Network-assisted detect and avoid

Abstract

A method performed by an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA). The method comprises determining to initiate a DAA service and requesting one or more of: (i) Ranging / Sidelink Positioning location results; and (ii) Relative Proximity information. The method further comprises estimating a potential for collision based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information and sending a message toward a user equipment (UE) regarding the potential for collision.

Description

Network-Assisted Detect and AvoidTECHNICAL FIELD

[0001] This disclosure relates to the cellular networks, especially related to Network-Assisted Detect and Avoid in a cellular network.BACKGROUND

[0002] The Third Generation Partnership Project (3GPP) has developed the Fifth Generation (5G) standard for cellular networks. 5G Core (5GC) refers to the core architecture of the 5G standard. Mechanisms for Detect and Avoid (DAA) are defined in clause 5.6 of 3GPP Technical Specification TS 23.256 (V18.2.0) (TS 23.256 below). A ground-based DAA mechanism, which is based on a ground-based entity, Area Airspace Manager (AAM), is introduced in clause 5.7 of TS 23.256. Recently, a new Service and System Aspects Working Group 2 (SA2) Release 19 key issue on enhancement of Network Exposure Function (NEF) services to support service exposure and interactions between mobile network operators (MNOs) and unmanned aircraft system traffic management (UTM) functions has been agreed in TR 23.700-59 (V0.1.0).SUMMARY

[0003] Mechanisms for Detect and Avoid (DAA) based on PC5 (a device-to-device interface) are discussed in clause 5.6.1 in TS 23.256. DAA leverages procedures and mechanisms as defined for Aircraft-to-Everything (A2X) in clause 6. The detection and deconfliction of potential collisions between unmanned aerial vehicles (UAVs) are locally performed between UAVs using direct UAV to UAV communication over PC5. The Unmanned Aerial System (UAS) Service Supplier (USS) may be informed of the potential collision situation. Deconflicting policy which indicates the communication mode (unicast or broadcast) used for deconflicting for A2X is defined in 6.2.1.2.1 of TS 23.256. Authorization and provisioning of policy parameters for A2X communication over PC5 reference point as described in clause 6.2.1.2 of TS 23.256 is leveraged.

[0004] Previously, there was no existing mechanism to address the challenges such as whether and how to enable network-assisted / ground-based mechanism for DAA, Any architectural impacts for the support of NWDAA; Whether and what information is needed for NWDAA; which existing information collected and generated in the 5GS can be utilized to enable NWDAA; whether any and what type of new information may be collected and / or generated in the 5GS to support NWDAA; Whether and how to provide UTM and UAVs with the information collected or generated by the 5G system for the purpose of NWDAA.

[0005] A previous disclosure, now adopted as a solution on Support Network-assisted DAA with Existing 5GC Services (Solution#5), has been approved and added to TR 23.700-59 (VO.1.0). That disclosure proposes in certain embodiments to utilize the Gateway Mobile Location Center (GMLC) service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC Network Data Analytics Function (NWDAF) to support Network-assisted DAA. The corresponding procedures are provided by this disclosure, including Procedure for UAV / UAV-C Triggered Network-assisted DAA and Procedure for AAM Triggered Network Assist DAA

[0006] There currently exist certain challenge(s). New SA2 Release 19 key issue on Network-assisted / ground-based mechanism for DAA with 5GS information was agreed, and although some solutions have been proposed, enhancements to address the challenges of the listed study aspects are needed, e.g., which existing information collected and generated in the 5GS can be utilized to enable NWDAA.

[0007] Certain aspects of the disclosure and their embodiments may provide solutions to these or other challenges. This disclosure focuses on the study aspect “Study which existing information collected and generated in the 5GS can be utilized to enable NWDAA.” and proposes in certain embodiments to utilize the GMLC service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC NWDAF to support Network-assisted DAA. The corresponding procedures are provided, including a procedure for USS Triggered Network Assist DAA.

[0008] Accordingly, in one aspect of the embodiments of this disclosure, there is provided a method performed by an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA) of collision involving at least one UE. The method comprises determining to initiate a DAA service and requesting one or more of: (i) Ranging / Sidelink Positioning location results for the at least one UE; and (ii) Relative Proximity information for the at least one UE. The method further comprises estimating a potential for collision involving the at least one UE based on one or more of (i) the Ranging / Sidelink Positioning location results and (ii) the Relative Proximity information. The method further comprises sending a message toward the at least one UE regarding the potential for collision.

[0009] In a different aspect of the embodiments of this disclosure, there is provided a method performed by a user equipment (e.g., an Unmanned Aerial Vehicle (UAV), an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA). The method comprises receiving from an Unmanned AerialSystem (UAS) Service Supplier (USS) (410, QQ110, QQ300) a message indicating a potential collision and performing operations to avoid collision.

[0010] In a different aspect, there is provided an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA). The USS is being configured to determine to initiate a DAA service and request one or more of: (i) Ranging / Sidelink Positioning location results; and (ii) Relative Proximity information. The USS is also configured to estimate a potential for collision based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information and send a message toward a user equipment (UE) regarding the potential for collision.

[0011] In a different aspect, there is provided a user equipment (e.g., an Unmanned Aerial Vehicle(UAV), an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA) . The UE comprises processing circuitry configured to receiving from an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) a message indicating a potential collision and performing operations to avoid collision. The UE comprises power supply circuitry configured to supply power to the processing circuitry.

[0012] As explained above, Certain embodiments may provide one or more of the following technical advantages. Certain embodiments propose to utilize the GMLC service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC NWDAF to support Network-assisted DAA. The corresponding procedures for USS triggered network assist DAA are provided. The teachings of certain embodiments may improve the detection and avoidance, e.g., preventing unnecessary losses of UAVs, increasing effectiveness and efficiency of UAVs, reducing damage to infrastructure and people where UAVs are being used, and so on.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate various embodiments.FIG. 1 shows a process according to some embodiments.FIG. 2 shows a logical architecture according to some embodiments.FIG. 3 shows a process according to some embodiments.FIG. 4 shows a logical architecture according to some embodiments.FIG. 5 shows a process according to some embodiments.FIG. 6 shows a process according to some embodiments.FIG. 7 shows a process according to some embodiments.FIG. QQ1 shows an example of a communication system.FIG. QQ2 shows an apparatus according to some embodiment.FIG. QQ3 shows an apparatus according to some embodiment.FIG. QQ4 shows an apparatus according to some embodiment.DETAILED DESCRIPTION

[0014] FIG. 1 illustrates a DAA procedure based on PC5. The steps illustrated in FIG. 1 are described below.

[0015] 1. A first UAV (labeled UAV1) receives broadcast messages from a second UAV (labeledUAV2) in one or more PC5-U messages, that may include an application layer DAA payload, e.g., a Civil Aviation Authority (CAA)-level UAV identifier (ID), a velocity, a heading direction, and a position.

[0016] 2. UAV1 passes the DAA payload to an upper layer, e.g., an application client. The application client layer detects a conflict, based on the broadcast messages received from UAV2, e.g. by comparing it with its own trajectory and location. If the application client layer in the UAV1 detects a potential collision situation, it initiates a collision avoidance / conflict resolution procedure with UAV2.

[0017] 3. Optionally, UAV1 may inform its own USS about the detected potential collision, e.g., by including peer UAV2’s ID(s).

[0018] NOTE 2: The communication between UAV and USS for potential collision notification is out of scope of this specification.

[0019] 4. UAV1 selects a communication mode (broadcast or unicast) for DAA deconfliction based on the input received from the application layer and A2X Policy. If unicast deconfliction mode is selected then step 4a is executed, otherwise, messages in steps 5 and 6 are exchanged using broadcast mode as defined in clause 6.3.1 of TS 23.287 (V18.2.0) (TS 23.287 below).

[0020] 4a. Optional: If unicast deconfliction mode is selected, then UAV1 triggers a Eayer-2 link establishment for unicast communication with UAV2 by applying to A2X the procedure defined in clause 6.3.3. 1 ofTS 23.287 with the following clarifications:If the Target User Info is included in the Direct Communication Request message, the Application layer ID of the target user equipment (UE) (i.e., UAV2) can be the one retrieved from the step 1, e.g. CAAdevel UAV ID.If the Target User Info is not included in the Direct Communication Request message, the UEs that are interested in using the announced A2X service type(s) over a PC5 unicast link with UAV1 responds by establishing the security with the UAV1.The steps 5 and 6 are then exchanged over the established unicast link.

[0021] 5. UAV1 sends to UAV2 a DAA deconfliction message, e.g. a deconfliction request message which may include a collision detection alert, its CAA-level UAV IDs and the one(s) from other detected conflicting UAV(s), and deconflicting specific parameters (e.g. trajectory correction information to avoid collision).

[0022] NOTE 3: The deconflicting specific parameters are application layer content and is out of scope of this specification.

[0023] 6. UAV2 replies to provide agreed DAA deconflicting policy, its updated trajectory and other info, e.g. a message deconfliction status response, a conflict resolved alert, and CAA-level UAV IDs of participating UAVs from the receiving UAV.

[0024] Subsequent messages may be exchanged between UAVs until traffic conflict resolution is reached (e.g. for mutual position / trajectory monitoring) based on application layer mechanisms.

