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WO2024069617A1 - Orientation et positionnement de dispositif à l'aide de systèmes de coordonnées locales et globales - Google Patents

Orientation et positionnement de dispositif à l'aide de systèmes de coordonnées locales et globales Download PDF

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Publication number
WO2024069617A1
WO2024069617A1 PCT/IB2023/061452 IB2023061452W WO2024069617A1 WO 2024069617 A1 WO2024069617 A1 WO 2024069617A1 IB 2023061452 W IB2023061452 W IB 2023061452W WO 2024069617 A1 WO2024069617 A1 WO 2024069617A1
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WIPO (PCT)
Prior art keywords
coordinate system
angle
target device
processor
positioning
Prior art date
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PCT/IB2023/061452
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English (en)
Inventor
Colin Frank
Robin Rajan THOMAS
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Lenovo Singapore Pte Ltd
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Lenovo Singapore Pte Ltd
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Publication of WO2024069617A1 publication Critical patent/WO2024069617A1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

Definitions

  • a wireless communications system may include one or multiple network communication devices, such as base stations, which may be otherwise known as an eNodeB (eNB), a next-generation NodeB (gNB), or other suitable terminology.
  • Each network communication devices such as a base station may support wireless communications for one or multiple user communication devices, which may be otherwise known as user equipment (UE), or other suitable terminology.
  • the wireless communications system may support wireless communications with one or multiple user communication devices by utilizing resources of the wireless communication system (e.g., time resources (e.g., symbols, slots, subframes, frames, or the like) or frequency resources (e.g., subcarriers, carriers).
  • the wireless communications system may support wireless communications across various radio access technologies including third generation (3G) radio access technology, fourth generation (4G) radio access technology, fifth generation (5G) radio access technology, among other suitable radio access technologies beyond 5G (e.g., sixth generation (6G)).
  • 3G third generation
  • 4G fourth generation
  • 5G fifth generation
  • 6G sixth generation
  • Device positioning is an increasingly important element of wireless communication devices. Device positioning is very useful for technologies such as automated or semi-automated vehicle piloting, in which devices may exchange position information and determine appropriate pathing based on the exchanged information. If the positioning information is not accurate, the vehicles could collide with one another.
  • wireless networks employ various positioning technologies, many of those technologies are inaccurate, not always available, or require special conditions.
  • the present disclosure relates to methods, apparatuses, and systems that support orienting a target device in a global coordinate system using local coordinate measurements.
  • the device may be oriented by determining rotation values between a local coordinate system of a target device and a global coordinate system.
  • Some implementations of the method and apparatuses described herein may further include receiving a plurality of angle-of-arrival values, each of the angle-of-arrival values representing an angle between the target device and a respective reference device within a global coordinate system, measuring angle-of-arrival values between the target device and each of the respective reference devices within a local coordinate system of the target device, calculating a first rotation value between a first axis of the global coordinate system and a first axis of the local coordinate system, calculating a second rotation value between a second axis of the global coordinate system and a second axis of the local coordinate system, and calculating a third rotation value between a third axis of the global coordinate system and a third axis of the local coordinate system.
  • the target device transmits a request for the plurality of angle-of-arrival values within the global coordinate system to a positioning entity.
  • the target device transmits a request for the plurality of angle-of-arrival values for reference devices within a predetermined distance range from the target device to a positioning entity.
  • the target device transmits the first, second and third rotation values to a positioning entity.
  • the target device converts the angle of arrival values between the target device and each of the respective reference devices within a local coordinate system of the target device to angle of arrival values within the global coordinate system, and transmits the angle of arrival values within the global coordinate system to a positioning entity.
  • the target device uses at least three angle-of-arrival values for at least three respective reference devices to calculate the first, second and third rotation values.
  • Some implementations of the method and apparatuses described herein may further include calculating a plurality of angle-of-arrival values, each of the angle-of-arrival values representing an angle between a target device and a respective reference device within a global coordinate system, receiving angle-of-arrival values between the target device and each of the respective reference devices within a local coordinate system of the target device, calculating a first rotation value between a first axis of the global coordinate system and a first axis of the local coordinate system, calculating a second rotation value between a second axis of the global coordinate system and a second axis of the local coordinate system, and calculating a third rotation value between a third axis of the global coordinate system and a third axis of the local coordinate system.
  • a positioning entity receives a second plurality of angle-of-arrival values within the local coordinate system from the target device, and converts the second plurality of angle-of- arrival values within the local coordinate system to a second plurality of angle-of-arrival values within the global coordinate system using the first, second and third rotation values.
  • the positioning entity determines a location of the target device using the first, second and third rotation values.
  • the positioning entity compares a set of candidate devices to a first distance from the target device and a second distance from the target device, and the reference devices are selected from candidate devices that are greater than the first distance and less than the second distance from the target device.
  • FIG.1 illustrates an example of a wireless communications system that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.2 illustrates an example of beam positioning in an NR network.
  • FIG.3 illustrates an example of absolute and relative positioning in wireless cellular networks.
  • FIG.4 illustrates an example of a multi-cell round-trip time (RTT) procedure in a wireless network.
  • FIG.5 illustrates an example of relative range estimation using RTT and a single gNB.
  • FIG.6 illustrates a flowchart of a method that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.7 illustrates an example of devices that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.8 illustrates an example of a block diagram of a UE device that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.9 illustrates an example of a block diagram of a positioning entity that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.10 illustrates a flowchart of a method that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.11 illustrates an example of uncertainty in AoA values that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.12 illustrates an example of different coordinate systems that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIGs.13 and 14 illustrate flowcharts of methods that support determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • FIG.15 illustrates an example of a processor that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the vehicle may provide the device with the orientation of the vehicle and/or of the device.
  • Other methods for determining the orientation of a device could involve the use of a compass or a level, but mobile devices may not incorporate these.
  • a positioning framework exists in 3GPP specifications which enables Uu interface UE-assisted and UE-based positioning methods, there is currently a lack of support for efficient UE-to-UE range/orientation determination, which is important for supporting relative positioning applications across different vertical services, e.g., V2X, Public Safety, Industrial Internet of Things (IIoT), Commercial, etc.
  • Embodiments of the present disclosure relate to devices and positioning entities configured to determine a relationship between the device LCS and the GCS.
  • a positioning entity or the network to which the device is attached knows the location of the target device as well as the locations of the other devices within proximity of the target device, all within a common coordinate system.
  • the positioning entity can cause the computed angles of arrivals of these devices in the GCS, relative to the target device, to be signaled to the target device.
  • the target device may then measure these same angles of arrival in the local coordinate system, and use these two sets of angles to solve for the rotations alpha, beta, and gamma that define the relationship between its LCS and the GCS.
  • the target device signals the relationship between its LCS and the GCS to the positioning entity, or alternatively, signals the AOA’s to the positioning entity in the GCS.
  • Some devices have arrays that are able to take measurements of the angle of arrival of signals received from other devices. Initially, these angles are measured in the local coordinate system of the device taking the measurements. For these measurements to assist in determining the location of the device taking the measurement or of the devices for which the angle of arrival is being measured, it must be possible to determine the relationship of the angles in the local coordinate system and the angles in the global coordinate system. This disclosure provides a method for determining this relationship.
  • the present disclosure describes a method for determining the relationship, in terms of rotation angles ⁇ , ⁇ , and ⁇ , between the LCS of a device and the GCS. If the device has knowledge of the AOA of some set of devices in the GCS for which the device can take AOA measurements in the LCS, the set of rotations ⁇ , ⁇ , and ⁇ can be determined by solving a set of linear equations. Generally, at least three measurements are used to solve for these rotations. However, in the case that some of the rotations are known, the remaining rotations can be determined using a number of measurements equal to the number of unknown rotations.
  • the locations of a target device and a set of other devices in proximity of the target device are known to the network or a positioning entity.
  • the positioning entity or network cause the locations to be sent to the target device.
  • the target device uses these locations to compute the AoAs of the signals received from the neighboring devices in the GCS.
  • the target device measures the AoAs of these signals in the LCS.
  • the computed GCS AoAs and the measured LCS AoAs can be used to determine the rotations ⁇ , ⁇ , and ⁇ . With these rotations, the target device can convert LCS AOA measurements to GCS before signalling these measurements to the positioning entity or network.
  • a positioning entity or the network to which the target device is attached knows the location of the target device as well as the locations of the other devices within proximity of the target device, all within a common coordinate system.
  • the positioning entity can cause the computed angles of arrivals of these devices in the GCS, relative to the target device, to be signalled to the target device.
  • the target device measures these same angles of arrival in the local coordinate system.
  • the device uses these two sets of angles to solve for the rotations ⁇ , ⁇ , and ⁇ that define the relationship between its LCS and the GCS.
