Extended messaging for handling SPS spoofing

Abstract

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

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit and priority of U.S. Non - Provisional Application No. 17 / 244,770, filed Apr. 29, 2021, entitled "ENHANCED MESSAGING TO HANDLE SPS SPOOFING", which was assigned to the assignee of this application and is hereby incorporated by reference in its entirety.

[0002] The subject matter disclosed herein relates to wireless communication systems, and more particularly, to methods and apparatus for determining the location of user equipment within a wireless communication system and for communication when location information is not reliable.

Background Art

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

[0004] A common method for determining a device's location is to use a satellite positioning system (SPS), such as the well-known Global Positioning Satellite (GPS) system or Global Navigation Satellite System (GNSS), which utilizes several satellites in Earth orbit. However, in some scenarios, such as in adverse weather conditions or in areas with poor satellite signal reception, such as tunnels or complex parking lots, location determination signals from SPS may be unreliable or unavailable. Furthermore, satellite positioning system signals can be spoofed by overpowering or substituting existing SPS signals or other location-related signals, causing mobile devices and / or other devices to calculate incorrect locations, or obscuring, interfering with, or in some cases making reliable location determination difficult. In particular, for safety-related applications, it is desirable to ensure that location information communicated between mobile devices is reliable. [Overview of the Initiative] [Means for solving the problem]

[0005] This specification discusses techniques for user equipment (UE) to transmit location information to other UEs. The UE receives a satellite positioning system (SPS) signal and determines whether the received SPS signal is reliable. If the received SPS signal is determined to be reliable, the UE uses the SPS signal to determine a location estimate to be transmitted to the other UE; if the received SPS signal is determined to be unreliable, it uses non-SPS information. The location information is transmitted to the other UE in a message that includes an indication of the source of information used to generate the location estimate. The UE receiving the message may determine its location estimate, at least in part, based on an indication of the source of information received in the message, for example, by determining whether the received SPS signal is reliable.

[0006] In one implementation, a method performed by a user device (UE) to transmit location information includes the steps of: receiving an SPS (Satellite Positioning System) signal; determining whether the received SPS signal is reliable; determining a location estimate to be transmitted to other UEs, wherein if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal; and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information; and transmitting a wireless message to one or more UEs, which includes a location estimate for the UE and an indication of the source of information used to generate the location estimate.

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

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

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

[0010] In one implementation, a method performed by a first user device (UE) to transmit location information includes receiving a wireless message from a second UE that includes a location estimate for a second UE and an indication of the source of information used to generate the location estimate, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information; and determining a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

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

[0012] In one implementation, a first user device (UE) configured to transmit location information includes means for receiving a wireless message from a second UE, which includes a location estimate for a second UE and an indication of the source of information used to generate the location estimate, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information, and means for determining the location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0013] In one implementation, the non-temporary storage medium on which program code is stored, the program code is operable to constitute at least one processor in a first user device (UE) configured to transmit location information, and the program code includes instructions to receive a wireless message from the second UE that includes a location estimate for the second UE and an indication of the source of information used to generate the location estimate, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information, and to determine and perform a location estimate for the first UE based at least in part on the indication of the source of information used to generate the location estimate received from the second UE.

[0014] Refer to the following diagrams to describe non-exclusive and non-exclusive aspects, and unless otherwise specified, the same reference numbers refer to the same parts throughout the various diagrams. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram illustrating an exemplary wireless communications and satellite signaling environment. [Figure 2] Figure 1 is a block diagram of the components of an example user device shown. [Figure 3] Figure 1 is a block diagram of the components of an example transmit / receive point. [Figure 4] Figure 1 is a block diagram of the components of an example server. [Figure 5] This flowchart illustrates the determination of the confidence level of SPS-derived location estimates and the selection of location estimates for transmission to other UEs. [Figure 6] Figure 2 is a schematic diagram illustrating the environment in which user equipment receives abnormal and non-abnormal signals. [Figure 7] This is a signaling and process flow diagram for identifying abnormal signals. [Figure 8]This figure shows the signaling and process for determining the credibility of SPS derived location estimates and transmitting location estimates with their sources to other UEs. [Figure 9] This figure shows a wireless communication system and the transmission of a location information message, which includes location estimation and the source of location information used to determine the location estimation. [Figure 10] This figure shows the signaling and process flow illustrating the detection of unreliable SPS signals based on location information messages received from other UEs. [Figure 11] This figure shows the signaling and process flow that demonstrates the identification of unreliable or anomalous SPS based at least partially on SPS derivation location information from other UEs. [Figure 12] This is a flowchart illustrating how location information is transmitted by the UE (Unified Environment). [Figure 13] This is a flowchart illustrating how location information is transmitted by the UE (Unified Environment). [Modes for carrying out the invention]

[0016] Device-to-device communication may be used, for example, for safety applications involving coordinated or automated operation. Vehicle-to-vehicle communication may be used for autonomous driving and vehicle safety applications. Vehicle-to-vehicle communication may be, for example, direct from vehicle to vehicle, or indirectly via infrastructure components such as roadside units (RSUs), access points, or base stations. Vehicle-to-vehicle communication may include messages and information elements (IEs) that enable vehicles to provide information necessary for autonomous driving.

[0017] For example, in the safe operation of an autonomous mobile device such as a vehicle, the relative location of the device needs to be determined and communicated to other mobile devices. The location information of a device, such as a user equipment (UE) in a vehicle, sometimes referred to as a V-UE, can be transmitted by other V-UEs, and / or by infrastructure such as, for example, a roadside unit (RSU) or a UE held by a pedestrian, using a direct communication system such as dedicated short-range communication (DSRC), cellular vehicle-to-everything (C-V2X) communication, and even 5G new radio (NR) communication.

[0018] Entities within a wireless communication system can be made capable of continuously transmitting and receiving messages containing location information. As an example, a C-V2X compliant vehicle continuously transmits and receives basic safety messages (BSMs) at a rate of 10 Hz. A BSM can include location information regarding the transmitting vehicle, and can further include other information such as speed, direction, an indication that the vehicle is braking, and any other information such as a malfunction. Safety features within a vehicle that use such C-V2X messages can be highly dependent on the location of the received messages.

[0019] A communication system that depends on communication between entities within a system for safe operation may include clearly defined security mechanisms to ensure that the communication is reliable. For example, in a C-V2X ecosystem, each transmitting vehicle signs its transmitted BSM message with a certificate. The security system of the receiving vehicle inspects the signature in the received BSM message to ensure that the message was transmitted from a legitimate vehicle. Additionally, the security system within the receiving vehicle may inspect the time and location within the BSM message to ensure that the BSM message was generated at a location related to the relevant time and has a valid certificate and is not a replay message generated at a different location or time. Current security mechanisms are targeted at preventing the trust of messages from unauthorized vehicles, i.e., vehicles that transmit unauthorized or illegal messages.

[0020] Possible sources of attacks in communication systems such as the C-V2X ecosystem are causing vehicles to inaccurately determine their location using, for example, spoofed satellite positioning system (SPS) signals. An attack using spoofed SPS signals may use, for example, a set of abnormal signals that overpower or replace existing SPS or other location-related signals to cause a mobile device to calculate an incorrect location, or to obscure or interfere with, or in some cases, make difficult, reliable location determination. A vehicle may, for example, receive a spoofed SPS signal and calculate an incorrect location transmitted by the vehicle within a BSM message signed with a legitimate certificate.

[0021] A receiving vehicle, upon inspecting the signature within an incoming BSM message, would determine it to be a valid certificate. Furthermore, while the time and location within the BSM message may be incorrect, they might be close enough to expectations that the security mechanisms within the receiving vehicle would not detect the BSM as a replay message. Thus, the BSM message may be accepted, and despite the location information being incorrect, it would be trusted and believed by the receiving vehicle. Attacks using anomalous signals to cause false locations to be transmitted may be used to impact traffic, for example, to cause congestion, accidents, or to direct autonomous vehicles to the wrong destination or thwart asset tracking attempts. In non-vehicle devices, attacks using anomalous signals to cause false locations to be transmitted between devices may be used to deceive location-aware point-of-sale protection or other security-based perimeter transactions that are limited to specific geographical ranges or require varying degrees of authentication depending on the geography.

[0022] Alternatively, if the receiving vehicle detects an inaccurate location or time in the transmitted message, the receiving vehicle may treat the transmitting vehicle as a "rogue" vehicle and discard the message from the transmitting vehicle. In addition, the receiving vehicle may report the transmitting vehicle as a "rogue" vehicle, causing the transmitting vehicle to lose its proof of legitimacy, which may impair the vehicle's ability to operate.

[0023] Therefore, it is crucial that the transmitting vehicle detects an SPS spoofing attack (or, in some cases, an abnormal SPS signal) and refrains from sending a spoofed SPS signal, or a location determined based on an abnormal SPS signal. For example, basic safety applications and advanced applications, such as coordinated driving, rely on the transmitting vehicle's location information, and transmitting inaccurate location information can impair these applications.

[0024] Therefore, in one implementation configuration as discussed herein, a UE receiving SPS signals can determine whether those SPS signals are reliable, for example, whether the SPS signals are spoofed, or, in some cases, anomalous. If the received SPS signals are determined to be reliable, the UE can determine a location estimate to be sent to other UEs using the SPS signals, or if the received SPS signals are determined to be unreliable, using non-SPS information. The UE sends location information to other UEs in a message that includes the location estimate and an indication of the sources of the information used to generate the location estimate. A UE receiving a message from another UE containing the location estimate and the sources of the location estimate can determine its own location, at least in part, based on the indication of the sources of the information. For example, a UE can use the indication of the sources of the information received in the message to help determine whether the received SPS signals are reliable, and can determine its own location estimate using the SPS signals if the SPS signals are determined to be reliable, or using non-SPS information if the SPS signals are determined to be unreliable.

[0025] Figure 1 shows an exemplary wireless communication and satellite signaling environment 100, which includes a wireless communication system 110, mobile SPS-enabled devices 161, 162, and 163, a satellite signal emulator 170, and satellite constellations 180 and 190. The wireless communication system 110 includes user equipment (UEs) 112, UE113, UE114, UE115, and UE116, base transceiver stations (BTS) 120, 121, 122, and 123, a network 130, a core network 140, and external clients 150. The core network 140 (for example, the 5G core network (5GC core network: 5GC)) may include backend devices, among other things, an Access and Mobility Management Function (AMF) 141, a Session Management Function (SMF) 142, a server 143, and a Gateway Mobile Location Center (GMLC) 144. The AMF 141, SMF 142, server 143, and GMLC 144 are coupled to communicate with each other.Server 143 provides location management functionality to support UE112-116 positioning, using techniques such as Assisted Global Navigation Satellite System (A-GNSS), OTDOA (Observed Time Difference of Arrival), Downlink (DL) OTDOA and / or Uplink (UL) OTDOA, Round Trip Time (RTT), Multi-cell RTT, RTK (Real Time Kinematic), PPP (Precise Point Positioning), DGNSS (Differential GNSS), E-CID (Enhanced Cell ID), AoA (Angle of Arrival), and AoD (Angle of Departure). Function: (LMF) may be included. The communication system 110 may include additional or alternative components. The satellite signal emulator 170 may be configured to provide false, e.g., spoofed, SPS (Satellite Positioning System) signals that appear to be from a satellite, which may result in false location determination by, for example, one or more of the devices 161-163 and / or one or more of the UEs 112-116. The devices 161-163 and UEs 112-116 may be configured to determine, for example, based on a determined confidence level generated from non-SPS information, when an SPS derived location estimate may be unreliable, and to provide other devices (devices 161-163 and UEs 112-116) with a transmission message containing that location information, including the location estimate (determined using SPS signals or non-SPS information), the confidence level in the location estimate, and the source of the information used to generate the location estimate.

[0026] LMFs are also sometimes called Location Managers (LM), Location Functions (LF), Commercial LMFs (CLMF), or Value-Added LMFs (VLMF). Server 143 (e.g., LMF) and / or one or more other devices in System 110 (e.g., one or more of UEs 112-116) may be configured to determine the locations of UEs 112-116. Server 143 may communicate directly with BTS 121 (e.g., gNB) and / or one or more other BTSs, or may be integrated with BTS 121 and / or one or more other BTSs. SMF 142 may serve as the initial contact point for Service Control Functions (SCFs) (not shown) for creating, controlling, and deleting media sessions. Server 143 (for example, LMF) may be collateralized with or integrated with a gNB or TRP (Transmission / Reception Point), or it may be located remotely from the gNB and / or TRP, and may be configured to communicate directly or indirectly with the gNB and / or TRP.

[0027] AMF141 may act as a control node handling signaling between UE112-116 and the core network 140, providing QoS (Quality of Service) flow and session management. AMF141 may support the mobility of UE112-116, including cell changes and handovers, and may participate in supporting signaling connections to UE112-116.

[0028] System 110 is wirelessly communicative in that its components can communicate with each other directly or indirectly (at least sometimes using wireless connections), for example, via BTS 120-123 and / or network 130 (and / or one or more other devices not shown, such as one or more other transceiver base stations). In indirect communication, the communication may be modified during transmission from one entity to another, for example, to alter the header information of a data packet, to change the format, etc. The shown UEs 112-116 are smart devices, such as smartphones or smartwatches, tablet computers, and vehicle-based devices, but these are merely examples, as UEs 112-116 are not required to be any of these configurations, and other configurations of the UE may be used. A smart device may be any electronic device that can connect to other devices or networks via different wireless protocols, such as Bluetooth, Zigbee, NFC, Wi-Fi, LiFi, and 5G, and can generally operate bidirectionally and autonomously to some extent. The indicated UEs 112 and 113 are mobile wireless communication devices, including mobile phones (including smartphones) and tablet computers (although these may communicate wirelessly or via wired connections). The indicated UEs 114 and 115 are vehicle-based mobile wireless communication devices (although UE 114 may communicate wirelessly or via wired connections). UE 116 is indicated as a general-purpose UE and may be one or more types of UEs, whether mobile or not, and whether or not they are of the indicated type. For example, UE 116 may include one or more UEs that are or may be associated with entities that are generally static or static devices, such as roadside units (RSUs), cash registers, automatic teller machines (ATMs), restaurants, or other buildings.Other types of UEs may include wearable devices (e.g., smartwatches, smart jewelry, smart glasses, or headsets). Further other UEs may be used, whether currently existing or to be developed in the future. In addition, other wireless devices (whether mobile or not) may be implemented within system 110 and communicate with each other and / or with UEs 112-116, BTS 120-123, network 130, core network 140, and / or external clients 150. For example, such other devices may include Internet of Things (IoT) devices, medical devices, home entertainment and / or automated devices. Core network 140 may communicate with external clients 150 (e.g., computer systems) to enable them to request and / or receive location information about UEs 112-116 (e.g., via GMLC 144).