[0025] 7. After the successful traffic conflict resolution, if unicast deconfliction mode was selected, the UAV1 triggers a Eayer-2 link release procedure as described in clause 6.3.3.3 of TS 23.287.

[0026] NOTE 4: While it is assumed that all UAVs in the area can be involved for DAA, the procedure shows only two UAVs for simplicity.

[0027] Ground-based DAA for an Area is described in clause 5.7 in TS 23.256 [1]). Functional Description is described in clause 5.7.1 in TS 23.256 [1], The following description corresponds to these clauses.

[0028] This clause provides a network -assisted (ground-based) DAA mechanism. It is applicable for a specific area, such as a stadium or arena where UAVs are used, e.g., for filming an event. It is based on a ground -based entity, an Area Airspace Manager (AAM), that is able to detect UAVs in the specific area and provide local steering policies to the individual UASs in order to avoid the UAVs crashing into each other or different structures etc. The policy may, e.g., include allowed flying zones and positions allowed for the specific UAV. The policy may also apply to a specific outdoor area, e.g., an event, where specific measures to avoid collision between drones are established locally.

[0029] NOTE 1: The policies provided by the AAM is application specific steering / DAA policies that are out of scope of 3GPP. The same or different local policies can be provided to the UAVs in the arena. UAVs can, for example, be given different fly zones in the arena just like people have different seating in an arena.

[0030] The high-level principles of the network -assisted (ground based) DAA are:The arena / area has a ground-based entity Area Airspace Manager (AAM). The AAM includes one or more UEs enabled for use of PC5. The AAM may also have a direct connection to the Data Network.For the applicable airspace of the area / arena the AAM defines individually adapted local collision avoidance rules for correspondingly located UAVs.

[0031] NOTE 2: How the AAM can determine the local steering policy for collision avoidance is out of scope of 3GPP. It can, e.g., be based on maps of the area / arena and detailed information about the facilities together with an awareness of the current usage need for the airspace.

[0032] Provisioning of AAM local collision avoidance rules to a UAV / UE must comply with the policies for PC5 operations received from the 5GC or being preconfigured in the UE.

[0033] Detected UAVs are identified by their coordinates and by the Remote ID as retrieved by Broadcast Remote ID (BRID) or Network Remote ID (NRID) mechanisms dependent on the method used by the UAV.

[0034] NOTE 3: How the AAM can scan the UAVs in specific area is out of scope of 3GPP.

[0035] NOTE 4: How the AAM retrieves the Remote ID for detected UAVs is out of scope of3GPP. For example, in case of BRID, different UAVs can use different methods, such as wireless local area network (WLAN), Bluetooth or PC5 direct communication, for broadcasting the Remote ID; and in case of NRID, the AAM will, based on the geolocation of the UAV, retrieve the Remote ID from the USS at application layer. For the NRID case the AAM will typically have to be authorized by the UTM to be allowed to retrieve the Remote ID.

[0036] Based on the retrieved Remote ID, the AAM activates PC5 communication with each detected UAV by triggering establishment of an A2X PC5 unicast link based on procedures described in clause 6 using the UAVs Remote-ID as Application-Layer-ID (i.e. Target User Info) in the Direct Communication Request message.

[0037] For Direct Communication over PC5 the UAV and AAM shall comply with the authorization and provisioning principles described in clause 4.2. 1.2.2 of TS 23.256 [1] including the following considerations:The default destination Layer-2 ID to be used for initial signaling to establish a unicast connection for the A2X service.Parameters for Groupcast are not applicable.

[0038] NOTE 5: Use of LTE PC5 for the unicast is not supported in this Release.

[0039] The AAM uses PC5 unicast link to provide each UAV present in the arena / area with local DAA policies as user traffic.

[0040] A UAV that receives local collision avoidance related policies from the AAM over PC5 may forward the policies to its UAV controller (UAV-C) so that the UAV-C can steer the UAV accordingly by use of C2 communication (e.g. over Uu, PC5, or other means) in order to enforce the local policies and avoid collisions.

[0041] NOTE 6: Whether and how to forward the policies from UAV to its UAV-C and how UAV-C uses the policies is out of scope of 3GPP.

[0042] NOTE 7: A UAV-C that receives local collision avoidance policies from an AAM, can inform the AAM about its network address (e.g. IP address or URL) in order to enable direct AAM toUAV-C communication via DataNetwork. How a UAV-C communicates with the AAM is out of scope of 3GPP.

[0043] FIG. 2 illustrates a logical architecture for ground-based DAA.

[0044] Procedures are described in clause 5.7.2 in TS 23.256 [1], The following description corresponds to this clause.

[0045] FIG. 3 illustrates a high-level procedure for ground-based DAA for an area. The steps illustrated in FIG. 3 are described below.

[0046] Ground-based DAA for an area leverages the procedures and mechanisms defined for A2X. Any references to TS 23.287 made in this clause shall be interpreted in accordance with corresponding definitions and descriptions for A2X in clause 6.

[0047] Prerequisites: The AAM / UE and the UAVs / UEs are configured to use an A2X service for ground-based DAA for an area.

[0048] 1. The UAVs / UEs listens for signals on the correspondingly destination Layer-2 ID configured for the used service type in accordance with clause 6.3.3.1 ofTS 23.287 (Fig 6.3.3.1-1 step 1 in the referenced clause).

[0049] 2. The AAM can scan the airspace over the area / arena for UAVs, e.g. by making use of upward pointing radars and cameras etc. For each detected UAV it determines the coordinates.

[0050] NOTE 1: How step 2 and step 3 are done is out of 3GPP scope.

[0051] 3. The AAM retrieves for each detected UAV the corresponding Remote -ID using the method applicable for the specific UAV. Methods which may be used includes broadcast of Remote - ID via PC5, Wi-Fi and Bluetooth and also Network Remote ID.

[0052] How this is done is out of the 3GPP scope.

[0053] 4. For each detected UAV / UE the AAM establishes a PC5 direct communication link with the discovered UAV for AAM to UAS interaction by performing the Layer-2 link establishment procedure as described when Target User Info is included in clause 6.3.3.1 of TS 23.287 (Fig 6.3.3.1-1 step 2, 3 4a, 5a and 6 in the referenced clause). The AAM application layer provides a service type indicating the A2X service "Ground-based DAA for an area" and the retrieved Remote-ID as target UE's Application Layer ID. As a result of this procedure a PC5 unicast direct communication link enabling bidirectional data exchange is set up between the application layer in the AAM and the UAV application layer of the UAV / UE having the specified Remote-ID.

[0054] 5. Optionally the UAV / UE may, when the PC5 unicast direct communication link between the AAM and the UAV / UE has been set up for NR, activate a corresponding bidirectional communication connection extending the link from the UAV to the UAV-C using the specific communication technology used for C2 communication (may e.g. be LR Wi-Fi or PC5). This enables packets received on the link (i.e. from the AAM) to be forwarded to the UAV-C and packets receivedfrom the UAV-C to be forwarded on the link (i.e. towards the AAM). Implementation aspects for this step are out of scope for 3 GPP.

[0055] 6. Using the PC5 unicast direct communication link the AAM, and the UAV establishes a bidirectional communication channel for exchange of messages. Optionally this channel can be extended to involve the UAV-C using the bi-directional tunnel. The protocol and implementation aspects for this step are out of scope for 3GPP.

[0056] NOTE 2: The UAV-C and / or the UAV can use the communication channel to provide application specific information to the AAM, how and what information is out of 3GPP scope. Based on awareness of the current UAV traffic situation, local info and plans for the area / arena, the AAM determines locations and flight paths appropriate for the specific UAV such that collisions can be avoided and creates a corresponding application specific steering policy being out of scope of 3GPP.

[0057] 7. The AAM provides the determined steering policy to the specific UAV using the activated communication channel. Optionally it can be forwarded to the UAV-C which can return corresponding C2 commands. Protocols, semantics and syntax for handling this are application specific and out of 3GPP scope.

[0058] 8. The UAV is steered to avoid collisions in accordance with received policy and using mechanisms that are out of scope for 3GPP.

[0059] NOTE 3: A UAV-C that optionally receives local policies for DAA from an AAM, can inform the AAM of its address (e.g. IP address or URL) to enable direct AAM to UAV-C communication via Data Network.

[0060] Key Issue on Network-assisted / ground-based mechanism for DAA (Detect And Avoid) with 5GS information is described in clause 5.2 in TR 23.700-59 (V0. 1.0). The following description is based on this clause.

[0061] Network-assisted / ground-based mechanism for DAA (NWDAA) for tactical deconfliction, collision avoidance, and UTM control of UAV flight path, can be considered a complement for existing DAA based on the PC5 reference point specified in Rel-18.

[0062] In this key issue, the following aspects are required to be studied:Study whether and how to enable network-assisted / ground-based mechanism for DAA (Detect And Avoid):Any architectural impacts for the support of NWDAA.Whether and what information is needed for NWDAA:Study which existing information collected and generated in the 5GS can be utilised to enable NWDAA.Study whether any and what type of new information may be collected and / or generated in the 5GS to support NWDAA.Whether and how to provide UTM and UAVs with the information collected or generated by the 5G system for the purpose ofNWDAA.

