A method for determining one or more beams, a method for using one or more pre-selected beams, a related wireless device, and a related network node

Abstract

Disclosed is a method, performed by a first network device, in a wireless communications network comprising the first network device and a second network device, for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, the method comprising: performing a beam identification process comprising the first network device sending and / or receiving a set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position.

Description

[0001] A METHOD FOR DETERMINING ONE OR MORE BEAMS, A METHOD FOR USING ONE OR MORE PRE-SELECTED BEAMS, A RELATED WIRELESS DEVICE, AND A RELATED NETWORK NODE

[0002] The present disclosure pertains to the field of wireless communications. The present disclosure relates to a method for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, a method for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position, a related wireless device, and a related network node.

[0003] BACKGROUND

[0004] Communication networks may comprise one or more localized communication networks. These localized communication networks of a wider communication network may be referred to as subnetworks. Subnetworks comprising one or more wireless devices and one or more network nodes, such as access points and / or base-stations, may be configured to communicate, e.g., using 5G, 6G, etc. For example, the one or more wireless devices of the subnetwork may be non-stationary, such as moving relative to the network node. These movements may for example be repetitive and consistent, such as along a given path and / or axis.

[0005] It may be important for communication between a wireless device and network node in a subnetwork to be performed accurately and / or efficiently. However, due to the movement of the wireless device relative to the network node, this may be difficult to achieve, even despite this movement in some cases being repetitive and consistent.

[0006] SUMMARY

[0007] Accordingly, there is a need for devices and methods for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, and for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position, which may mitigate, alleviate or address the shortcomings existing and may enable improved robustness, reliability and quality of wireless uplink and / or downlink communication between the first network device and the second network device. Disclosed is a method, performed by a first network device, in a wireless communications network comprising the first network device and a second network device, for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, the method comprising: performing a beam identification process comprising the first network device sending and / or receiving a set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position; selecting, based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position; and storing a first identifier of the selected first beam, wherein the first identifier is associated with the first relative position.

[0008] Disclosed is a method performed by a first network device in a wireless communications network comprising the first network device and a second network device, for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position, the method comprising retrieving a first identifier of a first pre-selected beam of the first network device, wherein the first identifier is associated with a first relative positions; and while the first and the second network device have the first relative position, using the first pre-selected beam in communications between the first and the second network device.

[0009] In one or more example methods, the first network device is a wireless device and the second network device is a network node, or the first network device is a network node and the second network device is a wireless device.

[0010] Disclosed is a wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods disclosed herein.

[0011] Disclosed is a network node, such as a radio network node, base station, a gNodeB (gNB), or an access point, comprising memory circuitry, processor circuitry, and a wireless interface, wherein the network node is configured to perform any of the methods disclosed herein.

[0012] It is an advantage of the present disclosure that the beams selected using the disclosed method may enable extreme reliability and reduced latency of communications between the first and second network device. For example, the beams selected using the disclosed method may enable latencies below 0.1ms and / or a packet error rate of equal to or less than 1x1 O'9. It may be appreciated that using a fine (such as narrow) beam may enable improved reliability, however it may be extremely time consuming for such a fine beam to be determined by the wireless device and / or network node. As in the disclosed methods, the relative positions of the first network device and / or the second network device may be pre-determined, one or more beams enabling low latency and extreme high reliability communications between the first and second network device may be efficiently selected.

[0013] The reliable and robust communication within a subnetwork as enabled by the disclosed methods may be comparable to that achieved by wired subnetworks. The disclosed methods may enable subnetworks that previously may have communicated using physical wires to communicate wirelessly while maintaining the robustness, reliability, and quality of communications between the first and second network devices, thereby allowing for these wires to be removed from a subnetwork. This may enable a reduction in weight of one or more network devices of a subnetwork, thereby enabling improved agility, efficiency, and maneuverability of the movement of network devices of the subnetwork.

[0014] Further, the removal of wires while maintaining the robustness, reliability, and / or quality of communications may allow for an improved versatility of movements performed by devices of the subnetwork, as risk of wires becoming caught / tangled in the network device is reduced.

[0015] The removal of wires while maintaining the robustness, reliability, and / or quality of communications may advantageously allow for an improved flexibility in the location and / or positioning of the first network device and / or the second network device in the subnetwork. For example, this improved flexibility and / or versatility enabled by the disclosed methods may enable an increased number of network devices in a subnetwork without increasing a wired infrastructure. This may advantageously enable an improved number of communications and / or operations to be carried out by the subnetwork, such as by the network devices of the subnetwork.

[0016] Further, the removal of wires while maintaining the robustness, reliability, and / or quality of communications may enable a reduction in the number of parts, such as wire connectors, wire management parts, etc. associated with a product (such as the robot arm 15 of Fig. 2C) of the subnetwork, thereby enabling reduced the complexity and increasing flexibility of the manufacturing process of the product. Furthermore, it is advantage of the present disclosure that using the pre-selected beam in communications between the first and second network device may enable improved signal quality during between the first and second network device.

[0017] It may be appreciated that 5G Radio Access Technology, which is also known as New Radio (NR) access technology targets 3 main functionalities, namely, Massive Machine Type Communications (mMTC), enhanced Mobile Broadband (eMBB) and Ultra Reliable & Low Latency Communications (URLLC). 5G features have been specified in 3GPP to fulfil these targeted functionalities namely massive Multiple Input Multiple Output (MIMO), Ultra-Reliable and Low-Latency Communications (URLLLC), Reduced Complexity User Equipment, Coverage Enhancements, etc. There are discussions on technologies beyond 5G, such as 6G, that is expected to have significantly higher throughput, lower latency, and higher reliability by introducing new functionalities.

[0018] One of the functionalities being considered for such low latency and high reliability subnetworks is the use within a confined region or area, such as a warehouse or within an entity such as a robot or a car, where such subnetwork can perform some specific functions. Furthermore, existing wired connectivity in such confined areas or within entities may be replaced by wireless connectivity provided by a subnetwork. A wireless subnetwork, e.g., as enabled by the disclosed methods, replacing a wired network should provide the same or similar high reliability and low latency as exist in the wired network. It is an advantage of the present disclosure that it provides improved beam alignment in communication with a subnetwork, leading to improved wireless channel quality.

[0019] BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other features and advantages of the present disclosure will become readily apparent to those skilled in the art by the following detailed description of examples thereof with reference to the attached drawings, in which:

[0021] Fig. 1 is a diagram illustrating an example wireless communication system comprising an example network node and an example wireless device according to this disclosure, Figs. 2A-C are diagrams illustrating example subnetworks according to this disclosure, Fig. 3 is a diagram illustrating relative positions in an example subnetwork according to this disclosure,

[0022] Fig. 4A-C are diagrams illustrating beamforming in an example subnetwork according to this disclosure,

[0023] Fig. 5A-B is a flow-chart illustrating an example method, performed in a wireless device, for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have first relative position according to this disclosure,

[0024] Fig. 6A-B is a flow-chart illustrating an example method, performed in a network node of a wireless communication system, for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position according to this disclosure,

[0025] Fig. 7 is a block diagram illustrating an example wireless device according to this disclosure, Fig. 8 is a block diagram illustrating an example network node according to this disclosure. Fig. 9 is a signalling diagram illustrating an example communication for selecting the first beam between a wireless device and a network node according to this disclosure,

[0026] Fig. 10 is a signalling diagram illustrating an example communication for using the first preselected beam between a wireless device and a network node according to this disclosure, and Fig. 11 is a diagram illustrating the movement of a wireless device according to this disclosure.

[0027] DETAILED DESCRIPTION

[0028] Various examples and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the examples. They are not intended as an exhaustive description of the disclosure or as a limitation on the scope of the disclosure. In addition, an illustrated example needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular example is not necessarily limited to that example and can be practiced in any other examples even if not so illustrated, or if not so explicitly described.

[0029] The figures are schematic and simplified for clarity, and they merely show details which aid understanding the disclosure, while other details have been left out. Throughout, the same reference numerals are used for identical or corresponding parts.

[0030] The beam identification process may be seen as a process for selecting, such as identifying, one or more beams (e.g., first beam, second beam, third beam, etc) to be used in communications between the first and the second network device when the first and second network device have given relative position. The beam identification process can for example be seen as the initialisation stage communications between the first network device and the second network device. Fig. 1 is a diagram illustrating an example wireless communication system 1 comprising an example network node 400 and an example wireless device 300 according to this disclosure.

[0031] As discussed in detail herein, the present disclosure relates to a wireless communication system 1 comprising a cellular system, for example, a 3GPP wireless communication system. The wireless communication system 1 comprises a wireless device 300 and / or a network node 400. The wireless communication system 1 comprises a subnetwork 5. The subnetwork 5 comprises a first and a second network device, such as a wireless device 300 and a network node 400.

[0032] The wireless device 300 may be a user equipment, UE. The wireless device 300 may be configured to communicate with the network node 400 via a wireless link (or radio access link) 10. In some examples, the network node 400 and the wireless device 300 can be seen as a part of a lower layer.

[0033] The wireless communication system 1 comprises a server device 600. The server device 600 is for example configured to communicate with the network node 400 of the subnetwork 5 via a wireless link 12 (or radio access link), a wired link, and / or a combination wired and wireless links. The server device 600 can for example be seen as being outside of, such as not a part of, the subnetwork 5. In some examples, the server device 600 can be seen as a part of a higher layer, such as an application layer.

[0034] A network node disclosed herein for example refers to a radio access network (RAN) node operating in the radio access network, such as a base station, an evolved Node B, eNB, gNB in NR. In some examples, the network node may be seen as an Access Point (AP), such as an access point from between a higher layer, such as an application layer, and a lower layer. In some examples, the network node may be seen as a wireless device with high capability, such as capability to perform relay function. In one or more examples, the RAN node is a functional unit which may be distributed in several physical units.

[0035] The wireless communication system 1 , such as subnetwork 5, described herein may comprise one or more wireless devices 300, and / or one or more network nodes 400, such as one or more of: a base station, an eNB, a gNB and / or an access point. The wireless communication system 1 may for example comprises one or more server devices 600. A wireless device may refer to a mobile device and / or a user equipment, UE. The extreme reliability and latency of a subnetwork according to this specification make it suitable for replacing a wired network with wires connecting a network of devices with data communicating requirements. In such subnetwork, the subnetwork links, for example be UMTS air interfaces with downlink, uplink, and sidelink communications, may replace individual wires and reduce weight, space, and complexity of the system. Reducing wiring would also make manufacturing and installation of a system or individual wireless devices or electronic units easier. Figs. 2A-C are diagrams illustrating example subnetworks according to this disclosure.

[0036] Fig. 2A illustrates a car 13 with a subnetwork providing the data communication infrastructure between wireless devices 300 such as lidars 302, cameras 304, sensors 306, actuators 308, entertainment devices 310, etc. outside and inside the car and a network node 400A. Different wireless devices may have different communicating requirements and the wireless links may be uplink connections 22, downlink connections 24, and sidelink connections 26. The wireless links would significantly reduce wiring and hence the weight of the car 13 as well as the complexity in assembling. In some examples, the car 13 may comprise a first network device being the car brake and a second network device being the brake pedal.