  • the target device signals the relationship between its LCS and the GCS to the positioning entity, or alternatively, signals the AoAs to the positioning entity in the GCS.
  • the positioning entity or the network have knowledge of the locations of the target device and other devices in proximity of the target device. Based on this knowledge, the network computes the angles of arrivals in the GCS of signals received by the target device from the other devices in the proximity of the target device.
  • the target device reports LCS AoA measurements of signals received from devices in its proximity to the positioning entity or the network. From these LCS measurements, the positioning entity or the network can determine the relationship between the LCS and the GCS for the target device.
  • the target device can report AoAs in its LCS and the positioning entity or network can convert to the GCS.
  • the target device can request rotations ⁇ , ⁇ , and ⁇ from the positioning entity or the network so that it can determine its orientation.
  • the positioning entity can use the rotation values to convert measurements from the target device in the LCS to the GCS.
  • the converted GCS measurements can be used to establish an orientation of the target device in the GCS using LCS measurements, or to perform activities that benefit from knowing the orientation of the target device within the GCS.
  • FIG.1 illustrates an example of a wireless communications system 100 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the wireless communications system 100 may include one or more network entities 102, one or more UEs 104, a core network 106, and a packet data network 108.
  • the wireless communications system 100 may support various radio access technologies.
  • the wireless communications system 100 may be a 4G network, such as an LTE network or an LTE-Advanced (LTE-A) network.
  • the wireless communications system 100 may be a 5G network, such as an NR network.
  • the wireless communications system 100 may be a combination of a 4G network and a 5G network, or other suitable radio access technology including Institute of Electrical and Electronics Engineers (IEEE) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20.
  • IEEE Institute of Electrical and Electronics Engineers
  • Wi-Fi Wi-Fi
  • WiMAX IEEE 802.16
  • the wireless communications system 100 may support radio access technologies beyond 5G. Additionally, the wireless communications system 100 may support technologies, such as time division multiple access (TDMA), frequency division multiple access (FDMA), or code division multiple access (CDMA), etc.
  • the one or more network entities 102 may be dispersed throughout a geographic region to form the wireless communications system 100.
  • One or more of the network entities 102 described herein may be included or may be referred to as a network node, a base station, a network element, a radio access network (RAN), a base transceiver station, an access point, a NodeB, an eNodeB (eNB), a next-generation NodeB (gNB), or other suitable terminology.
  • RAN radio access network
  • gNB next-generation NodeB
  • a network entity 102 and a UE 104 may communicate via a communication link 110, which may be a wireless or wired connection.
  • a network entity 102 and a UE 104 may perform wireless communication (e.g., receive signaling, transmit signaling) over a Uu interface.
  • a network entity 102 may provide a geographic coverage area 112 for which the network entity 102 may support services (e.g., voice, video, packet data, messaging, broadcast, etc.) for one or more UEs 104 within the geographic coverage area 112.
  • a network entity 102 and a UE 104 may support wireless communication of signals related to services (e.g., voice, video, packet data, messaging, broadcast, etc.) according to one or multiple radio access technologies.
  • a network entity 102 may be moveable, for example, a satellite associated with a non-terrestrial network.
  • different geographic coverage areas 112 associated with the same or different radio access technologies may overlap, but the different geographic coverage areas 112 may be associated with different network entities 102.
  • Information and signals described herein may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
  • the one or more UEs 104 may be dispersed throughout a geographic region of the wireless communications system 100.
  • a UE 104 may include or may be referred to as a mobile device, a wireless device, a remote device, a remote unit, a handheld device, or a subscriber device, or some other suitable terminology.
  • the UE 104 may be referred to as a unit, a station, a terminal, or a client, among other examples.
  • the UE 104 may be referred to as an Internet-of-Things (IoT) device, an Internet-of-Everything (IoE) device, or machine-type communication (MTC) device, among other examples.
  • IoT Internet-of-Things
  • IoE Internet-of-Everything
  • MTC machine-type communication
  • a UE 104 may be stationary in the wireless communications system 100.
  • a UE 104 may be mobile in the wireless communications system 100.
  • the one or more UEs 104 may be devices in different forms or having different capabilities. Some examples of UEs 104 are illustrated in FIG.1.
  • a UE 104 may be capable of communicating with various types of devices, such as the network entities 102, other UEs 104, or network equipment (e.g., the core network 106, the packet data network 108, a relay device, an integrated access and backhaul (IAB) node, or another network equipment), as shown in FIG.1.
  • a UE 104 may support communication with other network entities 102 or UEs 104, which may act as relays in the wireless communications system 100.
  • a UE 104 may also be able to support wireless communication directly with other UEs 104 over a communication link 114.
  • a UE 104 may support wireless communication directly with another UE 104 over a device-to-device (D2D) communication link.
  • D2D device-to-device
  • the communication link 114 may be referred to as a sidelink.
  • a UE 104 may support wireless communication directly with another UE 104 over a PC5 interface.
  • a network entity 102 may support communications with the core network 106, or with another network entity 102, or both.
  • a network entity 102 may interface with the core network 106 through one or more backhaul links 116 (e.g., via an S1, N2, or another network interface).
  • the network entities 102 may communicate with each other over the backhaul links 116 (e.g., via an X2, Xn, or another network interface).
  • the network entities 102 may communicate with each other directly (e.g., between the network entities 102).
  • the network entities 102 may communicate with each other or indirectly (e.g., via the core network 106).
  • one or more network entities 102 may include subcomponents, such as an access network entity, which may be an example of an access node controller (ANC).
  • ANC access node controller
  • An ANC may communicate with the one or more UEs 104 through one or more other access network transmission entities, which may be referred to as a radio heads, smart radio heads, or transmission-reception points (TRPs).
  • a network entity 102 may be configured in a disaggregated architecture, which may be configured to utilize a protocol stack physically or logically distributed among two or more network entities 102, such as an integrated access backhaul (IAB) network, an open RAN (O-RAN) (e.g., a network configuration sponsored by the O-RAN Alliance), or a virtualized RAN (vRAN) (e.g., a cloud RAN (C- RAN)).
  • IAB integrated access backhaul
  • O-RAN open RAN
  • vRAN virtualized RAN
  • C- RAN cloud RAN
  • a network entity 102 may include one or more of a central unit (CU), a distributed unit (DU), a radio unit (RU), a RAN Intelligent Controller (RIC) (e.g., a Near- Real Time RIC (Near-RT RIC), a Non-Real Time RIC (Non-RT RIC)), a Service Management and Orchestration (SMO) system, or any combination thereof.
  • An RU may also be referred to as a radio head, a smart radio head, a remote radio head (RRH), a remote radio unit (RRU), or a transmission reception point (TRP).
  • One or more components of the network entities 102 in a disaggregated RAN architecture may be co-located, or one or more components of the network entities 102 may be located in distributed locations (e.g., separate physical locations).
  • one or more network entities 102 of a disaggregated RAN architecture may be implemented as virtual units (e.g., a virtual CU (VCU), a virtual DU (VDU), a virtual RU (VRU)).
  • VCU virtual CU
  • VDU virtual DU
  • VRU virtual RU
  • Split of functionality between a CU, a DU, and an RU may be flexible and may support different functionalities depending upon which functions (e.g., network layer functions, protocol layer functions, baseband functions, radio frequency functions, and any combinations thereof) are performed at a CU, a DU, or an RU.
  • functions e.g., network layer functions, protocol layer functions, baseband functions, radio frequency functions, and any combinations thereof
  • a functional split of a protocol stack may be employed between a CU and a DU such that the CU may support one or more layers of the protocol stack and the DU may support one or more different layers of the protocol stack.
  • the CU may host upper protocol layer (e.g., a layer 3 (L3), a layer 2 (L2)) functionality and signaling (e.g., Radio Resource Control (RRC), service data adaption protocol (SDAP), Packet Data Convergence Protocol (PDCP)).
  • RRC Radio Resource Control
  • SDAP service data adaption protocol
  • PDCP Packet Data Convergence Protocol
  • the CU may be connected to one or more DUsor RUs, and the one or more DUs or RUs may host lower protocol layers, such as a layer 1 (L1) (e.g., physical (PHY) layer) or an L2 (e.g., radio link control (RLC) layer, medium access control (MAC) layer) functionality and signaling, and may each be at least partially controlled by the CU 160.
  • L1 e.g., physical (PHY) layer
  • L2 e.g., radio link control (RLC) layer, medium access control (MAC) layer
  • a functional split of the protocol stack may be employed between a DU and an RU such that the DU may support one or more layers of the protocol stack and the RU may support one or more different layers of the protocol stack.
  • the DU may support one or multiple different cells (e.g., via one or more RUs).