[0029] UE112~116 or other devices may be configured to communicate within various networks and / or for various purposes and / or using various technologies (e.g., 5G, Wi-Fi communications, multiple frequencies of Wi-Fi communications), satellite positioning, one or more types of communications (e.g., GSM (Global System for Mobiles), CDMA (Code Division Multiple Access), LTE (Long-Term Evolution), V2X (Vehicle-to-everything), e.g., V2P (Vehicle-to-Pedestrian), V2I (Vehicle-to-Infrastructure), V2V (Vehicle-to-Vehicle), etc.), IEEE802.11p, etc.). V2X communication may be cellular (Cellular-V2X (C-V2X)) and / or WiFi (e.g., DSRC (Dedicated Short-Range Connection)). System 110 may support operation on multiple carriers (waveform signals of different frequencies). A multi-carrier transmitter can transmit modulated signals simultaneously on multiple carriers. Each modulated signal may be a Code Division Multiple Access (CDMA) signal, a Time Division Multiple Access (TDMA) signal, an Orthogonal Frequency Division Multiple Access (OFDMA) signal, a Single-Carrier Frequency Division Multiple Access (SC-FDMA) signal, etc. Each modulated signal may be transmitted on a different carrier and may carry pilot information, overhead information, data, etc. The communication link shown in Figure 1 is an example and is not an limitation of this disclosure. UEs 112-116 may communicate with base stations, other UEs, etc.

[0030] BTS120-123 may communicate wirelessly with UE112-116 within system 110 via one or more antennas. BTS may also be called base stations, access points, gNode B (gNB), access node (AN), node B, evolved Node B (eNB), etc. For example, each of BTS120, 121 may be a gNB or a transmitting point gNB, BTS122 may be a macrocell (e.g., a high-power cellular base station) and / or a small cell (e.g., a low-power cellular base station), and BTS123 may be an access point (e.g., a short-range base station configured to communicate using short-range technologies such as WiFi, WiFi-Direct (WiFi-D), Bluetooth®, Bluetooth-low energy (BLE), Zigbee, etc.). One or more of BTS120-123 may be configured to communicate with UE112-116 via multiple carriers. Each of the BTS120 and 121 may provide communication coverage to its respective geographical area, for example, a cell. Each cell may be divided into multiple sectors depending on the base station antenna. The BTS may take various forms, such as a desktop device or a roadside unit (RSU).

[0031] Each of the BTS120-123 comprises one or more transmit / receive points (TRPs). For example, each sector within a BTS cell may have a TRP, or multiple TRPs may share one or more components (e.g., they may share a processor but have separate antennas). System 110 may contain only macro TRPs, or system 110 may have different types of TRPs, such as macro TRPs, pico TRPs, and / or femto TRPs. Macro TRPs may cover a relatively large geographical area (e.g., a radius of several kilometers) and may enable unrestricted access by terminals subscribing to the service. Pico TRPs may cover a relatively small geographical area (e.g., a picocell) and may enable unrestricted access by terminals subscribing to the service. Femto TRPs or home TRPs may cover a relatively small geographical area (e.g., a femtocell) and may enable limited access by terminals associated with a femtocell (e.g., terminals for users in their homes).

[0032] UE112-116 may be referred to as terminals, access terminals (ATs), mobile stations, mobile devices, subscriber units, etc. UE112-116 may include the various devices and / or other devices described above. UE112-116 may be configured to indirectly connect to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links. D2D P2P links may be supported using any suitable D2D radio access technology (RAT), such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), or Bluetooth®. One or more of the groups of UE112-116 utilizing D2D communication may be within the geographical coverage area of ​​the TRP, such as one or more of the BTS120-123. Other UEs in such a group may be outside such geographical coverage area or otherwise unable to receive transmissions from base stations. A group of UEs 112-116 communicating via D2D communication can utilize a one-to-many (1:M) system in which each UE can transmit to other UEs in the group. The TRPs of BTS 120-123 can facilitate the scheduling of resources for D2D communication. In other cases, D2D communication can be performed between UEs without the involvement of a TRP.

[0033] UE112-116, such as V-UE114 and 115, can use the V2X communication standard, in which case information is passed between the vehicle and other entities within a wireless communication network such as RSU116. The V2X standard aims to develop autonomous or semi-autonomous driving systems, such as Advanced Driver Assistance Systems (ADAS), which can be used to assist drivers in making decisions such as lane changes, speed changes, and overtaking speeds, and to assist with parking, as discussed herein. UE112-116 can communicate directly, for example, via peer-to-peer messaging, or via one or more intermediate entities, such as RSU116 or BTS120-123 or network 130 in structure-based messaging.

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

[0035] Entities using V2X communication, such as UE114 and 115, may operate using direct or indirect wireless communication. For example, wireless communication may be via proximity-based services (ProSe) direct communication (PC5) reference points as defined in 3GPP TS 23.303, using wireless communication on the 5.9 GHz ITS band under IEEE 1609, Wireless Access in Vehicular Environments (WAVE), Intelligent Transport Systems (ITS), and IEEE 802.11p, or using other wireless connections directly between entities.

[0036] Therefore, as shown, UE114 and UE115 can communicate directly using a vehicle-to-vehicle (V2V) communication link. UE114 and UE115 can similarly communicate directly with a roadside unit (RSU), such as UE116, via a vehicle-to-base (V2I) communication link. RSU116 may be a fixed infrastructure entity, for example, which may support V2X applications and exchange messages with other entities that support V2X applications. RSU may be a logical entity that can combine V2X application logic with the functionality of a base station in the RAN, such as an eNB, ng-eNB, or eLTE (referred to as an eNB-type RSU) or gNB, or UE (referred to as a UE-type RSU). UE114, 115, and 116 can communicate with additional vehicles, RSUs, or additional entities, such as UE113 held by a pedestrian, using the direct communication link.

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

[0038] In other implementations, UE114 and 115 can communicate indirectly with each other, for example, via RSU116 over a V2I communication link, or via other network infrastructure such as BTS120-123 and network 130 using cellular vehicle-to-everything (C-V2X). For example, vehicles can communicate via base stations in a Radio Access Network (RAN), such as an evolved node B (eNB) or next generation evolved node B (ng-eNB) in LTE wireless access and / or evolved LTE (eLTE) wireless access or NR node B (gNB) in fifth-generation (5G) wireless access.

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

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

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

[0042] Inaccurate locations may be determined based on erroneous input information, such as inaccurate SPS signals, whether the inaccuracy in the SPS signal is accidental (e.g., due to SV error) or intentional (e.g., by an entity providing one or more spoofed signals). A spoofed signal appears to be from a specific source (e.g., a known, reliable source) but is actually from a different source. For example, a spoofed signal may have the characteristics of a signal from a GPS SV but could originate from a GLONASS SV or an SPS simulator (e.g., a ground-based SPS signal generator). For example, identifying unreliable SPS-based location estimates due to anomalous SPS signals and providing other UEs with location information including reliable location estimates, along with the confidence level of the location estimates and the source of the location estimates, can help UEs mitigate the consequences of receiving such signals and enable the UEs to continue operating safely.

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

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

[0045] In practice, an SPS spoofing target could be a group of vehicles within a specific location, or one or a group of target vehicles. A vehicle under SPS spoofing attack may receive a "valid" SPS-based location from other vehicles receiving a reasonable SPS signal, for example, an unspoofed SPS signal. The vehicle may then use accurate location information from other vehicles to help estimate its own location. In addition, the vehicle may be able to draw a movement map of the vehicle under SPS spoofing attack, or areas within that map where the SPS signal is unreliable. The vehicle may send this information to a traffic management server and be warned about possible spoofing of a particular vehicle or area. The traffic management server may, for example, provide the vehicle with a warning that the SPS signal is unreliable in a particular identified area, which the UE may also use when determining the confidence level of the SPS derived location estimation.

[0046] Figure 2 shows a UE200, which is one example of any of the UE112-116 and comprises a computing platform including at least one processor 210, a memory 211 including software (SW) 280, one or more sensors 213, a transceiver interface 214 for a transceiver 215, a user interface 216, a satellite positioning system (SPS) receiver 217, and a camera 218. If the UE200 is a V-UE, the UE200 may include a vehicle interface 270. The processor 210, memory 211, sensors 213, transceiver interface 214, user interface 216, SPS receiver 217, camera 218, and vehicle interface 270 may be coupled to communicate with each other by a bus 220 (which may be configured for, for example, optical and / or telecommunications). One or more of the indicated devices (e.g., one or more of the camera 218, vehicle interface 270, and / or sensors 213, etc.) may be omitted from the UE200. The processor 210 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, an application-specific integrated circuit (ASIC), etc. The processor 210 may include multiple processors, including a general-purpose / application processor 230, a digital signal processor (DSP) 231, a modem processor 232, a video processor 233, a sensor processor 234, and / or a position processor 235 (sometimes called a position engine 235), which can be configured to operate as dedicated processors as discussed herein. One or more of the processors 230-235 may comprise multiple devices (e.g., multiple processors). For example, the sensor processor 234 may include a processor for radar, sonar, ultrasound, and / or lidar, etc.The modem processor 232 may support dual SIM / dual connectivity (or even more SIMs). For example, one SIM (Subscriber Identity Module or Subscriber Identification Module) may be used by an Original Equipment Manufacturer (OEM), and another SIM may be used by the end user of the UE200 for connectivity. Memory 211 is a non-temporary storage medium that may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM). Memory 211 stores software 280, which may be processor-readable processor-executable software code containing instructions, which, when executed, cause the processor 210 to operate as a dedicated computer programmed to perform the various functions described herein. Alternatively, the software 280 does not have to be directly executable by the processor 210, but may be configured, for example, to cause the processor 210 to perform a function when compiled and executed. This description may refer only to the processor 210 performing a function, but also to other implementations, such as the processor 210 executing software and / or firmware. This description may refer to the processor 210 performing a function as a simplification of one or more of the processors 230-235 performing a function. This description may refer to the UE200 performing a function as a simplification of one or more of the appropriate components of the UE200 performing a function. The processor 210 may include, and / or instead of, memory 211, memory with stored instructions. The functionality of the processor 210 will be discussed in more detail below.

[0047] The configuration of the UE200 shown in Figure 2 is an example and does not limit the embodiments of this disclosure, including the claims, and other configurations may be used. For example, an exemplary configuration of the UE includes one or more of the processors 230-235 of the processor 210, memory 211, and wireless transceivers 240. Other exemplary configurations include one or more of the processors 230-235 of the processor 210, memory 211, and wireless transceivers 240, as well as one or more of the sensors 213, user interface 216, SPS receiver 217, camera 218, and / or wired transceivers 250.

[0048] The UE200 may include a modem processor 232 capable of performing baseband processing of signals received and downconverted by the transceiver 215 and / or the SPS receiver 217. The modem processor 232 may perform baseband processing of signals so that they are upconverted for transmission by the transceiver 215. Alternatively, baseband processing may be performed by a processor 230 and / or a DSP 231. However, other configurations may be used to perform baseband processing.

[0049] The UE200 may include sensor 213, which may include one or more sensors of various types, such as one or more inertial sensors, one or more magnetometers, one or more environmental sensors, one or more light sensors, one or more mass sensors, and / or one or more radio frequency (RF) sensors. The inertial measurement unit (IMU) may include, for example, one or more accelerometers (for example, collectively corresponding to the acceleration of the UE200 in three dimensions), and / or one or more gyroscopes. Sensor 213 may include one or more magnetometers for determining orientation (for example, relative to magnetic north and / or true north), which can be used for any of a variety of purposes, such as supporting one or more compass applications. Environmental sensors may include, for example, one or more temperature sensors, one or more barometric pressure sensors, one or more ambient light sensors, one or more camera imagers, and / or one or more microphones. Sensor 213 may include RADAR (Radio Detection and Ranging) sensors, LIDAR (Light Detection and Ranging) sensors, SONAR (Sound Navigation and Ranging) sensors, ultrasonic rangefinders, etc., for determining the range to an object. Sensor 213 may further include a local oscillator for tracking time. Sensor 213 may include one or more device sensors, such as one or more vision systems (e.g., including a camera 218), and / or one or more vehicle sensors (e.g., an odometer, speedometer, tachometer, wheel tachometer, etc.), and / or one or more other sensors.The sensor 213 may generate analog and / or digital signals, the representation of which may be stored in memory 211 and processed by the DSP 231 and / or processor 230 to support one or more applications, such as applications targeting positioning and / or navigation operations.

[0050] Sensor 213 may be used in relative location measurement, relative location determination, motion determination, etc. Information detected by sensor 213 may be used for motion detection, relative displacement, dead reckoning, sensor-based location determination, and / or sensor-assisted location determination. Sensor 213 may be useful in determining whether UE200 is stationary or mobile, and / or whether any useful information regarding the mobility of UE200 should be reported to server 143. For example, based on information acquired / measured by the sensor, UE200 may notify / report to server 143 that UE200 has detected movement or has moved, and may report relative displacement / distance (e.g., via dead reckoning or sensor-based or sensor-assisted location determination enabled by sensor 213). In another example, with respect to relative positioning information, the sensor / IMU may be used to determine the angle and / or bearing of other devices relative to UE200, etc.

[0051] The IMU may be configured to provide measurement results regarding the direction and / or velocity of motion of the UE200, and these measurement results may be used in relative location determination. For example, one or more accelerometers and / or one or more gyroscopes of the IMU may detect the linear acceleration and rotational velocity of the UE200, respectively. The measurement results of the linear acceleration and rotational velocity of the UE200 may be integrated over time to determine the instantaneous direction and displacement of motion of the UE200. The instantaneous direction and displacement of motion may be integrated to track the location of the UE200. For example, the reference location of the UE200 may be determined for a given moment using, for example, the SPS receiver 217 (and / or by some other means), and the measurement results from the accelerometers and gyroscopes obtained after this moment may be used in dead reckoning to determine the current location of the UE200 based on the movement (direction and distance) of the UE200 compared to the reference location.

[0052] The magnetometer can determine the magnetic field strength in different directions, which can be used to determine the orientation of the UE200. For example, orientation may be used to provide a digital compass for the UE200. The magnetometer may be a two-dimensional magnetometer configured to detect and display the magnetic field strength in two orthogonal dimensions. Alternatively, the magnetometer may be a three-dimensional magnetometer configured to detect and display the magnetic field strength in three orthogonal dimensions. The magnetometer can sense the magnetic field and provide means for, for example, the processor 210 to provide a display of the magnetic field.

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

[0054] The user interface 216 may include one or more of several devices, such as a speaker, microphone, display device, vibration device, keyboard, and touchscreen. The user interface 216 may include two or more of these devices. The user interface 216 may be configured to allow the user to interact with one or more applications hosted by the UE200. For example, the user interface 216 may store in memory 211 a representation of analog and / or digital signals to be processed by the DSP231 and / or general-purpose processor 230 in response to user actions. Similarly, an application hosted on the UE200 may store in memory 211 a representation of analog and / or digital signals to present output signals to the user. The user interface 216 may include an audio input / output (I / O) device, such as a speaker, microphone, digital-analog circuitry, analog-digital circuitry, amplifier, and / or gain control circuitry (including two or more of these devices). Other configurations of the audio I / O device may be used. Alternatively, the user interface 216 may include, for example, one or more touch sensors that respond to touch and / or pressure on the keyboard and / or touchscreen of the user interface 216.