[0037] Fig. 2B illustrates an immersive virtual reality (VR) entertainment system 14 with wireless devices 300 such as a headset 318, movement sensors 314 in haptic gloves 316, a fan 312 that blows wind at intensity depending on the scenario connected to multiple APs 400B, 400C to form a subnetwork.

[0038] Fig. 2C illustrates a subnetwork within a single machine, here a robot arm 15, where sensors 320, pneumatics 322 and joints 324, 326 for movements and an AP 400D form a subnetwork, which can significantly reduce wiring, which makes the robot arm 15 smaller and lighter, thereby enabling increased agility and manoeuvrability of the robot arm 15.

[0039] Fig. 3 is a diagram illustrating relative positions in the example subnetwork of Fig 2C according to this disclosure. Fig. 3 illustrates the robotic arm 15 with an equipment 16 (here a grabber) controlled by wireless device 300 via network node 400. As the robotic arm 15 moves, so does the equipment 16 and the wireless device 300, and five different positions 62...66 are illustrated in Fig. 3. In the illustrated example, the network node 400 is fixed but could also be changing its position in other examples. Each position 62...66 represents a different relative position of the wireless device 300 and the network node 400.

[0040] For many subnetworks, the relative position between the wireless device 300 and the network node 400 are highly predictable and / or repetitive. Each relative position of the network devices (here used to commonly designate the wireless device 300 and the network node 400) may be specified by the spatiotemporal coordinates of each network device such as (x, y, z, 0, <p, t); where x, y, z denotes the position of the network device in cartesian coordinates, 0, cp denotes the orientation of the network device in spherical coordinates, and t denotes a time associated with the operation of the robot arm. In typical real-life examples, there will often be several constraints in the relative movements of the network devices so that instead of two sets of spatiotemporal coordinates, the relative position may be specified by one or more much simpler variables or simply by a given time or step in a planned operation or movement. In the example of the robotic arm 15 in Fig. 3, the positions 62...66 and thereby the relative positions may be specified by the angles of the joints in the robot arc, and / or by a time or a specific step in a program executing a series of pre-planned movements of the network devices in the subnetwork.

[0041] In certain conditions / positions, the equipment 16 may need to perform a complex task in which the wireless device 300 must be able to receive a specific command / instruction. Hence, the wireless device 300 needs to be able to communicate with the network node 300 to obtain the control information and providing the report at certain predicted times and / or locations. Several factors may influence, such as impact, the communication between the first and second network device when having a different relative position:

[0042] • the line-of-sight (LOS) direction between the wireless device 300 and the network node 400 may be different;

[0043] • the spatial orientation of the wireless device 300 and / or the network node 400 may be different;

[0044] • The Line of Sight (LOS) may be blocked by a part of the robotic arm itself - predictable blockage.

[0045] The network node 400 and the wireless device 300 may for example be able to communicate with low reliability and high latency using broad beams, signal repetition and / or well-known beam sweeping techniques. However, for safe and efficient operation of the equipment 16, the network node 400 and the wireless device 300 needs to communicate with high reliability and low latency. The signal quality of a transmission between the network node 400 and the wireless device 300 can be improved by using beams to concentrate the transmission power to a receiver and at the same time reduces interferences to other devices. An improvement in signal quality will directly improve the reliability of the transmission. The connectivity reliability between the network node 400 and the wireless device 300 can be improved when the network node 400 and the wireless device 300 deploy a narrow-beam direction. However, a narrow beam is harder to manage when the network devices are not fixed since the risk of “missing” the receiver is higher compared to a wide beam. Furthermore, determining a suitable narrow beam takes longer time than determining a suitable wide beam as there are more narrow beam candidates than wide beam candidates between the two network devices.

[0046] A beam as disclosed herein can be seen as a beam obtained by beamforming, such as by constructing the antenna radio pattern (e.g., of the first and / or second network device) pointing towards a given direction. The shape and direction of the beamforming, such as of a beam obtained via beamforming, can be implemented by a mapping function known as a beamforming function and / or spatial filter. For example, an antenna array may comprise multiple antenna elements where each signal path to an antenna array may have its own weight function. The set of weight functions for antenna elements to form a specific beamforming direction is known as a mapping function and / or spatial filter.

[0047] In the present specification, high reliability and low latency communication between the network node 400 and the wireless device 300 are provided by determining one or more pre-selected beams to be used by the network node 400 and / or the wireless device 300 for one or more of (such as each) pre-determined relative position of the network node 400 and the wireless device 300. Thereby, high reliability and low latency narrow-beam communication can be provided at any pre-determined relative position(s) by using the pre-selected beams associated with that relative position. The beam may for example be seen as a spatial filter.

[0048] Since the pre-determined relative position(s), such as the first, second, third... relative position, are each associated with one or more pre-selected beams to be used at a pre-determined relative position(s) of the network node 400 and the wireless device 300 may also be referred to as a beam reference point or a beam reference constellation, and may be seen as a predetermined ‘point’ in space, time, operation execution, operation course etc. related to the subnetwork comprising the network node 400 and the wireless device 300. In a further example, the relative position may designate a time or a specific step in a pre-planned (such as preconfigured and / or pre-determined) movement of an object not directly related to the subnetwork, but which blocks the LOS between the network node 400 and the wireless device 300.

[0049] In some examples, the relative position (e.g., beam reference point) of the wireless device 300 and the network node 400 may for example be indicated by a specific time. The said time can be relative to a position. For example, in the robotic arm 15 in Fig. 3, the start time is when the robotic arm is not extended in position 66, and when the robotic arm starts to move up, the timer starts and the positions 62...66 can be defined at time t1 , t2, t3, t4, etc, after the robotic arm starts moving. These timers can for example be based on the task of the robotic arm at a specific time. For example, the robotic arm 15 may be configured to weld a component within 1 second, in which within that second, the arm made a few specific moves at specific times. The robotic arm 15 may for example weld the bottom of the component between time to to t1 , then the side between time t1 to t2, etc. So, within these time windows, one or more very fine beams can be determined, e.g., using method 100, for use during these time windows. In this embodiment, the wireless device 300 and network node 400 can start the timer and use the predetermined associated beams at the specific time. In other words, it may be needed for the application layer to provide the relative position, e.g., in terms of spatial co-ordinates. The relative position may in some examples be indicated by time. However, the application layer may still need to indicate the start of the timer.

[0050] In the example subnetwork in the car 13 of Fig 2A, the relative position of some of the wireless devices and the network nodes are usually more or less fixed, but may change upon, for example, opening of the car doors, etc. The time of the opening of a door may for example be determined (e.g., using one or more of lidars 302, cameras 304, sensors 306 of Fig. 2A). Information indicating the determined time of the opening of the door may then for example be provided (such as transmitted) to the first network device, the second network device and / or the server device, such as server device 600. In some examples, upon the time of the opening of a door of car 13 being determined, an identifier of one or more pre-selected beams and associated with one or more pre-determined relative positions between a wireless device in the door and a network node may be retrieved. For example, when a time associated with the opening of the car door is determined, the first network device may perform the method 200, such as the method 200 shown in Figs. 6A-B, for using one or more pre-selected beams in communications between the first and the second network device, e.g., associated with the car door of car 13, when the first and the second network device have a pre-determined relative position(s).

[0051] Fig. 4A-C are diagrams illustrating beamforming in the example subnetwork of Fig 2C according to this disclosure.

[0052] Figs. 4A-C each illustrate a robotic arm 15 comprising a wireless device 300, a network node 400, and an equipment 16 (e.g., a grabber). In Figs. 4A-C, the position of the robotic arm 15, such as the position of the wireless device 300, moves from a position 62, to a position 66. During the movement of the robotic arm 15 from position 62 to position 66, the robot arm moves along positions, 63, 64, and 65. The positions 62...66 can for example be seen as relative locations of the wireless device 300 and the network node 400. In some examples, the positions 62...66 can be seen as beam reference points, such as pre-determined beam reference points, such as reference points of a movement of the robotic arm 15 for which a beam may be selected (e.g., using beam sweeping).

[0053] The arrows between the wireless device 300 and the network node 400 indicate communications, such as transmissions of signals, between the wireless device 300 and the network node 400. In Figs. 4A-C, ellipses 70 indicate that communications are carried out using beamforming or spatial filtering, (e.g., signals are transmitted / received using a narrow or focused beam). Circles 72 indicate that communications are carried out without beamforming or spatial filtering, i.e. signals are transmitted / received using a wide or isotropic beam.

[0054] For example, the ellipses 70 may indicate communications, e.g., using one or more preselected beams, such as the first beam, second beam, etc. are being carried out by the wireless device 300, such as at the positions 62...66. In Fig. 4A, the circle 72 indicates that beamforming is not being performed at the network node 400. For example, in Fig. 4A, the network node 400 may not be capable of performing beamforming.

[0055] In Fig. 4B, ellipses 70 indicate that communications, e.g., using one or more pre-selected beams, such as the first beam, second beam, etc. are being carried out by the network node 400, such as when the wireless device 300 is having positions 62...66. In Fig. 4B, the circle 72 indicates that beamforming is not being performed at the wireless device 300. For example, in Fig. 4B, the wireless device 300 may not be capable of performing beamforming.

[0056] In Fig. 4C, ellipses 70 indicate that communications, e.g., using one or more pre-selected beams, such as the first beam, second beam, etc. is being carried out by the wireless device 300 and the network node 400, such as when the wireless device 300 is having positions 62...66.

[0057] Fig. 5 shows a flow diagram of an example method 100, performed by a first network device in a wireless communications network comprising the first network device and a second network device according to the disclosure. Example method 100 is for determining one or more beams to be used in communications between the first and the second network device when they have a first relative position. The first network device may be the network node or the wireless device disclosed herein, such as network node 400 or wireless device 300 of Fig. 1 , Fig. 2, Fig. 3, Figs. 4A-C, Fig. 7, Fig. 8, Fig. 9, Fig. 10, and Fig. 11. In one or more example methods, the first network device is a wireless device, and the second network device is a network node. In other words, for example when the first network device is a wireless device, (e.g., a user equipment), then the second network device is a network node.

[0058] In one or more example methods, the first network device is a network node, and the second network device is a wireless device. In other words, for example when the first network device is a network node, then the second network device is a wireless device (e.g., a user equipment).

[0059] The subnetwork disclosed herein, such as the subnetwork 5 of Fig. 1 , may for example be seen as comprising the first network device and the second network device.

[0060] The network node may for example be a radio network node, gNB, access point, base station, another wireless device (e.g., different to the wireless device 300 disclosed herein) with high capability, such as capability of relay function, etc.

[0061] The method 100 comprises performing S108 a beam identification process comprising the first network device sending (such as transmitting) and / or receiving S108A a set of reference signals to and / or from the second network device using different beams. Performing S108 the beam identification process comprises obtaining S108C signal quality data based on measurements of a signal quality of received reference signals. The received reference signals may for example be sent by the second network device and received by the first network device and / or sent by the first network device and received by the second network device.