  • a functional split between a CU and a DU, or between a DU and an RU may be within a protocol layer (e.g., some functions for a protocol layer may be performed by one of a CU, a DU, or an RU, while other functions of the protocol layer are performed by a different one of the CU, the DU, or the RU).
  • a CU may be functionally split further into CU control plane (CU-CP) and CU user plane (CU-UP) functions.
  • a CU may be connected to one or more DUs via a midhaul communication link (e.g., F1, F1-c, F1-u), and a DU may be connected to one or more RUs via a fronthaul communication link (e.g., open fronthaul (FH) interface).
  • a midhaul communication link or a fronthaul communication link may be implemented in accordance with an interface (e.g., a channel) between layers of a protocol stack supported by respective network entities 102 that are in communication via such communication links.
  • the core network 106 may support user authentication, access authorization, tracking, connectivity, and other access, routing, or mobility functions.
  • the core network 106 may be an evolved packet core (EPC), or a 5G core (5GC), which may include a control plane entity that manages access and mobility (e.g., a mobility management entity (MME), an access and mobility management functions (AMF)) and a user plane entity that routes packets or interconnects to external networks (e.g., a serving gateway (S-GW), a Packet Data Network (PDN) gateway (P-GW), or a user plane function (UPF)).
  • EPC evolved packet core
  • 5GC 5G core
  • MME mobility management entity
  • AMF access and mobility management functions
  • S-GW serving gateway
  • PDN gateway Packet Data Network gateway
  • UPF user plane function
  • control plane entity may manage non-access stratum (NAS) functions, such as mobility, authentication, and bearer management (e.g., data bearers, signal bearers, etc.) for the one or more UEs 104 served by the one or more network entities 102 associated with the core network 106.
  • NAS non-access stratum
  • the core network 106 may communicate with the packet data network 108 over one or more backhaul links 116 (e.g., via an S1, N2, or another network interface).
  • the packet data network 108 may include an application server 118.
  • one or more UEs 104 may communicate with the application server 118.
  • a UE 104 may establish a session (e.g., a protocol data unit (PDU) session, or the like) with the core network 106 via a network entity 102.
  • the core network 106 may route traffic (e.g., control information, data, and the like) between the UE 104 and the application server 118 using the established session (e.g., the established PDU session).
  • the PDU session may be an example of a logical connection between the UE 104 and the core network 106 (e.g., one or more network functions of the core network 106).
  • the network entities 102 and the UEs 104 may use resources of the wireless communication system 100 (e.g., time resources (e.g., symbols, slots, subframes, frames, or the like) or frequency resources (e.g., subcarriers, carriers)) to perform various operations (e.g., wireless communications).
  • the network entities 102 and the UEs 104 may support different resource structures.
  • the network entities 102 and the UEs 104 may support different frame structures.
  • the network entities 102 and the UEs 104 may support a single frame structure.
  • the network entities 102 and the UEs 104 may support various frame structures (i.e., multiple frame structures).
  • the network entities 102 and the UEs 104 may support various frame structures based on one or more numerologies.
  • One or more numerologies may be supported in the wireless communications system 100, and a numerology may include a subcarrier spacing and a cyclic prefix.
  • a time interval of a resource (e.g., a communication resource) may be organized according to frames (also referred to as radio frames). Each frame may have a duration, for example, a 10 millisecond (ms) duration. In some implementations, each frame may include multiple subframes.
  • each frame may include 10 subframes, and each subframe may have a duration, for example, a 1 ms duration. In some implementations, each frame may have the same duration. In some implementations, each subframe of a frame may have the same duration.
  • a time interval of a resource e.g., a communication resource
  • a subframe may include a number (e.g., quantity) of slots. The number of slots in each subframe may also depend on the one or more numerologies supported in the wireless communications system 100.
  • Each slot may include a number (e.g., quantity) of symbols (e.g., OFDM symbols).
  • the number (e.g., quantity) of slots for a subframe may depend on a numerology.
  • a slot may include 14 symbols.
  • a slot may include 12 symbols.
  • EM electromagnetic
  • the wireless communications system 100 may support one or multiple operating frequency bands, such as frequency range designations FR1 (410 MHz – 7.125 GHz), FR2 (24.25 GHz – 52.6 GHz), FR3 (7.125 GHz – 24.25 GHz), FR4 (52.6 GHz – 114.25 GHz), FR4a or FR4-1 (52.6 GHz – 71 GHz), and FR5 (114.25 GHz – 300 GHz).
  • the network entities 102 and the UEs 104 may perform wireless communications over one or more of the operating frequency bands.
  • FR1 may be used by the network entities 102 and the UEs 104, among other equipment or devices for cellular communications traffic (e.g., control information, data).
  • FR2 may be used by the network entities 102 and the UEs 104, among other equipment or devices for short-range, high data rate capabilities.
  • FR1 may be associated with one or multiple numerologies (e.g., at least three numerologies).
  • FR2 may be associated with one or multiple numerologies (e.g., at least 2 numerologies).
  • Table 1 Separate positioning techniques as indicated in Table 1 can be configured and performed based on the requirements of the Location Management Function (LMF) and UE capabilities.
  • LMF Location Management Function
  • PRS Positioning Reference Signals
  • the transmission of Uu (uplink and downlink) Positioning Reference Signals (PRS) enable the UE to perform UE positioning-related measurements to enable the computation of a UE’s absolute location estimate and are configured per Transmission Reception Point (TRP), where a TRP may include a set of one or more beams.
  • TRP Transmission Reception Point
  • FIG.2 A conceptual overview is illustrated in FIG.2.
  • the PRS can be transmitted by different base stations (serving and neighboring) using narrow beams over FR1 and FR2 as illustrated in FIG.2, which is relatively different when compared to LTE where the PRS was transmitted across the whole cell.
  • the PRS can be locally associated with a PRS Resource ID and Resource Set ID for a base station (TRP).
  • TRP base station
  • UE positioning measurements such as Reference Signal Time Difference (RSTD) and PRS RSRP measurements are made between beams (e.g., between a different pair of DL PRS resources or DL PRS resource sets) as opposed to different cells as was the case in LTE.
  • RSTD Reference Signal Time Difference
  • PRS RSRP measurements are made between beams (e.g., between a different pair of DL PRS resources or DL PRS resource sets) as opposed to different cells as was the case in LTE.
  • RSTD Reference Signal Time Difference
  • PRS RSRP measurements are made between beams (e.g., between a different pair of DL PRS resources or DL PRS resource sets) as opposed to different cells as was the case in LTE.
  • UL positioning methods for the network to exploit in order to compute the target UE’s location.
  • FIG.3 is an overview of the absolute and
  • DL-TDOA Downlink Time Difference of Arrival
  • TP transmission points
  • the UE measures the DL RSTD (and optionally DL PRS RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to locate the UE in relation to the neighboring TPs.
  • Downlink Angle of Departure (DL AoD) positioning makes use of the measured DL PRS RSRP of downlink signals received from multiple TPs, at the UE.
  • the UE measures the DL PRS RSRP of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to locate the UE in relation to the neighboring TPs.
  • Multiple Round Trip Time (Multi-RTT) positioning uses UE reception and transmission (Rx-Tx) measurements and DL PRS RSRP of downlink signals received from multiple Transmission and Reception Points (TRP)s, measured by the UE and measured gNB Rx-Tx measurements and UL SRS-RSRP at multiple TRPs of uplink signals transmitted from UE.
  • Rx-Tx reception and transmission
  • TRP Transmission and Reception Points
  • the UE measures the UE Rx-Tx measurements (and optionally DL PRS RSRP of the received signals) using assistance data received from the positioning server, and the TRPs measure the gNB Rx-Tx measurements (and optionally UL SRS-RSRP of the received signals) using assistance data received from the positioning server.
  • the measurements are used to determine the RTT at the positioning server which are used to estimate the location of the UE (See Figure 3).
  • Multi-RTT is currently only supported for UE-assisted/NG-RAN assisted positioning techniques as noted in Table 1.
  • FIG.5 illustrates an implementation-based approach to compute the relative distance between two UEs. This approach is high in latency and is not efficient in terms of procedures and signaling overhead.
  • Enhanced Cell ID (CID) positioning the position of a UE is estimated with the knowledge of its serving ng-eNB, gNB and cell and is based on LTE signals.
  • the information about the serving ng-eNB, gNB and cell may be obtained by paging, registration, or other methods.
  • NR Enhanced Cell ID (NR E CID) positioning refers to techniques which use additional UE measurements and/or NR radio resource and other measurements to improve the UE location estimate using NR signals.
  • NR E-CID positioning may utilize some of the same measurements as the measurement control system in the RRC protocol, the UE generally is not expected to make additional measurements for the sole purpose of positioning; the positioning procedures do not supply a measurement configuration or measurement control message, and the UE reports the measurements that it has available rather than being required to take additional measurement actions.