[0055] An SPS receiver 217 (for example, a Global Positioning System (GPS) receiver) may be capable of receiving and collecting SPS signals 260 via an SPS antenna 262. The antenna 262 may be configured to convert wireless signals 260 to wired signals, such as electrical or optical signals, and may be integrated with antenna 246. The SPS receiver 217 may be configured to process the collected SPS signals 260, either entirely or partially, to estimate the location of the UE 200. For example, the SPS receiver 217 may be configured to use the SPS signals 260 to determine the location of the UE 200 by multilateration. The SPS signals 260 may be from one or more SPS constellations, for example, constellations 180, 190, and the SPS receiver 217 may be configured as a multi-GNSS for processing SPS signals from multiple SPS. The SPS signal 260 may include signals in various SPS frequency bands, and the SPS receiver 217 may be configured as a multiband SPS receiver for receiving and processing SPS signals in multiple bands. At least one processor 230, memory 211, DSP 231, and / or one or more additional specialized processors (not shown) may be used in conjunction with the SPS receiver 217 to process the collected SPS signals in whole or in part and / or to calculate the estimated location of the UE 200. Any processor in the SPS receiver 217 for processing the signals received by the SPS receiver 217 may be considered part of the processor 210, and therefore, the description herein may refer to a processor in the UE (e.g., the processor 210 of the UE 200) as processing one or more SPS signals (e.g., determining one or more measurement results of one or more SPS signals). Memory 211 may store a representation (e.g., measurement result) of the SPS signal 260 and / or other signals (e.g., signals collected from the wireless transceiver 240) for use when performing positioning operations.A general-purpose processor 230, DSP 231, and / or one or more specialized processors, and / or memory 211, configured to operate as a dedicated computer, may provide or support a location engine for use in processing measurement results and estimating the location of the UE200.

[0056] The UE200 may include a camera 218 for capturing still or moving images. The camera 218 may include, for example, an image sensor (e.g., a charge-coupled device or CMOS imager), a lens, analog-digital circuitry, a frame buffer, and the like. Additional processing, adjustment, encoding, and / or compression of the signal representing the captured image may be performed by a general-purpose processor 230 and / or DSP 231. Similarly or alternatively, a video processor 233 may perform adjustment, encoding, compression, and / or manipulation of the signal representing the captured image. The video processor 233 may decode / decompress the stored image data for, for example, presentation on a display device (not shown) of the user interface 216.

[0057] The position engine 235 may be configured to determine the position of the UE 200, the movement of the UE 200, and / or the relative position of the UE 200, and / or the time. For example, the position engine 235 may communicate with and / or include part or all of the SPS receiver 217. The position engine 235 may, as appropriate, work with one or more other processors and memory 211 in the processor 210 to perform at least part of one or more positioning methods, but the description herein may refer only to the position engine 235 being configured to perform or performing according to a positioning method. Furthermore, the position engine 235 may be part of or integrated with any of the processors in the processor 210, such as the application processor 230. The position engine 235 may also be configured to determine the location of the UE 200 using non-SPS information, such as ground-based signals (e.g., at least some of signals 248, such as received cellular signals, LAN signals such as WiFi, or other shortwave signals such as ultrawideband (UWB), mmWave, etc.), to assist in acquiring and using SPS signals 260 for multilateration, or for both. The position engine 235 may also be configured to use one or more other techniques for determining the location of the UE 200 (e.g., relying on the UE's self-reported location (e.g., part of the UE's location beacon)), or a combination of techniques (e.g., SPS signals and ground positioning signals) for determining the location of the UE 200.The position engine 235 may be further configured to determine the position of the UE200 using non-SPS information, such as sensor information obtained from one or more of the sensors 213 (e.g., gyroscope, accelerometer, magnetometer, etc.), which can sense previous (cached) location information, the orientation and / or motion of the UE200, and which can provide an indication that the processor 210 (e.g., the position engine 235, or processor 230 and / or DSP 231) may use them to determine the motion of the UE200 (e.g., velocity vectors and / or acceleration vectors). The position engine 235 may further use location information received from one or more UEs, such as the estimated locations of other UEs, as well as the determined range to the UE, to determine the position of the UE. The position engine 235 may be configured to provide an indication of uncertainty and / or error in the determined position and / or motion.

[0058] The vehicle interface 270 may be used by the UE200 to provide an interface with and control over the autonomous driving of a vehicle that the UE200 can locate. The vehicle interface 270 may provide commands for the autonomous driving of the vehicle, such as controls for acceleration, deceleration, speed, and trajectory.

[0059] Memory 211 may store software 280, which, when executed by the processor 210, can cause the processor 210 to operate as a dedicated computer programmed to perform the functions disclosed herein. The description herein may refer to the UE200 performing a function as a simplification to one or more suitable components of the UE200 (for example, the processor 210, which consists of executable program code stored in memory 211) performing the function. As shown, memory 211 may contain one or more components or modules that can be implemented by the processor 210 to perform the disclosed functions. While the components or modules are illustrated as software 280 in memory 211, executable by the processor 210, it should be understood that the components or modules may be stored in another computer-readable medium or be dedicated hardware either within or outside the processor 210. Several software modules and data tables may reside in memory 211 and be available to the processor 210 to manage both the communications and functionalities described herein. The organization of the contents of memory 211 shown is merely an example, and therefore, please understand that the functionality of modules and / or data structures may be combined, separated, and / or structured in different ways depending on the implementation.

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

[0061] The memory 211 may include, for example, an anomaly detection module 284, which, when implemented by one or more processors 210, configures one or more processors 210 to determine whether the received SPS signal is reliable or anomaly, for example, spoofed and generates an unreliable location estimate. One or more processors 210 may, for example, be configured to determine the confidence level of the SPS derived location estimate. The confidence level may be determined, for example, by comparing the time derived from the SPS signal with a local time determined, for example, from a local oscillator in the sensor 213 or from a wireless signal received from the BTS via the transceiver 240, in which case, for example, a time with a very good match provides a higher confidence level than a time with a poor match. One or more processors 210 may be configured, either additionally or alternatively, to determine the confidence level based on the SPS derived location estimate and non-SPS information, such as previously estimated locations (i.e., cached location information stored in memory 211), sensor information obtained from sensor 213, for example, location information received from other nearby UEs via transceiver 240, or a combination thereof. For example, one or more processors 210 may be configured to determine the degree to which the SPS derived location estimate matches the cached location estimate and / or the location received from nearby UEs. One or more processors 210 may be configured to determine whether the change in the location of UE 200 indicated by the SPS derived location estimate relative to a previous location estimate corresponds to data obtained from sensor 213, for example, acceleration, velocity, or orientation. One or more processors 210 may be configured to determine the difference between the SPS derived location estimate and, for example, a non-SPS derived location estimate generated using non-SPS information, in which case a highly matching location provides a higher confidence level than a non-matching location.When generating a confidence level, one or more processors 210 may be configured to provide different weights for different types of disparity; for example, a noise sensor may be given a lower weight than a sensor with only slight noise. In addition, one or more processors 210 may be configured to compare the confidence level to a predetermined threshold in order to determine, for example, whether the SPS-based location estimation is reliable (confidence level is above a threshold) or unreliable (confidence level is below a threshold). One or more processors 210 may be configured to determine the reliability of an SPS signal and, accordingly, the location estimation, based at least in part on information received from other UEs or traffic location servers, such as whether the source of location information about other UEs is non-SPS information, the confidence level of the estimated location from other UEs, and warnings that an abnormal SPS signal has been detected by a nearby UE. One or more processors 210 may be configured to determine whether an SPS signal is reliable based, for example, on location information messages received from one or more V-UEs. For example, one or more processors 210 may be configured to determine whether an SPS signal is reliable based on several V-UEs using non-SPS information for location estimation, associate a low confidence level with an SPS-based location estimation, and provide an indication that the SPS signal received by the V-UE has been determined to be abnormal. In one implementation where the UE 200 is an RSU, one or more processors 210 may be configured to determine whether an SPS signal is reliable for the V-UE based, for example, on location estimation provided by the V-UE, and in some implementations, on additional information, such as a determined range between V-UEs.

[0062] The memory 211 may include, for example, a location information reporting module 286, which, when implemented by one or more processors 210, is configured to cause one or more processors 210 to generate and transmit messages containing location information about UE 200, or to receive location information about other UEs, via a transceiver 240. The location information includes a determined location estimate and the source of the location estimate. For example, the location estimate may be an SPS derived location estimate if there is high confidence in the SPS derived location estimate, i.e., if the received SPS signal is not determined to be abnormal, or it may be a non-SPS derived location estimate if there is low confidence in the SPS derived location estimate. The source of the location estimate may be an identification of the data source, e.g., an SPS signal or non-SPS data. In some implementations, the data source may be further refined to the type of sensor data or technique used to generate the non-SPS-based location estimate, such as an SPS constellation, carrier frequency, or SPS signal, cellular signal, LAN signal, sidelink signal, TDOA measurement results, AoA measurement results, and RSS measurement results. The transmitted or received transmitted location information may further include a determined trust level associated with the location estimation within the location information message. One or more processors 210 may also be configured to receive similar location information from one or more other UEs via transceivers 240. The messages may be V2X type messages or other direct or indirect messages to nearby UEs. The messages may be ADAS messages, for example, used for safety applications, such as CAM, DENM, or BSM messages. In some implementations, other types of messaging may be used between UEs, for example, if UE 200 is a non-vehicle-related UE.One or more processors 210 may also be configured to transmit a notification via transceiver 240 to a traffic location server or other UE when an incoming SPS signal is determined to be abnormal, along with location information such as the determined location estimate and optionally, the source and / or credibility level of the location estimate. One or more processors 210 may also be configured to receive a notification via transceiver 240, along with a warning from a traffic location server or other UE when an SPS signal within the area of ​​UE 200 is determined to be abnormal by another UE.

[0063] 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, one or more processors 210 can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof.

[0064] In the case of firmware and / or software implementations, the method may be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described herein. Any machine-readable medium that tangibly embodies instructions may be used to implement the method described herein. For example, software code may be connected to one or more processors 210, executed by one or more processors 210, and stored in a non-temporary computer-readable medium such as memory 211. Memory may be implemented within or outside of one or more processors. As used herein, the term “memory” means any type of long-term memory, short-term memory, volatile memory, non-volatile memory, or other memory, and should not be limited to any particular type of memory or any particular number of memories, or any particular type of medium in which the memory is stored.

[0065] When implemented in firmware and / or software, the functionality may be stored as one or more instructions or program code on a non-temporary computer-readable medium, such as memory 211. Examples include computer-readable medium encoded using data structures and computer-readable medium encoded using computer programs. For example, the non-temporary computer-readable medium storing program code may include program code for determining an abnormal SPS signal and transmitting location information along with the source of location information, in a manner compatible with the disclosed embodiment. The non-temporary computer-readable medium includes physical computer storage medium. The storage medium may be any available medium that can be accessed by a computer. Such non-temporary computer-readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other media that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer. As used herein, disks and discs include compact discs (CDs), laser discs, optical discs, digital multipurpose discs (DVDs), floppy disks, and Blu-ray® discs, where a disk typically reproduces data magnetically and a disc optically reproduces data using a laser. Any combination of the above should also be included within the scope of computer-readable media.

[0066] In addition to storage on a computer-readable medium, such as memory 211, instructions and / or data may be provided as signals on a transmission medium contained within a communication device. For example, the communication device may include a transceiver 240 or 250 having signals indicating 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 communication device includes a transmission medium having signals indicating information for performing the disclosed functions.

[0067] Memory 211 may represent any data storage mechanism. Memory 211 may include, for example, primary memory and / or secondary memory. Primary memory may include, for example, random access memory, read-only memory, etc. In this example, it is shown as separate from one or more processors 210, but it should be understood that all or part of the primary memory may be located within one or more processors 210, or may be collated / combined with one or more processors 210. Secondary memory may include, for example, the same or similar type of memory as primary memory, and / or one or more data storage devices or systems such as disk drives, optical disk drives, tape drives, solid-state memory drives, etc.

[0068] In some implementations, the secondary memory may be operationally receptive to a non-temporary computer-readable medium, or may be configured to bind to a non-temporary computer-readable medium. Thus, in some exemplary implementations, the methods and / or apparatus presented herein may take the form of a computer-readable medium, in whole or in part, on which computer-implementable code may be stored, and the computer-implementable code, when executed by one or more processors 210, may be effectively enabled to perform all or part of the exemplary operations described herein. The computer-readable medium may be part of the memory 211.

[0069] Figure 3 shows an example of a TRP300 of BTS120-123, comprising a computing platform including at least one processor 310, a memory 311 containing software (SW) 312, and a transceiver 315. The processor 310, memory 311, and transceiver 315 may be communicatively coupled to one another by a bus 320 (which may be configured, for example, for optical and / or telecommunications). One or more of the shown devices (e.g., a wireless interface) may be omitted from the TRP300. The processor 310 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, or an application-specific integrated circuit (ASIC). The processor 310 may include multiple processors (for example, one or more of an application processor, DSP, modem processor, video processor, and / or sensor processor, as shown in Figure 2). Memory 311 is a non-temporary storage medium that may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM). Memory 311 stores software 312, which may be processor-readable processor-executable software code containing instructions, which, when executed, cause processor 310 to operate as a dedicated computer programmed to perform the various functions described herein. Alternatively, software 312 may not be directly executable by processor 310, but may, for example, be compiled and executed, cause processor 310 to operate as a dedicated computer programmed to perform functions. This description may refer only to processor 310 performing functions, which includes other implementations such as processor 310 executing software and / or firmware. This description may refer to processor 310 performing functions as a simplification to one or more processors contained within processor 310 performing functions.This description may refer to TRP300 performing a function as a simplification to the fact that one or more suitable components of TRP300 (and therefore one of BTS120-123) perform the function. In addition to memory 311, and / or instead of memory 311, processor 310 may include memory where instructions are stored. The functionality of processor 310 will be discussed in more detail below.

[0070] The transceiver 315 may include a wireless transceiver 340 and a wired transceiver 350, respectively, configured to communicate with other devices via wireless and wired connections. For example, the wireless transceiver 340 may include a transmitter 342 and a receiver 344 coupled to one or more antennas 346 to transmit and / or receive a wireless signal 348 (for example, on one or more uplink channels) and / or receive it (for example, on one or more downlink channels), and to convert the signal from the wireless signal 348 to a wired (for example, electrical and / or optical) signal and from the wired (for example, electrical and / or optical) signal to the wireless signal 348. Thus, the transmitter 342 may include multiple transmitters, which may be individual components or composite / integrated components, and / or the receiver 344 may include multiple receivers, which may be individual components or composite / integrated components. The wireless transceiver 340 may be configured to communicate signals (for example, with UE200, one or more other UEs, and / or one or more other devices) in accordance with various radio access technologies (RATs) such as 5G New Radio (NG), GSM (Global System for Mobile), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Phone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long-Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, WiFi Direct (WiFi-D), Bluetooth®, and Zigbee. The wired transceiver 350 may include a transmitter 352 and a receiver 354 configured for wired communication with, for example, a network 130, for sending communications to and receiving communications from the server 143. The transmitter 352 may include multiple transmitters, which may be individual components or composite / integrated components, and / or the receiver 354 may include multiple receivers, which may be individual components or composite / integrated components.The wired transceiver 350 may be configured, for example, for optical and / or telecommunications.

[0071] The configuration of TRP300 shown in Figure 3 is an example of an aspect of this disclosure, including the claims, and is not limiting; other configurations may be used. For example, the description herein discusses that TRP300 is configured to perform or to perform several functions, but one or more of these functions may be performed by Server 143 and / or UE200 (i.e., Server 143 and / or UE200 may be configured to perform one or more of these functions).