[0062] The beam identification process serves to determine the beam(s) to be used when the first and the second network device have the first relative position, so that this information does not need to be determined every time they are to communicate while at the first relative position. Therefore, the sending and / or receiving S108A of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position. The first and second network device having a given relative position (such as the first relative position) can be seen as the first and second network device being in that given relative position.

[0063] In some examples, parts of the beam identification process, such as obtaining S108C signal quality data may be performed when the first and second network device have and / or do not have the first relative position. In some examples, when the first network device is at a position associated with a predetermined relative position, the first network device may transmit a request (such as a request for beam identification) to the second network device to transmit a reference signal of the set of reference signals, e.g., using multiple narrow beams. In some examples, upon the second network device receiving the request, the second network device may send reference signal transmission scheduling information. In some examples, upon the second network device receiving the request, the second network device may transmit the set of reference signals using multiple narrow beams.

[0064] For example, upon the second network device receiving the request, the second network device may perform a beam sweeping technique (e.g., Tx beam sweeping or Rx beam sweeping). The beam sweeping technique for example comprises one or more (such as each) beams transmitted by the second network device having a different direction. In some examples, the first network device can be seen as being configured to receive a set of reference signals (such as reference signals associated with the beam sweeping technique) from the second network device.

[0065] During the reception of the reference signal, the first network device may for example perform a measurement, such as Reference Signal Received Power (RSRP) measurement, of the signal quality of each beam, such as of each beam of the beam sweeping technique. The beam sweeping technique may for example be used to determine a beam with a direction enabling the highest signal quality, such as the best transmission. In other words, the beam identification process comprises carrying out a beam sweeping technique, e.g., using different beams.

[0066] In some examples, the first network device receiving S108A a set of reference signals from the second network device comprises the second network device transmitting a set of reference signals to the first network device. In some examples, the first network device receiving S108A a set of reference signals from the second network device comprises the second network device sending dense and / or prolonged reference signals to the first network device. In some examples, the set of reference signals may be seen as a set of dense and / or prolonged reference signals. The set of reference signals can for example be seen as enabling beam alignment, e.g., during a beam sweeping process.

[0067] In some examples, obtaining S108C signal quality data based on measurements of a signal quality of received reference signals comprises performing, based on one or more (such as each) received reference signal, a measurement of signal quality of received reference signals (e.g., transmissions) in a given beam. In some examples, the signal quality data may be obtained S108C after the network devices have the relative position associated with the set of reference signals.

[0068] The obtained signal quality data may for example comprise the Reference Signal Received Power (RSRP). For example, the measured RSRP can for example be seen as indicative of the signal quality of a received reference signal. In some examples, the signal quality data comprises a signal quality report indicative of the signal quality of the received reference signals.

[0069] The best beam associated with a specific reference signal (e.g., using a reference signal index to pair beams and reference signals) may be determined based on the obtained signal quality data. For example, the beam via which the signal quality (e.g., the RSRP) of received reference signal was highest may be determined to be the best beam (e.g., the best narrow beam) while the first and the second network device have the first relative position. The identifier of the best beam may for example be transmitted, such as reported, from the first network device to the second network device.

[0070] The beam identification process may for example be seen as comprising a beam refinement process (such as a reference signal training process). In other words, the beam identification process may comprise reducing the area, such as width, of beams to be used in communications between the first and the second network device when the first and the second network device have first relative position. This may thereby improve the reliability and efficiency of communications between the first and the second network device when the first and the second network device have first relative position.

[0071] The set (such as a group and / or series) of reference signals for example comprise one or more beams, such as different beams. The one or more beams of the set of reference signals may for example be generated using beamforming. The different beams using which the set of reference signals are sent and / or received may for example each have a different direction.

[0072] The set of reference signals may for example be transmitted and / or received by the first network device. The set of reference signals may for example be transmitted and / or received by the second network device.

[0073] The first relative position can for example be seen as a relative position between the first network device and the second network device. For example, the first relative position can be seen as the relative position of the first and second network device for which the first beam is selected. The first relative position may for example be seen as a first beam reference point. The first relative position may for example be seen as spatio-temporal positions of the first and second network node, e.g., indicative of a location of the first and / or second network node at a given time. For example, the first relative position may be indicated using the spatiotemporal coordinates of each network device such as (x, y, z, 0, <p, t). In some examples, the first relative position can be seen as pre-determined, such as determined a-priori.

[0074] In some examples, the beam identification process is performed during a measurement gap, where a measurement gap can be seen as a time period associated with a suspension (such as a pause) in regular communication between the first and second network device. The first network device can for example be provided with measurement gap information indicative the timing of the measurement gap, so that during such a measurement gap the first network device may perform beam identification, e.g., while not being expected to perform standard data communication. In other words, the measurement gap may be seen as a configuration period or pause, such as for determining the narrow beam, e.g., measuring and reporting the narrow beam. The measurement gap may for example be equal to time taken to perform the beam sweeping operation. In some examples, the measurement gap may be equal to time taken to perform the beam sweeping operation in addition to the time taken to report the most performant beam measured during the beam sweeping operation.

[0075] The method 100 comprises selecting S110, based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position.

[0076] In some examples, the first beam can be seen as the most performant beam, such as the beam capable of transmitting the reference signal with the highest quality while the first and second network devices are at the first relative position. In other words, the first beam can be seen as the beam enabling the highest signal quality of the received reference signals, such as the highest RSRP. In some examples, selecting S110 the first beam can be seen as identifying the most performant beam (e.g., based on RSRP), such as the most performant beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position. In some examples, the beam with the highest RSRP may be selected as the first beam. The first beam may for example be seen as a narrow and / or precise beam.

[0077] The selected narrow beam at gNB side for a specific reference position (e.g., reference positions 62...66) is illustrated in Figs. 4B-C. In some examples, the method 100 comprises selecting, based on the obtained signal quality data, one or more first beams to be used in communications between the first and the second network device when the first and the second network device have the first relative position. In other words, one or more beams (such as one or more first beams) may be selected to be used in communications between the first and the second network device when the first and the second network device have a given relative position (such as the first relative position).

[0078] In some examples, the selection of the one or more narrow beams may be signalled by the network node (e.g., gNB) and / or the wireless device. In some examples, selecting the first beam (such as the best narrow beam) for a given beam reference point(s) can be performed during the beam identification process (e.g., the initialisation stage), such as prior to the operation of subnetwork in term of data communication. The beam identification process may be performed when a new relative position (e.g., beam reference point) is introduced.

[0079] The method 100 comprises storing S112 a first identifier of the selected first beam. The first identifier is associated with the first relative position.

[0080] The first identifier is for example indicative of the selected first beam. For example, the selected first beam may be identified based on the first identifier. The first identifier for example comprises an alphanumeric code indicative of the selected first beam.

[0081] In some examples, the first identifier may be stored locally, such as at the first network device and / or the second network device. In some examples, the first identifier may be stored externally, such as at a server device, such as the server device 600 shown Fig. 1. In some examples, the first identifier can be seen as a reference signal ID, e.g., where the reference signal is associated with a given beam.

[0082] For example, the second network device may send 4 reference signals to the first network device at a given relative position (e.g., beam reference point) using 4 different beams. After obtaining the signal quality data for each beam, the first network device identified the reference signal #3 is the best one, such as the signal with the highest Reference Signal Received Power. When the first network device reports reference signal#3 is the best one, the second network device obtains (e.g., from the first network device) beam reporting data indicating that the beam#3 (used to transmit reference signal#3) is the best one for a second network device at that relative position, e.g., at that beam reference point. In one or more examples, the first identifier may comprise the actual beam index. A beam for an associated beam index is for example formed by a combination of physical antenna (analogue beam forming) and / or digital precoding matrix (digital beam forming). For example, when the second network device receives reference signals, the second network device may for example be operate using 8 Rx beams. Once the second network device obtains information indicating that the usage of Rx beam#3 is the best beam then, the second network device may record and / or report that the narrow beam index#3 is the best one.

[0083] In some examples, the first identifier comprises information indicating an association between a relative position of the first and second network node, and an associated most performant beam. In some examples, the identifier can be seen as comprising the beam index and / or the resource index indicative of a radio resource of reference signal transmission in a given beam.

[0084] Obtaining S108C signal quality data for example comprises generating quality data, e.g., applying a beam measurement technique, such as a technique for determining the Reference Signal Received Power (RSRP). Obtaining S108C the signal quality data for example comprises determining and / or receiving the signal quality data from the first network device or the second network device. The beam identification process for example comprises obtaining signal quality data indicative of the signal quality data of each of the received signals.

[0085] In some examples, selecting S110 the first beam to be used in communications between the first and the second network device comprises selecting, based on the first relative position of the first network device and second network device, the first beam to be used in communications between the first and the second network device.

[0086] In one or more example methods, the method 100 comprises performing S114 the beam identification process comprising the first network device sending and / or receiving S114A the set of reference signals to and / or from the second network device using different beams. In one or more example methods, performing the beam identification process S114 comprises obtaining S114B signal quality data based on measurements of a signal quality of received reference signals. In one or more example methods, the sending and / or receiving S114A of the set of reference signals by the first network device is performed while the first and the second network device have a second relative position.

[0087] In some subnetworks, the first and / or the second network device may move between predetermined positions so that the first and the second network device can have a second relative position different from the first relative position. At such a second relative position, the first beam(s) selected to be used when at the first relative position may have reduced reliability, increased latency, or may not work at all. It is therefore preferred to identify and select beams to be used at different pre-determined or recurring relative positions of the first and the second network device. Hence, a further beam identification process may be performed to identify and select further beams to be used at the further pre-determined relative position(s).

[0088] The second relative position can for example be seen as a relative position between the first network device and the second network device. For example, the second relative position can be seen as the relative position of the first and second network device for which the second beam is selected. The second relative position may for example be seen as spatio-temporal positions of the first and second network node, e.g., indicative of a location of the first and / or second network node at a given time. For example, the second relative position may be indicated using the spatiotemporal coordinates of each network device such as (x, y, z, 0, <p, t). In some examples, the second relative position can be seen as pre-determined, such as determined a-priori.

[0089] The beam identification process S114 performed while the first and the second network device have the second relative position can for example be seen as beam identification process S112 being performed while the first and the second network device have the second relative position. In other words, beam identification process S112 and beam identification process S114 may be the same process performed at different relative positions (such as first relative position for S112 and second relative position for S114) of the first network device and the second network device.

[0090] In one or more example methods, the method 100 comprises selecting S116, based on the obtained signal quality data, a second beam to be used in communications between the first and the second network device when the first and the second network device have the second relative position.

[0091] In some examples, the second beam can be seen as the most performant beam, such as the beam capable of transmitting the reference signal with the highest quality while the first and second network devices are at the second relative position. In other words, the second beam can be seen as the beam enabling the highest signal quality of the received reference signals, such as the highest RSRP. In some examples, selecting S116 the second beam can be seen as identifying the most performant beam (e.g., based on RSRP), such as the most performant beam to be used in communications between the first and the second network device when the first and the second network device have the second relative position. In some examples, the beam with the highest RSRP may be selected as the second beam. The second beam may for example be seen as a narrow and / or precise beam.

