of clauses 119 to 125, wherein the location information report based on the positioning measurements for the UE comprises a position estimate for the UE determined by the UE.

[0358]

[0419] Clause 127. A location server according to any of clauses 119 to 126, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes the timestamp for the positioning measurements.

[0359]

[0420] Clause 128. The location server according to any one of clauses 119 to 127, wherein the first location request message and the second location request message are for periodic positioning of the UE.

[0360]

[0421] Clause 129. A location server according to any one of clauses 119 to 128, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using a TSN framework.

[0361]

[0422] Clause 130. A non-transitory storage medium having stored thereon program code, the program code operable to configure at least one processor in a location server in a wireless network to perform positioning of user equipment (UE) in the wireless network, the program code comprising:

[0423] receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework;

[0424] transmitting a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message;

[0425] receiving location information reports from one or more entities based on positioning measurements for the UE performed at a first time point;

[0426] determining a position estimate for the UE based on the location information report;

[0427] transmitting a position estimate for the UE to a first entity; A non-transitory storage medium containing instructions for performing the steps of:

[0362]

[0428] Clause 131. The non-transitory storage medium of clause 130, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point.

[0363]

[0429] Clause 132. The non-transitory storage medium according to either clause 130 or 131, wherein the wireless network and the TSN framework are synchronized in time.

[0364]

[0430] Clause 133. The non-transitory storage medium of any of clauses 130 to 132, wherein the first point in time within the TSN framework comprises a global sampling point.

[0365]

[0431] Clause 134. The non-transitory storage medium of clause 133, wherein the global sampling points have a period and a phase.

[0366]

[0432] Clause 135. The non-transitory storage medium of clause 134, wherein the period is a TSN cycle and the phase is a time instant within the period.

[0367]

[0433] Clause 136. The non-transitory storage medium of clauses 130 to 135, wherein the location information report based on positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein the program code including instructions for determining a position estimate for the UE comprises instructions for generating a position estimate using the positioning measurements for the UE received in the location information report.

[0368]

[0434] Clause 137. The non-transitory storage medium of any of clauses 130 to 136, wherein the location information report based on the positioning measurements for the UE comprises a position estimate for the UE determined by the UE.

[0369]

[0435] Clause 138. A non-transitory storage medium according to any of clauses 130 to 137, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes the timestamp for the positioning measurements.

[0370]

[0436] Clause 139. The non-transitory storage medium according to any one of clauses 130 to 138, wherein the first location request message and the second location request message are for periodic positioning of the UE.

[0371]

[0437] Clause 140. A non-transitory storage medium according to any one of clauses 130 to 139, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using a TSN framework.

[0372]