[0063] Previously, there was no existing mechanism to address the challenges listed above directly. A previous disclosure, now adopted as a solution on Support Network -assisted DAA with Existing 5GC Services (Solution#5), has been approved and added to TR 23.700-59 (VO.2.0). That disclosure proposes in certain embodiments to utilize the Gateway Mobile Location Center (GMLC) service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC Network Data Analytics Function (NWDAF) to support Network-assisted DAA. The corresponding procedures are provided by this disclosure, including:Procedure for UAV / UAV-C Triggered Network-assisted DAAProcedure for AAM Triggered Network Assist DAA

[0064] There currently exist certain challenge(s). New SA2 Release 19 key issue on Network - assisted / ground-based mechanism for DAA (Detect And Avoid) with 5GS information was agreed, and although some solutions have been proposed in [6], enhancements to address the challenges of the listed study aspects are needed, e.g., which existing information collected and generated in the 5GS can be utilised to enable NWDAA.

[0065] Certain aspects of the disclosure and their embodiments may provide solutions to these or other challenges. This disclosure focuses on the study aspect “Study which existing information collected and generated in the 5GS can be utilized to enable NWDAA.” and proposes in certain embodiments to utilize the GMLC service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC NWDAF to support Network-assisted DAA. The corresponding procedures are provided, including a procedure for USS Triggered Network Assist DAA

[0066] Certain embodiments may provide one or more of the following technical advantages. Certain embodiments propose to utilize the GMLC service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC NWDAF to support Network- assisted DAA. The corresponding procedures for USS triggered network assist DAA are provided. The teachings of certain embodiments may improve the detection and avoidance, e.g., preventing unnecessary losses of UAVs, increasing effectiveness and efficiency of UAVs, reducing damage to infrastructure and people where UAVs are being used, and so on.

[0067] Some of the embodiments contemplated herein will now be described more fully with reference to the accompanying drawings. Embodiments are provided by way of example to convey the scope of the subject matter to those skilled in the art. Additional information may also be found in the document(s) provided in the Appendix.

[0068] FIG. 4 illustrates connections between the UAV, USS, AAM, and 5GC via NEF according to some embodiments.

[0069] A UAV 404 (or via its paired UAV-C 406) and AAM 408 can communication with the USS 410 / UTM. AAM 408 is a ground-based entity that is responsible for managing the airspace for a specific area / arena so that correspondingly residing UAVs 404 are prevented to collide with each other and with other physical objects. For this purpose, AAM 408 is able to detect UAVs 404 residing in the specific airspace and provide policies for collision avoidance to the corresponding UASs 402. The AAM 408 acts as a third-party authorized entity (TPAE) having specific abilities for direct communication with UAVs 402 relevant for the applicable airspace and it includes one or more UEs enabled for use of PC5.

[0070] USS 410 is an entity that provides services to support the safe and efficient use of airspace by providing services to the operator / pilot of a UAS 402 in meeting UTM operational requirements. A USS 410 can provide any subset of functionality to meet the provider's business objectives (e.g. UTM, Remote Identification). The USS 410 can request service from 5GC NFs via NEF 412 for supporting the application layer services. The NEF 412 may interact with 5GC NFs (e.g. GMLC 416, NWDAF 414, other NFs, operation and management (0AM) 418) to collect information / analytics to fulfill the request from the USS 410.

[0071] The GMLC service on Ranging / Sidelink Positioning location and the Relative Proximity predictions on collision generated at 5GC NWDAF may be utilized to support Network-assisted DAA in certain embodiments.

[0072] Embodiments are provided for at least the following procedures:Procedure for UAV / UAV-C Triggered Network-assisted DAA Procedure for AAM Triggered Network Assist DAA Procedure for USS Triggered Network Assist DAA

[0073] Procedure for UAV / UAV-C Triggered Network-assisted DAA.

[0074] FIG. 5 illustrates a flow diagram for a procedure for UAV / UAV-C Triggered Network- assisted DAA. The steps illustrated in FIG. 5 are described below.

[0075] 1. The UAV 404 (or UAV-C 406) establishes a Packet Data Unit (PDU) Session for communication with the USS 410 as described in clause 5.2.3 of TS 23.256 [1],

[0076] 2. The DAA service may be triggered by UAV(s) 404 or UAV-C 406. The UAV(s) 404(via its paired UAV-C 406) or the UAV-C 406 requests DAA service from USS 410. The request message includes identifier of the UAV(s) (e.g. generic public subscription ID(s) (GPSI(s)), CAA-Level UAV ID(s)). USS 410 derives information on DAA service and decides to subscribe / request to 5GC for Relative Proximity predictions on collision.

[0077] NOTE: The other content of DAA service information derived at USS 410 is out of scope.

[0078] 3. The USS 410 may request GLMC service via NEF for Ranging / Sidelink Positioning location results as described in clause 6.20.3 of TS 23.273 (VI 8.4.0) for one notification, or clause 6.20.4 of TS 23.273 (V18.4.0). for notifications.

[0079] 4. The USS 410 may subscribe or request notification on Relative Proximity predictions provided by NWDAF 414 via NEF 412, e.g., by invoking Nnef_AnalyticsExposure_Subscribe service operation as defined in clause 6.1.1.2 of TS 23.288 (V18.4.0) (TS 23.288 below) or Nnef_AnalyticsExposure_Fetch service operation as defined in clause 6.1.2.2 of TS 23.288. The subscribe / request message include identifier of the UAV(s) (e.g. GPSI(s)). The other parameters included in the request are described in clause 6.X.3.3.

[0080] 5. When the NEF 412 receives the request from the USS 410, the NEF 412 interacts with the NWDAF 414 as described in the procedure in clause 6. 19.4 of TS 23.288. The NEF map parameters included in the request from the USS 410 to information used by the 3GPP system.

[0081] 6. If the NEF 412 receives the response from the NWDAF 414, the NEF 412 notifies theUSS 410 with the Relative Proximity predictions, e.g., by invoking Nnef_AnalyticsExposure_Notify service operation for a Subscribe-Notify model as defined in clause 6. 1.1.2 of TS 23.288 or Nnef_AnalyticsExposure_Fetch service operation for a Request-Response model as defined in clause 6. 1.2.2 of TS 23.288.

[0082] 7. The USS 410 estimates the potential collision based on the received information in step3 and / or the predictions from step 6. The USS 410 informs the UAV-C(s) 406 of the potential collision. The message may include collision alert, predicted time of collision, CAA -level UAV IDs of the paired UAVs 404 which may collide (e.g. UAV 1 and UAV 2), deconflicting specific parameters (e.g. trajectory correction information to avoid collision).

[0083] 8. The UAV-C(s) 406 informs its paired UAV(s) 404 of the potential collision, and information received from the USS 410, include collision alert, predicted time of collision, CAA -level UAV IDs of the paired UAVs which may collision, and deconflicting specific parameters (e.g. trajectory correction information to avoid collision).

[0084] 9. UAVs 404 performs operations to avoid collision.

[0085] 9a. If both the two UAVs 404 which may collide (e.g. UAV 1 and UAV 2) have been informed by their paired UAV-C(s) 406, the UAVs 404 can be steered to avoid collision in accordance with the received information (e.g. trajectory correction information to avoid collision) and using mechanisms that are out of scope for 3GPP.

[0086] 9b. If only one of the two UAVs 404 which may collide (e.g. UAV 1) has been informed by its paired UAV-C 406, the UAV 1 triggers a conflict resolution procedure with UAV 2 as described in clause 5.6.1 steps 4-7 in TS 23.256 [1],

[0087] Procedure for AAM Triggered Network Assist DAA

[0088] FIG. 6 illustrates a flow diagram for a procedure for AAM Triggered Network Assist DAA according to some embodiments. The steps illustrated in FIG. 6 are described below.

[0089] 1. As described in clause 5.7.2 steps 1-6 of TS 23.256 [1], the UAV(s) 404 listens for signals on the correspondingly destination Layer-2 ID configured for the used service type. The AAM408 scans the airspace over the area / arena for UAV(s) 404, retrieves for each detected UAV 404 the corresponding Remote-ID, and establishes a PC5 direct communication link with the discovered UAV 404. Using the PC5 unicast direct communication link the AAM 408 and the UAV 404 establishes a bidirectional communication channel for exchange of messages.

[0090] 2. The AAM 408 establishes a PDU Session for communication with the USS 410 as described in clause 5.2.3 of TS 23.256 [1],

[0091] 3. The AAM 408 may request network assist DAA service from USS 410. The request message includes identifier of the UAV(s) 404 (e.g. GPSI(s), CAA-Uevel UAV ID(s)). USS 410 derives information on DAA service and decides, e.g., to request GMUC service for Ranging / Sidelink Positioning location results, to subscribe / request to NWDAF 414 for Relative Proximity predictions on collision.

[0092] NOTE: The other content of DAA service information derived at USS 410 is out of scope.

[0093] 4. The USS 410 requests GMUC service for Ranging / Sidelink Positioning location results, and / or subscribes / requests notification on Relative Proximity predictions provided by NWDAF via NEF, as described in clause 6.X.3.1 steps 3-6.

