Abstract: A method for a base station includes sending a request for a report on beamforming capability to a target user equipment; receiving the report on the beamforming capability from the target user equipment; allocating at least one positioning reference signal resource for use by the target user equipment based on at least the capability information included in the report; determining a beam sweeping mle based on the at least one positioning reference signal resource allocated for the target user equipment; and sending the positioning reference signal resource allocation and the beam sweeping mle to the target user equipment.

Abstract: Systems, methods, apparatuses, and computer program products for positioning support are provided. One method may include receiving, by a UE configured with power saving feature(s), positioning performance requirements for a positioning session. The method may also include estimating an impact of one or more power saving or reduced capability features on positioning measurements associated with the positioning session and, based on the accuracy and latency requirements and the estimated impact, determining the power saving or reduced capability features that the UE can implement while still achieving the accuracy and latency requirements for the positioning session. The method may then include signaling, to a network node, information on the determined power saving or reduced capability features that the UE can implement while still achieving the required accuracy and latency requirements for the positioning session.

Abstract: Systems, methods, apparatuses, and computer program products for user equipment (UE)-based positioning non-line of sight (NLOS) error mitigation. For example, some embodiments described herein may provide for use of a blind-learning-type algorithm for channel bias distribution estimation for UE-based positioning. The UE may perform a calculation of a positioning of the UE using NLOS bias distribution received from a network node, as described elsewhere herein.

Abstract: According to embodiments of the present disclosure, a PRS transmission timing scheme for sidelink assisted positioning is proposed. According to embodiments of the present disclosure, the supporting terminal device measures a receiving-transmitting (Rx-Tx) time difference between receiving the downlink PRS (DL) and transmitting the sidelink (SL) PRS. The supporting terminal device transmits an indication of the RX-TX time difference to the location management device in order to reduce the impact of low synchronization issue on positioning performance as well as the use of wideband PRS for higher measurement accuracy. In this way, the positioning performance of sidelink assisted positioning has been improved.

Abstract: Systems, methods, apparatuses, and computer program products for using angle error groups (AEGs) to improve angle of arrival (AoA) positioning may be provided. For example, for a specific received signal, one or more receiving antenna elements that can be considered to have almost the same incident angle within a certain margin may be defined as a group. The group of receive (Rx) antenna elements (or a group of Rx antennas) may be defined as an AEG. The configuration of an AEG for each TRP and the AEG may be used for AoA measurement and reporting. The gNB or transmit receive point (TRP) may perform AoA measurements and may determine an AoA for the AEGs.

Abstract: An apparatus may include circuitry configured for providing first data indicative of a first relative angle-of-arrival measurement between a first base station and a second base station, from the position of a user device, based on angle-of-arrival measurements. The apparatus may also include circuitry configured for providing second data indicative of first and second angle-of-departure measurements, each measurement indicative of an angle between the user device and the other base station of the first set of base stations from the position of the respective first and second base stations based on a plurality of beams transmitted from the respective base station to the user device. The apparatus may also include circuitry configured for determining a beam directionality error associated with at least one of the first and second base stations based on the first relative angle-of-arrival measurement and the first and second angle-of-departure measurements.

Abstract: Methods, apparatuses, and computer programs are provided for SRS for positioning resource overhead reduction in multi-RTT. A method for a UE includes receiving an initial configuration of a plurality of sounding reference signal for positioning resources; measuring a downlink positioning reference signal received from one or more cells; determining one or more transmission beams based on reception beams used for receipt of the downlink positioning reference signal from the one or more cells; wherein the determining of the one or more transmission beams comprises a reduction of at least one beam resource associated with a sounding reference signal for positioning; and transmitting an updated sounding reference signal for positioning configuration with information about the determined one or more transmission beams. Methods are also provided for a radio node and for an LMF.

Abstract: Improved techniques of reducing latency in UL positioning include generating a priority indication by the LMF for all UE requiring UL positioning. For example, an LMF can generate a priority list identifying UEs within a network that may be considered by a serving network node (gNB) for positioning prioritization. In some implementations, the serving gNB indicates that prioritizing all of the identified UEs would require more network resources than are available. In such a case, the LMF obtains latency measurement values for TRPs in the network. Based on the latency measurement values obtained, the LMF performs a configuration operation on at least one of the TRPs to reduce the UL positioning latency to an acceptable value.

Abstract: Improved techniques of UE local and network assisted compensation of the UE PCO impact on positioning reference signal include performing compensation of positioning measurement error by transmitting a reference signal to a proximate reference device. In some implementations, the reference signal is a wideband reference signal, and the compensation is over a wide band of frequencies. In some implementations, the positioning measurement error includes a PCO in-band variation (IBV). In such an implementation, the UE may associate a respective compensation over the wide band of frequencies with an antenna panel and/or an angle with respect to the proximate reference device (RD).