  • UL TDOA Uplink Time Difference of Arrival
  • the RPs measure the UL TDOA (and optionally UL SRS-RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE.
  • Uplink Angle of Arrival (UL AoA) positioning makes use of the measured azimuth and the zenith of arrival at multiple RPs of uplink signals transmitted from UE.
  • the RPs measure A-AoA and Z-AoA of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE.
  • RAT-Independent positioning techniques are available, examples of which are described in TS38.305.
  • GNSS Network-assisted GNSS techniques make use of UEs that are equipped with radio receivers capable of receiving GNSS signals.
  • 3GPP specifications the term GNSS encompasses both global and regional/augmentation navigation satellite systems. Examples of global navigation satellite systems include GPS, Modernized GPS, Galileo, GLONASS, and BeiDou Navigation Satellite System (BDS).
  • Regional navigation satellite systems include Quasi Zenith Satellite System (QZSS) while the many augmentation systems, are classified under the generic term of Space Based Augmentation Systems (SBAS) and provide regional augmentation services.
  • QZSS Quasi Zenith Satellite System
  • SBAS Space Based Augmentation Systems
  • Different GNSSs e.g., GPS, Galileo, etc.
  • Barometric pressure sensor positioning makes use of barometric sensors to determine the vertical component of the position of the UE.
  • the UE measures barometric pressure, optionally aided by assistance data, to calculate the vertical component of its location or to send measurements to the positioning server for position calculation.
  • Barometric positioning is combined with other positioning methods to determine the 3D position of a UE.
  • Wireless Local Access Network (WLAN) positioning makes use of WLAN measurements (e.g. Access Point (AP) identifiers and optionally other measurements) and databases to determine the location of the UE.
  • the UE measures received signals from WLAN access points, optionally aided by assistance data, to send measurements to the positioning server for position calculation. Using the measurement results and a references database, the location of the UE is calculated.
  • WLAN Wireless Local Access Network
  • the UE may use WLAN measurements and optionally WLAN AP assistance data provided by the positioning server, to determine its location.
  • Bluetooth positioning makes use of Bluetooth measurements (beacon identifiers and optionally other measurements) to determine the location of the UE.
  • the UE measures received signals from Bluetooth beacons. Using the measurement results and a references database, the location of the UE is calculated.
  • the Bluetooth methods may be combined with other positioning methods (e.g., WLAN) to improve positioning accuracy of the UE.
  • a Terrestrial Beacon System includes a network of ground-based transmitters, broadcasting signals for positioning purposes for TBS positioning.
  • the current type of TBS positioning signals are the MBS (Metropolitan Beacon System) signals and Positioning Reference Signals (PRS).
  • the UE measures received TBS signals, optionally aided by assistance data, to calculate its location or to send measurements to the positioning server for position calculation.
  • Motion sensor positioning makes use of different sensors such as accelerometers, gyros, magnetometers, to calculate the displacement of UE.
  • the UE estimates a relative displacement based upon a reference position and/or reference time.
  • UE sends a report comprising the determined relative displacement which can be used to determine the absolute position. This method may be used with other positioning methods for hybrid positioning.
  • Table 2 and Table 3 show reference signal to measurements mapping for each of the supported RAT-dependent positioning techniques at the UE and gNB, respectively.
  • RAT-dependent positioning techniques involve the 3GPP RAT and core network entities to perform the position estimation of the UE, which are differentiated from RAT-independent positioning techniques which rely on GNSS, IMU sensor, WLAN and Bluetooth technologies for performing target device (UE) positioning.
  • Table 2 UE measurements to enable RAT-dependent positioning techniques
  • Table 3 gNB measurements to enable RAT-dependent positioning techniques
  • Measurement and reporting are performed per configured RAT- dependent/RAT-independent positioning method.
  • the RequestLocationInformation message body in an LTE Positioning Protocol (LPP) message is used by the location server to request positioning measurements or a position estimate from the target device, and
  • the ProvideLocationInformation message body in a LPP message is used by the target device to provide positioning measurements or position estimates to the location server.
  • LPP LTE Positioning Protocol
  • RAT-dependent positioning measurements are available in cellular networks. Some of these techniques are detailed in the following Table 4:
  • the present disclosure describes embodiments of an apparatus and method for relating the local coordinate system of a device to a global coordinate system.
  • Devices which have the capability of measuring the angle of arrival of signals measure these angles in the local coordinate system of the device. If the device knows the relationship between the local coordinate system and a global coordinate system, then device can use these angles for positioning performed by the device, or these angles can be reported to a positioning entity and used by the positioning entity for positioning of the device.
  • the location information may comprise one or more of the following data: orientation information, ranging in terms of distance, ranging in terms of direction, absolute and/or relative coordinate information, and absolute and/or relative altitudes.
  • a problem addressed by the present disclosure is how a device can determine the orientation of its local coordinate system, given by ⁇ , ⁇ , and ⁇ , to the global coordinate system.
  • One possible method for doing this is for the device to measure the angle of arrival of signals in the local coordinate system for which the angle of arrival in the global coordinate system is known.
  • this method is performed when the location of a UE (or other device) is known with some degree of accuracy but the orientation is unknown.
  • the location of the device may be determined using time difference of arrival or enhanced cell ID methods (the location accuracy required to accurately determine the device orientation will depend on the distance between the devices).
  • the UE has its own LCS relative to which it can measure the angles of arriving signals.
  • the UE is in range of N other reference devices (UEs, gNBs, or other devices) for which the locations are known. If the locations of the UE and the N other devices are known, the line-of-sight angles of arrival of signals transmitted by these devices and received by the UE are known. [0089] If the UE knows its own location and the location of the other N devices, then the UE can compute the line-of-sight angles of arrival in the global coordinate system. If the N devices (or a subset) know their own locations, they can signal their locations to the UE. [0090] If the network knows the location of the UE and the other N devices, then the network can compute the angles of arrival in the global coordinate system and signal these angles to the UE.
  • N other reference devices UEs, gNBs, or other devices
  • the network signals the locations of these other devices to the UE and the UE computes the angles of arrival.
  • at least three AOA measurements (in LCS) of signals from devices with known AoAs in the GCS are used to determine the orientation of the LCS relative to the GCS.
  • the UE measures the angles of arrival in the local coordinate system, which involves the use of at least one two-dimensional linear array. If the patterns of the antenna elements within the array do not provide adequate spherical coverage (due to the nature of the radiating element or alternatively due to blocking by the device itself), then a two-dimensional linear array may be used on each side of the device.
  • Some devices can define a local coordinate system relative to which the devices can form beams for transmission and reception. In many cases it is desirable for the device to determine the orientation of the local coordinate system with respect to a global coordinate system. For example, this information may be used by the device to correctly report to the network or other positioning entity the direction and range of other devices relative to itself. [0093] For handheld devices, the precise orientation of the device LCS to the GCS may be largely unknown. Conversely, for vehicular mounted device some information concerning the relationship of the LCS to the GCS may be available. For example, it may be possible to assume that the horizontal plane is the same for the LCS and the GCS. For other cases, other assumptions may apply.
  • the angle of arrival of signals received by a device may be used to assist in determining the location of that device. In some cases, the angle of arrival of signals received by the device may be used to assist in determining the location of other devices. In some cases, there is value in knowing the orientation of a device that is independent of location services. [0095] In embodiments of the present disclosure, the position of the device is known in a common coordinate system (e.g., a Euclidean coordinate system) with some degree of accuracy. In addition, it is assumed that there are N other devices that are hearable by the device for which the positions are known in the same coordinate system.
  • a common coordinate system e.g., a Euclidean coordinate system
  • FIG.6 illustrates a flowchart of a method 600 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the operations of the method 600 may be implemented by a device or its components as described herein.
  • the operations of the method 600 may be performed by a UE 104 as described with reference to FIGs.1 and 8.
  • a method 600 may be performed when an initiator device, which may be a network entity, (e.g., gNB or LMF) or a UE or roadside unit (RSU), initiates a sidelink positioning or ranging session. Session initiation may be acknowledged when a responder device responds to the sidelink positioning or ranging session request.
  • the responder device may be a network entity such as a gNB or LMF, or a UE or roadside unit (RSU).
  • Sidelink positioning may include positioning a UE using reference signals transmitted over a sidelink channel, e.g. the PC5 interface, to obtain absolute position, relative position, or ranging information.
  • Ranging may include determining the distance between a UE and another entity within the network, such as an anchor UE.
  • An anchor UE may be a UE that supports positioning of a target UE, for example, by transmitting and/or receiving reference signals for positioning, providing positioning-related information, etc., over a SL interface.