[0094] 5. The USS 410 estimates the potential collision based on the received information / analytics in step 4. The USS informs the AAM the potential collision. The message may include collision alert, predicted time of collision, CAA -level UAV IDs of the paired UAVs which may collision (e.g. UAV 1 and UAV 2), deconflicting specific parameters (e.g. trajectory correction information to avoid collision).

[0095] 6. The AAM provides the determined steering policy to the specific UAVs (e.g. UAV1 and UAV 2) according to the information received in step 5, and the UAVs are steered to avoid collisions in accordance with received policy and using mechanisms that are out of scope for 3GPP, as described in clause 5.7.2 steps 7-8 of TS 23.256 [1],

[0096] Procedure for USS Triggered Network Assist DAA

[0097] FIG. 7 illustrates a flow diagram for a procedure for USS Triggered Network Assist DAA according to some embodiments. The steps illustrated in FIG. 7 are described below.

[0098] 1. The DAA service may be triggered by USS, the USS may decide to do DAA based on application layer request or need. The USS derives information on DAA service and decides to subscribe / request to 5GC for GMLC service on Ranging / Sidelink Positioning location and / or Relative Proximity predictions on collision from NWDAF.

[0099] NOTE: The other content of DAA service information derived at USS is out of scope.

[0100] 2. The USS requests GMLC service for Ranging / Sidelink Positioning location, and / or subscribes / requests notification on Relative Proximity predictions provided by NWDAF via NEF, as described in clause 6.2.1 steps 3-6.

[0101] 3. The USS may inform the UEs (UAVs, UAV-C(s), AAM) about the potential collision.

[0102] 3a. The USS may inform the UAV-C(s) about the potential collision. The UAV-C(s) informs its paired UAV(s) about the potential collision and information received from the USS, as described in clause 6.2.1 steps 7-9.

[0103] 3b. The USS may inform the AAM about the potential collision. The AAM provides the determined steering policy to the specific UAVs, as described in clause 6.2.2 steps 5-6.

[0104] Parameters in Request for Relative Proximity Analytics

[0105] The USS acting as an Application Function communicates with the NEF which corresponds to the NF consumer in clause 6.19.4 of TS 23.288 [5],

[0106] The USS can either subscribe to notifications from the NEF (i.e., a Subscribe -Notify model) or request a single notification from the NEF (i.e. a Request-Response model). The USS request contains the following parameters:Analytics ID = "Relative Proximity";Target of Analytics Reporting: a UE, a group of UEs;Analytics Filter Information: o Area of Interest; o An individual or set of direction(s) of interest; o Number of UAVs to be accounted for relative proximity (i.e. the number of UAVs for which one UAV may report proximity information); o One or several attributes to be accounted for relative proximity (i.e. additional information that can be provided in addition to distance between two UAVs): velocity, average speed, orientation, mobility trajectory;Preferred level of accuracy of the analytics;Maximum number of objects;An Analytics target period indicating the time period over which the predictions are requested.

[0107] Any of the procedures or parts thereof described herein may be implemented in a user equipment (such as UE QQ108, UE QQ300) or a network node (such as network node QQI IO, network node QQ200).

[0108] Figure QQ1 (FIG. QQ1) shows an example of a communication system QQ100 in accordance with some embodiments.

[0109] In the example, the communication system QQ 100 includes a telecommunication network QQ102 that includes an access network QQ104, such as a radio access network (RAN), and a corenetwork QQ106, which includes one or more core network nodes QQ108. The access network QQ104 includes one or more access network nodes, such as network nodes QQ 110a and QQ 110b (one or more of which may be generally referred to as network nodes QQ110), or any other similar 3rdGeneration Partnership Project (3GPP) access nodes or non-3GPP access points. Moreover, as will be appreciated by those of skill in the art, a network node is not necessarily limited to an implementation in which a radio portion and a baseband portion are supplied and integrated by a single vendor. Thus, it will be understood that network nodes include disaggregated implementations or portions thereof. For example, in some embodiments, the telecommunication network QQ102 includes one or more Open -RAN (ORAN) network nodes. An ORAN network node is a node in the telecommunication network QQ102 that supports an ORAN specification (e.g., a specification published by the O-RAN Alliance, or any similar organization) and may operate alone or together with other nodes to implement one or more functionalities of any node in the telecommunication network QQ102, including one or more network nodes QQ110 and / or core network nodes QQ108.

[0110] Examples of an ORAN network node include an open radio unit (O-RU), an open distributed unit (O-DU), an open central unit (O-CU), including an O-CU control plane (O-CU-CP) or an O-CU user plane (O-CU-UP), a RAN intelligent controller (near-real time or non-real time) hosting software or software plug-ins, such as a near-real time control application (e.g., xApp) or a non-real time control application (e.g., rApp), or any combination thereof (the adjective “open” designating support of an ORAN specification). The network node may support a specification by, for example, supporting an interface defined by the ORAN specification, such as an Al, Fl, Wl, El, E2, X2, Xn interface, an open fronthaul user plane interface, or an open fronthaul management plane interface. Moreover, an ORAN access node may be a logical node in a physical node. Furthermore, an ORAN network node may be implemented in a virtualization environment (described further below) in which one or more network functions are virtualized. For example, the virtualization environment may include an O-Cloud computing platform orchestrated by a Service Management and Orchestration Framework via an O-2 interface defined by the O-RAN Alliance or comparable technologies. The network nodes QQ110 facilitate direct or indirect connection of user equipment (UE), such as by connecting UEs QQ112a, QQ112b, QQ112c, and QQ112d (one or more of which may be generally referred to as UEs QQ112) to the core network QQ106 over one or more wireless connections.

[0111] Example wireless communications over a wireless connection include transmitting and / or receiving wireless signals using electromagnetic waves, radio waves, infrared waves, and / or other types of signals suitable for conveying information without the use of wires, cables, or other material conductors. Moreover, in different embodiments, the communication system QQ100 may include any number of wired or wireless networks, network nodes, UEs, and / or any other components or systems that may facilitate or participate in the communication of data and / or signals whether via wired or wireless connections. The communication system QQ100 may include and / or interface with any typeof communication, telecommunication, data, cellular, radio network, and / or other similar type of system.

[0112] The UEs QQ112 may be any of a wide variety of communication devices, including wireless devices arranged, configured, and / or operable to communicate wirelessly with the network nodes QQ110 and other communication devices. Similarly, the network nodes QQ110 are arranged, capable, configured, and / or operable to communicate directly or indirectly with the UEs QQ112 and / or with other network nodes or equipment in the telecommunication network QQ102 to enable and / or provide network access, such as wireless network access, and / or to perform other functions, such as administration in the telecommunication network QQ102.

[0113] In the depicted example, the core network QQ106 connects the network nodes QQ110 to one or more host computing systems, such as host QQ116. These connections may be direct or indirect via one or more intermediary networks or devices. In other examples, network nodes may be directly coupled to hosts. The core network QQ106 includes one more core network nodes (e.g., core network node QQ108) that are structured with hardware and software components. Features ofthese components may be substantially similar to those described with respect to the UEs, network nodes, and / or hosts, such that the descriptions thereof are generally applicable to the corresponding components of the core network node QQ108. Example core network nodes include functions of one or more of a Mobile Switching Center (MSC), Mobility Management Entity (MME), Home Subscriber Server (HSS), Access and Mobility Management Function (AMF), Session Management Function (SMF), Authentication Server Function (AUSF), Subscription Identifier De-concealing function (SIDF), Unified Data Management (UDM), Security Edge Protection Proxy (SEPP), Network Exposure Function (NEF), and / or a User Plane Function (UPF).

[0114] The host QQ116 may be under the ownership or control of a service provider other than an operator or provider of the access network QQ104 and / or the telecommunication network QQ102. The host QQ116 may host a variety of applications to provide one or more service. Examples of such applications include live and pre-recorded audio / video content, data collection services such as retrieving and compiling data on various ambient conditions detected by a plurality of UEs, analytics functionality, social media, functions for controlling or otherwise interacting with remote devices, functions for an alarm and surveillance center, or any other such function performed by a server.

[0115] As a whole, the communication system QQ100 of Figure QQ1 enables connectivity between the UEs, network nodes, and hosts. In that sense, the communication system may be configured to operate according to predefined rules or procedures, such as specific standards that include, but are not limited to: Global System for Mobile Communications (GSM); Universal Mobile Telecommunications System (UMTS); Long Term Evolution (LTE), and / or other suitable 2G, 3G, 4G, 5G standards, or any applicable future generation standard (e.g., 6G); wireless local area network (WLAN) standards, such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11standards (WiFi); and / or any other appropriate wireless communication standard, such as the Worldwide Interoperability for Microwave Access (WiMax), Bluetooth, Z-Wave, Near Field Communication (NFC) ZigBee, LiFi, and / or any low-power wide-area network (LPWAN) standards such as LoRa and Sigfox.

[0116] In some examples, the telecommunication network QQ102 is a cellular network that implements 3GPP standardized features. Accordingly, the telecommunications network QQ102 may support network slicing to provide different logical networks to different devices that are connected to the telecommunication network QQ102. For example, the telecommunications network QQ102 may provide Ultra Reliable Low Latency Communication (URLLC) services to some UEs, while providing Enhanced Mobile Broadband (eMBB) services to other UEs, and / or Massive Machine Type Communication (mMTC)ZMassive loT services to yet further UEs.