[0438] Accordingly, it is intended that claimed subject matter not be limited to the particular examples disclosed, but that such claimed subject matter also include all embodiments falling within the scope of the appended claims and their equivalents. The inventions described in the claims of the present application as originally filed are set forth below. [C1] A method of positioning of a user equipment (UE) in a wireless network, performed by an entity in the wireless network, comprising: receiving a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE; receiving a positioning reference signal (PRS) from one or more other entities in the wireless network; performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; sending a location information report relating to said positioning measurements to a location server; A method comprising: [C2] The method of C1, wherein the location request message further includes a second time point for providing the location information report, and wherein the location information report is transmitted to the location server at or before the second time point. [C3] The method of C1, wherein the entity in the wireless network comprises the UE, and the PRS is a downlink PRS. [C4] The method of C1, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS. [C5] The method of C1, wherein the wireless network and the TSN framework are synchronized in time. [C6] The method of C1, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurements comprises a global sampling point. [C7] The method of C6, wherein the global sampling points comprise a period and a phase. [C8] The method of C7, wherein the period is a TSN cycle and the phase is a time instant within the period. [C9] The entity is the UE and the one or more other entities comprise one or more base stations, and the method comprises: determining a position estimate for the UE based on the positioning measurements; wherein the location information report related to the positioning measurement comprises the position estimate for the UE. The method of C1, further comprising: [C10] The method of C9, further comprising receiving positioning measurements from the one or more other entities, wherein determining the position estimate for the UE is further based on the positioning measurements received from the one or more other entities. [C11] The method of C1, wherein the location information report related to the positioning measurement comprises the positioning measurement. [C12] receiving a request to transmit a PRS including the first point in time within the TSN framework for transmitting the PRS; transmitting a PRS to the one or more other entities at the first time point within the TSN framework specified in the location request message for transmitting an UL PRS; The method of C1, further comprising: [C13] The method of C1, wherein the location information report relating to the positioning measurement comprises a timestamp for the positioning measurement. [C14] The method according to C1, wherein the location request message is for periodic positioning of the UE. [C15] The method according to C1, wherein the UE is a sensor in a motion control system using the TSN framework. [C16] An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising: an external interface configured to wirelessly communicate with one or more network entities in the wireless network; at least one memory; at least one processor coupled to the external interface and to the at least one memory; wherein the at least one processor: receiving, via the external interface, a location request message including a first point in time within a time-sensitive networking (TSN) framework for performing positioning measurements for the UE; receiving positioning reference signals (PRS) from one or more other entities in the wireless network via the external interface; performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; sending location information reports relating to said positioning measurements to a location server via said external interface; An entity configured to: [C17] The entity described in C16, wherein the location request message further includes a second time point for providing the location information report, wherein the location information report is transmitted to the location server at or before the second time point. [C18] The entity according to C16, wherein the entity in the wireless network comprises the UE, and the PRS is a downlink PRS. [C19] The entity according to C16, wherein the entity in the wireless network is a base station and the PRS is an uplink PRS. [C20] The entity described in C16, wherein the wireless network and the TSN framework are synchronized in time. [C21] The entity described in C16, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurement comprises a global sampling point. [C22] The entity of C21, wherein the global sampling point comprises a period and a phase. [C23] The entity of C22, wherein the period is a TSN cycle and the phase is a time instant within the period. [C24] The entity is the UE and the one or more other entities comprise one or more base stations, wherein the at least one processor: determining a position estimate for the UE based on the positioning measurements; wherein the location information report related to the positioning measurement comprises the position estimate for the UE. 17. The entity of claim 16, configured to: [C25] The entity described in C24, wherein the at least one processor is further configured to receive positioning measurements from the one or more other entities, and wherein the at least one processor is configured to determine the position estimate for the UE further based on the positioning measurements received from the one or more other entities. [C26] The entity of C16, wherein the location information report related to the positioning measurement comprises the positioning measurement. [C27] The at least one processor receiving, via the external interface, a request to transmit a PRS including the first point in time within the TSN framework for transmitting the PRS; transmitting a PRS via the external interface to the one or more other entities at the first time point within the TSN framework specified in the location request message for transmitting an UL PRS; 17. The entity of claim 16, further configured to: [C28] The entity of C16, wherein the location information report relating to the positioning measurement comprises a timestamp for the positioning measurement. [C29] The entity described in C16, wherein the location request message is for periodic positioning of the UE. [C30] The entity described in C16, wherein the UE is a sensor in a motion control system using the TSN framework. [C31] An entity in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising: means for receiving a location request message including a first point in time within a Time Sensitive Networking (TSN) framework for performing positioning measurements for the UE; and means for receiving a positioning reference signal (PRS) from one or more other entities in the wireless network. means for performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; means for transmitting to a location server location information reports relating to said positioning measurements; An entity comprising: [C32] The entity is the UE and the one or more other entities comprise one or more base stations, the entity: means for determining a position estimate for the UE based on the positioning measurements; wherein the location information report related to the positioning measurement comprises the position estimate for the UE. 3. The entity of claim 2, further comprising: [C33] means for receiving a request to transmit a PRS comprising the first point in time within the TSN framework for transmitting the PRS; means for transmitting a PRS to the one or more other entities at the first time point within the TSN framework specified in the location request message for transmitting an UL PRS; 3. The entity of claim 2, further comprising: [C34] A method of positioning of a user equipment (UE) in a wireless network, performed by a location server in said wireless network, comprising: receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a time-sensitive networking (TSN) framework; transmitting a second location request message to one or more entities in the wireless network, requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; and receiving a location information report from the one or more entities based on the positioning measurements for the UE performed at the first time point. determining a position estimate for the UE based on the location information report; and transmitting the position estimate for the UE to the first entity; and A method comprising: [C35] The method of C34, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point. [C36] The method of C34, wherein the wireless network and the TSN framework are synchronized in time. [C37] The method of C34, wherein the first point in time within the TSN framework comprises a global sampling point. [C38] The method of C37, wherein the global sampling points comprise a period and a phase. [C39] The method of C38, wherein the period is a TSN cycle and the phase is a time instant within the period. [C40] The method of C34, wherein the location information report based on the positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein determining the position estimate for the UE comprises generating the position estimate using the positioning measurements for the UE received in the location information report. [C41] The method of C34, wherein the location information report based on the positioning measurements for the UE comprises the position estimate for the UE determined by the UE. [C42] The method of C34, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes the timestamp for the positioning measurements. [C43] The method according to C34, wherein the first location request message and the second location request message are for periodic positioning of the UE. [C44] The method according to C34, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using the TSN framework. [C45] A location server in a wireless network configured to perform positioning of user equipment (UE) in the wireless network, comprising: an external interface configured to wirelessly communicate with one or more network entities in the wireless network; at least one memory; at least one processor coupled to the external interface and to the at least one memory; wherein the at least one processor: receiving, via the external interface, a first location request message from a first entity requesting a location for the UE at a first point in time within a Time Sensitive Networking (TSN) framework; sending, via the external interface to one or more entities in the wireless network, a second location request message requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; receiving, via the external interface, location information reports from the one or more entities based on positioning measurements for the UE performed at the first time point; determining a position estimate for the UE based on the location information report; and transmitting the position estimate for the UE to the first entity via the external interface; and a location server configured to: [C46] The location server of C45, wherein the first location request message further includes a second time point for providing the position estimate, wherein the position estimate is transmitted to the first entity at or before the second time point. [C47] The location server of C45, wherein the wireless network and the TSN framework are synchronized in time. [C48] The location server of C45, wherein the first point in time within the TSN framework comprises a global sampling point. [C49] The location server of C48, wherein the global sampling points comprise a period and a phase. [C50] The location server of C49, wherein the period is a TSN cycle and the phase is a time instant within the period. [C51] The location information report based on the positioning measurements for the UE comprises one of positioning measurements performed by the UE based on a downlink (DL) positioning reference signal (PRS) received by the UE, positioning measurements performed by a base station based on an uplink (UL) PRS transmitted by the UE, or a combination thereof, wherein the at least one processor is configured to determine the position estimate for the UE by being configured to generate the position estimate using the positioning measurements for the UE received in the location information report. [C52] The location server of C45, wherein the location information report based on the positioning measurements for the UE comprises the position estimate for the UE determined by the UE. [C53] The location server of C45, wherein the location information report based on the positioning measurements for the UE comprises a timestamp for the positioning measurements, and wherein the position estimate for the UE includes the timestamp for the positioning measurements. [C54] The location server according to C45, wherein the first location request message and the second location request message are for periodic positioning of the UE. [C55] The location server according to C45, wherein the UE and the location server are sensors, and the first entity is a movement controller in a movement control system using the TSN framework. [C56] A location server in a wireless network configured to perform positioning of user equipment (UE) in the wireless network, comprising: means for receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a Time Sensitive Networking (TSN) framework; means for transmitting a second location request message to one or more entities in the wireless network, the second location request message requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; means for receiving location information reports from the one or more entities based on positioning measurements for the UE performed at the first point in time; means for determining a position estimate for the UE based on the location information report; means for transmitting the position estimate for the UE to the first entity; A location server comprising: [C57] The location server of C56, wherein the location information report based on the positioning measurements for the UE comprises one of positioning measurements performed by the UE based on a downlink (DL) positioning reference signal (PRS) received by the UE, positioning measurements performed by a base station based on an uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein the means for determining the position estimate for the UE comprises means for generating the position estimate using the positioning measurements for the UE received in the location information report.