  • FIG.7 illustrates an example of a target device 104a and three reference devices 704 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the target device 104a communicates with the reference devices 704 using communication links 110.
  • the communication link 110 may be a sidelink
  • the communication link may be another signal such as a reference signal, baseband signal, or other wireless communication link.
  • the target device 104a may communicate with a positioning entity 902 and an assistant UE 706.
  • the positioning entity 902 may be a computing device that operates a positioning network function such as a location management function (LMF).
  • the positioning entity is a sidelink positioning server UE, which may be a UE offering location calculations for sidelink positioning and ranging based services.
  • LMF location management function
  • a sidelink positioning server UE may interact with other UEs over PC5 to calculate the location of a target UE.
  • a target UE or SL Reference UE can act as SL Positioning server UE if location calculations are supported.
  • Another device that may participate in embodiments of the present disclosure is an assistant UE 706.
  • An assistant UE 706 is a UE that supports ranging in sidelink between a SL reference UE 704 and target UE 104a over PC5, and may be used when direct ranging or sidelink positioning between a reference UE 704 or anchor UE and the target UE 104a is not supported.
  • a sidelink positioning node which may be a network entity and/or device/UE participating in a SL positioning session, e.g., LMF (location server), gNB, UE, RSU, anchor UE, initiator and/or responder UE.
  • a configuration entity which is a network node or UE capable of configuring time-frequency resources and related SL positioning configurations.
  • FIG.8 illustrates an example of a block diagram 800 of a device 802 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the device 802 may be an example of a UE 104 as described herein.
  • the device 802 may support wireless communication with one or more network entities 102, UEs 104, or any combination thereof.
  • the device 802 may include components for bi-directional communications including components for transmitting and receiving communications, such as a processor 804, a memory 806, a transceiver 808, and an I/O controller 810.
  • the processor 804, the memory 806, the transceiver 808, or various combinations thereof or various components thereof may be examples of means for performing various aspects of the present disclosure as described herein.
  • the processor 804, the memory 806, the transceiver 808, or various combinations or components thereof may support a method for performing one or more of the operations described herein.
  • the processor 804, the memory 806, the transceiver 808, or various combinations or components thereof may be implemented in hardware (e.g., in communications management circuitry).
  • the hardware may include a processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field- programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic, discrete hardware components, or any combination thereof configured as or otherwise supporting a means for performing the functions described in the present disclosure.
  • the processor 804 and the memory 806 coupled with the processor 804 may be configured to perform one or more of the functions described herein (e.g., executing, by the processor 804, instructions stored in the memory 806).
  • the processor 804 may support wireless communication at the device 802 in accordance with examples as disclosed herein.
  • Processor 804 may be configured as or otherwise support a means for measuring AoA values in the LCS and calculating rotation values.
  • the processor 804 may include an intelligent hardware device (e.g., a general- purpose processor, a DSP, a CPU, a microcontroller, an ASIC, an FPGA, a programmable logic device, a discrete gate or transistor logic component, a discrete hardware component, or any combination thereof).
  • the processor 804 may be configured to operate a memory array using a memory controller.
  • a memory controller may be integrated into the processor 804.
  • the processor 804 may be configured to execute computer-readable instructions stored in a memory (e.g., the memory 806) to cause the device 802 to perform various functions of the present disclosure.
  • the memory 806 may include random access memory (RAM) and read-only memory (ROM).
  • the memory 806 may store computer-readable, computer-executable code including instructions that, when executed by the processor 804 cause the device 802 to perform various functions described herein.
  • the code may be stored in a non-transitory computer-readable medium such as system memory or another type of memory. In some implementations, the code may not be directly executable by the processor 804 but may cause a computer (e.g., when compiled and executed) to perform functions described herein.
  • the memory 806 may include, among other things, a basic I/O system (BIOS) which may control basic hardware or software operation such as the interaction with peripheral components or devices.
  • BIOS basic I/O system
  • the I/O controller 810 may manage input and output signals for the device 802.
  • the I/O controller 810 may also manage peripherals not integrated into the device M02.
  • the I/O controller 810 may represent a physical connection or port to an external peripheral.
  • the I/O controller 810 may utilize an operating system such as iOS®, ANDROID®, MS-DOS®, MS-WINDOWS®, OS/2®, UNIX®, LINUX®, or another known operating system.
  • the I/O controller 810 may be implemented as part of a processor, such as the processor 804. In some implementations, a user may interact with the device 802 via the I/O controller 810 or via hardware components controlled by the I/O controller 810. [0111] In some implementations, the device 802 may include a single antenna 812. However, in some other implementations, the device 802 may have more than one antenna 812 (i.e., multiple antennas), including multiple antenna panels or antenna arrays, which may be capable of concurrently transmitting or receiving multiple wireless transmissions. The transceiver 808 may communicate bi-directionally, via the one or more antennas 812, wired, or wireless links as described herein.
  • the transceiver 808 may represent a wireless transceiver and may communicate bi-directionally with another wireless transceiver.
  • the transceiver 808 may also include a modem to modulate the packets, to provide the modulated packets to one or more antennas 812 for transmission, and to demodulate packets received from the one or more antennas 812.
  • FIG.9 illustrates an example of a block diagram 900 of a device 902 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the device 902 may be an example of a positioning entity as described herein.
  • the device 902 may support wireless communication with one or more network entities 102, UEs 104, or any combination thereof.
  • the device 902 may include components for bi-directional communications including components for transmitting and receiving communications, such as a processor 904, a memory 906, a communication bus 908, and an I/O controller 910. These components may be in electronic communication or otherwise coupled (e.g., operatively, communicatively, functionally, electronically, electrically) via one or more interfaces (e.g., buses). [0113]
  • the processor 904, the memory 906, the communication bus 908, or various combinations thereof or various components thereof may be examples of means for performing various aspects of the present disclosure as described herein.
  • the processor 904, the memory 906, the communication bus 908, or various combinations or components thereof may support a method for performing one or more of the operations described herein.
  • the processor 904, the memory 906, the communication bus 908, or various combinations or components thereof may be implemented in hardware (e.g., in communications management circuitry).
  • the hardware may include a processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic, discrete hardware components, or any combination thereof configured as or otherwise supporting a means for performing the functions described in the present disclosure.
  • the processor 904 and the memory 906 coupled with the processor 904 may be configured to perform one or more of the functions described herein (e.g., executing, by the processor 904, instructions stored in the memory 906).
  • the processor 904 may support wireless communication at the device 902 in accordance with examples as disclosed herein.
  • Processor 904 may be configured as or otherwise support a means for determining the orientation of a local coordinate system relative to a global coordinate system.
  • the processor 904 may include an intelligent hardware device (e.g., a general- purpose processor, a DSP, a CPU, a microcontroller, an ASIC, an FPGA, a programmable logic device, a discrete gate or transistor logic component, a discrete hardware component, or any combination thereof).
  • the processor 904 may be configured to operate a memory array using a memory controller.
  • a memory controller may be integrated into the processor 904.
  • the processor 904 may be configured to execute computer-readable instructions stored in a memory (e.g., the memory 906) to cause the device 902 to perform various functions of the present disclosure.
  • the memory 906 may include random access memory (RAM) and read-only memory (ROM).
  • the memory 906 may store computer-readable, computer-executable code including instructions that, when executed by the processor 904 cause the device 902 to perform various functions described herein.
  • the code may be stored in a non-transitory computer-readable medium such as system memory or another type of memory. In some implementations, the code may not be directly executable by the processor 904 but may cause a computer (e.g., when compiled and executed) to perform functions described herein.
  • the memory 906 may include, among other things, a basic I/O system (BIOS) which may control basic hardware or software operation such as the interaction with peripheral components or devices.
  • BIOS basic I/O system
  • the communication bus 908 may facilitate communication between the positioning entity 902 and other network components.
  • the communication bus 908 may facilitate communication between the positioning entity 902 and a network entity 102 such as a gNB that is in wireless communication with a target device 104a and a plurality of reference devices 704.
  • positioning entity 902 is a network device or UE that manages a location function, or has location functionality apart from an LMF.
  • the positioning entity 902 may have an antenna and transceiver as illustrated and described with respect to the device 802 of FIG. 8.
  • a positioning entity 902 that is a UE may be referred to as a location server UE.
  • the I/O controller 910 may manage input and output signals for the device 902.
  • the I/O controller 910 may also manage peripherals not integrated into the device M02.
  • the I/O controller 910 may represent a physical connection or port to an external peripheral.
  • the I/O controller 910 may utilize an operating system such as iOS®, ANDROID®, MS-DOS®, MS-WINDOWS®, OS/2®, UNIX®, LINUX®, or another known operating system.