[0092] In one or more examples, the method 100 comprises selecting, based on the obtained signal quality data, one or more second beams to be used in communications between the first and the second network device when the first and the second network device have the second relative position.

[0093] In one or more example methods, the method 100 comprises storing S118 a second identifier of the selected second beam. In one or more example methods, the second identifier is associated with the second relative positions.

[0094] The second identifier is for example indicative of the selected second beam. For example, the selected second beam may be identified based on the second identifier. The second identifier for example comprises an alphanumeric code indicative of the selected second beam.

[0095] In some examples, the second identifier may be stored locally, such as at the first network device and / or the second network device. In some examples, the second identifier may be stored externally, such as at a server device, such as the server device 600 shown Fig. 1 . In some examples, the second identifier can be seen as a reference signal ID, e.g., where the reference signal is associated with a given beam.

[0096] In one or more example methods, the communications between the first and the second network device have a latency of less than 0.1 milliseconds and / or a packet error rate of equal to or less than 1x1 O'9.

[0097] In other words, communications performed in the subnetwork, such as the subnetwork 5 shown in Fig. 1 , may have a latency of less than 0.1 milliseconds and / or a packet error rate of equal to or less than 1x1 O'9.

[0098] In one or more example methods, the distance over which communications (such as communications in the subnetwork) between the first and second network device occur is less than 10m. In some examples, the distance over which communications (such as communications in the subnetwork) between the first and second network device occur is less than 5m. In some examples, the distance over which communications (such as communications in the subnetwork) between the first and second network device occur is less than 1m. In one or more example methods, the distance over which communications between the first and second network device occur is less than 1000m. In one or more example methods, the distance over which communications between the first and second network device occur is less than 100m. In one or more example methods, the distance over which communications between the first and second network device occur is less than 50m.

[0099] In one or more example methods, the method 100 comprises sending and / or receiving S102 a relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device. In one or more example methods, the relative position configuration comprises the configuration of the first relative position and / or the second relative position.

[0100] The relative position configuration may for example be indicative of a one or more relative positions of the first network device and the second network device (such as the first relative position and / or the second relative position) of the one or more relative positions of the network device and the second network device. For example, the relative position configuration comprises a time at which the first network device and / or the second network device will have a given relative position, such as the first relative position.

[0101] The relative position configuration may for example be indicative of a sequence of the one or more relative positions of the network device and the second network device. In other words, the relative position configuration may indicate the order in which the first and second network device will have which given relative position. For example, the relative position configuration may indicate the first and second network device having the first relative position before or after having the second relative position.

[0102] In some examples, the relative position configuration comprises an index indicative of the relative positions, such as the configuration of the relative positions.

[0103] In some examples, the relative position configuration may be provided to the first network device and / or the second network device from the server device, such as the server device 600 of Fig. 1. In some examples, the reference position configuration may be provided from a higher layer, such as an application layer. In some examples, the relative position configuration may be seen as reference point information. In other words, the relative position configuration be indicative of one or more reference points, such as beam reference points, associated with the first network device and / or the second network device. A relative position may for example be seen as a beam reference point, such as a relative location of the first and second network device for which a beam is selected.

[0104] In one or more examples, the relative position configuration may be configurable, such as updatable. In some examples, the relative position configuration may be configured by an operator of the subnetwork, such as by a user of the wireless device. In other words, the relative position configuration may for example be updated based on a user input. For example, relative position configuration may be configured to include positions 62...66 as shown in Fig. 3.

[0105] In some examples, the relative position configuration comprises the positioning coordinates and / or relative positioning of the first network device and / or second network device. In some examples, e.g., when the first and / or second network device is located outside, the positioning coordinates may be obtained from using a Global Navigation Satellite System (GNSS), such as using the Global Positioning System (GPS).

[0106] In some examples, e.g., when the first and / or second network device is located indoors (e.g., as shown in Fig. 2B), the positioning coordinates may be obtained from local positioning provided by a location server, such as using a global coordinate system (GCS) and / or local coordinate system (LCS), e.g., via the gNB using radio-based positioning techniques using one or more gNBs and wireless devices (e.g., positioning reference units). The positioning techniques for example comprise round trip time (RTT), uplink time-difference-of-arrival (UTDOA) and / or downlink time-difference-of-arrival (DL-TDOA).

[0107] In some examples, e.g., when the first and / or second network device is located indoors or outdoors and / or in principle move together (e.g., as shown in Fig.2B), the positioning coordinates and / or relative position may be locally obtained, such as by utilizing the sensors (e.g., gyroscope, accelerometer, inclinometer, magnetometer, etc) in the first network device and / or the second network device..

[0108] In some examples, the selected (e.g., best) beam is associated with the relative positions of the first and second network device, e.g., in terms of global coordinate system (GCS) or local coordinate system (LCS) in a subnetwork.

[0109] In some examples, relative position configuration may indicate positions where the first and / or second network device are likely to carry out communications. The indicated positions can be in a form of a zone. In other words, the relative position configuration for example indicates one or more relative position zones of the first and / or second network device. For example, the relative position of the first and / or second network device may, in some examples, be seen as a relative zone, e.g., comprising one or more relative positions.

[0110] In some examples, the first network device and / or second network device may be located on a vehicle, such as an Automated Guided Vehicle (AGV). In some examples, the first network device may be a part of a vehicle, such as an AGV.

[0111] The relative position configuration may for example indicate one or more zones (e.g., areas) within which the vehicle moves, and within which zones one or more reference signals (e.g., using different beams) can be sent and / or received, e.g., as a part of the beam identification process. The relative position configuration may for example indicate an area within which one or more selected beams can be used in communication with the first and second network device.

[0112] For example, an area (e.g., an area in a warehouse) can comprise one or more pre-determined relative zones, e.g., comprising one or more relative positions. The relative zone can for example be seen as a smaller area of a larger area, e.g., of a warehouse. For example, in a warehouse, the relative zones may be positions where the first network device and / or second network device is loading and / or unloading a package. For example, the relative zones may comprise one or more relative positions where the first network device and / or second network device is retrieving or putting a parcel onto a shelf. In some examples, the first network device may transmit and / or receive information relating to the parcel and / or shelf location to and / or from the second network device.

[0113] In one or more example methods, the method 100 comprises storing S104 the relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device.

[0114] In one or more example methods, the method 100 comprises sending and / or receiving S106 a reference signal configuration indicative of a configuration of the set of reference signals transmitted between the first and the second network device.

[0115] The reference signal configuration may for example be indicative of a configuration of the reference signals, such as of the set of reference signals. In some examples, the method 100 comprises sending and / or receiving S108A, based on the reference signal configuration, a set of reference signals to and / or from the second network device using different beams. In some examples, the reference signal configuration may be indicative of one or more parameters associated with the reference signals of the set of reference signals, e.g., sent from and / or received by the first network device. For example, the reference signal configuration comprises one or more parameters for the beam sweeping technique.

[0116] In some examples, the reference signal configuration may be indicative of the sequence of the transmission of the reference signals. For example, the reference signal configuration may be indicative of the sequence in which the different beams are used for the transmission of reference signals.

[0117] In some examples, the reference signal configuration comprises one or more parameters upon which the beam sweeping technique is based. For example, the reference signal configuration may be indicative of the sequence in which different beams are used in as a part of the beam sweeping technique. For example, the reference signal configuration may be indicative of the direction and / or dimensions (such as width) of the beams used as a part of the beam sweeping technique. For example, sending and / or receiving S108A a set of reference signals to and / or from the second network device using different beams, wherein the direction and / or width of the different beams may be based on the reference signal configuration.

[0118] In one or more example methods, performing S108 the beam identification process comprises the first network device receiving S108A a set of reference signals from the second network device. In one or more example methods, performing S108 the beam identification process comprises the first network device is being moved to a position in accordance with the first relative position. In one or more example methods, the beam identification process comprises the first network device requesting S108B the second network device to send the set of reference signals when the first network device has a position in accordance with the first relative position.

[0119] The first network device may for example receive S108A, based on the request for beam identification, the set of reference signals from the second network device using different beams.

[0120] In one or more example methods, performing S108 the beam identification process comprises the first network device is being moved to a position in accordance with the second relative position. In one or more example methods, the beam identification process comprises the first network device requesting the second network device to send the set of reference signals when the first network device has a position in accordance with the second relative position. Method 100 is related to the identification and selection of beams to be used at the predetermined relative position(s). One outcome of the method is a pre-selected beam for a predetermined relative position, implemented by a stored identifier of a first pre-selected beam, wherein the identifier is associated with a first relative position. For example, in the robotic arm illustrated in Fig. 4C, the method 100 may have selected beams to be used by the wireless device 300 at each of the relative positions 62...66 as well as beams to be used by the network node 400 at each of the relative positions 62...66. The method 100 is typically performed when setting up or making changes to the network or equipment therein, or when poor performance (e.g., low quality of data transmitted between the first network device and second network device) is detected. When pre-selected beams for the pre-determined relative position(s) have been identified or stored, operation utilizing these can be performed.

[0121] Fig. 6 shows a flow diagram of an example method 200, performed by a first network device in a wireless communications network comprising the first network device and a second network device according to the disclosure, for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position. The first network device is the network node or wireless device disclosed herein, such as network node 400 or wireless device 300 of Fig. 1 , Fig. 2, Fig. 3, Figs. 4A-C, Fig. 7, Fig. 8, Fig. 9, Fig. 10, and Fig. 11.

[0122] The method 200 comprises retrieving S202 a first identifier of a first pre-selected beam of the first network device. The first identifier is associated with a first relative position.

[0123] The first relative position with which the first identifier is associated can for example be seen as a first pre-determined relative position. The first pre-selected beam may for example have been selected in S110 shown in Fig. 5A. When the first network device is a wireless device, retrieving S202 the first identifier for example comprises retrieving the first identifier from a memory of the first network device, such as the memory circuitry 301 shown in Fig. 7. In some examples, the first network device may store a set of pre-configured and / or pre-determined relative positions. In some examples, retrieving S202 the first identifier comprises receiving the first identifier, e.g., from the second wireless device and / or from a server device, such as the server device 600 of Fig. 1.

[0124] When the first network device is a network node, retrieving S202 the first identifier for example comprises retrieving the first identifier from a memory of the first network device, such as the memory circuitry 401 shown in Fig. 8. The method 200 comprises, while the first and the second network device have the first relative position, using S204 the first pre-selected beam in communications between the first and the second network device.

[0125] In one or more example methods, the method 200 comprises retrieving S206 a second identifier of a second pre-selected beam of the first network device. In one or more example methods, the second identifier is associated with a second relative position.

[0126] The second relative position with which the second identifier is associated can for example be seen as a second pre-determined relative position. The second pre-selected beam may for example have been selected in S116 shown in Fig. 5B.

[0127] When the first network device is a wireless device, retrieving S206 the second identifier for example comprises retrieving the second identifier from a memory of the first network device, such as the memory circuitry 301 shown in Fig. 7. In some examples, retrieving S206 the second identifier comprises receiving the second identifier, e.g., from the second wireless device and / or from a server device, such as the server device 600 of Fig. 1.

[0128] When the first network device is a network node, retrieving S206 the second identifier for example comprises retrieving the second identifier from a memory of the first network device, such as the memory circuitry 401 shown in Fig. 8.