[0072] Figure 4 shows an example of server 143, and a server 400 comprising a computing platform including at least one processor 410, memory 411 containing software (SW) 412, and a transceiver 415. Server 400 may be a traffic control server configured, for example, to receive indications from UEs when an SPS signal is determined to be abnormal and to provide warnings to UEs in the area where the abnormal SPS signal is detected. The processor 410, memory 411, and transceiver 415 may be coupled to communicate with each other by a bus 420 (which may be configured, for example, for optical and / or telecommunications). One or more of the shown devices (for example, a wireless interface) may be omitted from server 400. The processor 410 may include one or more intelligent hardware devices, such as a central processing unit (CPU), a microcontroller, or an application-specific integrated circuit (ASIC). The processor 410 may include multiple processors (for example, including at least one of an application processor, DSP, modem processor, video processor, and / or sensor processor, as shown in Figure 2). Memory 411 is a non-temporary storage medium, which may include random access memory (RAM), flash memory, disk memory, and / or read-only memory (ROM). Memory 411 stores software 412, which may be processor-readable, processor-executable software code containing instructions, which, when executed, cause the processor 410 to operate as a dedicated computer programmed to perform the various functions described herein. Alternatively, the software 412 may not be directly executable by the processor 410, but may, for example, be compiled and executed, cause the processor 410 to operate as a dedicated computer programmed to perform functions. This description may refer only to the processor 410 performing functions, but this includes other implementations, such as the processor 410 executing software and / or firmware.This description may refer to processor 410 performing a function as a simplification of one or more of the processors included in processor 410 performing that function. This description may refer to server 400 performing a function as a simplification of one or more suitable components of server 400 performing that function. Processor 410 may include, in addition to and / or instead of memory 411, memory containing stored instructions. The functionality of processor 410 will be discussed in more detail below.

[0073] The transceiver 415 may include a wireless transceiver 440 and a wired transceiver 450, respectively, configured to communicate with other devices via wireless and wired connections. For example, the wireless transceiver 440 may include a transmitter 442 and a receiver 444 coupled to one or more antennas 446 to transmit and / or receive a wireless signal 448 (for example, on one or more uplink channels) and / or receive it (for example, on one or more downlink channels), and to convert the signal from the wireless signal 448 to a wired (for example, electrical and / or optical) signal and from the wired (for example, electrical and / or optical) signal to the wireless signal 448. Thus, the transmitter 442 may include multiple transmitters, which may be individual components or composite / integrated components, and / or the receiver 444 may include multiple receivers, which may be individual components or composite / integrated components. The wireless transceiver 440 may be configured to communicate signals (for example, with UE200, one or more other UEs, and / or one or more other devices) in accordance with various radio access technologies (RATs) such as 5G New Radio (NR), GSM (Global System for Mobile), UMTS (Universal Mobile Telecommunications System), AMPS (Advanced Mobile Phone System), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), LTE (Long-Term Evolution), LTE Direct (LTE-D), 3GPP LTE-V2X (PC5), IEEE 802.11 (including IEEE 802.11p), WiFi, WiFi Direct (WiFi-D), Bluetooth®, and Zigbee. The wired transceiver 450 may include a transmitter 452 and a receiver 454 configured for wired communication with, for example, network 130, for sending communications to and receiving communications from TRP300. The transmitter 452 may include multiple transmitters, which may be individual components or composite / integrated components, and / or the receiver 454 may include multiple receivers, which may be individual components or composite / integrated components.The wired transceiver 450 may be configured, for example, for optical and / or telecommunications.

[0074] The configuration of the server 400 shown in Figure 4 is an example of an aspect of this disclosure, including the claims, and is not limited thereto; other configurations may be used. For example, the wireless transceiver 440 may be omitted. Similarly, or alternatively, this description discusses how the server 400 may be configured to perform or to perform several functions, one or more of which may be performed by the TRP 300 and / or UE 200 (i.e., the TRP 300 and / or UE 200 may be configured to perform one or more of these functions).

[0075] Figure 5 shows a flowchart 500 for a UE such as UE200 to determine the credibility level of its location information and use it to warn nearby UEs when an SPS spoofing attack is present and to correct the location information provided to nearby UEs.

[0076] As shown, in block 502, the UE receives the SPS signal used to generate location information from the position engine 235 in Figure 2. The SPS signal may be non-anomalous, and therefore the location information obtained in block 502 may include an accurate location estimate. Alternatively, the SPS signal may be anomalous, for example, spoofed, and the location information obtained in block 502 may include an inaccurate location estimate.

[0077] The UE may, for example, receive wireless messages from one or more other UEs via the transceiver 240 shown in Figure 2, and in block 504, the location of the transmitting UE may be determined from those wireless messages. The wireless messages may further include the confidence level of the transmitting UE's location and the source of the location estimation, as shown in block 504. The wireless messages may, for example, be Common Knowledge Messages (CAMs), Distributed Notice Messages (DENMs), or Basic Safety Messages (BSMs) used for advanced driver-assistance systems (ADAS) provided via C-V2X or other types of communication.

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

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

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

[0081] In addition, abnormal SPS signals can generate inaccurate location estimates. Therefore, abnormal SPS signals can be detected, for example, by determining, based on non-SPS information, that the location estimate derived from the received SPS signal is inaccurate. For example, a sudden change in location would necessarily require corresponding signals from non-SPS sensors within the UE, such as a sudden acceleration to respond to the sudden change in location; RADAR and LIDAR should observe a sudden change in the surrounding environment; RADAR should detect a sudden rise in the Doppler signal; the steering column sensor should change the yaw register; and the wheel sensors should change the vehicle speed register. If there is no corresponding indication of a sudden change in location from non-SPS sensors, a sudden change in the SPS-derived location estimate may indicate that the SPS signal is abnormal and questionable, and necessary corrective steps may be required.

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

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

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

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

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

[0087] Table 1 shows, as an example, various credit levels and associated descriptions that may be generated based on a comparison of SPS-derived location estimates with non-SPS-derived location information. Other credit levels may be used if desired, and additional credit levels may be included that take different actions in response to the comparison.

[0088] [Table 1]

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

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

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

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

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

[0094] Figure 6 shows an exemplary environment 600 in which UE200 may receive one or more anomalous SPS signals under various scenarios and provide location information to UE114, including non-SPS derived location estimates, the source of the location estimate, and the confidence level of the location estimate. For example, SV183 may send an anomalous SPS signal 680 to UE200. The anomalous SPS signal 680 may be anomalous in one or more ways. For example, signal 680 may be a spoofed signal that is generated in a format associated with SV183 but is inaccurate, for example, has inaccurate timing, which may result in an inaccurate determination of the range from UE200 to SV183. As another example, signal 680 may be a spoofed signal that has a format associated with another SV, for example, another SV in the same constellation (i.e., constellation 180) that includes SV183, or another SV in a different constellation, for example, constellation 190. In this case, the pseudorange determined for signal 680 may correspond to the range from UE200 to SV183, but UE200 will use this range as the range from UE200 to the expected location (e.g., indicated by ephemeris data) of SV191. In either of these scenarios, i.e., inaccurate information in the signal in the format of SV183 or simulation of another SV format, if UE200 does not recognize signal 680 as anomalous and therefore does not take appropriate action, for example, if it determines a non-SPS derived location estimate and provides it to the UE along with an indication of the source of the location estimate, UE200 may calculate an inaccurate location for UE200. An anomalous SPS signal 680 has a carrier frequency, which may be a frequency often used by the UE to determine location using the SPS signal, such as the L1 frequency of the GPS system (1575.42 MHz). The SV183 may also send one or more non-abnormal SPS signals, such as a non-abnormal SPS signal 683, in particular if an abnormal SPS signal 680 is sent due to an operational error of the SV183.The non-abnormal SPS signal 683 may have a different carrier frequency than the abnormal SPS signal 680.

[0095] Another example of UE200 receiving an abnormal SPS signal is that UE200 may receive one or more abnormal SPS signals 615, 625 from satellite signal emulators 610, 620, respectively. Satellite signal emulators 610, 620 may be SPS signal simulators configured to generate and transmit signals that mimic SPS signals. Abnormal SPS signals 615, 625 can therefore emulate signals from SVs such as SV191, 192, respectively (for example, they may have a format corresponding to the SV, e.g., a pseudo-random code). When received by UE200, abnormal SPS signals 615, 625 may have much higher power than non-abnormal SPS signals 691, 692 from SV191, 192, which may cause UE200 to lock onto abnormal SPS signals 615, 625 (instead of non-abnormal SPS signals 691, 692 actually transmitted by SV191, 192).

[0096] As discussed, UE200 may help identify an anomaly signal by using one or more other entities within the environment 600, for example, by determining the compatibility or incompatibility of the anomaly signal with other information. For example, UE200 may further use non-SPS information, such as cached location information, non-SPS sensor information, the locations of other UEs, or a combination thereof, to determine the reliability of a received SPS signal. For example, UE200 may determine that a time derived from an SPS signal does not fit with a time determined from a local oscillator or other local source. UE200 may, for example, determine a non-SPS derived location estimate from non-SPS information, which can be compared to an SPS derived location estimate to generate a confidence level. In another example, UE200 may compare all changes within a location with non-SPS sensor information, such as an indication of acceleration, which should correspond to changes within the location. In yet another example, UE200 may be configured to use signaling 630 (e.g., radar signals, sonar signals, and / or lidar signals) to determine the distance to UE114. UE200 may use this distance information and the location of UE114 provided to UE200 by UE114 to help determine the compatibility of one or more SPS signals with UE200's approximate location. UE200 may be configured to determine UE200's approximate location using visual information (e.g., rays 642 reflected from landmark 640). UE200 may, for example, use camera 218 to capture one or more images of landmark 640, identify landmark 640, find the location of landmark 640 in a landmark and location lookup table (or by querying another entity, such as server 400, for this information), and use the location of landmark 640 as UE200's approximate location.

[0097] If UE200 determines that the SPS derived location estimate has a low confidence level, for example, below a predetermined threshold, the UE may send location information to UE114 (and other UEs), including the non-SPS derived location estimate, the source of the location estimate (i.e., the non-SPS information), and the confidence level of the location estimate.

[0098] Figure 7 shows a signaling and process flow 700 in which UE200 receives one or more abnormal SPS signals and identifies the abnormal SPS signals as abnormal, which may correspond, for example, to blocks 510 and 512 in Figure 5. Flow 700 includes the steps shown, but is only an example, and steps may be added, rearranged, and / or deleted. Also, for the sake of understanding, a limited number of SPS signals are shown, but many other signals may be received by UE200, some of which will be discussed.

[0099] In stage 710, UE200 receives abnormal SPS signals 680 and 625 from SV183 and satellite signal emulator 620, respectively. Abnormal SPS signal 680 may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). As another example, signal 680 may have a format of another SV, i.e., an SV other than the source of signal 680, in this example SV183. Abnormal SPS signal 625 may have a format of an SPS signal corresponding to an SV, in this example SV191.

[0100] In stage 720, UE200 may perform a sky aperture test to determine whether a received signal is expected to be received and / or whether the received signal originated from an expected area in the sky. For example, anomaly detection module 284 may be configured to use an estimate of UE200's location to determine which SVs should be visible to UE200 and / or which SVs should not be visible. The estimate of UE200's location may be determined using one or more of various techniques, such as dead reckoning based on previously determined locations, or using known locations of serving base stations as estimated locations, or by another technique. Module 284 may be configured to determine expected visibility based on ephemeris data (showing current and future SV locations) relating to one or more constellations of SVs and the approximate location of UE200. The approximate location of UE200 may be based, for example, on known locations of receiving and transmitting base station signals, locations previously determined for UE, and time since location determination. The anomaly detection module 284 may be configured to identify a signal as an anomaly if the signal corresponds to an SV that should not be visible at the current approximate location of the UE200. Similarly or alternatively, the anomaly detection module 284 may be configured to determine the approximate direction from which the received signal originated (possibly corresponding to an area above). For example, module 284 may use sensor information from one or more of the sensors 213 regarding the azimuth of the UE200 and the angle of arrival of the received signal relative to the UE200 to determine the region relative to the location of the UE200 from which the received signal originated, i.e., the source region. The source region may be an angular range relative to the location of the UE200, e.g., multiple combinations of θ and φ in spherical coordinates. For example, the source region may be the source direction determined from the angle of arrival and azimuth of the UE200 and uncertainty around the source direction, such that the source region includes the source direction and any angle within a threshold angle of the source direction (e.g., 5°).Module 284 may be configured to determine whether the source region corresponds to (or includes) the expected location of an SV (e.g., an SV sending a signal having the same format as the received signal) corresponding to the received signal (e.g., based on ephemeris data). Module 284 may be configured to identify the received signal as an abnormal PS signal if the signal did not originate from the expected location of the SV, for example, if the expected location is not within the determined source region. In the exaggerated example shown in Figure 6, with respect to abnormal signal 615, module 284 may determine that the source region (which would include satellite signal emulator 610) does not include SV 191, and therefore module 284 may indicate abnormal signal 615 as abnormal.

[0101] In stage 730, non-anomalous SPS signals 682, 683, 691, and 692 are transmitted by SV182, 183, 191, and 192 and received by UE200. The indicated timing of the SPS signals is an example, and SPS signals may be received occasionally in addition to or instead of the indicated times. For example, non-anomalous SPS signal 691 may be transmitted by SV191 and received by UE200 before anomalous SPS signal 615 is transmitted by satellite signal emulator 620 and received by UE200. Non-anomalous SPS signal 683 may have a different carrier frequency than, for example, anomalous SPS signal 680. Non-anomalous SPS signal 691 may have the same carrier frequency as, for example, anomalous SPS signal 615. Non-anomalous SPS signals 682 and 692 may have the same carrier frequencies as, for example, non-anomalous SPS signals 683 and 691, respectively.

[0102] In step 740, the UE200 may perform position determination from non-SPS information, such as dead reckoning. For example, the processor 210 may use one or more motion sensor measurements to determine the amount (and possibly the direction) of the UE200's movement from a time to a previously determined position. The processor 210 may be configured to use the determined movement of the UE200 and one or more previous SPS signal measurements (e.g., one or more raw measurements such as time to arrival, and / or one or more processed measurements such as pseudorange) to determine one or more expected current SPS signal measurements. For example, the processor 210 may be configured to use the determined movement (e.g., magnitude and direction) and the previously determined location of the UE200 to determine the approximate current location of the UE200. The processor 210 may be configured to use the approximate current location of the UE200 and the time since the previously determined location was determined to determine an expected current SPS signal measurement. The processor 210 may be configured to trigger a conformance check in response to a difference exceeding a threshold amount between the expected current SPS signal measurement result and the corresponding actual current SPS signal measurement result. The threshold may take various forms (e.g., a percentage, a unit of measurement (e.g., power)) and may have various values.

[0103] In step 750, the UE200 may check the SPS signal conformity to determine whether the SPS signal is abnormal. The anomaly detection module 284 may be configured to determine whether one or more incongruities exist with respect to one or more SPS signals received by the UE200 against one or more expectations. SPS signal incongruities may be, for example, one or more other SPS signals from the same SV, and / or one or more other SPS signals from one or more other SVs (from the same constellation and / or one or more other constellations), and / or an unexpected signal measurement result determined based on the determined location approximation. For example, the anomaly detection module 284 may be configured to determine whether inconsistencies exist between SPS signals of different bands (carrier frequencies of different bands) and / or between SPS signals of different SVs (within a constellation and / or between constellations). Other examples of determining SPS signal incongruities are possible.

