Abstract: A method implemented in a wireless transmit/receive unit (WTRU) is provided. The method may include receiving configuration information indicating (i) a set of positioning reference signal (PRS) resources and (ii) a time window to be used for phase measurement with the set of PRS resources. The method may include determining a phase difference measurement based on a first PRS of a first plurality of PRS and a second PRS of a second plurality of PRS, the first and the second PRS being received in the time window. The method may include determining a reference signal time difference (RSTD) measurement based on the first PRS of the first plurality of PRS and a third PRS of the second plurality of PRS and transmitting reporting information indicating the determined phase difference measurement and the determined RSTD measurement.

Abstract: A wireless transmit/receive unit, WTRU, receives a positioning request message from another WTRU (1402). The positioning request message indicates a request associated with one or more of a sidelink positioning reference signals, SL-PRS, transmission or a SL-PRS reception and indicates a range of one or more parameters associated with the SL-PRS transmission or reception; these parameters comprise one or more of SL-RSRP, angle of departure AoD, angle of arrival AoA, and a line of sight LOS/NLOS metric. The WTRU measures the one or more parameters indicated in the positioning request message (1404) and performs the SL-PRS transmission (1410) or the SL-PRS reception (1410) on the condition that the measured parameters are within the range indicated in the positioning request message (1408).

Abstract: A wireless transmit/receive unit, WTRU, receives a plurality of positioning reference signals from a plurality of terrestrial transmission points, the positioning reference signals including at least one positioning reference signal from a first terrestrial transmission point and at least one positioning signal from a second terrestrial transmission point, on condition that at least one value based on first measurements of the plurality of positioning reference signals satisfies a condition, transmits a request to initiate, at the WTRU, positioning using positioning reference signals received from satellites, received, in response to the request, information about a set of satellites, selects at least one satellite from the set of satellites, determines a second position estimate for the WTRU based on at least one positioning reference signal received from at least one selected satellite, and sends to a network node a message comprising information indicating the second position estimate for the WTRU.

Abstract: Systems, methods, and instrumentalities are disclosed herein associated with the estimation of an obstacle location. A WTRU may receive configuration information regarding reference signal (RS) resources, and transmit an RS (e.g., a sounding reference signal for positioning) using a configured resource. The WTRU may receive a signal reflected from an obstacle based on the transmission of the RS and the WTRU may perform a measurement of the reflected signal. The WTRU may report a result of the measurement to a network device to assist the network device with determining the location of the obstacle.

Abstract: A target wireless transmit/receive unit (WTRU) may determine a signal quality of a received sidelink positioning reference signal (SL-PRS) from each anchor WTRU of a sidelink positioning group. The target WTRU may determine whether the sidelink positioning group is suitable for sidelink positioning, for example based on whether a number of anchor WTRUs of the sidelink positioning group that are suitable for sidelink positioning exceeds a threshold value. The target WTRU may determine a position of the target WTRU, for example using the sidelink positioning group based on the number of anchor WTRUs of the sidelink positioning group that are suitable for sidelink positioning exceeding the threshold value.