[0129] In one or more example methods, the method 200 comprises, while the first and the second network device have the second relative position, using S208 the second pre-selected beam in communications between the first and the second network device.

[0130] In one or more example methods, the method 200 comprises obtaining S210 operation configuration data indicative of one or more movements of the first network device and / or the second network device.

[0131] In some examples, the operation configuration comprises the scheduling data, e.g., comprising the information indicative of the scheduling operation. The operation configuration data may for example comprise information indicative of the movement, such as indicative of the sequence (e.g. order) of movements, between of the first network device and / or second network device to and / or from relative positions, e.g., including the time gap between two or more relative positions of the first network device and the second network device. In some examples, the operation configuration data can be seen as comprising an operation configuration indicative of one or more movements of the first network device and / or the second network device. In some examples, the operation configuration data comprises information indicative of the operation configuration.

[0132] In some examples, the operation configuration data is indicative of the pre-determined relative position(s) of the first and second network device. In some examples, the pre-determined relative position(s) may be provided by higher layers, e.g., by the server device 600 of Fig. 1 . This may advantageously enable, for embodiments where the relative position of the first and / or second network device are not otherwise obtained at the lower layer, e.g., by the first and / or second network devices, the first and / or second network device to obtain information indicative of the relative position. The pre-determined relative position(s) may for example be based on a user input. For example, a user may provide a user input, e.g., to the server device, comprising the pre-determined relative position(s).

[0133] In some examples, the higher layer, such as the application layer, may indicate to the first and / or second network device one or more of the relative positions, e.g., when it is reached or when it is about to be reached. In some examples, the application layer can provide to the first and / or second network device, a time parameter indicating a time until a relative position is reached by the first and / or second network device. In some examples, the server device may provide to the first and / or second network device, a time parameter indicating a time (such as Tret in milliseconds) until the first and / or second network devices are at a relative position, such as at the first relative position.

[0134] The first and / or second network device receiving the time parameter may advantageously enable processing to be performed at the receiving first and / or second network device prior to reaching the relative position. In other words, upon receiving the time parameter, the first and / or second network device may perform one or more steps of the beam identification process, e.g., prior to the first and / or second network device having the first relative position, second relative position, third relative position, etc.

[0135] In one or more example methods, the method 200 comprises sending and / or receiving S212 scheduling data associated with the first relative position and / or the second relative position.

[0136] The scheduling data is for example indicative of the location of the relative position and / or associated timing information. The scheduling data can for example be seen as comprising scheduling information, e.g., indicative of the location of the relative position and / or associated timing information. In some examples, the scheduling data can be seen as predictive scheduling data.

[0137] In one or more example methods, the method 200 comprises receiving S214 trigger data, wherein the trigger data is configured to trigger a movement of the first network device and / or the second network device.

[0138] The trigger data for example comprises a trigger configuration. In some examples, the trigger data comprises a trigger condition, such as a condition which, upon being met, causes the movement of the first network device and / or the second network device to be triggered, such as initiated. In some examples, the trigger data comprises a trigger parameter. In some examples, the trigger parameter may for example be seen as a flag. For example, when the trigger parameter is equal to “1” the first network device and / or the second network device may initiate the operation as defined in the operation configuration data. For example, when the trigger parameter is equal to “0”, the first network device and / or second network device may stop and / or reset the operation.

[0139] In one or more example methods, the method 200 comprises, upon receiving S214 trigger data, causing S216 the first network device and / or the second network device to move to the first relative position.

[0140] In one or more example methods, the method 200 comprises sending and / or receiving S218 a radio resource allocation request, wherein the radio resource allocation request is based on the operation configuration data.

[0141] The radio resource allocation request may for example enable the operation based on the previously received operation configuration to be processed. For example, sending S218 a radio resource allocation request may for example comprise sending, such as transmitting, a scheduling request to the second network device (e.g., from the wireless device to the network node, such as an uplink transmission).

[0142] The radio resource allocation request can be seen as a request for an operation, e.g., using the first pre-selected beam and / or the second pre-selected beam, based on the received operation configuration data can be performed by the first network device and / or the second network device. For example, the radio resource allocation request may for example be seen as a request to use the first pre-selected beam in communications between the first and / or second pre-selected beam the second network device, e.g., as shown in Figs. 4A-C.

[0143] In one or more example methods, the method 200 comprises validating S220 a signal quality of signals received from the second network device via the first pre-selected beam.

[0144] Validating S220 the signal quality of the signals received from the second network device via the first pre-selected beam for example comprises determining whether the first pre-selected beam is the most performant beam, such as the available beam capable of transmitting signals with the highest quality.

[0145] In some examples, validating S220 a signal quality of signals received from the second network device via the first pre-selected beam may be carried out periodically, such as one or more times per unit time, e.g., per minute, hour, week, 2 weeks, month, etc. Validating S220 can in some examples be seen as evaluating the signal quality of signals received from the second network device via the first pre-selected beam.

[0146] In one or more example methods, validating S220 the signal quality comprises obtaining S220A first signal quality data indicative of signal quality of a signal received via the first pre-selected beam.

[0147] In some examples, the validating S220 the signal quality comprises obtaining first signal quality data indicative signal quality of a signal received via the one or more first pre-selected beams, such as for a pre-selected beam associated with the first relative position. In some examples, the validating S220 the signal quality comprises obtaining first signal quality data indicative signal quality of a signal received via the one or more second pre-selected beams, such as for a pre-selected beam associated with the second relative position.

[0148] In some examples, obtaining S220A the first signal quality data comprises obtaining the first signal quality data during the use S204 of the first pre-selected beam in communications between the first and the second network device. In some examples, obtaining S220A the first signal quality data comprises obtaining the first signal quality data during the use S208 of the second pre-selected beam in communications between the first and the second network device. In other words, obtaining S220A first signal quality data comprises obtaining the first signal quality data during normal operation of the first network device and the second network device. In one or more example methods, validating S220 the signal quality comprises determining S220B whether the first signal quality data meets a first criterion.

[0149] In one or more example methods, the first criterion is based on a first threshold. The first threshold may for example comprise a value. The first threshold may be seen as a threshold for detection of unsatisfactory signal quality of a signal transmitted by a beam. The first threshold may for example be provided by a user. In some examples, the first threshold is predetermined. The first threshold may for example be stored in the network node 400 and / or communicated to the wireless device 300. In some examples, whether the first signal quality meets the first criterion depends on whether the first signal quality is greater than or less than the first threshold. For example, when the first signal quality is greater than the first threshold, the first criterion can be seen as being met by the first signal quality. For example, when the first signal quality is less than the first threshold, the first criterion can be seen as not being met by the first signal quality.

[0150] In one or more example methods, when the signal quality of a number of beams (Nbeam) of the total number of beams, (such as first pre-selected beam, second pre-selected beam, etc.) falls below a threshold, the first network device may trigger the second network device to perform an associated beams test. The number of beams of the total number of beams can be Radio Resource Control (RRC) configured, dynamically indicated by the network (e.g., the subnetwork) or pre-determined (e.g., defined in the specifications of the first and / or second network device).

[0151] In one or more example methods, validating S220 the signal quality comprises, upon determining that the first signal quality data does not meet the first criterion, obtaining S220C second signal quality data indicative of signal quality of a signal received via the first preselected beam.

[0152] In some examples, validating S220 the signal quality comprises, upon determining that the first signal quality data does not meet the first criterion, triggering a beam quality test. The beam quality test for example comprises obtaining second signal quality data of a signal received via the second pre-selected beam at one or more relative positions, (e.g., at the first relative position, the second relative position, etc.)

[0153] The second quality data is associated with a quality test may for example be obtained S220C as a part of a beam quality test. In one or more example methods, validating S220 the signal quality comprises, upon determining that the first signal quality data meets the first criterion, refraining S220B_1 from obtaining second signal quality data indicative of signal quality of a signal received via the first pre-selected beam. For example, upon determining that the first signal quality data meets the first criterion, the first pre-selected beam can be seen has having a sufficient signal quality.

[0154] In one or more example methods, validating S220 the signal quality comprises determining S220D whether the second signal quality data meets a second criterion.

[0155] In one or more example methods, the second criterion is based on a second threshold. The second threshold may for example comprise a value. The second threshold may be seen as a threshold for verification of unsatisfactory signal quality of a signal transmitted by a selected beam. The second threshold may for example be provided by a user. In some examples, the second threshold is pre-determined. The second threshold may for example be stored in the network node 400 and / or communicated to the wireless device 300. In some examples, whether the second signal quality meets the second criterion depends on whether the second signal quality is greater than or less than the second threshold. For example, when the second signal quality is greater than the second threshold, the second criterion can be seen as being met by the second signal quality. For example, when the second signal quality is less than the second threshold, the second criterion can be seen as not being met by the second signal quality.

[0156] In one or more example methods, when during an associated beams test there are N associated beams for which the second signal quality data is below the second threshold, the first network device and / or the second network device may restart the selection of the associated beams, such as the beam identification process. N can be seen as comprising a value indicating a number of beams having a second signal quality data below the second threshold. N can be RRC configured, dynamically indicated by the network and / or predetermined (e.g., defined in the specifications of the first and / or second network device).

[0157] In some examples, validating S220 the signal quality can be seen as validating the associated between the pre-selected beam, such as the first pre-selected beam, and the pre-determined relative position, such as the first pre-determined relative position, of the first network device and the second network device.

[0158] In one or more example methods, validating S220 the signal quality comprises, upon determining that the second signal quality data does not meet the second criterion, updating S220E the first pre-selected beam. In some examples, updating S220E the first pre-selected beam may comprise performing one or more steps of the beam identification process, e.g., S108, S108A, S108C, S110, S112.

[0159] In some examples, updating the first pre-selected beam for example comprises updating the first pre-selected beam with a historical first beam, such as a first beam that was previously the most performant beam while the first and second network devices were at the first relative position. In some examples, updating the second pre-selected beam for example comprises updating the second pre-selected beam with a historical second beam, such as a beam that was previously the most performant second beam while the first and second network devices were at the second relative position.

[0160] In some examples, validating S220 the signal quality comprises, upon determining that the second signal quality data does not meet the second criterion, determining an updated beam, e.g., by performing a beam sweeping technique.

[0161] In some examples, the first and / or second network device may provide feedback of the signal quality of the updated first pre-selected beam. In some examples, the method 200 comprises validating a signal quality of signals received from the second network device via the updated first pre-selected beam.

[0162] In one or more example methods, validating S220 the signal quality comprises, upon determining that the second signal quality data meets the second criterion, refraining S220D_1 from updating the first pre-selected beam. For example, upon determining that the second signal quality data meets the second criterion, the first pre-selected beam can be seen has having a sufficient signal quality.

[0163] In some examples, the first pre-selected beam can be refined using reference signals provided by the first and / or second network device. For example, the first pre-selected beam may be refined, (such as to enable improve accuracy), using additional reference signals (such as Channel State Information Reference Signal (CSI-RS), Demodulation Reference Signal (DMRS), and / or Sounding Reference Signal (SRS)) transmitted by the first network device to the second network device or vice-versa. For example, refining the first pre-selected beam may comprise updating the location, such as direction, and / or beamwidth of the first pre-selected beam. In some examples, the first pre-selected beam can be refined as part of a legacy operation and / or using additional reference signals provided by the first network device, such as by the network node and / or the wireless device.