Abstract: A system, apparatus, method, and non-transitory computer readable medium for accurately and efficiently determining communication offsets between at least one user equipment (UE) device and at least one non-terrestrial network (NTN) device may include a UE device including: a memory storing computer readable instructions and at least one processor configured to, determine location information of the UE device; receive group information from a NTN device, the group information including a plurality of group IDs corresponding to a plurality of group coverage areas within a beam coverage area, each of the plurality of group IDs including location information of a corresponding reference point, and group offset information associated with the corresponding reference point; select a group ID from the plurality of group IDs based on the location information of the UE device and the plurality of reference points; and perform UL transmission based on the group offset information.

Abstract: Embodiments of the present disclosure relate to beam selection during downlink positioning. According to embodiments of the present disclosure, the terminal devices are grouped based on their characteristics and the anchor terminal device in the group determines the best transmitting beam of the neighbor network device. The non-anchor terminal device uses the assistance information of the best transmitting beam determined by the anchor terminal device. In this way, cost for the terminal device to receive and measure the PRS during downlink positioning has been reduced.

Abstract: Systems, methods, apparatuses, and computer program products for transmitter residual carrier frequency offset compensation. The method may include receiving, at a reference user equipment, configuration for a positioning reference measurement from a network element. The method may also include estimating a transmission carrier frequency offset of the network element based on the positioning reference measurements. The method may further include transmitting the estimated transmission carrier frequency offset in a report to the network element.

Abstract: A method including receiving, at a user equipment, one or more location related information, where the location related information comprises information based upon location related to one or more satellite; determining, by the user equipment, timing advance, where the determining is at least partially based upon the location related information; determining, by the user equipment, to perform a preconfigured uplink resource transmission; and performing, based at least partially upon the determined timing advance, the preconfigured uplink resource transmission.

Abstract: Systems, methods, apparatuses, and computer program products for a multi-stage positioning reference signal (PRS) mechanism for downlink angle of departure (DL-AoD) positioning.

Abstract: Methods, apparatuses, and computer programs are provided for propagation delay compensation. A method for a UE includes receiving a configuration to provide a propagation delay notification for a propagation delay estimation; determining when the notification should be transmitted; transmitting the propagation delay notification; and determining a corresponding action based on the configuration of a relation between uplink reference signals and downlink reference signals. Methods are also provided for a radio node such as a base station.

Abstract: According to an example embodiment, a method may include receiving, by a user equipment from a base station associated with a cell, control information assigning a subframe as a preconfigured uplink resource (PUR) subframe for the user equipment, the preconfigured uplink resource (PUR) subframe including an extended cyclic prefix, the control information indicating resources allocated to the user equipment for uplink transmission within the preconfigured uplink resource (PUR) subframe, wherein one or more other subframes for use by the user equipment include a normal cyclic prefix that is shorter in time than the extended cyclic prefix of the preconfigured uplink resource (PUR) subframe; and transmitting, by the user equipment, data via the resources allocated to the user equipment within the preconfigured uplink resource (PUR) subframe.

Abstract: Apparatus, methods and computer program products for user equipment positioning solutions and related signalling. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code are configured, with the at least one processor, to cause the apparatus to at least send (550), to a network node of a communication network, at least one signaling configuration with at least one set periodicity, wherein the at least one signaling configuration is for use at the network node in calculating at least position information for relaying to the communication network at least for positioning support of the apparatus, and receive (570) the positioning support from the communication network in response to the at least one signaling configuration.

Abstract: An autonomous vehicle is operated using a main autonomy system that analyzes data collected by a sensor system of the autonomous vehicle to determine a trajectory of travel of the autonomous vehicle, and wherein the main autonomy system provides instructions to a propulsion system of the autonomous vehicle to cause the propulsion system to navigate the autonomous vehicle according to the trajectory. In response to determining that navigating the autonomous vehicle according to the trajectory is likely to result in collision, instructions are provided from a parallel autonomy system to the propulsion system to cause the autonomous vehicle to avoid collision. In response to detecting a fault in the main autonomy system, control of the propulsion system is provided from the main autonomy system to a failover autonomy system, wherein the failover autonomy system is configured to override the propulsion system.

Abstract: Certain example embodiments provide systems, methods, apparatuses, and computer program products for determining radio frequency (RF) conditions using sensing information. A network node may construct a map of RF conditions associated with location information within its coverage area. The network node may configure a radio resource control (RRC)-connected UE to operate in an RF sensing mode. The network node may obtain a positioning of the UE from a sensing node. The network node may determine the RF conditions of the UE based on its position using the map.

Abstract: Certain example embodiments provide systems, methods, apparatuses, and computer program products for associating sensing information with a user (e.g., a cellular user) by, for example, determining information from both a sensing node and a communication node, then associating the a sensed object and the communication node based on the information. Additionally, or alternatively, some embodiments provide systems, methods, apparatuses, and computer program products for radar and sensing-based positioning.