  • a target device 104a may be a UE of interest whose position (absolute or relative) is to be obtained by the network or by the UE itself.
  • the target device 104a illustrated in FIG.7 is a vehicle, the target device may be any UE, including a handheld device.
  • the reference devices 704 may be UEs, gNBs, or other network devices with wireless communication capability.
  • reference devices 704 are UEs that are used to determine reference planes and/or reference directions for ranging and positioning services.
  • one or more assistant UE provides assistance for ranging/sidelink positioning when the direct ranging/sidelink positioning between a reference UE 704 and a target UE 104a is not supported or otherwise feasible.
  • the method may include selecting or receiving a set of reference devices 704. The operations of 605 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 605 may be performed by a device as described with reference to FIG.1.
  • selecting reference devices includes selecting three reference devices whose locations are known, and these reference devices may be used in conjunction with a target device to determine rotations between an LCS of the target device and a GCS.
  • FIG.10 illustrates a flowchart of a method 1000 for selecting a set of reference devices according to 605 of method 600.
  • the operations of the method 1000 may be implemented by a device or its components as described herein.
  • the operations of the method 1000 may be performed by a network device 102 such as a positioning entity 902 or a UE 104 as described with reference to FIGs.1, 8 and 9.
  • the device may execute a set of instructions to control the function elements of the device to perform the described functions.
  • the device may perform aspects of the described functions using special-purpose hardware.
  • the initial pool of candidate devices for method 1000 may be UEs with a sidelink RSSI (S-RSSI) value with respect to the target UE 104a that is above a threshold.
  • candidate devices are UEs within a predetermined distance of target UE 104a.
  • the initial pool may be, for example, UEs that are served by the same cell or are served by the same base station as target UE 104a, UEs that are within a certain area, etc.
  • the method may include calculating a distance D between the target device 104a and a candidate reference device 104c.
  • the operations of 1005 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 1005 may be performed by a device as described with reference to FIG.1. [0127] At 1010, the method may include comparing the distance D between the target UE 104a and the candidate UE 704. The operations of 1010 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 1010 may be performed by a device as described with reference to FIG.1. [0128] If the distance D is greater than the threshold, then the candidate UE may be rejected because the received signal strength may be low so that the quality of the angle of arrival measurement is poor. Examples of the threshold distance are 300 meters, 500 meters, and 1000 meters.
  • the distance threshold may be configured by the network using a variety of options of network signalling including DCI, DL MAC CE, RRC, LPP signaling, e.g., ProvideAssistanceData or RequestLoctationInformation messages or combinations thereof.
  • the distance threshold may be configured with a UE, i.e., based on a pre-configuration.
  • the distance thresholds may also be exchanged between UEs using PC5 RRC signalling, new SL Positioning Protocol (SLPP/RSPP), e.g., SLPP/RSPP ProvideLocationInformation message or SLPP/RSPP ProvideAssistanceData message or combinations thereof.
  • SLPP/RSPP new SL Positioning Protocol
  • the distance thresholds may also be provided based on a prior request using the one or more of the aforementioned signalling options.
  • the distance threshold may also be configured as a set of triggered events, wherein each event may have a different distance threshold.
  • the method may include determining an uncertainty for the location of the candidate UE 104c.
  • the operations of 1015 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 1015 may be performed by a device as described with reference to FIG.1. [0130]
  • the location of a device need not be known exactly to determine line-of-sight angle of arrival of signals in the global coordinate system.
  • the location accuracy that is effective depends on the distance D between the target device 104a and each reference device 704 as illustrated in FIG.11.
  • the uncertainty is based on the technique used to determine a device’s position, in which case determining an uncertainty at 1015 may be performed, for example, by choosing an uncertainty value E from a lookup table.
  • the maximum magnitude of the uncertainty value E may be determined or refined based on network data such as the amount of noise present when measuring a position using a signaling technique.
  • the approximate location of a device may be obtained using a variety of methods, e.g., E-CID (enhanced cell ID techniques) applicable for both Uu and SL interfaces, Uu and/or SL received signal strength (RSS) measurement metrics corresponding to the Uu and/or SL positioning reference signal(s) or other RSS measurements based on other signals or channels such as SSB, SL-SSS, CSI-RS or SL CSI- RS, PSBCH RSRP, PSSCH RSRP, PSCCH RSRP, SL RSSI.
  • E-CID enhanced cell ID techniques
  • E-CID enhanced cell ID techniques
  • RSS received signal strength
  • the angle of arrival in the global coordinate system is computed as ⁇ c .
  • the distance D is given by The angle ⁇ c can be computed as [0134] If the uncertainty in the location of the target device has radius E, then the worst-case error in the computation of the angle ⁇ c can be determined.
  • the measured angle of arrival is given by it follows that [0135]
  • the derivative of the inverse sine function is given by W hen evaluated at sin ⁇ c , the derivative is given by
  • the maximum magnitude of the angle measurement error is approximately In the case that
  • the method may include comparing the uncertainty value for the location of the candidate UE 104c to the distance D to the target UE 104a.
  • the operations of 1020 may be performed in accordance with examples as described herein.
  • aspects of the operations of 1020 may be performed by a device as described with reference to FIG.1.
  • An example of threshold ratios between the uncertainty E and distance D are 0.018, 0.034, 0.053, 0.070, and 0.088 in order for the accuracy of the computed angle to be less than or equal to 1, 2, 3, 4, and 5 degrees, respectively.
  • the accuracy of the computed angle will then affect the accuracy of the determined device orientation.
  • the positioning uncertainty is much less than the distance D to a reference device 704 used to determine the target device 104a orientation, the location of the target device need not be known with high accuracy to effectively determine the angle of arrival in the global coordinate system. For this reason, it may be beneficial to use devices which are far away from the target device when determining the device orientation.
  • candidate devices that are less than a predetermined distance from the target device may be rejected for use as reference devices.
  • a target device 104a location accuracy to distance D conditional mapping may be configured to either the target device 104a or candidate device to ascertain if an initial location accuracy should be known with high or low precision.
  • the relationship between positioning uncertainty E and distance D e.g., mapping between both positioning uncertainty E and distance D
  • mapping between both positioning uncertainty E and distance D may be configured as an event-based threshold to either the target device 104a or a candidate device to initiate procedures to determine the orientation of the target device with respect to another device or vice versa.
  • the device orientation may be computed.
  • the distance D may correspond to the Euclidean distance between the devices as mentioned above.
  • the configuration of the positioning uncertainty E and distance D may originate from another configuration entity such as a base station or location server via RRC, DL MAC CE, LPP signaling or pre-configured within the device itself.
  • D may also be updated dynamically or semi-statically based on UE- specific signaling or system information broadcast signaling.
  • such a configuration of both parameters may be configured by another device via a SL interface using SL MAC CE, PC5 RRC or SL Positioning Protocol configuration signaling, e.g., SL positioning assistance data.
  • the method may include determining whether a line of sight is present between the candidate device and the target UE 104a.
  • the operations of 1025 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 1025 may be performed by a device as described with reference to FIG.1.
  • the presence of a line of sight may be assumed based on the condition of sidelink signaling between the target UE 104a and candidate device, for example by comparing an S-RSSI value to a threshold.
  • the presence of a line of sight may be configured for a given set of devices, or 1025 may be skipped.
  • the presence of absence of line of sight may be designated by a binary indicator, e.g.0 for LOS and 1 for no LOS. Since it may not always be possible to determine whether LOS is present with certainty, the presence of a line of sight may be estimated as a probability at 1025.
  • the probability of a line of sight being present may be indicated by a value between 0 and 1, where 0 is the lowest probability that a line of sight is present, and 1 is the highest probability that a line of sight is present.
  • the probability values may be used in later processes, e.g. to select which reference devices are used for subsequent steps of method 600.
  • method 600 may be performed for multiple sets of reference UEs 704, the resulting rotations for each set of reference UEs 704 are compared to each other, and devices associated with rotations that are similar to other rotations are determined to have line of sight relationships with the target device 104a.
  • method 600 may be performed for multiple sets of three candidate devices such that each candidate device is included in two or three different sets. If all the sets in which a given candidate device deviate substantially from rotation values associated with other sets, then the given candidate device is determined to lack line of sight with the target device at 1025. [0150] This process of calculating rotations for multiple sets of reference devices may be performed independent of a LOS determination at 1025 to increase confidence in the accuracy of rotation values. In some embodiments, rotation values for different sets of devices that are within a predetermined range of one another are averaged. [0151] At 1030, the method may include adding the candidate reference device to a set of reference devices that may be used to orient the target device.