[0164] In some examples, validating S220 the signal quality of signals received from the second network device via the first pre-selected beam comprises determining whether the first preselected beam is still the most performant beam, e.g., is it still transmitting in the correct direction.

[0165] In an exemplary embodiment, a method that is a combination of method 100 described in relation to Figs 5A-B and method 200 described in relation to Figs 6A-B. Such method first identifying a selecting a beam to be used at a given pre-determined relative position and thereafter, when the first and second network devices are at the given pre-determined relative position, retrieving a stored identifier of a (pre-)selected beam to be used in communication.

[0166] In one or more example methods, the method 200 comprises determining S203 first intermediate relative position, wherein the first intermediate relative position is on a path between the first and the second relative position.

[0167] The first intermediate relative position can for example be seen as a position of the first network device and second network device between two or more pre-determined relative positions of the first network device and the second network device. The first intermediate relative position can for example be seen as a semi beam reference point. The first intermediate relative position may for example be located along a movement path, such as movement path 128 shown in Fig. 11 , of the first network device or the second network device.

[0168] In some examples, the relative position of the first and second network device may be predictable, e.g., due to the repetitive nature of the movement of the first network device and / or the second network device.

[0169] In some examples, it may not be possible to predict all possible relative positions of the first network device and second network device in a subnetwork. For example, a robotic arm (such as the robotic arm 15 shown in Fig. 3) may have to move to numerous locations to retrieve and / or store components, e.g., in the process of assembling a product. Instead of storing every single relative position, a user, such may identify a subset of such locations as relative positions of the first and second network devices, based upon which further relative positions can be determined, such as estimated. Fig. 7 shows a block diagram of an example wireless device 300 according to the disclosure. The wireless device 300 comprises memory circuitry 301 , processor circuitry 302, and a wireless interface 303. The wireless device 300 may be configured to perform any of the methods disclosed in Figs. 5A-6B. The wireless device 300 may be configured for performing a beam identification process. The wireless device 300 may be configured for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position (such as one or more pre-determined relative positions).

[0170] In some examples, the first network device disclosed herein may be the wireless device 300. In some examples, the second network device disclosed herein may be the wireless device 300.

[0171] The wireless device 300 may be configured to perform (e.g., using the memory circuitry 301 , processor circuitry 302, and / or the wireless interface 303) a beam identification process comprising the first network device sending and / or receiving (e.g., using the processor circuitry 302, and / or the wireless interface 303) a set of reference signals to and / or from the second network device using different beams.

[0172] The wireless device 300 may be configured to obtain (e.g., using processor circuitry 302 and / or the wireless interface 303) signal quality data based on measurements of a signal quality of received reference signals. The sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position.

[0173] The wireless device 300 may be configured to select (e.g., using the processor circuitry 302), based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position.

[0174] The wireless device 300 may be configured to store (e.g., using the memory circuitry 301) a first identifier of the selected first beam. The first identifier is associated with the first relative position.

[0175] The wireless device 300 may be configured to retrieve (e.g., using the memory circuitry 301 , the processor circuitry 302, and / or the wireless interface 303) a first identifier of a first pre-selected beam of the first network device. The first identifier is associated with a first relative position. The wireless device 300 may be configured to, while the first and the second network device have the first relative position, use (e.g., using the processor circuitry 302, and / or the wireless interface 303) the first pre-selected beam in communications between the first and the second network device.

[0176] The wireless interface 303 is configured for wireless communications via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of: Beyond 5G New Radio, New Radio, NR, Long Term Evolution, LTE, Narrow-band loT, NB- loT, and Long Term Evolution - enhanced Machine Type Communication, LTE-M, and 3GPP system operated in licensed bands or unlicensed bands.

[0177] The wireless device 300 is optionally configured to perform any of the operations disclosed in Figs. 5A-6B (such as any one or more of: S102, S104, S106, S108, S108A, S108B, S108C, S110, S112, S114, S114A, S114B, S116, S118, S202, S203, S204, S206, S208, S210, S212, S214, S216, S218, S220, S220A, S220B, S220B_1 , S220C, S220D, S220D_1 , S220E). The operations of the wireless device 300 may be embodied in the form of executable logic routines (for example, lines of code, software programs, etc.) that are stored on a non-transitory computer readable medium (for example, memory circuitry 301 ) and are executed by processor circuitry 302).

[0178] Furthermore, the operations of the wireless device 300 may be considered a method that the wireless device 300 is configured to carry out. Also, while the described functions and operations may be implemented in software, such functionality may also be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and / or software. Memory circuitry 301 may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable device. In a typical arrangement, memory circuitry 301 may include a nonvolatile memory for long term data storage and a volatile memory that functions as system memory for processor circuitry 302. Memory circuitry 301 may exchange data with processor circuitry 302 over a data bus. Control lines and an address bus between memory circuitry 301 and processor circuitry 302 also may be present (not shown in Fig. 5). Memory circuitry 301 is considered a non-transitory computer readable medium.

[0179] Memory circuitry 301 may be configured to store the first relative position, the second relative position, pre-determined relative position, signal quality data, a first identifier, a second identifier, beamforming capability data, relative position configuration, reference signal configuration, beam reporting data, operation configuration data, scheduling data, trigger data, radio resource allocation request, first signal quality data, first threshold, second quality data, second threshold and / or the first intermediate relative position in a part of the memory.

[0180] Fig. 8 shows a block diagram of an example network node 400 according to the disclosure. The network node 400 comprises memory circuitry 401 , processor circuitry 402, and a wireless interface 403. The network node 400 may be configured to perform any of the methods disclosed in Fig. 5A-6B. The network node 400 may be configured for performing a beam identification process. The network node 400 may be configured for using one or more preselected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position. In some examples, the first network device disclosed herein may be the network node 400. In some examples, the second network device disclosed herein may be the network node 400.

[0181] The network node 400 may be configured to perform (e.g., using the memory circuitry 401 , processor circuitry 402, and / or the wireless interface 403) a beam identification process comprising the first network device sending and / or receiving (e.g., using the processor circuitry 402, and / or the wireless interface 403) a set of reference signals to and / or from the second network device using different beams.

[0182] The network node 400 may be configured to obtain (e.g., using processor circuitry 402 and / or the wireless interface 403) signal quality data based on measurements of a signal quality of received reference signals. The sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position.

[0183] The network node 400 may be configured to select (e.g., using the processor circuitry 402), based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position.

[0184] The network node 400 may be configured to store (e.g., using the memory circuitry 401) a first identifier of the selected first beam. The first identifier is associated with the first relative position.

[0185] The network node 400 may be configured to retrieve (e.g., using the memory circuitry 401 , the processor circuitry 402, and / or the wireless interface 403) a first identifier of a first pre-selected beam of the first network device. The first identifier is associated with a first relative position. The network node 400 may be configured to, while the first and the second network device have the first relative position, use (e.g., using the processor circuitry 402, and / or the wireless interface 403) the first pre-selected beam in communications between the first and the second network device.

[0186] The wireless interface 403 is configured for wireless communications via a wireless communication system, such as a 3GPP system, such as a 3GPP system supporting one or more of: Beyond 5G New Radio, New Radio, NR, Long Term Evolution, LTE, Narrow-band loT, NB- loT, and Long Term Evolution - enhanced Machine Type Communication, LTE-M, and 3GPP system operated in licensed bands or unlicensed bands.

[0187] Processor circuitry 402 is optionally configured to perform any of the operations disclosed in Fig. 5A-6B (such as any one or more of: S102, S104, S106, S108, S108A, S108B, S108C, S110, S112, S114, S114A, S114B, S116, S118, S202, S203, S204, S206, S208, S210, S212, S214, S216, S218, S220, S220A, S220B, S220B_1 , S220C, S220D, S220D_1 , S220E). The operations of the network node 400 may be embodied in the form of executable logic routines (for example, lines of code, software programs, etc.) that are stored on a non-transitory computer readable medium (for example, memory circuitry 401 ) and are executed by processor circuitry 402).

[0188] Furthermore, the operations of the network node 400 may be considered a method that the network node 400 is configured to carry out. Also, while the described functions and operations may be implemented in software, such functionality may also be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and / or software.

[0189] Memory circuitry 401 may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable device. In a typical arrangement, memory circuitry 401 may include a nonvolatile memory for long term data storage and a volatile memory that functions as system memory for processor circuitry 402. Memory circuitry 401 may exchange data with processor circuitry 402 over a data bus. Control lines and an address bus between memory circuitry 401 and processor circuitry 402 also may be present (not shown in Fig. 4). Memory circuitry 401 is considered a non-transitory computer readable medium.

[0190] Memory circuitry 401 may be configured to store the first relative position, the second relative position, pre-determined relative position, signal quality data, a first identifier, a second identifier, beamforming capability data, relative position configuration, reference signal configuration, beam reporting data, operation configuration data, scheduling data, trigger data, radio resource allocation request, first signal quality data, first threshold, second quality data, second threshold and / or the first intermediate relative position in a part of the memory.

[0191] Fig. 9 is a signalling diagram illustrating an example communication for selecting the first beam between a wireless device and a network node according to this disclosure.

[0192] The signalling diagram shown in Fig. 9 illustrates example communications between a wireless device 300 (such as the wireless device 300 of Figs. 1 , 3, 4A-C, and 7), a network node 400 (such as the network node 400 of Figs. 1 , 4A-C, and 7), and server device 600 (such as the server device 600 of Fig. 1).

[0193] In one or more examples, the communications performed in Fig. 9 by the wireless device 300 may be performed by the network node 400 and the communications performed by the network node may be performed by the wireless device 300.

[0194] In one or more examples, the wireless device 300 transmits to the network node 400, beamforming capability data 601 . The beamforming capability data 601 may comprise information indicative of the beam forming capability of the wireless device 300. The beamforming capability data 601 may for example be indicative of whether the wireless device 300 can carry out beamforming. For example, the beamforming capability data 601 may indicate one or more of the following:

[0195] Capability 1 : The wireless device 300 is only able to perform wideband beam operation. Capability 2: The wireless device 300 is capable of performing semi-narrow beam operation. Capability 3: The wireless device 300 is capable of performing narrow beam operation, such as beamforming operations.

[0196] The beamforming capability data may comprise information indicating the number of narrow beams that can be supported, such as provided by the wireless device 300. For example, when the beamforming capability data 601 indicates a value of “Narrow beam = 1”, this may indicate that the wireless device 300 can only perform omni directional operation, such as omni directional beamforming operations.

[0197] For example, a wireless device with a capability of 1 , may comprise an antenna array with insufficient antennas for performing semi-narrow beam operation or narrow beam operation. The wireless device with a capability of 1 may for example comprise an antenna array with sufficient antennas for performing wideband beam operation or omni-directional operation. For example, a wireless device with a capability of 2, may comprise an antenna array with insufficient antennas for performing narrow beam operation. The wireless device with a capability of 2 may for example comprise an antenna array with sufficient antennas for performing semi-narrow beam operation and wideband beam operation.