[0117] In some examples, the UEs QQ112 are configured to transmit and / or receive information without direct human interaction. For instance, a UE may be designed to transmit information to the access network QQ104 on a predetermined schedule, when triggered by an internal or external event, or in response to requests from the access network QQ104. Additionally, a UE may be configured for operating in single- or multi-RAT or multi -standard mode. For example, a UE may operate with any one or combination of Wi-Fi, NR (New Radio) and LTE, i.e. being configured for multi-radio dual connectivity (MR-DC), such as E-UTRAN (Evolved-UMTS Terrestrial Radio Access Network) New Radio - Dual Connectivity (EN-DC).

[0118] In the example, the hub QQ 114 communicates with the access network QQ 104 to facilitate indirect communication between one or more UEs (e.g., UE QQ112c and / or QQ112d) and network nodes (e.g., network node QQl lOb). In some examples, the hub QQ114 may be a controller, router, content source and analytics, or any of the other communication devices described herein regarding UEs. For example, the hub QQ114 may be a broadband router enabling access to the core network QQ106 for the UEs. As another example, the hub QQ114 may be a controller that sends commands or instructions to one or more actuators in the UEs. Commands or instructions may be received from the UEs, network nodes QQ110, or by executable code, script, process, or other instructions in the hub QQ114. As another example, the hub QQ114 may be a data collector that acts as temporary storage for UE data and, in some embodiments, may perform analysis or other processing of the data. As another example, the hub QQ114 may be a content source. For example, for a UE that is a VR device, display, loudspeaker, or other media delivery device, the hub QQ114 may retrieve VR assets, video, audio, or other media or data related to sensory information via a network node, which the hub QQ114 then provides to the UE either directly, after performing local processing, and / or after adding additional local content. In still another example, the hub QQ114 acts as a proxy server or orchestrator for the UEs, in particular if one or more of the UEs are low energy loT devices.

[0119] The hub QQ114 may have a constant / persistent or intermitent connection to the network node QQ110b. The hub QQ114 may also allow for a different communication scheme and / or schedule between the hub QQ114 and UEs (e.g., UE QQ112c and / or QQ112d), and between the hub QQ114 and the core network QQ106. In other examples, the hub QQ114 is connected to the core network QQ106 and / or one or more UEs via a wired connection. Moreover, the hub QQ114 may be configured to connect to an M2M service provider over the access network QQ 104 and / or to another UE over a direct connection. In some scenarios, UEs may establish a wireless connection with the network nodes QQ 110 while still connected via the hub QQ114 via a wired or wireless connection. In some embodiments, the hub QQ114 may be a dedicated hub - that is, a hub whose primary function is to route communications to / from the UEs from / to the network node QQ110b. In other embodiments, the hub QQ114 may be a non-dedicated hub - that is, a device which is capable of operating to route communications between the UEs and network node QQ110b, but which is additionally capable of operating as a communication start and / or end point for certain data channels.

[0120] Figure QQ2 (FIG. QQ2) shows a UE QQ200 in accordance with some embodiments. The UE QQ200 presents additional details of some embodiments of the UE QQ112 of Figure 1. As used herein, a UE refers to a device capable, configured, arranged and / or operable to communicate wirelessly with network nodes and / or other UEs. Examples of a UE include, but are not limited to, a smart phone, mobile phone, cell phone, voice over IP (VoIP) phone, wireless local loop phone, desktop computer, personal digital assistant (PDA), wireless cameras, gaming console or device, music storage / playback device, wearable terminal device, wireless endpoint, mobile station, tablet, laptop, laptop -embedded equipment (LEE), laptop -mounted equipment (LME), an Augmented Reality (AR) or Virtual Reality (VR) device, wireless customer-premise equipment (CPE), vehicle, vehicle -mounted or vehicle embedded / integrated wireless device, etc. Other examples include any UE identified by the 3rd Generation Partnership Project (3GPP), including a narrow band internet of things (NB-IoT) UE, a machine type communication (MTC) UE, and / or an enhanced MTC (eMTC) UE.

[0121] A UE may support device-to-device (D2D) communication, for example by implementing a 3GPP standard for sidelink communication, Dedicated Short-Range Communication (DSRC), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), or vehicle-to-everything (V2X). In other examples, a UE may not necessarily have a user in the sense of a human user who owns and / or operates the relevant device. Instead, a UE may represent a device that is intended for sale to, or operation by, a human user but which may not, or which may not initially, be associated with a specific human user (e.g., a smart sprinkler controller). Alternatively, a UE may represent a device that is not intended for sale to, or operation by, an end user but which may be associated with or operated for the benefit of a user (e.g., a smart power meter).

[0122] The UE QQ200 includes processing circuitry QQ202 that is operatively coupled via a bus QQ204 to an input / output interface QQ206, a power source QQ208, a memory QQ210, acommunication interface QQ212, and / or any other component, or any combination thereof. Certain UEs may utilize all or a subset of the components shown in Figure QQ2. The level of integration between the components may vary from one UE to another UE. Further, certain UEs may contain multiple instances of a component, such as multiple processors, memories, transceivers, transmitters, receivers, etc.

[0123] The processing circuitry QQ202 is configured to process instructions and data and may be configured to implement any sequential state machine operative to execute instructions stored as machine-readable computer programs in the memory QQ210. The processing circuitry QQ202 may be implemented as one or more hardware-implemented state machines (e.g., in discrete logic, field- programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), etc.); programmable logic together with appropriate firmware; one or more stored computer programs, general-purpose processors, such as a microprocessor or digital signal processor (DSP), together with appropriate software; or any combination of the above. For example, the processing circuitry QQ202 may include multiple central processing units (CPUs).

[0124] In the example, the input / output interface QQ206 may be configured to provide an interface or interfaces to an input device, output device, or one or more input and / or output devices. Examples of an output device include a speaker, a sound card, a video card, a display, a monitor, a printer, an actuator, an emitter, a smartcard, another output device, or any combination thereof. An input device may allow auserto capture information into the UE QQ200. Examples of an input device include a touch-sensitive or presence -sensitive display, a camera (e.g., a digital camera, a digital video camera, a web camera, etc.), a microphone, a sensor, a mouse, a trackball, a directional pad, a trackpad, a scroll wheel, a smartcard, and the like. The presence-sensitive display may include a capacitive or resistive touch sensor to sense input from a user. A sensor may be, for instance, an accelerometer, a gyroscope, a tilt sensor, a force sensor, a magnetometer, an optical sensor, a proximity sensor, a biometric sensor, etc., or any combination thereof. An output device may use the same type of interface port as an input device. For example, a Universal Serial Bus (USB) port may be used to provide an input device and an output device.

[0125] In some embodiments, the power source QQ208 is structured as a battery or battery pack. Other types of power sources, such as an external power source (e.g., an electricity outlet), photovoltaic device, or power cell, may be used. The power source QQ208 may further include power circuitry for delivering power from the power source QQ208 itself, and / or an external power source, to the various parts of the UE QQ200 via input circuitry or an interface such as an electrical power cable. Delivering power may be, for example, for charging of the power source QQ208. Power circuitry may perform any formatting, converting, or other modification to the power from the power source QQ208 to make the power suitable for the respective components of the UE QQ200 to which power is supplied.

[0126] The memory QQ210 may be or be configured to include memory such as random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic disks, optical disks, hard disks, removable cartridges, flash drives, and so forth. In one example, the memory QQ210 includes one or more application programs QQ214, such as an operating system, web browser application, a widget, gadget engine, or other application, and corresponding data QQ216. The memory QQ210 may store, for use by the UE QQ200, any of a variety of various operating systems or combinations of operating systems.

[0127] The memory QQ210 may be configured to include a number of physical drive units, such as redundant array of independent disks (RAID), flash memory, USB flash drive, external hard disk drive, thumb drive, pen drive, key drive, high-density digital versatile disc (HD-DVD) optical disc drive, internal hard disk drive, Blu-Ray optical disc drive, holographic digital data storage (HDDS) optical disc drive, external mini-dual in-line memory module (DIMM), synchronous dynamic random access memory (SDRAM), external micro-DIMM SDRAM, smartcard memory such as tamper resistant module in the form of a universal integrated circuit card (UICC) including one or more subscriber identity modules (SIMs), such as a USIM and / or ISIM, other memory, or any combination thereof. The UICC may for example be an embedded UICC (eUICC), integrated UICC (iUICC) or a removable UICC commonly known as ‘SIM card.’ The memory QQ210 may allow the UE QQ200 to access instructions, application programs and the like, stored on transitory or non-transitory memory media, to off-load data, or to upload data. An article of manufacture, such as one utilizing a communication system may be tangibly embodied as or in the memory QQ210, which may be or comprise a device - readable storage medium.