[0104] The anomaly detection module 284 may be configured to determine whether an SPS signal has received power that does not conform to one or more expectations. For example, module 284 may be configured to detect that the received power is considerably different from the expected amount from the power of another received signal. The anomaly detection module 284 may be configured to determine the actual power difference and the corresponding expected power difference between received signals and to determine whether the actual power difference differs from the expected power difference by a power threshold. The analyzed SPS signals may correspond to the same SV, have the same or different carrier frequencies, or the analyzed SPS signals may correspond to different SVs (in the same constellation or in different constellations). For example, in response to an anomaly signal 615 having a format corresponding to (similar to or identical to) the format of a signal sent by SV191, the anomaly detection module 284 may determine the actual power difference between the anomaly SPS signal 615 (from satellite signal emulator 620) and the non-anomaly SPS signal 691 (from SV191), thereby revealing that the anomaly signal 615 originated from SV191. The anomaly detection module 284 can further determine the expected power difference for multiple SPS signals received from SV191. For example, in the case of multiple SPS signals with the same carrier frequency, both received from SV191 within each other's threshold time periods, the anomaly detection module 284 can determine a very small expected power difference (e.g., retrieved from memory 211). The anomaly detection module 284 can determine whether the actual power difference between signals 615 and 691 differs from the expected power difference by a power threshold. For example, the expected power difference for signals from the same SV within a small time window may be zero (or nearly zero), and the power threshold may be small, for example, 1 dB. Since the abnormal signal 615 came from the satellite signal emulator 620, the power of signal 615 may be much higher than the power of signal 691, and therefore the power difference between signals 615 and 691 may be much higher than 1 dB, in which case the anomaly detection module 284 may identify signal 615 as abnormal (and / or signal 691 as abnormal).Comparing signals that appear to originate from the same SV and have the same carrier frequency over time can help detect the introduction of a spoofed SPS signal. As another example, the anomaly detection module 284 may determine the actual and expected power differences for signals 615 and 691, in which case signals 615 and 691 have different frequencies. In this case, the expected power difference may be small (e.g., zero or near zero), and the power threshold may be small, for example, 1 dB. Since a signal can only be spoofed for an SV (or constellation) over one carrier frequency (or at least fewer than all carrier frequencies), comparing signals that originate from the same SV but have different frequencies can help identify a spoofed signal. As yet another example, the anomaly detection module 284 may determine the actual and expected power differences between an anomaly SPS signal 615 and another SPS signal from a different SV, for example, one of SPS signals 682, 683, or 692. The anomaly detection module 284 may determine the expected power difference based on ephemeris data for appropriate SVs 182, 183, and 192 and the approximate location of the UE200. The power threshold may depend on the expected power difference or may be independent of the power difference, for example, as a percentage or a decibel. Since a signal can only be spoofed to one constellation (or at least less than all constellations), comparing signals from different SVs may help identify spoofed signals. For example, if the UE200 is indoors, all SPS signals will generally be received at very low power, if any, but a spoofed SPS signal may be received at much higher power than the actual SPS signal, and at power sufficient for location determination. SVs may be selected based on their visibility to the UE200 and / or their relative position above it. For example, the anomaly detection module 284 may select SPS signals to SVs that are sufficiently close to each other that the attenuation and / or multipath effects on the SPS signals from the SVs are likely to be similar, such that the expected power difference is close to zero.

[0105] Time-dependent and / or inter-SV (e.g., inter-constellation) received power mismatches can be particularly useful in identifying indoor SPS signal spoofing. For example, if the anomaly detection module 284 determines that the power of the SPS signal from an SV in one constellation, e.g., SV181 in constellation 180, decreases (e.g., due to UE200 moving from outdoors to indoors), but the received power from an SPS signal from another SV in another constellation, e.g., SV191 in constellation 190, increases or does not decrease at least as much as the power decrease of the SPS signal from SV181, the anomaly detection module 284 may identify the SPS signal from SV191 as anomaly. The anomaly detection module 284 may be configured to analyze SPS signals so that it can identify an SPS signal from one constellation as an anomaly if the received power of SPS signals from multiple SVs in multiple constellations does not decrease to approximately the same extent as the received power of multiple SPS signals from another constellation (or the power even increases to approximately the same extent as their power).

[0106] The anomaly detection module 284 may be configured to determine whether the SPS signal has a corresponding false range that does not conform to expectations. For example, the anomaly detection module 284 may be configured to determine that the false range for an SV based on a time-filtered location determination differs by more than a false range threshold from the false range determined using the SPS signal supposedly from that SV. The anomaly detection module 284 may use the filtering results for the location of the UE200 (e.g., Kalman filter results) to determine the expected false range for the expected location of the SV based on ephemeris data. The anomaly detection module 284 may determine the measured false range to the SV based on the measured SPS signal corresponding to the SV (e.g., having the format of the signal from the SV). The anomaly detection unit may identify the measured SPS signal as anomaly if the expected false range differs from the measured false range by more than a false range threshold, e.g., 1%, or 5%, or 10%. This may be useful in identifying a signal from an SV of one constellation as anomaly when the signal from one constellation is emulating a signal from another constellation. As another example, the anomaly detection module 284 may be configured to determine if a false range based on received (actual or spoofed) SPS signals supposedly from the same SV deviates from expectations by a false threshold. For example, the anomaly detection module 284 may identify a false range change of more than 1%, more than 5%, or more than 10% between false range determinations to indicate that the SPS signal corresponding to a later false range determination is anomaly. The value of the false range threshold may depend on the time between receptions of the SPS signals corresponding to the false ranges being compared (for example, the higher the false range threshold value (e.g., a higher percentage), the longer the time between receptions of the signals resulting in the false range being compared). As yet another example, the anomaly detection module 284 may be configured to determine whether a false range difference based on a measured SPS signal deviates from an expected amount by a threshold amount.Similar to the above discussion regarding power differences, the anomaly detection module 284 determines a measured pseudorange difference based on the measured signals, e.g., an anomaly signal 615 and a non-anomaly signal 692, and determines an expected pseudorange difference for the corresponding SV191, 192 (e.g., based on the approximate location of UE200 and ephemeris data for SV191, 192). If the difference between the measured pseudorange difference and the expected pseudorange difference differs by more than a threshold amount, e.g., 1%, 5%, or 10%, then at least one of the signals 615, 691 may be identified as an anomaly.

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

[0108] In stage 760, UE200 receives base station signals 765 from TRP300 (for example, one or more of base stations 120-123 or another base station). Base station signals 765 may include positioning signals (e.g., PRS) and / or communication signals.

[0109] In step 770, the base station signal 765 may be used by the anomaly detection module 284 to detect the compatibility between the base station signal 765 and one or more SPS signals. For example, the anomaly detection module 284 may be configured to use the base station signal 765 from TRP300 (for example, from BTS120 or BTS123 as shown in Figure 6) to determine the approximate location of UE200. The module 284 may be configured to use the approximate location to determine one or more expected received powers for one or more SPS signals and / or one or more expected pseudoranges for one or more SVs. The module 284 may be configured to determine whether the expected received powers and / or expected pseudoranges are compatible with the measured SPS signals or the expected received powers and / or pseudoranges determined from the measured SPS signals. For example, the module 284 may determine whether the measured received powers and expected received powers differ by a margin below a power threshold and / or whether the measured pseudoranges and expected pseudoranges differ by a margin below a pseudorange threshold.

[0110] In step 780, the UE200 may perform a conformity check using one or more other techniques, i.e., non-SPS techniques. For example, the anomaly detection module 284 may be configured to acquire location information based on radar technology, lidar technology, WAN technology, and / or Wi-Fi technology, since such information is available. The anomaly detection module 284 may be configured to use the location information acquired by one or more of these other techniques to determine whether the location of the UE200 by such information conforms to one or more SPS signals, for example, whether it conforms to the received power level and / or a determined pseudorange or location. For example, the anomaly detection module 284 may use signaling 630 between the UE200 and the UE114 (e.g., radar, lidar, sonar) to acquire an approximate location of the UE200 in order to determine an approximate location of the UE200 based on the location of the UE114 and the distance between the UE114 and the UE200. As another example, the anomaly detection module 284 may use visual information to determine the approximate location of the UE200, for example, by using visual information that recognizes landmark 640, and use the location of the landmark (for example, stored in memory 211, provided by landmark 640, or provided by another entity such as server 400) as the approximate location of the UE200. The anomaly detection module 284 may combine the techniques, for example, by using visual information of the landmark to identify the landmark and obtain the location of the landmark, using radar to determine the distance from the landmark, and then using this distance and landmark location to determine the approximate location of the UE200. As yet another example, the anomaly detection module 284 may use information about constraints on the location of the UE200 to help identify the SPS signal as an anomaly. For example, the anomaly detection module 284 may use map information and information about the characteristics of the UE200 and / or the vehicle in which the UE200 is located.Therefore, for example, the anomaly detection module 284 may compare the determined location and / or the pseudo-range corresponding to the SPS signal to identify an SPS signal as an anomaly, indicating that UE200 is in an impossible (or at least unlikely) location, such as on land, if UE200 is (or is in) a boat; in water, if UE200 is (or is in) a land vehicle, such as a car or truck; or significantly off the train track, if UE200 is (or is in) a train. As another example, UE200 may check one or more other UEs within its communication range to determine whether a location determined by another UE corresponds to an SPS signal measurement result obtained by UE200. For example, UE200 may request the location of another UE and / or receive a notification (e.g., a safety notification) pushed by another UE (e.g., UE114 shown in Figure 6) indicating the location of another UE. The UE200, for example, the anomaly detection module 284, may determine whether the received SPS signal is anomaly by determining whether the location indicated by notification or provided in response to a request matches the SPS signal measurement results (e.g., pseudo-range, location (e.g., time-filtered location)) obtained by the UE200 from the received SPS signal.

[0111] The anomaly detection module 284 may be configured to re-execute one or more conformity checks of stage 750 and / or to perform one or more of the conformity checks of stages 770 and 780. The anomaly detection module 284 may be configured to perform such checks for all signals based on one or more criteria, such as for every Nth SPS signal, or in response to the identification of an SPS signal as an anomaly in stage 750. The anomaly detection module 284 may be configured to perform different conformity checks and / or different amounts of conformity checks based on the sensitivity level of the UE200's location recognition. For example, the anomaly detection module 284 for smartphones may be configured not to perform conformity checks beyond the SPS signal check in stage 750 with respect to sports applications, while the anomaly detection module 284 for military aircraft may be configured to perform all conformity checks for which information is available. Conformity checks and re-checks of anomaly SPS signals may help confirm or negate the initial identification of an SPS signal as an anomaly. If an SPS signal is identified as abnormal, but subsequent compliance checks reveal that the SPS signal conforms to one or more other SPS signals and / or other forms of compliance checks, the SPS signal does not need to be re-identified as abnormal.

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

[0113] Figure 8 shows the signaling and process flow 800 in which UE200 receives an SPS signal, determines whether the SPS signal is abnormal, and sends location information, including the location estimate, the source of the location estimate, and, in some implementations, the confidence level of the location estimate, to other UEs. Flow 800 includes the steps shown, but is only an example, and steps may be added, rearranged, and / or deleted. Also, for the sake of understanding, a limited number of SPS signals are shown, but many other signals may be received by UE200, some of which will be discussed.

[0114] In stage 810, a non-abnormal SPS signal is sent by SV181, 182, and 183 and received by UE200.

[0115] In step 815, UE200 may receive an anomalous SPS signal from the satellite signal emulator 620. The anomalous SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time, in addition to or instead of the times shown. For example, a non-anomalous SPS signal may be sent by SV and received by UE200 after the anomalous SPS signal has been sent by the satellite signal emulator 620 and received by UE200. The anomalous SPS signal may have the same or different carrier frequencies as some or all of the non-anomalous SPS signals.

[0116] In step 820, the UE200 may determine an SPS-based location estimate using the SPS signal received from step 810 and any abnormal SPS signal received in step 815. The processor 210 may be configured to determine an SPS-derived estimated location for the UE200 using SPS signal measurement results, such as time of arrival, and / or one or more processing measurement results, such as pseudorange.

[0117] In step 830, UE200 receives a wireless message from one or more other UE114, for example via the transceiver 240 shown in Figure 2, which includes the location estimate of each transmitting UE, the source of the location estimate (for example, whether the location estimate is derived from an SPS signal or a non-SPS signal), and the confidence level of the location estimate. The wireless message may be a V2X or other type of message used for ADAS, such as a CAM, DENM, or BSM. UE200 may further receive a message broadcast by a traffic control server which may indicate whether an abnormal SPS signal is being reported within the area of ​​UE200.

[0118] In stage 832, the UE200 can collect data input from non-SPS-based sensors, such as IMU sensors, cameras, and wireless transceivers. Data input may include, for example, data related to acceleration, direction, speed, wheel rotation count, radar data, LiDAR data, and image information. Naturally, it should be understood that sensor input data is not necessarily collected at a single specific moment, but can be collected continuously over time as data becomes available.

[0119] In step 834, UE200 collects its cached location data, for example, one or more previous location estimates stored by UE200. The location data may include the source of the location estimate (for example, whether the location estimate was derived from an SPS signal or a non-SPS signal) and the confidence level of the location estimate.

[0120] In step 840, UE200 may determine a non-SPS derived location estimate using, for example, non-SPS information, such as cached location information, sensor data, and location information received from other UEs, as discussed with reference to Figure 5. For example, processor 210 may be further configured to determine the amount (and possibly direction) of movement of UE200 from the time of the cached location estimate, using one or more sensor measurement results, for example, using dead reckoning. If reliable, processor 210 may be further configured to assist in determining the location estimate using location information from other UEs, for example, ranging information to other UEs derived from wireless ranging techniques such as radar techniques, lidar techniques, or round-trip time measurements. Processor 210 may be configured to determine the confidence level of the determined location estimate, assisting in positioning by, for example, giving more weight to reliable information than unreliable information, using the confidence level associated with the cached location information and the location information from other UEs.

[0121] In step 850, UE200 determines whether the received SPS signal is reliable, for example, as discussed in Figures 5 and 7. For example, UE200 may determine the confidence level of the SPS derived location estimate. For example, the confidence level of the SPS derived location estimate may be determined as discussed in Figures 5, 6, and 7. The processor 210 may be configured to determine whether the SPS derived location estimate is reliable using the movement of UE200 determined from sensors, cached location inputs, locations of other UEs, or a combination thereof. For example, local time for UE200, derived from a local oscillator or BTS via wireless communication, may be compared, for example, with SPS time derived from the SPS signal. In another example, the SPS derived location estimate may be compared with cached location information or locations of other UEs. In yet another example, for example, a change in the position of UE200 based on the difference between the SPS derived location estimate and a previous location estimate from cached location information may be compared with sensor information such as acceleration data and orientation data. In another example, an SPS derived location estimate may be compared to a non-SPS derived location estimate. The processor 210 may be configured to determine a confidence level for the SPS derived location estimate based on the expected magnitude of the variant relative to its source. The processor 210 may also be configured to determine the reliability of the SPS signal based on information received from other UEs, for example, in step 830, such as the source of the location information, the confidence level of the location estimate, or a warning that the received SPS signal has been determined to be abnormal.The processor 210 may be configured to generate an initial confidence level at the update rate of the SPS location fix, and if that confidence level is low to derive additional location information (e.g., based on other UE location information and sensor information) in step 840, such as a second non-SPS derived location estimate, it may update (i.e., increase or decrease) the confidence level by, for example, using a single filter that derives a single non-SPS derived location estimate from all available non-SPS location information in step 840, which is compared to the SPS derived location estimate, or by using multiple filters that derive a first non-SPS derived location estimate in step 840 (e.g., based on cached location information as well as velocity and orientation information).