[0198] The wireless device with a capability of 3 may for example comprise an antenna array with sufficient antennas for performing wideband beam operation, semi-narrow beam operation and narrow beam operation.

[0199] In one or more examples, the server device 600 transmits to the wireless device 300, the relative position configuration 602. The relative position configuration 602 for example comprises one or more relative positions of the wireless device 300 and network node 400, e.g., at one or more given times. The wireless device 300 may for example store 603 the relative position configuration 602, e.g., using memory circuitry 301 as shown in Fig. 7.

[0200] In one or more examples, the server device 600 may transmit the relative position configuration 602 to the network node 400. The network node 400 may then for example store the relative position configuration 602 and / or provide the relative position configuration 602 to the wireless device 300.

[0201] In one or more examples, the network node 400 transmits to the wireless device 300 the reference signal configuration 604. The reference signal may for example be indicative of a configuration of the reference signals, such as of the set of reference signals.

[0202] The wireless device 300 may then move 605 to a relative position as indicated by the received and / or stored relative position configuration. For example, the wireless device 300 may for example move 605 to a relative position as indicated by the reference signal configuration retrieved from the memory circuitry of the wireless device 300, e.g., in the memory circuitry 301 as shown in Fig. 7.

[0203] In one or more examples, the wireless device 300 transmits to the network node 400 a request for reference signals 606. The request for reference signals 606 may for example be seen as a request for beam identification. In some examples, upon the network node receiving the request for reference signals 606, the network node may transmit to the wireless device 300 the set of reference signals 607, such as the set of requested reference signals. The network node 400 may for example transmit the set of reference signals 607 as a part of a beam sweeping technique. For example, the set of reference signals 607 may be transmitted from the network node 400 to the wireless device 300 using one or more different beams, e.g., enabling the wireless device to determine the most performant beam transmitting the reference signal from the network node 400 to the wireless device 300.

[0204] In one or more examples, the wireless device 300 may obtain 608 a signal quality data, e.g., to determine the beam transmitting the reference signal with the highest quality, such as with the highest power. In some examples, obtaining 608 the signal quality data comprises determining (such as measuring) the RSRP of each beam received at the wireless device 300. In some examples, obtaining 608 the signal quality data can be seen as performing a beam measurement, such as a beam measurement of the signal quality of a received beam while the wireless device 300 is at a given reference position.

[0205] In one or more examples, the wireless device 300 may select 609, such as based on the obtained signal quality data, a beam, e.g., a first beam, (such as a most performant beam) enabling the highest quality of the received reference signal at the wireless device 300, while the wireless device 300 is at the reference position to which it moved 605.

[0206] In one or more examples, the wireless device 300 may transmit beam reporting data 610 to the network node 400. The beam reporting data for example comprises an identifier indicative of the selected beam. In some examples, the beam reporting data comprises one or more identifiers indicative of one or more of the most performant beams. For example, the beam reporting data may comprise information indicating the 3 most performant beams, e.g., of the beam sweeping process. In one or more examples, when the selected beam is a first beam selected when the network node 400 and the wireless device have the first relative position, then the identifier may be seen as a first identifier indicative of the first beam. In some examples, the beam reporting data 610 comprises information indicating an association between a relative position of the first and second network node, and an associated most performant beam.

[0207] The network node 400 may for example store 611 the identifier indicative of the selected beam. For example, the network node may retrieve the identifier indicative of the selected beam in order to use the selected beam when the first and the second network device have the relative position for which that given beam was selected. For example, the network node 400 may retrieve the identifier from the memory circuitry of the network node 400, such as memory circuitry 401 shown in Fig. 8. In one or more examples, information indicative of the association of the best beam and relative position of the first and second network device is transparent to lower layer signalling between first and second network devices. The actual relative position, such as the coordinates, may be kept in the higher layer or the application layer. The relative position at the lower layer signalling (e.g., layer 1 and layer 2) can be represented in relative position index information. There may for example be a mapping, such as a look up table (LUT) between the actual position / coordinate of the first network device and the relative position index.

[0208] Fig. 10 is a signalling diagram illustrating an example communication for using the first preselected beam between a wireless device and a network node according to this disclosure.

[0209] The signalling diagram shown in Fig. 10 illustrates example communications between a wireless device 300 (such as the wireless device 300 of Figs. 1 , 3, 4A-C, and 7), a network node 400 (such as the network node 400 of Figs. 1 , 4A-C, and 7), and server device 600 (such as the server device 600 of Fig. 1).

[0210] In one or more examples, the communications performed in Fig. 10 by the wireless device 300 may be performed by the network node 400 and the communications performed by the network node may be performed by the wireless device 300.

[0211] In one or more examples, the server device 600 may transmit the operation configuration 701 to the wireless device 300. In some examples, the operation configuration data comprises information indicative of one or more movements and / or relative position of the wireless device 300.

[0212] In one or more examples, the server device 600 may transmit the operation configuration 701 to the network node 400. The network node 400 may then for example store the operation configuration 701 and / or provide (such as transmit) the operation configuration 701 to the wireless device 300.

[0213] In one or more examples, the wireless device 300 transmits to the wireless device 400 scheduling data 702. In some examples, the scheduling data may be based on the obtained operation configuration data 701.

[0214] In one or more examples, the server device 600 transmits to the wireless device 300 trigger data 703. In some examples, the wireless device 300, e.g., upon receiving the trigger data 703, transmits the Radio Resource Allocation Request 704 to the network node 400. The wireless device 300 transmitting the Radio Resource Allocation Request 704 to the network node 400 for example comprises the wireless device 300 transmitting a scheduling request to the network node 400.

[0215] In one or more examples, the wireless device 300 may then move 705 to a relative position, e.g., as indicated by the received operation configuration data 701 . For example, upon receiving the trigger data 703 from the network node 400, the wireless device 300 may then move 705 to a relative position.

[0216] In one or more examples, the wireless device 300 may use 706 the pre-selected beam (e.g., as indicated by an identifier, such as a stored identifier) in communications between the wireless device 300 and the network node 400.

[0217] In one or more examples, the network node 400 may use 707 the pre-selected beam (e.g., as indicated by an identifier, such as a stored identifier) in communications between the wireless device 300 and the network node 400.

[0218] Fig. 11 is a diagram illustrating the movement of a wireless device in the example subnetwork of Fig. 2C according to this disclosure.

[0219] The wireless device 300 shown to move along the path 128, 129 in Fig. 11 is for example a part of a robot, such as a robot arm. The network node 400 is for example part of the same robot as the wireless device 300.

[0220] Fig. 11 shows a network node 400 and a wireless device 300. The pre-selected beam 121 is being used in communications between network node 400 and the wireless device 300, while the network node 400 and wireless device 300 have the first relative position 120. The second pre-selected beam 123 is being used in communications between network node 400 and the wireless device 300, while the network node 400 and wireless device 300 have the second relative position 122. A third pre-selected beam 127 is being used in communications between network node 400 and the wireless device 300, while the network node 400 and wireless device 300 have the third relative position 126.

[0221] Fig. 11 shows the wireless device 300 and the network node 400 having a second intermediate relative position 124, wherein the second intermediate relative position 124 is on a path 129 between the second relative position 122 and the third relative position 126. A beam 125 is being used in communications between network node 400 and the wireless device 300, while the network node 400 and wireless device 300 have the second intermediate relative position 124.

[0222] In some examples, the wireless device 300 and the network node 400 may have a first intermediate relative position, wherein the first intermediate relative position is on a path 128 between the first relative position 120 and the second relative position 122.

[0223] The path 128, 129 taken by the wireless device 300 is known and / or highly predictable, such that when the wireless device 300 transmits to the network node 400 information indicating that it is not at one of relative positions 120, 122, or 126, then an intermediate relative position may be determined (such as estimated and / or interpolated), e.g., based on the known relative positions 120, 122, 126, and the path 128, 129 of the wireless device 300. For example, the determined intermediate relative position 124 may enable the network node 400 to transmit data, e.g., a packet, to the wireless device 300 between the second relative position 122 and third relative position 126. The intermediate relative position may for example be determined by the network node 400 and / or the wireless device 300 at and / or for any given time.

[0224] In other words, the network node 400 and / or wireless device 300 may for example select, based on an intermediate relative position, an intermediate beam to be used in communications between the wireless device 300 and the network node 400, when the wireless device 300 and the network node 400 have the intermediate relative position.

[0225] In some examples, the network node 400 may obtain Channel State Information, such as Precoding Matrix Index (PMI) feedback from the wireless device 300.

[0226] In some examples, the network node 400 may determine (e.g., estimate and / or interpolate), based on the intermediate relative position and / or the obtained PMI feedback, an intermediate beam to be used in communications between the wireless device 300 and the network node 400, when the wireless device 300 and the network node 400 have the intermediate relative position. In some examples, the determined intermediate relative position may be used to estimate a location of the wireless device at a given time.

[0227] In one or more example methods, the wireless device 300 may obtain Precoding Matrix Index (PMI) feedback from the network node 400.

[0228] In one or more example methods, the wireless device 300 may determine (e.g., estimate and / or interpolate), based on the intermediate relative position and / or the obtained PMI feedback, an intermediate beam to be used in communications between the wireless device 300 and the network node 400, when the wireless device 300 and the network node 400 have the intermediate relative position. In some examples, the determined intermediate relative position may be used to estimate a location of the wireless device at a given time.

[0229] Examples of methods and products (network node and wireless device) according to the disclosure are set out in the following items:

[0230] Item 1. A method performed by a first network device in a wireless communications network comprising the first network device and a second network device, for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, the method comprising: performing a beam identification process comprising the first network device sending and / or receiving a set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position; selecting, based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position; and storing a first identifier of the selected first beam, wherein the first identifier is associated with the first relative position.

[0231] Item 2. The method according to item 1 , the method comprising: performing the beam identification process comprising the first network device sending and / or receiving the set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have a second relative position; selecting, based on the obtained signal quality data, a second beam to be used in communications between the first and the second network device when the first and the second network device have the second relative position; and storing a second identifier of the selected second beam, wherein the second identifier is associated with the second relative position.

[0232] Item 3. The method according to any of the previous items, wherein the communications between the first and the second network device have a latency of less than 0.1 milliseconds and / or a packet error rate of equal to or less than 1x1 O'9.

[0233] Item 4. The method according to any of the previous items, wherein the distance over which communications between the first and second network device occur is less than 10m.

[0234] Item 5. The method according to any of the previous items, wherein the method comprises sending and / or receiving a relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device, wherein the relative position configuration comprises the configuration of the first relative position and / or the second relative position.

[0235] Item 6. The method according to item 5, wherein the method comprises storing the relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device.

[0236] Item 7. The method according to any of the previous items, wherein the method comprises sending and / or receiving a reference signal configuration indicative of a configuration of the set of reference signals transmitted between the first and the second network device.