  • the operations of 1030 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 1030 may be performed by a device as described with reference to FIG.1. [0152] Otherwise, if the candidate device fails to meet selection criteria at 1010, 1020 or 1025, the candidate device may be rejected for inclusion in the set of reference devices. Method 1000 may be performed for all devices within a certain range of the target devices. [0153] In some embodiments, after a set of reference devices is established, one, two, three or more devices may be chosen from the set for subsequent steps of method 600 described below.
  • the specific devices that are used for method 600 are chosen based on a criteria such as distance to the target, ratio between distance and uncertainty, presence of line of sight, confidence in line of sight determination, sidelink signal strength, the type of device, etc. In some embodiments, various combinations of devices are used to calculate rotation values, outlier values are discarded, and non-outlier values may be averaged. [0154] Returning to FIG.6, after a set of reference devices is selected at 605, the device performing method 600 receives the locations of one or more reference device at 610. The operations of 610 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 610 may be performed by a device as described with reference to FIG.1.
  • a network device such as a positioning entity 902 may calculate angle of arrival values between the target device 104a and the reference devices 704 within the global coordinate system.
  • the positioning entity 902 may use positions of the devices within the GCS to calculate the GCS AoAs using those positions. For example, the location of the devices could be determined using time difference of arrival, enhanced cell ID methods, or other methods as described above.
  • those values may be received by the entity performing method 600, e.g. a target device.
  • the method may include measuring angles of arrival between target and reference devices in the local coordinate system. The operations of 615 may be performed in accordance with examples as described herein.
  • aspects of the operations of 615 may be performed by a device as described with reference to FIG.1.
  • the target device measures signals received from the reference devices to measure the LCS AoAs.
  • the target device 104a may receive signals over a sidelink channel from the reference devices 704 and measure the angle of arrival for those sidelink signals within the LCS of the target device.
  • the device measurement of the angle of arrivals in the local coordinate system can be combined with knowledge of the of the angle of arrivals in the global coordinate system to determine the orientation of the device and the relationship between the local coordinate system and the global coordinate system.
  • the method may include calculating rotations between the LCS of the target device and the GCS.
  • the operations of 620 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 620 may be performed by a device as described with reference to FIG.1.
  • the relationship between the LCS and GCS can be expressed in terms of three rotation angles as illustrated in FIG.12.
  • R may be a unitary matrix so that the rows and columns are unitary and orthogonal.
  • Devices D 1 , D 2 and D 3 have angles of arrival in the global coordinate system given by where ⁇ i denotes the azimuth and ⁇ c denotes the declination relative to vertical.
  • the values of R 12 , R 13 , R 22 , and R 23 calculated from the estimates f ormed using may not match the corresponding terms of In general, it will be the case that where are the estimates of ⁇ , ⁇ , and ⁇ .
  • An alternative method for estimating ⁇ , ⁇ , and ⁇ is to define as the parameters which minimize the Frobenius norm of the matrix where [0171] The Frobenius norm can be used as a measure of the reliability of the estimates , or equivalently, as a measure of the estimation error.
  • a least-squared estimate of R can be developed.
  • N devices we define and and note that, as before [0173]
  • the matrix R can be estimated as w here is the minimum Frobenius norm solution satisfying [0175]
  • one or more of the Euler rotation angles ⁇ , ⁇ , ⁇ are known.
  • a rotation angle may be known when some aspect of the associated reference device’s orientation is known, e.g. when the reference device is inclined at a known angle with respect to the horizontal plane or the force of gravity.
  • the method may include transmitting or requesting the rotations calculated at 620.
  • the operations of 625 may be performed in accordance with examples as described herein. In some implementations, aspects of the operations of 625 may be performed by a device as described with reference to FIG.1.
  • the target device transmits the calculated rotations to a positioning entity.
  • the positioning entity may use the rotations to translate orientation data from the target device LCS to orientation data in the GCS.
  • a target device may determine the relationship between its LCS and the GCS using knowledge of its own location as well as the knowledge of the locations of a subset of reference devices from which the target device receives signals, where the locations are all in a common coordinate system.
  • the target device uses the known locations to compute the AoAs in the global coordinate system, and measures the angles of arrival in its own LCS.
  • the target device uses these two sets of angles to solve for the rotations ⁇ , ⁇ , and ⁇ that define the relationship between the LCS and the GCS.
  • the target device can signal the AoA measurements taken of reference devices to one or more reference devices, to a positioning entity, or to the network.
  • the AoA values can be signalled in the LCS along with the rotations ⁇ , ⁇ , and ⁇ , or the angles can be signalled in the GCS.
  • a further aspect of this embodiment includes classification of the AoAs in terms of LOS, NLOS or combination thereof.
  • the AoAs can be indicated as LOS or NLOS via a binary indicator [0 for LOS and 1 for NLOS].
  • a soft value indicator [0, 0.1, 0.2, ..., 0.9, 1] may indicate the probability that a performed AoA measurement, including first arrival path and additional paths are LOS or NLOS.
  • the signalling exchange in method 600 may be achieved via existing LPP signalling between a LMF and the target-device, e.g., ProvideLocationInformation message, RRC signalling between the gNB and target-device, a SL positioning protocol (SLPP)/ Ranging SL positioning protocol (RSPP), e.g., SL ProvideLocationInformation message between two or more devices, existing PC5 RRC signalling between two or more devices, or combinations thereof.
  • SLPP SL positioning protocol
  • RSPP Ranging SL positioning protocol
  • a sidelink Positioning Server UE may be employed to receive reports on the AoA measurements or configure resources to measure the relevant AoAs.
  • a SL Positioning Server UE may be an anchor or target UE or could be a separate UE participating the SL positioning session.
  • FIG.13 illustrates a flowchart of a method 1300 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the operations of the method 1300 may be implemented by a device or its components as described herein.
  • operations of the method 1300 may be performed by a target device, which may be a UE 104 as described with reference to FIGs.1 and 8.
  • the device may execute a set of instructions to control the function elements of the device to perform the described functions. Additionally, or alternatively, the device may perform aspects of the described functions using special-purpose hardware.
  • Aspects of method 1300 are similar to aspects of method 600 described above.
  • a positioning entity or other network device locates the target device and candidate reference devices within proximity of the target device, all within a common coordinate system which is typically a Euclidean coordinate system, though a polar coordinate system is also possible.
  • the positioning entity or network may select a set of reference devices using method 1000, and the set of reference devices received by the target device at 1305 from the positioning entity or network. In another embodiment, the positioning entity or the network may request the location information from the target device with an associated accuracy.
  • the target device 104a receives AoAs to the reference devices in the GCS at 1310.
  • the positioning entity may compute angles of arrival between the target device and reference devices, and cause the computed angles of arrivals in the GCS, relative to the target device, to be signalled to the target device.
  • the angles of arrival may be sent by a single device, or each device may send its angle of arrival relative to the target device.
  • the target device transmits a request for a plurality of AoA values for reference devices within a predetermined distance range from the target device to the positioning entity, and the AoA values at 1310 are received in response to that request.
  • the predetermined distance range may be a range of between a minimum distance, e.g.10 meters, and a maximum distance, e.g.100 meters.
  • the target device 104a then measures these same angles of arrival in the local coordinate system at 1315.
  • the target device uses these two sets of angles to solve for the rotations ⁇ , ⁇ , and ⁇ that define the relationship between its LCS and the GCS at 1320 as described with respect to 620, and signals the relationship between its LCS and the GCS to the positioning entity at 1325.
  • the target device may report all angles relative to the GCS.
  • the above signalling exchange may be achieved via existing LPP signalling between a the LMF and the target-device, e.g., ProvideLocationInformation message, RRC signalling between the gNB and target-device, a new SL positioning protocol (SLPP)/ Ranging SL positioning protocol (RSPP), e.g., SL ProvideLocationInformation message between two or more devices, existing PC5 RRC signalling between two devices or a combination thereof.
  • a SL Positioning Server UE may be employed to receive reports on the AoA measurements or configure resources to measure the relevant AoAs.
  • a SL Positioning Server UE may be an anchor or target UE, or a separate UE participating the SL positioning session.
  • FIG.14 illustrates a flowchart of a method 1400 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the operations of the method 1400 may be implemented by a device or its components as described herein.
  • operations of the method 1400 may be performed by a device such as a positioning entity as described with reference to FIGs.1 and 9.
  • the device may execute a set of instructions to control the function elements of the device to perform the described functions. Additionally, or alternatively, the device may perform aspects of the described functions using special-purpose hardware.
  • Aspects of method 1400 are similar to aspects of methods 600 and 1300 described above. Accordingly, the following description is limited to minimize redundancy.