Claims

1. 1. A method of positioning a user equipment (UE) in a wireless network, the method being performed by the UE in the wireless network, comprising: receiving a location request message including a first point in time within a Time Dependent Networking (TSN) framework for performing positioning measurements for the UE, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurements comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; receiving positioning reference signals (PRS) from one or more other entities in the wireless network; performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; sending a location information report relating to said positioning measurements to a location server; A method comprising:

2. 2. The method of claim 1, wherein the location request message further includes a second time point for providing the location information report, and wherein the location information report is transmitted to the location server at or before the second time point.

3. The method of claim 1 , wherein the PRS is a downlink PRS.

4. the one or more other entities comprise one or more base stations, and the method further comprises: determining a position estimate for the UE based on the positioning measurements; wherein the location information report related to the positioning measurement comprises the position estimate for the UE.

10. The method of claim 1 , further comprising receiving positioning measurements from the one or more other entities, wherein determining the position estimate for the UE is further based on the positioning measurements received from the one or more other entities.

5. receiving a request to transmit a PRS including a time point within the TSN framework for transmitting the PRS; transmitting a PRS to the one or more other entities at the time within the TSN framework specified in the location request message for transmitting the UL PRS; The method of claim 1 further comprising:

6. The method of claim 1 , wherein the location request message is for periodic positioning of the UE.

7. The method of claim 1 , wherein the UE is a sensor in a motion control system using the TSN framework.

8. 1. A method of positioning of a user equipment (UE) in a wireless network, performed by a base station in the wireless network, comprising: receiving a location request message including a first point in time within a Time Dependent Networking (TSN) framework for performing positioning measurements for the UE, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurements comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; receiving positioning reference signals (PRS) from one or more other entities in the wireless network; performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; sending a location information report relating to said positioning measurements to a location server; A method comprising:

9. 9. The method of claim 8, wherein the location request message further includes a second time point for providing the location information report, and wherein the location information report is transmitted to the location server at or before the second time point.