[0128] The processing circuitry QQ202 may be configured to communicate with an access network or other network using the communication interface QQ212. The communication interface QQ212 may comprise one or more communication subsystems and may include or be communicatively coupled to an antenna QQ222. The communication interface QQ212 may include one or more transceivers used to communicate, such as by communicating with one or more remote transceivers of another device capable of wireless communication (e.g., another UE or a network node in an access network). Each transceiver may include a transmitter QQ218 and / or a receiver QQ220 appropriate to provide network communications (e.g., optical, electrical, frequency allocations, and so forth). Moreover, the transmitter QQ218 and receiver QQ220 may be coupled to one or more antennas (e.g., antenna QQ222) and may share circuit components, software or firmware, or alternatively be implemented separately.

[0129] In the illustrated embodiment, communication functions of the communication interface QQ212 may include cellular communication, Wi-Fi communication, LPWAN communication, data communication, voice communication, multimedia communication, short-range communications suchas Bluetooth, near-field communication, location-based communication such as the use of the global positioning system (GPS) to determine a location, another like communication function, or any combination thereof. Communications may be implemented in according to one or more communication protocols and / or standards, such as IEEE 802.11, Code Division Multiplexing Access (CDMA), Wideband Code Division Multiple Access (WCDMA), GSM, LTE, New Radio (NR), UMTS, WiMax, Ethernet, transmission control protocol / intemet protocol (TCP / IP), synchronous optical networking (SONET), Asynchronous Transfer Mode (ATM), QUIC, Hypertext Transfer Protocol (HTTP), and so forth.

[0130] Regardless of the type of sensor, a UE may provide an output of data captured by its sensors, through its communication interface QQ212, via a wireless connection to a network node . Data captured by sensors of a UE can be communicated through a wireless connection to a network node via another UE. The output may be periodic (e.g., once every 15 minutes if it reports the sensed temperature), random (e.g., to even out the load from reporting from several sensors), in response to a triggering event (e.g., when moisture is detected an alert is sent), in response to a request (e.g., a user initiated request), or a continuous stream (e.g., a live video feed of a patient).

[0131] As another example, a UE comprises an actuator, a motor, or a switch, related to a communication interface configured to receive wireless input from a network node via a wireless connection. In response to the received wireless input the states of the actuator, the motor, or the switch may change. For example, the UE may comprise a motor that adjusts the control surfaces or rotors of a drone in flight according to the received input or to a robotic arm performing a medical procedure according to the received input.

[0132] A UE, when in the form of an Internet of Things (loT) device, may be a device for use in one or more application domains, these domains comprising, but not limited to, city wearable technology, extended industrial application and healthcare. Non -limiting examples of such an loT device are a device which is or which is embedded in: a connected refrigerator or freezer, a TV, a connected lighting device, an electricity meter, a robot vacuum cleaner, a voice controlled smart speaker, a home security camera, a motion detector, a thermostat, a smoke detector, a door / window sensor, a flood / moisture sensor, an electrical door lock, a connected doorbell, an air conditioning system like a heat pump, an autonomous vehicle, a surveillance system, a weather monitoring device, a vehicle parking monitoring device, an electric vehicle charging station, a smart watch, a fitness tracker, a wearable for tactile augmentation or sensory enhancement, a water sprinkler, an animal- or itemtracking device, a sensor for monitoring a plant or animal, an industrial robot, an Unmanned Aerial Vehicle (UAV), and any kind of medical device, like a heart rate monitor or a remote controlled surgical robot. A UE in the form of an loT device comprises circuitry and / or software in dependence of the intended application of the loT device in addition to other components as described in relation to the UE QQ200 shown in Figure QQ2.

[0133] As yet another specific example, in an loT scenario, a UE may represent a machine or other device that performs monitoring and / or measurements and transmits the results of such monitoring and / or measurements to another UE and / or a network node . The UE may in this case be an M2M device, which may in a 3GPP context be referred to as an MTC device. As one particular example, the UE may implement the 3GPP NB-IoT standard. In other scenarios, a UE may represent a vehicle, such as a car, a bus, a truck, a ship and an airplane, or other equipment that is capable of monitoring and / or reporting on its operational status or other functions associated with its operation.

[0134] In practice, any number of UEs may be used together with respect to a single use case . For example, a first UE might be or be integrated in a drone and provide the drone’s speed information (obtained through a speed sensor) to a second UE that is a remote controller operating the drone. When the user makes changes from the remote controller, the first UE may adjust the throttle on the drone (e.g. by controlling an actuator) to increase or decrease the drone’s speed. The first and / or the second UE can also include more than one of the functionalities described above. For example, a UE might comprise the sensor and the actuator, and handle communication of data for both the speed sensor and the actuators.

[0135] Figure QQ3 (FIG. QQ3) shows a network node QQ300 in accordance with some embodiments. As used herein, network node refers to equipment capable, configured, arranged and / or operable to communicate directly or indirectly with a UE and / or with other network nodes or equipment, in a telecommunication network. Examples of network nodes include, but are not limited to, access points (APs) (e.g., radio access points), base stations (BSs) (e.g., radio base stations, Node Bs, evolved Node Bs (eNBs) and NRNodeBs (gNBs)), O-RAN nodes or components of an O-RAN node (e.g., O- RU, O-DU, O-CU).

[0136] Base stations may be categorized based on the amount of coverage they provide (or, stated differently, their transmit power level) and so, depending on the provided amount of coverage, may be referred to as femto base stations, pico base stations, micro base stations, or macro base stations. A base station may be a relay node or a relay donor node controlling a relay. A network node may also include one or more (or all) parts of a distributed radio base station such as centralized digital units, distributed units (e.g., in an O-RAN access node) and / or remote radio units (RRUs), sometimes referred to as Remote Radio Heads (RRHs). Such remote radio units may or may not be integrated with an antenna as an antenna integrated radio. Parts of a distributed radio base station may also be referred to as nodes in a distributed antenna system (DAS).

[0137] Other examples of network nodes include multiple transmission point (multi-TRP) 5G access nodes, multi-standard radio (MSR) equipment such as MSR BSs, network controllers such as radio network controllers (RNCs) or base station controllers (BSCs), base transceiver stations (BTSs), transmission points, transmission nodes, multi-cell / multicast coordination entities (MCEs), Operation and Maintenance (O&M) nodes, Operations Support System (OSS) nodes, Self-Organizing Network(SON) nodes, positioning nodes (e.g., Evolved Serving Mobile Location Centers (E-SMLCs)), and / or Minimization of Drive Tests (MDTs).

[0138] The network node QQ300 includes a processing circuitry QQ302, a memory QQ304, a communication interface QQ306, and a power source QQ308. The network node QQ300 may be composed of multiple physically separate components (e.g., a NodeB component and a RNC component, or a BTS component and a BSC component, etc.), which may each have their own respective components. In certain scenarios in which the network node QQ300 comprises multiple separate components (e.g., BTS and BSC components), one or more of the separate components may be shared among several network nodes. For example, a single RNC may control multiple NodeBs. In such a scenario, each unique NodeB and RNC pair, may in some instances be considered a single separate network node. In some embodiments, the network node QQ300 may be configured to support multiple radio access technologies (RATs). In such embodiments, some components may be duplicated (e.g., separate memory QQ304 for different RATs) and some components may be reused (e.g., a same antenna QQ310 may be shared by different RATs). The network node QQ300 may also include multiple sets of the various illustrated components for different wireless technologies integrated into network node QQ300, for example GSM, WCDMA, LTE, NR, WiFi, Zigbee, Z-wave, LoRaWAN, Radio Frequency Identification (RFID) or Bluetooth wireless technologies. These wireless technologies may be integrated into the same or different chip or set of chips and other components within network node QQ300.

[0139] The processing circuitry QQ302 may comprise a combination of one or more of a microprocessor, controller, microcontroller, central processing unit, digital signal processor, application-specific integrated circuit, field programmable gate array, or any other suitable computing device, resource, or combination of hardware, software and / or encoded logic operable to provide, either alone or in conjunction with other network node QQ300 components, such as the memory QQ304, to provide network node QQ300 functionality.

[0140] In some embodiments, the processing circuitry QQ302 includes a system on a chip (SOC). In some embodiments, the processing circuitry QQ302 includes one or more of radio frequency (RF) transceiver circuitry QQ312 and baseband processing circuitry QQ314. In some embodiments, the radio frequency (RF) transceiver circuitry QQ312 and the baseband processing circuitry QQ314 may be on separate chips (or sets of chips), boards, or units, such as radio units and digital units. In alternative embodiments, part or all of RF transceiver circuitry QQ312 and baseband processing circuitry QQ314 may be on the same chip or set of chips, boards, or units.

[0141] The memory QQ304 may comprise any form of volatile or non-volatile computer-readable memory including, without limitation, persistent storage, solid-state memory, remotely mounted memory, magnetic media, optical media, random access memory (RAM), read-only memory (ROM), mass storage media (for example, a hard disk), removable storage media (for example, a flash drive, aCompact Disk (CD) or a Digital Video Disk (DVD)), and / or any other volatile or non-volatile, non- transitory device -readable and / or computer-executable memory devices that store information, data, and / or instructions that may be used by the processing circuitry QQ302. The memory QQ304 may store any suitable instructions, data, or information, including a computer program, software, an application including one or more of logic, rules, code, tables, and / or other instructions capable of being executed by the processing circuitry QQ302 and utilized by the network node QQ300. The memory QQ304 may be used to store any calculations made by the processing circuitry QQ302 and / or any data received via the communication interface QQ306. In some embodiments, the processing circuitry QQ302 and memory QQ304 is integrated.