[0237] Item 8. The method according to any of items 5-6, wherein performing the beam identification process comprises the first network device receiving a set of reference signals from the second network device, wherein the first network device is being moved to a position in accordance with the first relative position, and wherein the beam identification process comprises the first network device requesting the second network device to send the set of reference signals when the first network device has a position in accordance with the first relative position.

[0238] Item 9. The method according to any of the previous items, wherein the first network device is a wireless device and the second network device is a network node.

[0239] Item 10. The method according to any of items 1-8, wherein the first network device is a network node and the second network device is a wireless device.

[0240] Item 11 . A method performed by a first network device in a wireless communications network comprising the first network device and a second network device, for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position, the method comprising: retrieving a first identifier of a first pre-selected beam of the first network device, wherein the first identifier is associated with a first relative position; and while the first and the second network device have the first relative position, using the first pre-selected beam in communications between the first and the second network device.

[0241] Item 12. The method according to item 11 , wherein the method comprises: retrieving a second identifier of a second pre-selected beam of the first network device, wherein the second identifier is associated with a second relative position; and while the first and the second network device have the second relative position, using the second pre-selected beam in communications between the first and the second network device.

[0242] Item 13. The method according to any of items 11-12, wherein the method comprises obtaining operation configuration data indicative of one or more movements of the first network device and / or the second network device. Item 14. The method according to any of items 11-13, wherein the method comprises sending and / or receiving scheduling data associated with the first relative position and / or the second relative position.

[0243] Item 15. The method according to any of items 11-14, wherein the method comprises obtaining trigger data, wherein the trigger data is configured to trigger a movement of the first network device and / or the second network device.

[0244] Item 16. The method according to item 15, wherein the method comprises, upon receiving trigger data, causing the first network device and / or the second network device to move to the first relative position.

[0245] Item 17. The method according to item 13, wherein the method comprises sending and / or receiving a radio resource allocation request, wherein the radio resource allocation request is based on the operation configuration data.

[0246] Item 18. The method according to any of items 12-17, wherein the method comprises validating a signal quality of signals received from the second network device via the first pre-selected beam.

[0247] Item 19. The method according to item 18, wherein validating the signal quality comprises: obtaining first signal quality data indicative of signal quality of a signal received via the first pre-selected beam; determining whether the first signal quality data meets a first criterion; upon determining that the first signal quality data does not meet the first criterion, obtaining second signal quality data indicative of signal quality of a signal received via the first pre-selected beam; determining whether the second signal quality data meets a second criterion; and upon determining that the second signal quality data does not meet the second criterion, updating the first pre-selected beam. Item 20. The method according to any of items 11-19, wherein the method comprises determining first intermediate relative position, wherein the first intermediate relative position is on a path between the first and the second relative positions.

[0248] Item 21 . A wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods according to any of items 1-20.

[0249] Item 22. A radio network node comprising memory circuitry, processor circuitry, and a wireless interface, wherein the radio network node is configured to perform any of the methods according to any of items 1-20.

[0250] The use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not imply any particular order, but are included to identify individual elements. Moreover, the use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not denote any order or importance, but rather the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used to distinguish one element from another. Note that the words “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering. Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

[0251] It may be appreciated that the Figures comprise some circuitries or operations which are illustrated with a solid line and some circuitries, components, features, or operations which are illustrated with a dashed line. Circuitries or operations which are comprised in a solid line are circuitries, components, features or operations which are comprised in the broadest example. Circuitries, components, features, or operations which are comprised in a dashed line are examples which may be comprised in, or a part of, or are further circuitries, components, features, or operations which may be taken in addition to circuitries, components, features, or operations of the solid line examples. It should be appreciated that these operations need not be performed in order presented. Furthermore, it should be appreciated that not all of the operations need to be performed. The example operations may be performed in any order and in any combination. It should be appreciated that these operations need not be performed in order presented. Circuitries, components, features, or operations which are comprised in a dashed line may be considered optional.

[0252] Other operations that are not described herein can be incorporated in the example operations. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations.

[0253] Certain features discussed above as separate implementations can also be implemented in combination as a single implementation. Conversely, features described as a single implementation can also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as any sub-combination or variation of any sub-combination.

[0254] It is to be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed.

[0255] It is to be noted that the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements.

[0256] It is to be noted that the term "indicative of may be seen as “associated with”, “related to”, “descriptive of’, “characterizing”, and / or “defining”. The terms “indicative of”, “associated with”, “related to”, “descriptive of’, “characterizing”, and “defining” can be used interchangeably. The term “indicative of” can be seen as indicating a relation. For example, weight data indicative of weight may comprise one or more weight parameters.

[0257] It is to be noted that the word "based on" may be seen as “as a function of” and / or “derived from”. The terms “based on” and “as a function of’ can be used interchangeably. For example, a parameter determined “based on” a data set can be seen as a parameter determined “as a function of” the data set. In other words, the parameter may be an output of one or more functions with the data set as an input.

[0258] A function may be characterizing a relation between an input and an output, such as mathematical relation, a database relation, a hardware relation, logical relation, and / or other suitable relations. It should further be noted that any reference signs do not limit the scope of the claims, that the examples may be implemented at least in part by means of both hardware and software, and that several "means", "units" or "devices" may be represented by the same item of hardware.

[0259] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than or equal to 10% of, within less than or equal to 5% of, within less than or equal to 1% of, within less than or equal to 0.1 % of, and within less than or equal to 0.01% of the stated amount. If the stated amount is 0 (e.g., none, having no), the above recited ranges can be specific ranges, and not within a particular % of the value. For example, within less than or equal to 10 wt. / vol. % of, within less than or equal to 5 wt. / vol. % of, within less than or equal to 1 wt. / vol. % of, within less than or equal to 0.1 wt. / vol. % of, and within less than or equal to 0.01 wt. / vol. % of the stated amount.

[0260] The various example methods, devices, nodes and systems described herein are described in the general context of method steps or processes, which may be implemented in one aspect by a computer program product, embodied in a computer-readable medium, including computerexecutable instructions, such as program code, executed by computers in networked environments. A computer-readable medium may include removable and non-removable storage devices including, but not limited to, Read Only Memory (ROM), Random Access Memory (RAM), compact discs (CDs), digital versatile discs (DVD), etc. Generally, program circuitries may include routines, programs, objects, components, data structures, etc. that perform specified tasks or implement specific abstract data types. Computer-executable instructions, associated data structures, and program circuitries represent examples of program code for executing steps of the methods disclosed herein. The particular sequence of such executable instructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps or processes.

[0261] Although features have been shown and described, it will be understood that they are not intended to limit the claimed disclosure, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The claimed disclosure is intended to cover all alternatives, modifications, and equivalents.

Claims

CLAIMS1 . A method performed by a first network device in a wireless communications network comprising the first network device and a second network device, for determining one or more beams to be used in communications between the first and the second network device when the first and the second network device have a first relative position, the method comprising: performing a beam identification process comprising the first network device sending and / or receiving a set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have the first relative position; selecting, based on the obtained signal quality data, a first beam to be used in communications between the first and the second network device when the first and the second network device have the first relative position; and storing a first identifier of the selected first beam, wherein the first identifier is associated with the first relative position.

2. The method according to claim 1 , the method comprising: performing the beam identification process comprising the first network device sending and / or receiving the set of reference signals to and / or from the second network device using different beams and obtaining signal quality data based on measurements of a signal quality of received reference signals, wherein the sending and / or receiving of the set of reference signals by the first network device is performed while the first and the second network device have a second relative position; selecting, based on the obtained signal quality data, a second beam to be used in communications between the first and the second network device when the first and the second network device have the second relative position; and storing a second identifier of the selected second beam, wherein the second identifier is associated with the second relative position.

3. The method according to any of the previous claims, wherein the communications between the first and the second network device have a latency of less than 0.1 milliseconds and / or a packet error rate of equal to or less than 1 x1 O'9, and / or wherein the distance over which communications between the first and second network device occur is less than 10m.

4. The method according to any of the previous claims, wherein the method comprises sending and / or receiving a relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device, wherein the relative position configuration comprises the configuration of the first relative position and / or the second relative position.

5. The method according to claim 4, wherein the method comprises storing the relative position configuration indicative of a configuration of one or more relative positions of the first network device and the second network device.

6. The method according to any of the previous claims, wherein the method comprises sending and / or receiving a reference signal configuration indicative of a configuration of the set of reference signals transmitted between the first and the second network device.

7. The method according to any of claims 4-5, wherein performing the beam identification process comprises the first network device receiving a set of reference signals from the second network device, wherein the first network device is being moved to a position in accordance with the first relative position, and wherein the beam identification process comprises the first network device requesting the second network device to send the set of reference signals when the first network device has a position in accordance with the first relative position.

8. The method according to any of the previous claims, wherein the first network device is a wireless device and the second network device is a network node, or wherein the first network device is a network node and the second network device is a wireless device.

9. A method performed by a first network device in a wireless communications network comprising the first network device and a second network device, for using one or more pre-selected beams in communications between the first and the second network device when the first and the second network device have a pre-determined relative position, the method comprising: retrieving a first identifier of a first pre-selected beam of the first network device, wherein the first identifier is associated with a first relative position; and while the first and the second network device have the first relative position, using the first pre-selected beam in communications between the first and the second network device.

10. The method according to claim 9, wherein the method comprises: retrieving a second identifier of a second pre-selected beam of the first network device, wherein the second identifier is associated with a second relative position; and while the first and the second network device have the second relative position, using the second pre-selected beam in communications between the first and the second network device.

11. The method according to any of claims 9-10, wherein the method comprises obtaining operation configuration data indicative of one or more movements of the first network device and / or the second network device.

12. The method according to any of claims 9-11 , wherein the method comprises sending and / or receiving scheduling data associated with the first relative position and / or the second relative position.

13. The method according to any of claims 9-12, wherein the method comprises obtaining trigger data, wherein the trigger data is configured to trigger a movement of the first network device and / or the second network device.

14. The method according to claim 13, wherein the method comprises, upon receiving trigger data, causing the first network device and / or the second network device to move to the first relative position.

15. The method according to claim 11 , wherein the method comprises sending and / or receiving a radio resource allocation request, wherein the radio resource allocation request is based on the operation configuration data.

16. The method according to any of claims 10-15, wherein the method comprises validating a signal quality of signals received from the second network device via the first preselected beam.

17. The method according to claim 16, wherein validating the signal quality comprises: obtaining first signal quality data indicative of signal quality of a signal received via the first pre-selected beam; determining whether the first signal quality data meets a first criterion; upon determining that the first signal quality data does not meet the first criterion, obtaining second signal quality data indicative of signal quality of a signal received via the first pre-selected beam; determining whether the second signal quality data meets a second criterion; and upon determining that the second signal quality data does not meet the second criterion, updating the first pre-selected beam.

18. The method according to any of claims 9-17, wherein the method comprises determining first intermediate relative position, wherein the first intermediate relative position is on a path between the first and the second relative positions.

19. A wireless device comprising memory circuitry, processor circuitry, and a wireless interface, wherein the wireless device is configured to perform any of the methods according to any of claims 1-17.

20. A radio network node comprising memory circuitry, processor circuitry, and a wireless interface, wherein the radio network node is configured to perform any of the methods according to any of claims 1-17.

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