10. The method of claim 8 , wherein the PRS is an uplink PRS.

11. The one or more other entities comprise one or more UEs, and the method further comprises: determining a position estimate for the one or more UEs based on the positioning measurements; wherein the location information report related to the positioning measurement comprises the position estimate for the UE.

9. The method of claim 8, further comprising receiving positioning measurements from the one or more other entities, wherein determining the position estimate for the UE is further based on the positioning measurements received from the one or more other entities.

12. receiving a request to transmit a PRS including a time point within the TSN framework for transmitting the PRS; transmitting a DL PRS to the one or more other entities at the time within the TSN framework specified in the location request message for transmitting the DL PRS; The method of claim 8 further comprising:

13. The method of claim 8 , wherein the location request message is for periodic positioning of the UE.

14. The method of claim 8 , wherein the UE is a sensor in a motion control system using the TSN framework.

15. 1. A user equipment (UE) in a wireless network configured to perform positioning of the UE in the wireless network, means for receiving a location request message including a first point in time within a Time Dependent Networking (TSN) framework for performing positioning measurements for the UE, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurements comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; means for receiving positioning reference signals (PRS) from one or more other entities in the wireless network; means for performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; means for transmitting to a location server location information reports relating to said positioning measurements; A UE comprising:

16. 1. A base station in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising: means for receiving a location request message including a first point in time within a Time Dependent Networking (TSN) framework for performing positioning measurements for the UE, wherein the first point in time within the TSN framework specified in the location request message for performing the positioning measurements comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; means for receiving positioning reference signals (PRS) from one or more other entities in the wireless network; means for performing the positioning measurements using the PRS from the one or more other entities at the first time point within the TSN framework specified in the location request message for performing the positioning measurements; means for transmitting to a location server location information reports relating to said positioning measurements; A base station comprising:

17. 1. A method of positioning a user equipment (UE) in a wireless network, performed by a location server in the wireless network, comprising: receiving a first location request message from a first entity requesting a location for the UE at a first point in time within a Time Sensitive Networking (TSN) framework, wherein the first point in time within the TSN framework comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; sending a second location request message to one or more entities in the wireless network requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; receiving a location information report from the one or more entities based on positioning measurements for the UE performed at the first point in time; determining a position estimate for the UE based on the location information report; and transmitting the position estimate for the UE to the first entity; and A method comprising:

18. 18. The method of claim 17, wherein the first location request message further includes a second time point for providing the position estimate, and wherein the position estimate is transmitted to the first entity at or before the second time point.

19. The method of claim 1 , wherein the wireless network and the TSN framework are synchronized in time.

20. The method of claim 8 , wherein the wireless network and the TSN framework are synchronized in time.

21. The method of claim 17 , wherein the wireless network and the TSN framework are synchronized in time.

22. The method of claim 1 , wherein the global sampling points comprise a time period and a phase within the time period at which the positioning measurements are to be performed.

23. The method of claim 8 , wherein the global sampling points comprise a time period and a phase within the time period at which the positioning measurements are to be performed.

24. The method of claim 17 , wherein the global sampling points comprise a period and a phase within the period at which the positioning measurements are to be performed.

25. 23. The method of claim 22, wherein the period is a TSN cycle and the phase is a time instant within the period.

26. 24. The method of claim 23, wherein the period is a TSN cycle and the phase is a time instant within the period.

27. 25. The method of claim 24, wherein the period is a TSN cycle and the phase is a time instant within the period.

28. 18. The method of claim 17, wherein the location information report based on the positioning measurements for the UE comprises one of positioning measurements performed by the UE based on downlink (DL) positioning reference signals (PRS) received by the UE, positioning measurements performed by a base station based on uplink (UL) PRS transmitted by the UE, or a combination thereof, and wherein determining the position estimate for the UE comprises generating the position estimate using the positioning measurements for the UE received in the location information report.

29. 18. The method of claim 17, wherein the first location request message and the second location request message are for periodic positioning of the UE.

30. The method of claim 17 , wherein the UE and the location server are sensors, and the first entity is a motion controller in a motion control system using the TSN framework.

31. 1. A location server in a wireless network configured to perform positioning of a user equipment (UE) in the wireless network, comprising: means for receiving from a first entity a first location request message requesting a location for the UE at a first point in time within a Time Sensitive Networking (TSN) framework, wherein the first point in time within the TSN framework comprises a global sampling point at which all sensor nodes perform location measurements within the TSN framework; means for transmitting a second location request message to one or more entities in the wireless network, the second location request message requesting positioning measurements for the UE to be performed at the first time point received in the first location request message; means for receiving location information reports from the one or more entities based on positioning measurements for the UE performed at the first point in time; means for determining a position estimate for the UE based on the location information report; means for transmitting the position estimate for the UE to the first entity; A location server comprising:

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