[0142] The communication interface QQ306 is used in wired or wireless communication of signaling and / or data between a network node, access network, and / or UE. As illustrated, the communication interface QQ306 comprises port(s) / terminal(s) QQ316 to send and receive data, for example to and from a network over a wired connection. The communication interface QQ306 also includes radio front-end circuitry QQ318 that may be coupled to, or in certain embodiments a part of, the antenna QQ310. Radio front-end circuitry QQ318 comprises filters QQ320 and amplifiers QQ322. The radio front-end circuitry QQ318 may be connected to an antenna QQ310 and processing circuitry QQ302. The radio front-end circuitry may be configured to condition signals communicated between antenna QQ310 and processing circuitry QQ302. The radio front-end circuitry QQ318 may receive digital data that is to be sent out to other network nodes or UEs via a wireless connection. The radio front-end circuitry QQ318 may convert the digital data into a radio signal having the appropriate channel and bandwidth parameters using a combination of filters QQ320 and / or amplifiers QQ322. The radio signal may then be transmitted via the antenna QQ310. Similarly, when receiving data, the antenna QQ310 may collect radio signals which are then converted into digital data by the radio front-end circuitry QQ318. The digital data may be passed to the processing circuitry QQ302. In other embodiments, the communication interface may comprise different components and / or different combinations of components.

[0143] In certain alternative embodiments, the network node QQ300 does not include separate radio front-end circuitry QQ318, instead, the processing circuitry QQ302 includes radio front-end circuitry and is connected to the antenna QQ310. Similarly, in some embodiments, all or some of the RF transceiver circuitry QQ312 is part of the communication interface QQ306. In still other embodiments, the communication interface QQ306 includes one or more ports or terminals QQ316, the radio front-end circuitry QQ318, and the RF transceiver circuitry QQ312, as part of a radio unit (not shown), and the communication interface QQ306 communicates with the baseband processing circuitry QQ314, which is part of a digital unit (not shown).

[0144] The antenna QQ310 may include one or more antennas, or antenna arrays, configured to send and / or receive wireless signals . The antenna QQ310 may be coupled to the radio front-end circuitryQQ318 and may be any type of antenna capable of transmitting and receiving data and / or signals wirelessly. In certain embodiments, the antenna QQ310 is separate from the network node QQ300 and connectable to the network node QQ300 through an interface or port.

[0145] The antenna QQ310, communication interface QQ306, and / or the processing circuitry QQ302 may be configured to perform any receiving operations and / or certain obtaining operations described herein as being performed by the network node. Any information, data and / or signals may be received from a UE, another network node and / or any other network equipment. Similarly, the antenna QQ310, the communication interface QQ306, and / or the processing circuitry QQ302 may be configured to perform any transmitting operations described herein as being performed by the network node. Any information, data and / or signals may be transmitted to a UE, another network node and / or any other network equipment.

[0146] The power source QQ308 provides power to the various components of network node QQ300 in a form suitable for the respective components (e.g., at a voltage and current level needed for each respective component). The power source QQ308 may further comprise, or be coupled to, power management circuitry to supply the components of the network node QQ300 with power for performing the functionality described herein. For example, the network node QQ300 may be connectable to an external power source (e.g., the power grid, an electricity outlet) via an input circuitry or interface such as an electrical cable, whereby the external power source supplies power to power circuitry of the power source QQ308. As a further example, the power source QQ308 may comprise a source of power in the form of a battery or battery pack which is connected to, or integrated in, power circuitry. The battery may provide backup power should the external power source fail.

[0147] Embodiments of the network node QQ300 may include additional components beyond those shown in Figure QQ3 for providing certain aspects of the network node’s functionality, including any of the functionality described herein and / or any functionality necessary to support the subject matter described herein. For example, the network node QQ300 may include user interface equipment to allow input of information into the network node QQ300 and to allow output of information from the network node QQ300. This may allow a user to perform diagnostic, maintenance, repair, and other administrative functions for the network node QQ300. In some embodiments providing a core network node, such as core network node 108 of FIG. QQ1, some components, such as the radio front -end circuitry QQ318 and the RF transceiver circuitry QQ312 may be omitted.

[0148] Figure QQ4 (FIG. QQ4) is a block diagram illustrating a virtualization environment QQ400 in which functions implemented by some embodiments may be virtualized. In the present context, virtualizing means creating virtual versions of apparatuses or devices which may include virtualizing hardware platforms, storage devices and networking resources. As used herein, virtualization can be applied to any device described herein, or components thereof, and relates to an implementation in which at least a portion of the functionality is implemented as one or more virtualcomponents. Some or all of the functions described herein may be implemented as virtual components executed by one or more virtual machines (VMs) implemented in one or more virtual environments QQ400 hosted by one or more of hardware nodes, such as a hardware computing device that operates as a network node, UE, core network node, or host. Further, in embodiments in which the virtual node does not require radio connectivity (e.g., a core network node or host), then the node may be entirely virtualized. In some embodiments, the virtualization environment QQ400 includes components defined by the O-RAN Alliance, such as an O-Cloud environment orchestrated by a Service Management and Orchestration Framework via an 0-2 interface. Virtualization may facilitate distributed implementations of a network node, UE, core network node, or host.

[0149] Applications QQ402 (which may alternatively be called software instances, virtual appliances, network functions, virtual nodes, virtual network functions, etc.) are run in the virtualization environment Q400 to implement some of the features, functions, and / or benefits of some of the embodiments disclosed herein.

[0150] Hardware QQ404 includes processing circuitry, memory that stores software and / or instructions executable by hardware processing circuitry, and / or other hardware devices as described herein, such as a network interface, input / output interface, and so forth. Software may be executed by the processing circuitry to instantiate one or more virtualization layers QQ406 (also referred to as hypervisors or virtual machine monitors (VMMs)), provide VMs QQ408a and QQ408b (one or more of which may be generally referred to as VMs QQ408), and / or perform any of the functions, features and / or benefits described in relation with some embodiments described herein. The virtualization layer QQ406 may present a virtual operating platform that appears like networking hardware to the VMs QQ408.

[0151] The VMs QQ408 comprise virtual processing, virtual memory, virtual networking or interface and virtual storage, and may be run by a corresponding virtualization layer QQ406. Different embodiments of the instance of a virtual appliance QQ402 may be implemented on one or more of VMs QQ408, and the implementations may be made in different ways. Virtualization of the hardware is in some contexts referred to as network function virtualization (NFV). NFV may be used to consolidate many network equipment types onto industry standard high volume server hardware, physical switches, and physical storage, which can be located in data centers, and customer premise equipment.

[0152] In the context of NFV, a VM QQ408 may be a software implementation of a physical machine that runs programs as if they were executing on a physical, non-virtualized machine. Each of the VMs QQ408, and that part of hardware QQ404 that executes that VM, be it hardware dedicated to that VM and / or hardware shared by that VM with others of the VMs, forms separate virtual network elements. Still in the context of NFV, a virtual network function is responsible for handling specific network functions that run in one or more VMs QQ408 on top of the hardware QQ404 and corresponds to the application QQ402.

[0153] Hardware QQ404 may be implemented in a standalone network node with generic or specific components. Hardware QQ404 may implement some functions via virtualization. Alternatively, hardware QQ404 may be part of a larger cluster of hardware (e.g. such as in a data center or CPE) where many hardware nodes work together and are managed via management and orchestration QQ410, which, among others, oversees lifecycle management of applications QQ402. In some embodiments, hardware QQ404 is coupled to one or more radio units that each include one or more transmitters and one or more receivers that may be coupled to one or more antennas. Radio units may communicate directly with other hardware nodes via one or more appropriate network interfaces and may be used in combination with the virtual components to provide a virtual node with radio capabilities, such as a radio access node or a base station. In some embodiments, some signaling can be provided with the use of a control system QQ412 which may alternatively be used for communication between hardware nodes and radio units.

[0154] Although the computing devices described herein (e.g., UEs, network nodes) may include the illustrated combination of hardware components, other embodiments may comprise computing devices with different combinations of components. It is to be understood that these computing devices may comprise any suitable combination of hardware and / or software needed to perform the tasks, features, functions and methods disclosed herein. Determining, calculating, obtaining or similar operations described herein may be performed by processing circuitry, which may process information by, for example, converting the obtained information into other information, comparing the obtained information or converted information to information stored in the network node, and / or performing one or more operations based on the obtained information or converted information, and as a result of said processing making a determination. Moreover, while components are depicted as single boxes located within a larger box, or nested within multiple boxes, in practice, computing devices may comprise multiple different physical components that make up a single illustrated component, and functionality may be partitioned between separate components. For example, a communication interface may be configured to include any of the components described herein, and / or the functionality of the components may be partitioned between the processing circuitry and the communication interface. In another example, non-computationally intensive functions of any of such components may be implemented in software or firmware and computationally intensive functions may be implemented in hardware.