[0122] In step 860, the UE200 selects either an SPS derived location or a non-SPS derived location based on the reliability of the SPS signal. For example, the processor 210 may be configured to check the confidence level against a predetermined threshold. If the confidence level is below the threshold (indicating low confidence), the processor 210 may select a non-SPS derived location estimation; if the confidence level is above the threshold (indicating high confidence), the processor 210 may select an SPS derived location estimation.

[0123] In step 870, UE200 sends a wireless message to one or more other UE114, for example via the transceiver 240 shown in Figure 2, which includes the selected location estimate and the source of the location estimate (e.g., whether the location estimate is derived from an SPS signal or from non-SPS information, and in some implementations, whether it is of a type non-SPS information). In some implementations, the confidence level of the location estimate may also be sent. The wireless message may be a C-V2X or other type of message used for ADAS, such as CAM, DENM, or BSM. If UE200 selects a non-SPS derived location estimate, UE200 may further send a message to the traffic control server indicating that an abnormal SPS signal has been detected by UE200, which may include location information, for example, a non-SPS derived location estimate, the source of the location estimate, and the confidence level of the location estimate.

[0124] Figure 9 shows a wireless communication system 900 in which UE902 and 904 (shown as vehicles) transmit wireless location information messages to provide location estimation for the UEs, as well as a source of location information to one or more other entities. As shown in Figure 9, UE902 may wirelessly communicate with other entities, such as UE904 (shown as another vehicle) via communication link 903, UE910 (shown as an RSU) via communication link 907, and UE912 (held by a pedestrian 914) via communication link 913. UE904 is also shown as communicating wirelessly with UE910 via communication link 915. The communication may be direct communication using any preferred signaling, such as the PC5 interface, e.g., DSRC or C-V2X, or indirect communication via any wireless communication using infrastructure such as the RSU910, or using the Uu interface, mmWave, or (as shown in Figure 1, for example) a base station.

[0125] Figure 9 shows that UE902 sends location information message 920 to UE904, which can also be sent to UE910 and UE912 using, for example, broadcast, multicast, or unicast transmission. Furthermore, various UE904, 910, and 912 can provide similar location information messages to and to each other, as shown by location information message 921, which can be sent, for example, from UE904 to UE910 and also to UE902 via communication link 903. Location information messages 920 and 921 may be the same as the messages sent in steps 830 and 870 of Figure 8, for example. Location information message 921 may have the same format as location information message 920, but the content of location information messages 920 and 921 is specific to UE902 and 904, respectively.

[0126] In some implementations, the location information message 920 may be divided into two or more parts, including a first part 922 containing a location estimate determined for the UE 902, and a second part 924 containing the source of location information used to derive the location estimate. The location information message 920 may further include a third part 926 providing the confidence level determined for the location estimate. The location information message 920 may further include a fourth part 928 indicating that the received SPS signal has been determined to be abnormal (for example, that the UE 902 is under an SPS spoofing attack).

[0127] For example, different parts 922, 924, 926, and 928 of location information message 920 may be different information elements (IEs). IE924 may indicate within IE922 the source of location information used to generate the location estimate. The source of location information within IE924 may simply identify whether the source of location information is SPS or non-SPS. In other implementations, the source of location information within IE924 may identify the type of information used to generate the location estimate, such as whether the source is an SPS signal, a cellular signal, a local area network (LAN) signal, a sidelink signal (e.g., from another UE or RSU), time difference of arrival (TDOA), angle of arrival (AoA), and received signal strength (RSS). In some implementations, IE924 may include a multi-bit value used to identify the type of source of location information from an enumerated list of sources. Table 2 shows, as an example, application layer IEs that may provide a location source using the enumerated values ​​that can be included within the source IE924 of location information message 920. Of course, other sources may be enumerated as appropriate.

[0128] [Table 2]

[0129] In some implementations, the source IE924 within the location information message 920 may indicate the source of the location information using a binary variable, such as SPS or non-SPS. Table 3 shows, as an example, application layer IEs that may provide a location source, such as SPS or non-SPS, that may be included within the source IE924 of the location information message 920.

[0130] [Table 3]

[0131] The receiving UE904 (or either UE910 or 912) may use the source of location information in the location information message 920 to assist in its own location determination and in determining whether the received SPS signal may be abnormal. For example, if UE904 receives location information messages from multiple sources, and some of the location information messages indicate that the source of location information is an SPS signal, and other location information messages indicate that the source of location information is an SPS signal, UE904 may choose to use location estimations from other UEs originating from the SPS signal to assist in location determination. UE904 can, for example, use location estimates from other UEs originating from the SPS signal as a filter to verify whether the SPS signal received by UE904 could be anomalous (as discussed in Figure 5, for example). If the SPS signal is determined to be reliable, the UE904 can determine the location estimate using the received SPS signal and, if applicable, non-SPS information (location estimates from other UEs originating from the SPS signal, and, for example, range to other UEs in side-link positioning, or previously cached location and sensor information, such as dead reckoning). Furthermore, if multiple other UEs report that their source of location information is non-SPS based information, UE904 can be triggered to check the validity of its own SPS-derived location estimate or to reduce its credibility level. Thus, sources of location information from other UEs can be used for autonomous / cooperative driving use cases.

[0132] In addition, the location information message 920 may include an IE that includes a confidence level for the location estimate, which can be used to determine the location estimate and to determine the confidence level of the location estimate, as discussed above, for example, in Figure 5.

[0133] In addition, if UE902 determines that it is under an SPS spoofing attack (or, in some cases, is receiving an unreliable anomalous SPS signal), UE902 may include an IE928 in the location information message 920 warning that the received SPS signal is unreliable. An indication of an unreliable SPS signal (e.g., due to an SPS spoofing attack or other anomalous signal) may be provided to another UE, e.g., UE904, which may use this warning to reduce the chances of misidentifying UE902 as an "illegal" vehicle and may trigger its own verification of the SPS signal. An indication of an unreliable SPS signal may be provided explicitly by UE902 as a separate IE928, e.g., as a single bit, or implicitly when the location source IE924 indicates that the source of the location information is non-SPS.

[0134] As shown in Figure 9, a traffic server 930 may exist and may be connected to the RSU 910, for example, via a communication link 932 which may be a backhaul link 911, or via a wireless connection via a network 130 as shown in Figure 1. The traffic server 930 may be a spectrum tampering agency that can be used to collect reports, for example, V2X tampering reports, to detect unauthorized use of permitted bandwidth. However, latency is an issue when relying on a central agency for identifying RF problems. For example, in safety applications and advanced applications such as coordinated operation, delays in obtaining information about RF problems or tampering are undesirable. Therefore, in some implementations, the RSU 910 (or other side-link UE) may be used to identify tampering behavior of signals.

[0135] In one implementation, the RSU910 may be used to detect unreliable SPS signals based on location information messages provided by one or more UEs. For example, the RSU910 may receive location information messages 920 and 921 from UEs 902 and 904, and from the contents of one or more of these messages, it may determine whether an SPS signal within the RSU910's area is unreliable. The RSU910 may report the presence of an unreliable SPS signal to a competent authority, such as the indicated traffic server 930 and / or UEs 902 and 904.

[0136] Figure 10 shows a signaling and process flow 1000 illustrating the detection of unreliable SPS signals by UE1002 based on location information messages received from UE1006-1, 1006-2, and 1006-3 (sometimes collectively referred to as UE1006). UE1002 may be an RSU, sometimes referred to herein as RSU1002, but may also be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. UE1006 may be, for example, the same as UE200, and may individually determine whether a received SPS signal is abnormal and send location information to other UEs and RSU1002. Flow 1000 includes the steps shown, but is only an example, and steps may be added, rearranged, and / or deleted. Also, for the sake of understanding, a limited number of UE1006 and SPS signals are shown, but many other signals and UEs may be included.

[0137] In stage 1010, non-abnormal SPS signals are sent by SV181, 182, and 183 and received by UE1006.

[0138] In step 1015, UE1006 may receive an anomalous SPS signal from the satellite signal emulator 620. The anomalous SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time, in addition to or instead of the times shown. For example, a non-anomalous SPS signal may be sent by SV and received by UE1006 after the anomalous SPS signal has been sent by the satellite signal emulator 620 and received by UE1006. The anomalous SPS signal may have the same or different carrier frequencies as some or all of the non-anomalous SPS signals.

[0139] In step 1020, UE 1006 determines whether the received SPS signal is abnormal and may choose to use the SPS signal or a non-SPS signal for location estimation, for example, as described in steps 820-860 of Figure 8 or elsewhere in this specification.

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

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

[0142] RSU1002 may, for example, determine from one or more location information messages 1030 whether the SPS in the area surrounding RSU1002 (for example, the area within the wireless range from UE1006 to RSU1002) is reliable or unreliable. For example, in some implementations, RSU1002 may determine from the source of information in the location information messages 1030 whether the location estimate was derived from an SPS signal or a non-SPS signal. If a large number of vehicles are generating location estimates based on non-SPS signals, RSU1002 may determine that the SPS signals in the area surrounding RSU1002 are unreliable. For example, if the number of UEs deriving location estimates based on non-SPS signals (within a given time period) exceeds a given threshold, the SPS signals may be determined to be unreliable. The number of UEs may be, for example, the proportion of UEs that send location information messages. For example, if the proportion of UEs that derive location estimates (within a given time period) based on non-SPS signals is higher than a given threshold, the SPS signal may be determined to be unreliable.

[0143] In some implementations, RSU1002 may determine whether SPS signals within an area are reliable or unreliable based on the confidence level of the location estimates. For example, if some location estimates in location information message 1030 are derived from SPS signals, but the confidence level for those location estimates is low, RSU1002 may determine that SPS signals within an area are unreliable. A low confidence level threshold may be used, and if the number of location estimates with low confidence levels exceeds the threshold, the SPS signals may be identified as unreliable. Different thresholds or weights may be used for different levels of confidence. RSU1002 may determine the reliability of SPS signals within an area based on both the source of information and the confidence level. For example, if some location estimates are derived from non-SPS signals, and some of the remaining location estimates derived from SPS signals are assigned low confidence levels, RSU1002 may determine that SPS signals within that area are unreliable.

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

[0145] In step 1050, if it is determined in step 1040 that the SPS signal is unreliable, the RSU 1002 may be configured to send a wireless message indicating that the SPS signal in the area is unreliable to one or more UEs 1006 (e.g., UEs within wireless range), for example via the transceiver 240 shown in Figure 2. For example, the message provided to the UEs 1006 may be transmitted via Wave Service Advertisement (WSA) or other channels and may implicitly or explicitly suggest the use of non-SPS signals to derive location estimation.

[0146] In step 1055, when it is determined that the SPS signal within the area of ​​the RSU 1002's wireless range is unreliable, the RSU 1002 may be configured to send a message to the traffic server 1004 indicating that the SPS signal is unreliable, for example, via the transceiver 240 or transceiver 250 shown in Figure 2.

[0147] Referring to Figure 9, in other implementations, the RSU910 may be used to identify unreliable or anomalous SPS signals based on location information messages provided by one or more UEs. For example, in some implementations where UEs 902 and 904 do not determine whether an SPS signal is anomalous but provide SPS-based location estimation to the RSU910, some or all of the UEs within the RSU910's range may receive an anomalous SPS signal without realizing that it is anomalous. This can cause the UEs to send inaccurate location estimations based on the anomalous SPS signal. Therefore, the RSU910 may, for example, determine whether an SPS signal within the RSU's area is unreliable based at least partially on the location estimation. For example, the RSU910 may compare the distance between location estimations for a pair of UEs with the range between the UE pair provided by the UEs in location information messages 920 and 921. The discrepancy between the estimated location and range of the UEs can be used to identify unreliable SPS signals within the area. RSU910 may report the presence of unreliable SPS signals to a competent authority, such as the indicated traffic servers 930 and / or UE902 and 904.

[0148] Figure 11 shows a signaling and process flow 1100 illustrating the identification of unreliable or anomalous SPS signals by UE1102 based on location information messages received from UE1106-1, 1106-2, and 1106-3 (sometimes collectively referred to as UE1106). UE1102 may be an RSU, sometimes referred to herein as RSU1102, but may be another V-UE, a sidelink UE, a pedestrian-held UE, or a smart device. UE1106 may be, for example, the same as UE200, but may not be able to individually determine whether a received SPS signal is anomalous. Flow 1100 includes the steps shown, but is only an example, and steps may be added, rearranged, and / or deleted. Also, for the sake of understanding, a limited number of UE1106 and SPS signals are shown, but many other signals and UEs may be included.

[0149] In stage 1110, a non-abnormal SPS signal is sent by SV181, 182, and 183 and received by UE1106.

[0150] In step 1115, UE1106 may receive an anomalous SPS signal from the satellite signal emulator 620. The anomalous SPS signal may have a format corresponding to, for example, SV183, but may be inaccurate in some respects (e.g., timing, power, etc.). The timing and number of SPS signals shown are examples, and additional or different SPS signals may be received from time to time, in addition to or instead of the times shown. For example, a non-anomalous SPS signal may be sent by SV and received by UE1106 after the anomalous SPS signal has been sent by the satellite signal emulator 620 and received by UE1106. The anomalous SPS signal may have the same or different carrier frequencies as some or all of the non-anomalous SPS signals.

[0151] In step 1120, UE 1106 may determine a location estimate based on the received SPS signal, including the spoofed SPS signal from step 1115. UE 1106 may further determine the range to other nearby UEs using well-known wireless ranging techniques (WAN technology, and / or Wi-Fi technology), such as radar sensors, LiDAR sensors, and / or round-trip time measurements.

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

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

[0154] RSU1102 may, for example, determine whether the SPS signal in an area surrounding RSU1102 (e.g., the area within the wireless range from UE1106 to RSU1102) is reliable or unreliable, at least in part, based on the location estimation received in the message in step 1130. As discussed herein, for example, RSU1102 may check the suitability of the location estimation for each UE over time. If the location estimation for a UE is changed to, for example, not suit the expected movement of the UE (e.g., a vehicle moving laterally or backward on a highway), RSU1102 may determine that the SPS signal is unreliable. Additionally or alternatively, RSU1102 may check the suitability of the estimated location for the range provided in message 1130. For example, RSU1102 may determine the distance between pairs of UEs based on its location estimation provided in message 1130 and compare that distance to the range between UEs provided in message 1130. The RSU1102 can determine whether the SPS signal is reliable based on a comparison of the distance with the range to one or more pairs of UEs.

[0155] In step 1150, if it has been determined in step 1140 that the SPS signal is unreliable, the RSU 1102 may be configured to send a wireless message indicating that the SPS signal in the area is unreliable to one or more UEs 1106 (e.g., UEs within wireless range) via, for example, a transceiver 240 as shown in Figure 2. For example, the message provided to the UEs 1106 may be transmitted via Wave Service Advertisement (WSA) or other channels and may implicitly or explicitly notify a vehicle to check location information fidelity or recommend changing the source of location information used to determine location estimation.

[0156] In step 1155, when it is determined that the SPS signal within the area of ​​the RSU1102's wireless range is unreliable, the RSU1102 may be configured to send a message to the traffic server 1104 indicating that the SPS signal is unreliable, for example, via the transceiver 240 or transceiver 250 shown in Figure 2.