  • the positioning entity or the network has knowledge of the locations of the target device and other devices in proximity of the target device, and the positioning entity uses this information to select a set of reference devices at 1405 as described with respect to method 1000. In addition, the positioning entity uses the location data to calculate AoA values between the target device 104a and one or more set of reference devices at 1410. [0199] The target device 104a measures AoAs for signals received from the reference devices and reports LCS AoA measurements of signals received from devices in its proximity to the positioning entity or the network. The positioning entity receives the LCS AoA values from the target device at 1415.
  • the positioning entity or the network determine the relationship between the LCS and the GCS for the target device at 1420.
  • the target device can subsequently report AoAs in its LCS, and the positioning entity or network can convert the LCS values to the GCS using the rotations calculated at 1420, even if the target device does not know the rotations ⁇ , ⁇ , and ⁇ that are being used.
  • the target device 104a can request the rotations ⁇ , ⁇ , and ⁇ from the positioning entity or the network so that the target device can determine its orientation in the GCS.
  • the positioning entity or network transmits the calculated rotations to the target device at 1425.
  • Signalling exchanges between the target device and positioning entity 1400 may be achieved via existing LPP signalling between a the LMF and the target-device, e.g., ProvideLocationInformation message, RRC signalling between the gNB and target-device, a new SL positioning protocol (SLPP)/ Ranging SL positioning protocol (RSPP), e.g., SL ProvideLocationInformation message between two or more devices, existing PC5 RRC signalling between two devices or combination thereof.
  • SLPP SL positioning protocol
  • RSPP Ranging SL positioning protocol
  • a SL Positioning Server UE may be employed to receive reports on the AoA measurements or configure resources to measure the relevant AoAs.
  • FIG.15 illustrates an example of a processor 1500 that supports determining the orientation of a local coordinate system relative to a global coordinate system in accordance with aspects of the present disclosure.
  • the processor 1500 may be an example of a processor configured to perform various operations in accordance with examples as described herein.
  • the processor 1500 may include a controller 1502 configured to perform various operations in accordance with examples as described herein.
  • the processor 1500 may optionally include at least one memory 1504, such as L1/L2/L3 cache. Additionally, or alternatively, the processor 1500 may optionally include one or more arithmetic-logic units (ALUs) 1500.
  • ALUs arithmetic-logic units
  • the processor 1500 may be a processor chipset and include a protocol stack (e.g., a software stack) executed by the processor chipset to perform various operations (e.g., receiving, obtaining, retrieving, transmitting, outputting, forwarding, storing, determining, identifying, accessing, writing, reading) in accordance with examples as described herein.
  • a protocol stack e.g., a software stack
  • the processor chipset may include one or more cores, one or more caches (e.g., memory local to or included in the processor chipset (e.g., the processor 1500) or other memory (e.g., random access memory (RAM), read-only memory (ROM), dynamic RAM (DRAM), synchronous dynamic RAM (SDRAM), static RAM (SRAM), ferroelectric RAM (FeRAM), magnetic RAM (MRAM), resistive RAM (RRAM), flash memory, phase change memory (PCM), and others).
  • RAM random access memory
  • ROM read-only memory
  • DRAM dynamic RAM
  • SDRAM synchronous dynamic RAM
  • SRAM static RAM
  • FeRAM ferroelectric RAM
  • MRAM magnetic RAM
  • RRAM resistive RAM
  • flash memory phase change memory
  • PCM phase change memory
  • the controller 1502 may be configured to manage and coordinate various operations (e.g., signaling, receiving, obtaining, retrieving, transmitting, outputting, forwarding, storing, determining, identifying, accessing, writing, reading) of the processor 1500 to cause the processor 1500 to support various operations in accordance with examples as described herein.
  • the controller 1502 may operate as a control unit of the processor 1500, generating control signals that manage the operation of various components of the processor 1500. These control signals include enabling or disabling functional units, selecting data paths, initiating memory access, and coordinating timing of operations.
  • the controller 1502 may be configured to fetch (e.g., obtain, retrieve, receive) instructions from the memory 1504 and determine subsequent instruction(s) to be executed to cause the processor 1500 to support various operations in accordance with examples as described herein.
  • the controller 1502 may be configured to track memory address of instructions associated with the memory 1504.
  • the controller 1502 may be configured to decode instructions to determine the operation to be performed and the operands involved.
  • the controller 1502 may be configured to interpret the instruction and determine control signals to be output to other components of the processor 1500 to cause the processor 1500 to support various operations in accordance with examples as described herein. Additionally, or alternatively, the controller 1502 may be configured to manage flow of data within the processor 1500.
  • the controller 1502 may be configured to control transfer of data between registers, arithmetic logic units (ALUs), and other functional units of the processor 1500.
  • the memory 1504 may include one or more caches (e.g., memory local to or included in the processor 1500 or other memory, such RAM, ROM, DRAM, SDRAM, SRAM, MRAM, flash memory, etc.
  • the memory 1504 may reside within or on a processor chipset (e.g., local to the processor 1500). In some other implementations, the memory 1504 may reside external to the processor chipset (e.g., remote to the processor 1500).
  • the memory 1504 may store computer-readable, computer-executable code including instructions that, when executed by the processor 1500, cause the processor 1500 to perform various functions described herein.
  • the code may be stored in a non-transitory computer-readable medium such as system memory or another type of memory.
  • the controller 1502 and/or the processor 1500 may be configured to execute computer-readable instructions stored in the memory 1504 to cause the processor 1500 to perform various functions.
  • the processor 1500 and/or the controller 1502 may be coupled with or to the memory 1504, and the processor 1500, the controller 1502, and the memory 1504 may be configured to perform various functions described herein.
  • the processor 1500 may include multiple processors and the memory 1504 may include multiple memories.
  • the one or more ALUs 1500 may be configured to support various operations in accordance with examples as described herein.
  • the one or more ALUs 1500 may reside within or on a processor chipset (e.g., the processor 1500).
  • the one or more ALUs 1500 may reside external to the processor chipset (e.g., the processor 1500).
  • One or more ALUs 1500 may perform one or more computations such as addition, subtraction, multiplication, and division on data.
  • one or more ALUs 1500 may receive input operands and an operation code, which determines an operation to be executed.
  • One or more ALUs 1500 be configured with a variety of logical and arithmetic circuits, including adders, subtractors, shifters, and logic gates, to process and manipulate the data according to the operation. Additionally, or alternatively, the one or more ALUs 1500 may support logical operations such as AND, OR, exclusive-OR (XOR), not-OR (NOR), and not-AND (NAND), enabling the one or more ALUs 1500 to handle conditional operations, comparisons, and bitwise operations. [0210]
  • the processor 1500 may support wireless communication in accordance with examples as disclosed herein.
  • the processor 1500 may be configured to or operable to support a means for orienting a target device in a global coordinate system using local coordinate measurements.
  • a processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
  • the functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope of the disclosure and appended claims. For example, due to the nature of software, functions described herein may be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these.
  • Computer-readable media includes both non-transitory computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
  • a non-transitory storage medium may be any available medium that may be accessed by a general-purpose or special-purpose computer.
  • non-transitory computer-readable media may include RAM, ROM, electrically erasable programmable ROM (EEPROM), flash memory, compact disk (CD) ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that may be used to carry or store desired program code means in the form of instructions or data structures and that may be accessed by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor.
  • Any connection may be properly termed a computer-readable medium.
  • Disk and disc include CD, laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above are also included within the scope of computer- readable media.
  • a “set” may include one or more elements.
  • the terms “transmitting,” “receiving,” or “communicating,” when referring to a network entity, may refer to any portion of a network entity (e.g., a base station, a CU, a DU, a RU) of a RAN communicating with another device (e.g., directly or via one or more other network entities).

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  • Engineering & Computer Science (AREA)
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Abstract

Divers aspects de la présente divulgation concernent l'orientation d'un dispositif cible dans un système de coordonnées globales à l'aide de mesures dans un système de coordonnées locales. Un procédé donné à titre d'exemple consiste à recevoir une pluralité de valeurs d'angle d'arrivée, chacune des valeurs d'angle d'arrivée représentant un angle entre le dispositif cible et un dispositif de référence respectif dans un système de coordonnées globales, à mesurer des valeurs d'angle d'arrivée entre le dispositif cible et chacun des dispositifs de référence respectifs dans un système de coordonnées locales du dispositif cible, à calculer une première valeur de rotation entre un premier axe du système de coordonnées globales et un premier axe du système de coordonnées locales, à calculer une deuxième valeur de rotation entre un deuxième axe du système de coordonnées globales et un deuxième axe du système de coordonnées locales, et à calculer une troisième valeur de rotation entre un troisième axe du système de coordonnées globales et un troisième axe du système de coordonnées locales.
PCT/IB2023/061452 2022-11-15 2023-11-13 Orientation et positionnement de dispositif à l'aide de systèmes de coordonnées locales et globales Ceased WO2024069617A1 (fr)

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