[0155] In certain embodiments, some or all of the functionality described herein may be provided by processing circuitry executing instructions stored on in memory, which in certain embodiments may be a computer program product in the form of a non -transitory computer-readable storage medium. In alternative embodiments, some or all of the functionalities may be provided by the processing circuitry without executing instructions stored on a separate or discrete device -readable storage medium, such as in a hard-wired manner. In any of those particular embodiments, whether executing instructions storedon a non-transitory computer-readable storage medium or not, the processing circuitry can be configured to perform the described functionality. The benefits provided by such functionality are not limited to the processing circuitry alone or to other components of the computing device, but are enjoyed by the computing device as a whole, and / or by end users and a wireless network generally.EMBODIMENTSGroup A EmbodimentsAl. A method performed by an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA), the method comprising: determining to initiate a DAA service; requesting one or more of: (i) Ranging / Sidelink Positioning location results; and (ii) Relative Proximity information; estimating a potential for collision based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information; and sending a message toward a user equipment (UE) regarding the potential for collision.A2. The method of embodiment Al, wherein determining to initiate a DAA service is based on an application level service or need.A3. The method of any one of embodiments A1-A2, wherein the UE is one or more of an Uncrewed Aerial Vehicle (UAV), an Uncrewed Aerial Vehicle Controller (UAV-C), and an Area Airspace Manager (AAM).A4. The method of any one of embodiments A1-A3, wherein the message towards the UE regarding the potential for collision comprises one or more of the following: (i) a collision alert, (ii) a predicted time of collision, (iii) one or more CAA -level UAV IDs of the UAVs which may collide, (iv) deconflicting specific parameters (e.g. trajectory correction information to avoid collision).A5. The method of any one of embodiments A1-A4, further comprising establishing a communication link between an unmanned aerial vehicle (UAV) and the USS.A6. The method of embodiment A5, wherein the communication link between the UAV and the USS comprises a Packet Data Unit (PDU) Session.A7. The method of any one of embodiments A1-A6, wherein requesting (i) Ranging / Sidelink Positioning location results comprises sending a request to a Gateway Mobile Location Center (GMLC) service via a Network Exposure Function (NEF).A8. The method of any one of embodiments A1-A7, wherein requesting (ii) Relative Proximity information comprises sending a request to a Network Data Analytics Function (NWDAF) via a Network Exposure Function (NEF).Group B EmbodimentsBl. An Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA), the USS being configured to: determine to initiate a DAA service; request one or more of: (i) Ranging / Sidelink Positioning location results; and (ii) Relative Proximity information; estimate a potential for collision based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information; and send a message toward a user equipment (UE) regarding the potential for collision.B2. The USS of embodiment Bl, wherein determining to initiate a DAA service is based on an application level service or need.B3. The USS of any one of embodiments B 1 -B2, wherein the UE is one or more of an Uncrewed Aerial Vehicle (UAV), an Uncrewed Aerial Vehicle Controller (UAV-C), and an Area Airspace Manager (AAM).B4. The USS of any one of embodiments B 1 -B3, wherein the message towards the UE regarding the potential for collision comprises one or more of the following: (i) a collision alert, (ii) a predicted time of collision, (iii) one or more CAA -level UAV IDs of the UAVs which may collide, (iv) deconflicting specific parameters (e.g. trajectory correction information to avoid collision).B5. The USS of any one of embodiments B1-B4, being further configured to establish a communication link between an unmanned aerial vehicle (UAV) and the USS.B6. The USS of embodiment B5, wherein the communication link between the UAV and the USS comprises a Packet Data Unit (PDU) Session.B7. The USS of any one of embodiments B1-B6, wherein requesting (i) Ranging / Sidelink Positioning location results comprises sending a request to a Gateway Mobile Location Center (GMLC) service via a Network Exposure Function (NEF).B8. The USS of any one of embodiments B1-B7, wherein requesting (ii) Relative Proximity information comprises sending a request to a Network Data Analytics Function (NWDAF) via a Network Exposure Function (NEF).Group C EmbodimentsCl. An Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA), the UAS comprising: processing circuitry configured to perform any of the steps of any of the Group A embodiments; and power supply circuitry configured to supply power to the processing circuitry.C2. An Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA), the UAS comprising: an antenna configured to send and receive wireless signals; radio front-end circuitry connected to the antenna and to processing circuitry, and configured to condition signals communicated between the antenna and the processing circuitry; the processing circuitry being configured to perform any of the steps of any of the Group A embodiments; an input interface connected to the processing circuitry and configured to allow input of information into the UE to be processed by the processing circuitry; an output interface connected to the processing circuitry and configured to output information from the UE that has been processed by the processing circuitry; and a battery connected to the processing circuitry and configured to supply power to the USS.Group D EmbodimentsDI. A method performed by a user equipment (e.g., an Unmanned Aerial Vehicle (UAV), an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA), the method comprising: receiving from an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) a message indicating a potential collision;D2. The method of embodiment Bl, wherein the message indicating the potential collision comprises one or more of the following: (i) a collision alert, (ii) a predicted time of collision, (iii) one or more CAA-level UAV IDs of the UAVs which may collide, and (iv) deconflicting specific parameters (e.g. trajectory correction information to avoid collision).Group E EmbodimentsEL A user equipment (e.g., an Unmanned Aerial Vehicle (UAV), an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA), the user equipment comprising: processing circuitry configured to perform any of the steps of any of the Group D embodiments; and power supply circuitry configured to supply power to the processing circuitry.E2. A user equipment (e.g., an Unmanned Aerial Vehicle (UAV), an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA), the user equipment comprising: an antenna configured to send and receive wireless signals; radio front-end circuitry connected to the antenna and to processing circuitry, and configured to condition signals communicated between the antenna and the processing circuitry; the processing circuitry being configured to perform any of the steps of any of the Group D embodiments; an input interface connected to the processing circuitry and configured to allow input of information into the UE to be processed by the processing circuitry; an output interface connected to the processing circuitry and configured to output information from the UE that has been processed by the processing circuitry; and a battery connected to the processing circuitry and configured to supply power to the user equipment.

Claims

CLAIMS1. A method performed by an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA) of collision involving at least one user equipment (UE), the method comprising: determining to initiate a DAA service; requesting one or more of: (i) Ranging / Sidelink Positioning location results for the at least one UE; and (ii) Relative Proximity information for the at least one UE; estimating a potential for collision involving the at least one UE based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information; and sending a message toward the at least one UE regarding the potential for collision.

2. The method of claim 1, wherein determining to initiate a DAA service is based on an application level service or need.

3. The method of any one of claims 1-2, wherein the UE is one or more of an Uncrewed Aerial Vehicle (UAV), an Uncrewed Aerial Vehicle Controller (UAV-C), and an Area Airspace Manager (AAM).

4. The method of any one of claims 1-3, wherein the message towards the UE regarding the potential for collision comprises one or more of the following: (i) a collision alert, (ii) a predicted time of collision, (iii) one or more CAA-level UAV IDs of the UAVs which may collide, (iv) deconflicting specific parameters (e.g. trajectory correction information to avoid collision).

5. The method of any one of claims 1-4, further comprising establishing a communication link between an unmanned aerial vehicle (UAV) and the USS.

6. The method of claim 5, wherein the communication link between the UAV and the USS comprises a Packet Data Unit (PDU) Session.

7. The method of any one of claims 1-6, wherein requesting (i) Ranging / Sidelink Positioning location results comprises sending a request to a Gateway Mobile Location Center (GMLC) service via a Network Exposure Function (NEF).

8. The method of any one of claims 1-7, wherein requesting (ii) Relative Proximity information comprises sending a request to a Network Data Analytics Function (NWDAF) via a Network Exposure Function (NEF).

9. A method performed by a user equipment, an Unmanned Aerial Vehicle Controller (UAV-C), and an Area Air Space Manager (AAM)) for detection and avoidance (DAA), the method comprising: receiving from an Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) a message indicating a potential collision; performing operations to avoid collision.

10. The method of claim 9, wherein the message indicating the potential collision comprises one or more of the following: (i) a collision alert, (ii) a predicted time of collision, (iii) one or more CAA- level UAV IDs of the UAVs which may collide, and (iv) deconflicting specific parameters.

11. The method of any one of claims 9-10, wherein the deconflicting specific parameters is trajectory correction information to avoid collision.

12. The method of any one of claims 9-11, wherein the UE is an Unmanned Aerial Vehicle (UAV), an Unmanned Aerial Vehicle Controller (UAV-C), or an Area Air Space Manager (AAM).

13. An Unmanned Aerial System (UAS) Service Supplier (USS) (410, QQ110, QQ300) for detection and avoidance (DAA), the USS being configured to: determine to initiate a DAA service; request one or more of: (i) Ranging / Sidelink Positioning location results; and (ii) Relative Proximity information; estimate a potential for collision based on one or more of (i) the Ranging / Sidelink Positioning location results; and (ii) the Relative Proximity information; and send a message toward a user equipment (UE) regarding the potential for collision.

14. The USS of claim 13, wherein the USS is configured to perform any one of claims 1-8.

15. A user equipment for detection and avoidance (DAA), the user equipment comprising: processing circuitry configured to receiving from an Unmanned Aerial System (UAS) ServiceSupplier (USS) (410, QQ110, QQ300) a message indicating a potential collision; and power supply circuitry configured to supply power to the processing circuitry.

16. The UE of claim 15, wherein the UE is configured to perform any one of claims 9-12.

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