[0157] Therefore, the detection of abnormal SPS signals may be offloaded to an RSU, which may have access to a more diverse range of information sources than any single UE, for example, from various UEs. Moreover, compared to using a remote traffic server, using an RSU to identify abnormal SPS signals may reduce latency, and the RSU may provide useful information to the traffic server.

[0158] Figure 12 is a flowchart 1200 showing how a user equipment (UE) 200 or other UE transmits location information.

[0159] In block 1202, the UE receives an SPS signal (Satellite Positioning System signal), for example, as discussed in steps 710 and 730 of Figures 5 and 7, and steps 810 and 815 of Figure 8. The SPS signal may be a non-anomalous signal or an anomalous signal, such as one generated by a spoofed signal source. Means for receiving the SPS signal (Satellite Positioning System signal) may be, for example, an SPS receiver 217 and one or more processors 210 that have dedicated hardware or implement executable code or software instructions in memory 211, such as a location determination module 282 in the UE 200.

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

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

[0162] In block 1208, the UE sends a wireless message to one or more UEs that includes a location estimate for the UE and an indication of the source of the information used to generate the location estimate, as discussed, for example, in blocks 512, 514, and 516 of Figure 5, steps 860 and 870 of Figure 8, and Figure 9. In one implementation, the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device, as discussed, for example, in Figure 1 and in Figures 8 and 9. In one implementation, the wireless message may be one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message. For example, the wireless message may be one of a Common Awareness Message (CAM), a Distributed Notice Message (DENM), or a Basic Safety Message (BSM). In one implementation, for example, the indication of the source of the information may be provided within an information element in the location information message sent to one or more UEs. In one example, the information source indication may be a variable indicating whether the information source is an SPS signal or non-SPS information, as shown in Table 3. In another example, the information source indication may identify the type of information source, as shown in Table 2. The information source indication may be a variable identifying the type of information source, as shown in Table 2. The type of information source can be identified from an enumerated list of information source types. For example, an enumerated list of information source types may include one or more of the following, or a combination thereof: SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning.Means for sending a message to one or more UEs, including a location estimate for the UE and an indication of the source of the information used to generate the location estimate, may be one or more processors 210 that have dedicated hardware, such as the transceiver 240 shown in Figure 2, or implement executable code or software instructions in memory 211, such as a location information reporting module 286 in the UE 200.

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

[0164] In one implementation, the UE may further determine a first location estimate based on the SPS signal, for example, as discussed in step 502 of Figure 5 and step 850 of Figure 8, and may determine a second location estimate based on a non-SPS signal, for example, as discussed in step 516 of Figure 5 and step 840 of Figure 8. The UE may compare the first location estimate with the second location estimate, for example, as discussed in steps 510 and 512 of Figure 5 and steps 850 and 860 of Figure 8. For example, the reliability of a received SPS signal may be determined based on a comparison of the first location estimate with the second location estimate, for example, as discussed in steps 510 and 512 of Figure 5 and steps 850 and 860 of Figure 8. Means for determining the first location estimate based on the SPS signal may be, for example, one or more processors 210 that have dedicated hardware or implement executable code or software instructions in memory 211, such as a location determination module 282 in the UE 200. Means for determining a second location estimate based on non-SPS information may be, for example, one or more processors 210 that have dedicated hardware or implement executable code or software instructions in memory 211, such as a location determination module 282 in UE200. Means for comparing a first location estimate with a second location estimate may be, for example, one or more processors 210 that have dedicated hardware or implement executable code or software instructions in memory 211, such as an anomaly detection module 284 in UE200.

[0165] For example, in one implementation, the UE may determine which location estimate to be sent to other UEs by choosing to send a first location estimate to other UEs if the received SPS signal is determined to be reliable, and by choosing to send a second location estimate to other UEs if the received SPS signal is determined to be unreliable, as discussed, for example, in steps 510 and 512 of Figure 5 and steps 850 and 860 of Figure 8. The means for choosing to send a first location estimate to other UEs if the received SPS signal is determined to be reliable, and by choosing to send a second location estimate to other UEs if the received SPS signal is determined to be unreliable, may be, for example, dedicated hardware or one or more processors 210 that implement executable code or software instructions in memory 211, such as an anomaly detection module 284 and a location information reporting module 286 within the UE 200.

[0166] Figure 13 is a flowchart 1300 showing how a user equipment (UE) 200 or other UE transmits location information.

[0167] In block 1302, the UE receives a wireless message from the second UE that includes a location estimate for the second UE and an indication of the source of information used to generate the location estimate, as discussed, for example, in block 504 of Figure 5, steps 830 and 870 of Figure 8, and in Figure 9, where the source of information includes SPS (Satellite Positioning System) signals or non-SPS information. In one implementation, the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device, as discussed, for example, in Figure 1 and in Figures 8 and 9. In one implementation, the wireless message may be one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message. For example, the message may be one of a Common Awareness Message (CAM), a Distributed Notice Message (DENM), or a Basic Safety Message (BSM). In one implementation, for example, the indication of the source of information may be provided within an information element in a location information message sent to one or more UEs. In one example, the information source indication may be a variable indicating whether the information source is an SPS signal or non-SPS information, as shown in Table 3. In another example, the information source indication may identify the type of information source, as shown in Table 2. The information source indication may be a variable identifying the type of information source, as shown in Table 2. The type of information source can be identified from an enumerated list of information source types. For example, an enumerated list of information source types may include one or more of the following, or a combination thereof: SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning.

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

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

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

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

[0172] Throughout this specification, references to “one example,” “a certain example,” “some examples,” or “exemplary implementations” mean that any particular feature, structure, or characteristic described in relation to the feature and / or example may be included in at least one feature and / or example of the claimed subject matter. Therefore, occurrences of the phrases “in one example,” “a certain example,” “in a particular example,” or “in some implementations” or other similar phrases in various places throughout this specification do not necessarily all refer to the same feature, example, and / or limitation. Furthermore, any particular feature, structure, or characteristic may be combined in one or more examples and / or features.

[0173] Some portions of the detailed descriptions contained herein are presented with respect to algorithms or symbolic representations of operations for binary digital signals stored in the memory of a particular apparatus or dedicated computing device or platform. In the context of this particular specification, the term "particular apparatus, etc." includes a general-purpose computer after it has been programmed to perform a particular operation in accordance with instructions from program software. The description or symbolic representation of an algorithm is an example of a technique used by a person skilled in the art of signal processing or related technology to communicate the essence of their work to others skilled in the art. In this specification, an algorithm is also generally considered to be a self-consistent set of operations or similar signal operations that produce a desired result. In this context, operations or operations involve the physical handling of a physical quantity. Typically, but not always, such quantities may take the form of electrical or magnetic signals that can be stored, transferred, combined, compared, or otherwise manipulated. It has been found that it is sometimes convenient to refer to such signals as bits, data, values, elements, symbols, characters, terms, digits, numerical values, etc., mainly because they are common usages. However, it should be understood that all of these terms or similar terms should be associated with the appropriate physical quantities and are merely convenient designations. Unless otherwise stated, as will be apparent from the description herein, any use of terms such as “process,” “calculate,” “calculate,” and “determine” throughout this specification should be understood to refer to actions or processes of specific devices, such as a dedicated computer, dedicated computing device, or similar dedicated electronic computing device. Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of manipulating or converting signals, typically represented as physical electronic or magnetic quantities within the memory, registers, or other information storage devices, transmitting devices, or display devices of the dedicated computer or similar dedicated electronic computing device.

[0174] The detailed description above includes numerous specific details to give a complete understanding of the claimed subject matter. However, it will be understood by those skilled in the art that the claimed subject matter can be put into practice without these specific details. In other cases, methods and apparatus that would be known to those skilled in the art are not described in detail so as not to obscure the claimed subject matter.

[0175] As used herein, the terms “and,” “or,” and “and / or” may have a variety of meanings, which are also expected to depend at least partially on the context in which such terms are used. Typically, when “or” is used to relate an enumeration such as A, B, or C, it is intended to mean A, B, and C in an inclusive sense, as well as A, B, or C in an exclusive sense. In addition, as used herein, the term “one or more” may be used to describe any single feature, structure, or characteristic, or to describe multiple features, structures, or characteristics, or any other combination of features, structures, or characteristics. However, it should be noted that these are merely illustrative examples, and the claimed subject matter is not limited to these examples.

[0176] While exemplary features and those currently considered to be exemplary are illustrated and described, it will be understood by those skilled in the art that various other modifications may be made and equivalents may be substituted without departing from the claimed subject matter. In addition, many modifications may be made to adapt specific situations to the teachings of the claimed subject matter without departing from the central concepts described herein.

[0177] Implementation examples are described in the following numbered clauses.

[0178] Clause 1. A method performed by a user device (UE) to transmit location information,

[0179] The steps include receiving SPS (Satellite Positioning System) signals,

[0180] Steps to determine whether the received SPS signal is reliable,

[0181] A step of determining a location estimate to be transmitted to another UE, wherein if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information.

[0182] A step of sending a wireless message to one or more UEs that includes a location estimate for the UE and an indication of the source of the information used to generate the location estimate. Methods that include...

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

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

[0185] Clause 4. The indication of the source of information shall be in any way of Clauses 1 through 3 that identifies the type of source of information.

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

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

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

[0189] Clause 8. Any method of Clauses 1 through 7, further comprising the step of providing an indication in a wireless message sent to one or more UEs that the SPS signal is reliable.

[0190] Article 9.

[0191] A step of determining a first location estimate based on the SPS signal,

[0192] The steps include determining a second location estimate based on non-SPS information,

[0193] The steps include comparing the first location estimate with the second location estimate and It further includes,

[0194] The reliability of the received SPS signal is determined based on a comparison of the first location estimate with the second location estimate. Any method described in clauses 1 through 8.

[0195] Clause 10. The method of Clause 9, wherein the step of determining a location estimate to be transmitted to another UE includes the step of choosing to transmit a first location estimate to the other UE if the received SPS signal is determined to be reliable, and choosing to transmit a second location estimate to the other UE if the received SPS signal is determined to be unreliable.

[0196] Clause 11. Non-SPS information includes at least one of the following for the UE: cached location information, sensor information, received location information for other Us, received cellular signals, received local area network (LAN) signals, or a combination thereof, in any way according to Clauses 1 through 10.

[0197] Clause 12. The UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device, in any way according to Clauses 1 through 11.

[0198] Clause 13. The wireless message is one of the following: a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message, in any way described in Clauses 1 through 12.

[0199] Clause 14. The wireless message is one of the following: Common Awareness Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM), in any manner described in Clauses 1 through 13.

[0200] Clause 15. User equipment (UE) configured to transmit location information,

[0201] A wireless transceiver configured to communicate wirelessly with entities in a wireless network,

[0202] An SPS receiver configured to receive SPS (Satellite Positioning System) signals,

[0203] At least one memory,

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

[0205] Receiving SPS signals via an SPS receiver,

[0206] To determine whether the received SPS signal is reliable,

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

[0208] To transmit a wireless message to one or more UEs via at least one wireless transceiver, including a location estimate for the UE and an indication of the source of the information used to generate the location estimate. User equipment (UE) configured to perform the following actions.

[0209] Clause 16. A UE under Clause 15 in which the source of the information is provided within an information element in a location information message sent to one or more UEs.

[0210] Clause 17. A UE of either Clause 15 or 16 whose indication of the source of information includes a variable indicating whether the source of information is an SPS signal or non-SPS information.

[0211] Clause 18. The display of the source of information identifies the type of source of information, as per any of Clauses 15 through 17.

[0212] Clause 19. The UE of Clause 18, wherein the display of the source of information includes a variable that identifies the type of the source of information.

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

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

[0215] Clause 22. Any UE of any of Clauses 15 to 21, further configured to provide an indication in a wireless message sent to one or more UEs whether the SPS signal is reliable or not.

[0216] Clause 23. At least one processor,

[0217] Based on the SPS signal, determine the first location estimate,

[0218] Based on non-SPS information, a second location estimate is determined,

[0219] Comparing the first location estimate with the second location estimate It is further configured to do the following:

[0220] The reliability of the received SPS signal is determined based on a comparison of the first location estimate with the second location estimate, according to any of the UEs in clauses 15 to 22.

[0221] Clause 24. A UE of Clause 23, configured to determine which location estimates to be transmitted to other UEs, by having at least one processor configured to choose to transmit a first location estimate to other UEs if the received SPS signal is determined to be reliable, and to choose to transmit a second location estimate to other UEs if the received SPS signal is determined to be unreliable.

[0222] Clause 25. Any UE in any of Clauses 15 to 24 whose non-SPS information includes at least one of the following for the UE: cached location information for the UE, sensor information, received location information for another UE, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0223] Clause 26. A UE in any of Clauses 15 through 25, where the UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0224] Clause 27. A UE under any of Clauses 15 through 26, where the wireless message is one of the following: a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0225] Clause 28. A UE under any of Clauses 15 through 27, where the wireless message is one of the following: Common Knowledge Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

[0226] Clause 29. User equipment (UE) configured to transmit location information,

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

[0228] A means for determining whether the received SPS signal is reliable,

[0229] A means for determining a location estimate to be transmitted to another UE, wherein if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information.

[0230] Means for transmitting a wireless message to one or more UEs, including a location estimate for the UE and an indication of the source of the information used to generate the location estimate. User equipment (UE), including user devices.

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

[0232] Clause 31. A UE of either Clause 29 or 30 in which the indication of the source of information includes a variable indicating whether the source of information is an SPS signal or non-SPS information.

[0233] Clause 32. An UE in any of Clauses 29 through 31 whose indication of the source of information identifies the type of source of information.

[0234] Clause 33. The UE of Clause 32, wherein the display of the source of information includes a variable that identifies the type of the source of information.

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

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

[0237] Clause 36. Any UE of any of Clauses 29 to 35, further including means for providing an indication of whether an SPS signal is reliable in a wireless message transmitted to one or more UEs.

[0238] Article 37.

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

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

[0241] A means for comparing the first location estimate with the second location estimate, It further includes,

[0242] The reliability of the received SPS signal is determined based on a comparison of the first location estimate with the second location estimate, according to any of the UEs in clauses 29 to 35.

[0243] Clause 38. A UE of Clause 37, comprising means for determining which location estimates to be transmitted to other UEs, including means for choosing to transmit a first location estimate to other UEs if the received SPS signal is determined to be reliable, and for choosing to transmit a second location estimate to other UEs if the received SPS signal is determined to be unreliable.

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

[0245] Clause 40. A UE under any of Clauses 29 to 39, where the UE is one of the following: a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0246] Clause 41. A UE under any of Clauses 29 through 40, where the wireless message is one of the following: a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0247] Clause 42. A UE under any of Clauses 29 through 41, where the wireless message is one of the following: Common Knowledge Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

[0248] Clause 43. A non-temporary storage medium on which program code is stored, wherein the program code is operable to configure at least one processor in a user device (UE) to transmit location information,

[0249] Receiving SPS (Satellite Positioning System) signals,

[0250] To determine whether the received SPS signal is reliable,

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

[0252] To send a wireless message to one or more UEs that includes a location estimate for the UE and an indication of the source of the information used to generate the location estimate. A non-temporary storage medium containing instructions for performing a certain action.

[0253] Clause 44. A non-temporary storage medium under Clause 43, in which the source of the information is provided within an information element in a location information message sent to one or more UEs.

[0254] Clause 45. A non-temporary storage medium of either Clause 43 or 44, wherein the indication of the source of information includes a variable indicating whether the source of information is an SPS signal or non-SPS information.

[0255] Clause 46. A non-temporary storage medium under any of Clauses 43 to 45, in which the indication of the source of information identifies the type of the source of information.

[0256] Clause 47. A non-temporary storage medium under Clause 46, wherein the indication of the source of information includes a variable that identifies the type of the source of information.

[0257] Clause 48. A non-temporary storage medium under Clause 46, where the type of information source is identified from an enumerated list of types of information sources.

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

[0259] Clause 50. A non-temporary storage medium of any of Clauses 43 to 49, further comprising instructions for providing in a wireless message transmitted to one or more UEs an indication of whether an SPS signal is reliable.

[0260] Article 51. Program code,

[0261] Based on the SPS signal, determine the first location estimate,

[0262] Based on non-SPS information, a second location estimate is determined,

[0263] Comparing the first location estimate with the second location estimate Further including instructions for carrying out,

[0264] The reliability of the received SPS signal is determined based on a comparison of the first location estimate with the second location estimate. A non-temporary storage medium as defined in any of clauses 43 to 50.

[0265] Clause 52. A non-temporary storage medium of Clause 51, which includes instructions for determining a location estimate to be transmitted to another UE, such that if the received SPS signal is determined to be reliable, a first location estimate is to be transmitted to the other UE, and if the received SPS signal is determined to be unreliable, a second location estimate is to be transmitted to the other UE.

[0266] Clause 53. A non-temporary storage medium under any of Clauses 43 to 52, in which non-SPS information includes at least one of the following for a UE: cached location, sensor information, received location information relating to other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0267] Clause 54. A non-temporary storage medium of any of Clauses 43 to 53, where the UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0268] Clause 55. A non-transient storage medium under any of Clauses 43 to 54, in which the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0269] Clause 56. A non-transient storage medium under any of Clauses 43 to 55, in which the wireless message is one of the following: Commonly Known Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

[0270] Clause 57. A method performed by a first user device (UE) to transmit location information,

[0271] A step of receiving a wireless message from a second UE, which includes a location estimation for a second UE and an indication of the source of information used to generate the location estimation, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information.

[0272] A step of determining a location estimate for the first UE, based at least in part on displaying the source of information used to generate the location estimate received from the second UE, and Methods that include...

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

[0274] The steps include receiving the SPS signal,

[0275] A step of determining whether the received SPS signal is reliable, based at least in part on the display of the source of information used to generate the location estimate received from the second UE,

[0276] If the received SPS signal is determined to be reliable, the received SPS signal is used to determine the location estimate for the first UE; if the received SPS signal is determined to be unreliable, the non-SPS information is used. The methods of Article 57, including those of the same name.

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

[0278] Clause 60. In any way of Clauses 57 to 59, the indication of the source of the information is provided within an information element in a location information message received from the second UE.

[0279] Clause 61. A method according to either clause 57 or 60, wherein the indication of the source of information includes a variable indicating whether the source of information is an SPS signal or non-SPS information.

[0280] Clause 62. A method according to any one of clauses 57 to 61, wherein the indication of the source of information identifies the type of the source of information.

[0281] Clause 63. A method according to clause 62, wherein the indication of the source of information includes a variable identifying the type of the source of information.

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

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

[0284] Clause 66. A method according to any one of clauses 57 to 65, further comprising receiving, within a wireless message received from a second UE, an indication of whether an SPS signal received by the second UE is reliable, and wherein the step of determining a location estimate for the first UE is further at least partially based on the indication of whether the SPS signal received by the second UE is reliable.

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

[0286] Clause 68. Wireless messages are one of the following: vehicle-to-everything (V2X) messages, peer-to-peer messages, or infrastructure-based messages, in any manner described in Clauses 57 through 67.

[0287] Clause 69. The wireless message is one of the following: Common Knowledge Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM), in any manner described in Clauses 57 to 68.

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

[0289] A wireless transceiver configured to communicate wirelessly with entities in a wireless network,

[0290] An SPS receiver configured to receive SPS (Satellite Positioning System) signals,

[0291] At least one memory,

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

[0293] Receiving a wireless message from a second UE via at least one wireless transceiver, which includes a location estimate for the second UE and an indication of the source of information used to generate the location estimate, wherein the source of information includes SPS signals or non-SPS information,

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

[0295] Clause 71. At least one processor,

[0296] receive an SPS signal via an SPS receiver,

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

[0298] if the received SPS signal is determined to be reliable, use the received SPS signal, and if the received SPS signal is determined to be unreliable, use non-SPS information to determine a location estimate for the first UE, configured to perform so as to determine a location estimate for the first UE based at least in part on an indication of the source of information, the first UE of Clause 70

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

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

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

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

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

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

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

[0306] Clause 79. The first UE of any of Clauses 70 to 78, further configured to make at least one processor receive in a wireless message received from the second UE an indication of whether the SPS signal received by the second UE is reliable, and a location estimation for the first UE is further determined at least in part on the indication of whether the SPS signal received by the second UE is reliable.

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

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

[0309] Clause 82. The first UE under any of Clauses 70 to 81, where the wireless message is one of the following: Common Knowledge Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

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

[0311] A means for receiving a wireless message from a second UE, the means including a location estimation for a second UE and an indication of the source of information used to generate the location estimation, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information.

[0312] Means for determining a location estimate for the first UE, based at least in part on an indication of the source of information used to generate a location estimate received from the second UE, and The first user equipment (UE), including the above.

[0313] Article 84. Means for determining a location estimate for a first UE, based at least in part on the indication of the source of the information,

[0314] A means for receiving SPS signals,

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

[0316] If the received SPS signal is determined to be reliable, the received SPS signal is used to determine the location estimate for the first UE, and if the received SPS signal is determined to be unreliable, the non-SPS information is used. The first UE of Article 83, including.

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

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

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

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

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

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

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

[0324] Clause 92. A means for receiving an indication in a wireless message received from the second UE whether an SPS signal received by the second UE is reliable, further comprising means for receiving such an indication, the location estimation for the first UE being determined at least in part on the indication of reliability of the SPS signal received by the second UE, as specified in any of Clauses 83 to 91.

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

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

[0327] Clause 95. The first UE under any of Clauses 83 to 94, where the wireless message is one of the following: Common Knowledge Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

[0328] Article 96. A non-temporary storage medium on which program code is stored, wherein the program code is operable to constitute at least one processor in a first user device (UE) configured to transmit location information,

[0329] Receiving a wireless message from the second UE including a location estimate for the second UE and an indication of the source of information used to generate the location estimate, wherein the source of information includes SPS (Satellite Positioning System) signals or non-SPS information,

[0330] Determining a location estimate for the first UE based at least in part on an indication of the source of information used to generate the location estimate received from the second UE, and A non-temporary storage medium containing instructions for performing a certain action.

[0331] Article 97. An order for determining a location estimate for a first UE, based at least in part on the indication of the source of the information,

[0332] Receiving the SPS signal,

[0333] To determine whether the received SPS signal is reliable, at least in part, based on the display of the source of information used to generate the location estimate received from the second UE,

[0334] If the received SPS signal is determined to be reliable, the received SPS signal is used to determine the location estimate for the first UE; if the received SPS signal is determined to be unreliable, non-SPS information is used. A non-temporary storage medium under Article 96, including instructions for performing the following actions.

[0335] Clause 98. A non-temporary storage medium under Clause 97, in which non-SPS information includes at least one of the following for a UE: cached location information, sensor information, received location information relating to other UEs, received cellular signals, received local area network (LAN) signals, or a combination thereof.

[0336] Clause 99. A non-temporary storage medium under any of Clauses 96 to 98, in which the indication of the source of the information is provided within an information element in a location information message received from a second UE.

[0337] Clause 100. A non-temporary storage medium of any of Clauses 96 to 99, wherein the indication of the source of information includes a variable indicating whether the source of information is an SPS signal or non-SPS information.

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

[0339] Clause 102. A non-temporary storage medium of Clause 101, wherein the display of the source of information includes a variable that identifies the type of the source of information.

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

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

[0342] Clause 105. A non-temporary storage medium of any of Clauses 96 to 104, further comprising instructions for making a program code receive in a wireless message received from a second UE an indication of whether the SPS signal received by the second UE is reliable, and a location estimation for the first UE is further determined on at least in part to the indication of whether the SPS signal received by the second UE is reliable.

[0343] Clause 106. A non-temporary storage medium in any of Clauses 96 to 105, wherein the first UE is one of a vehicle-based UE, a roadside unit, a pedestrian-held UE, or a smart device.

[0344] Clause 107. A non-transient storage medium under any of Clauses 96 to 106, in which the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, or an infrastructure-based message.

[0345] Clause 108. A non-transient storage medium under any of Clauses 96 to 107, in which the wireless message is one of the following: Commonly Known Message (CAM), Distributed Notice Message (DENM), or Basic Safety Message (BSM).

[0346] Therefore, it is intended that the claimed subject matter is not limited to the specific examples disclosed, but may also include all embodiments and their equivalents that fall within the scope of the attached claims. [Explanation of Symbols]

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

Claims

1. A method performed by a user device (UE) to transmit location information, The steps include receiving SPS (Satellite Positioning System) signals, The steps include determining whether the received SPS signal is reliable, A step of determining a location estimate to be transmitted to another UE, wherein if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information. A step of sending a wireless message to one or more UEs, which includes the location estimation for the UE and the display of the source of the information used to generate the location estimation. Includes, The representation of the source of the information includes a variable that identifies the type of the source of the information, the type of the source of the information is identified from an enumerated list of types of the source of the information, and the enumerated list of types of the source of the information includes one or more of the following, or a combination thereof: SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning. The step of determining whether the received SPS signal is reliable is: If the time determined from the SPS signal does not match the time indicated by the sensor information included in the non-SPS information, or if the change in the position of the UE indicated by the SPS signal is not shown by the display from the sensor information, A method comprising the step of determining that the received SPS signal is unreliable.

2. The method according to claim 1, wherein the representation of the source of the information is provided within an information element in a location information message transmitted to the one or more UEs.

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

4. The steps include determining a first location estimate based on the aforementioned SPS signal, The steps include determining a second location estimate based on the aforementioned non-SPS information, The steps include comparing the first location estimation with the second location estimation and It further includes, Whether the received SPS signal is reliable is determined based on the comparison of the first location estimation with the second location estimation. The method according to claim 1.

5. The step of determining the location estimate to be transmitted to the other UE includes the step of selecting that the first location estimate be transmitted to the other UE if the received SPS signal is determined to be reliable, and selecting that the second location estimate be transmitted to the other UE if the received SPS signal is determined to be unreliable. The method according to claim 4.

6. The method according to claim 1, wherein the non-SPS information includes at least one of the following: cached locations for the UE, received location information relating to the other UE, received cellular signals, received local area network (LAN) signals, or a combination thereof.

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

8. The method according to claim 1, wherein the wireless message is one of a vehicle-to-everything (V2X) message, a peer-to-peer message, an infrastructure-based message, a common-aware message (CAM), a distributed notification message (DENM), or a basic safety message (BSM).

9. A method performed by a first user device (UE) to transmit location information, A step of receiving a wireless message from a second UE, the wireless message comprising a location estimate for a second UE and an indication of the source of information used to generate the location estimate, wherein the source of information comprises SPS (Satellite Positioning System) signals or non-SPS information, the indication of the source of information comprises a variable identifying the type of the source of information, the type of the source of information is identified from an enumerated list of types of the source of information, and the enumerated list of types of the source of information comprises one or more of, or a combination thereof, SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning. The steps include receiving the SPS signal, A step of determining whether the received SPS signal is reliable, based at least in part on the representation of the source of the information used to generate the location estimate received from the second UE, If the received SPS signal is determined to be reliable, the step of determining a location estimate for the first UE is to use the received SPS signal, and if the received SPS signal is determined to be unreliable, the step of using non-SPS information. A step of receiving in the wireless message received from the second UE an indication of whether the SPS signal received by the second UE is reliable, wherein the step of determining the location estimate for the first UE is further based at least in part on the indication of whether the SPS signal received by the second UE is reliable, If the indication of whether the SPS signal received by the second UE is reliable indicates that the SPS signal received by the second UE is unreliable, the method includes the step of generating a flag indicating that the second UE has been spoofed or that it is transmitting unreliable location information. method.

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

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

12. User equipment (UE) configured to transmit location information, A means for receiving SPS (Satellite Positioning System) signals, Means for determining whether the received SPS signal is reliable, Means for determining a location estimate to be transmitted to another UE, wherein if the received SPS signal is determined to be reliable, the source of information used to determine the location estimate is the SPS signal, and if the received SPS signal is determined to be unreliable, the source of information used to determine the location estimate is non-SPS information. Means for transmitting a wireless message to one or more UEs, including the location estimation for the UE and the display of the source of the information used to generate the location estimation, The representation of the source of the information includes a variable that identifies the type of the source of the information, the type of the source of the information is identified from an enumerated list of types of the source of the information, and the enumerated list of types of the source of the information includes one or more of the following, or a combination thereof: SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning. The means for determining whether the received SPS signal is reliable is: If the time determined from the SPS signal does not match the time indicated by the sensor information included in the non-SPS information, or if the change in the position of the UE indicated by the SPS signal is not shown by the display from the sensor information, The means for determining that the received SPS signal is unreliable includes User equipment (UE).

13. A first user device (UE) configured to transmit location information, Means for receiving a wireless message from a second UE, the message comprising a location estimate for a second UE and an indication of the source of information used to generate the location estimate, wherein the source of information comprises SPS (Satellite Positioning System) signals or non-SPS information, the indication of the source of information comprises a variable identifying the type of the source of information, the type of the source of information is identified from an enumerated list of types of the source of information, and the enumerated list of types of the source of information comprises one or more of, or a combination thereof, SPS signals, cellular signals, local area network (LAN) signals, sidelink signals, time difference of arrival (TDOA) positioning, angle of arrival (AoA) positioning, and received signal strength (RSS) positioning, A means for receiving SPS signals, Means for determining whether the received SPS signal is reliable, based at least in part on the representation of the source of the information used to generate the location estimate received from the second UE, If the received SPS signal is determined to be reliable, means for determining a location estimate for the first UE using the received SPS signal, and if the received SPS signal is determined to be unreliable, means for determining a location estimate for the first UE using non-SPS information. Means for receiving an indication in the wireless message received from the second UE whether the SPS signal received by the second UE is reliable, wherein the step of determining the location estimate for the first UE is further based at least in part on the indication of whether the SPS signal received by the second UE is reliable, Includes, If the indication of whether the SPS signal received by the second UE is reliable indicates that the SPS signal received by the second UE is unreliable, the first user equipment (UE) includes means for generating a flag indicating that the second UE has been spoofed or is transmitting unreliable location information.

14. A non-temporary computer-readable storage medium that stores instructions on the non-temporary computer-readable storage medium, wherein, when the instructions are executed by one or more processors of a user device (UE), the UE is made to perform the method according to any one of claims 1 to 8. Non-temporary computer-readable storage medium.

15. A non-temporary computer-readable storage medium that stores instructions on the non-temporary computer-readable storage medium, wherein when the instructions are executed by one or more processors of a user device (UE), the UE is made to perform the method according to any one of claims 9 to 11. Non-temporary computer-readable storage medium.

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