Abstract: A global navigation satellite system (GNSS) device may receive GNSS correction data and may determine a respective standard deviation of pre-fit residuals of one or more GNSS measurement types of a set of GNSS measurements. The GNSS device may determine at least one conditional trigger is met based on a comparison of the respective standard deviation of pre-fit residuals of the one or more GNSS measurement types with a respective threshold, and, responsive to determining the at least one conditional trigger is met, may modify how a positioning engine processes one or more measurements of the set of GNSS measurements. The GNSS device may determine a position estimate of the GNSS device based at least in part on a result of the modified processing of the one or more measurements by the positioning engine and the GNSS correction data.

Abstract: An example method for updating GNSS error correction data for global navigation satellite system (GNSS)-based positioning. The method performed by a server may comprise obtaining multiple GNSS measurements crowdsourced from one or more GNSS devices across a plurality of measurement epochs, determining GNSS measurement residuals using the multiple GNSS measurements and existing GNSS error correction data, and sending updated GNSS error correction data for GNSS-based positioning, wherein the updated GNSS error correction data is determined using the determined GNSS measurement residuals and the existing GNSS error correction data.

Abstract: Aspects presented herein may enable a UE to verify the integrity of map data, thereby improving the accuracy and safety of map-aiding positioning and/or map-based positioning. In one aspect, a UE performs a map-aiding positioning based on a first set of map data. The UE verifies whether an integrity of the first set of map data meets an accuracy threshold. The UE discards the first set of map data if the verification of the integrity of the first set of map data does not meet the accuracy threshold. For example, the UE may compare the first set of map data with a second set of map data from a different source, and identify the integrity of the first set of map data does not meet the accuracy threshold if the comparison shows an indication of inconsistency above a consistency threshold.

Abstract: Systems and methods for additive manufacturing are provided. In some embodiments, a method for additive manufacturing includes forming a portion of an additively manufactured object within a reservoir of curable material by scanning a plurality of energy beams of a plurality of energy sources through a plurality of respective scanning regions in the curable material. The scanning regions can overlap at one or more object locations, such that a combined energy dosage delivered to the one or more object locations by two or more of the energy beams is greater than or equal to a threshold dosage for solidifying the curable material. The method can further include advancing the reservoir of curable material relative to the energy sources. The forming and advancing processes can be repeated to fabricate the additively manufactured object.

Abstract: Aspects concern a distributed computing system for generating vector tiles of a selected map area including a memory unit configured to store map data and a task database, the map data including a representation of the selected map area with a first resolution and a first detail level and with a second resolution higher than the first resolution and a second detail level; two or more processing units, each of the two or more processing units configured to select a task included in the task database, to execute the selected task, and to provide data generated by the selected task to the memory unit for storage; wherein one of the two or more processing units is further configured to schedule the generation of vector tiles by determining tasks using a specific predefined directed acyclic task graph and to provide the determined task to the task database.

Abstract: A method for wireless communication at a GNSS is described herein. The method includes obtaining a set of SSR error correction components associated with a set of SVs, where the set of SSR error correction components includes a first number of SSR error correction components that is less than a second number of SSR error correction components in a full set of SSR error correction components. The method includes generating, based on the set of SSR error correction components, (1) an OSR of GNSS measurements associated with the set of SVs and (2) an OSR uncertainty value for the OSR. The method includes computing, based on the OSR of the GNSS measurements and the OSR uncertainty value, a position of the GNSS wireless device. The method includes outputting an indication of the position of the GNSS wireless device.

Abstract: Aspects presented herein may enable a UE to improve (e.g., reduce) the convergence time for vision-aided positioning by enabling the UE to use images embedded with location information. In one aspect, a UE receives, from a reference device, a server, or a map, a list of visual features and a location for each visual feature in the list of visual features. The UE identifies at least one visual feature in an area via at least one camera, where the at least one visual feature is included in the list of visual features, where the area is within a threshold distance of the UE. The UE estimates a position of the UE based on the identified at least one visual feature in the area and the location corresponding to the at least one visual feature.

Abstract: Disclosed are techniques for positioning. In an aspect, a positioning entity determines an expiration time for applying correction data to positioning measurements of one or more transmission points (TPs), applies the correction data to one or more positioning measurements obtained by a user equipment (UE) of the one or more TPs before expiration of the expiration time to determine one or more corrected positioning measurements, and determines an estimate of a location of the UE based, at least in part, on the one or more corrected positioning measurements.

Abstract: Techniques are provided for utilizing reference signals transmitted by network stations to determine the orientation of a wireless node. An example method for determining an orientation of a user equipment includes determining a first location associated with the user equipment, determining a second location associated with a first wireless node, receiving, with the user equipment, a radio frequency signal transmitted from the first wireless node, determining two measurements based at least in part on the first location, the second location, and angle of arrival information associated with the radio frequency signal, determining a gravity vector based on inertial measurements obtained with the user equipment, and computing the orientation of the user equipment based at least in part on the gravity vector and the two measurements.

Abstract: A method for determining a tunnel exit of a user equipment, includes: determining a tunnel entry of the user equipment; determining that the user equipment is receiving signals from one or more satellite vehicles; determining whether one or more parameters based on the signals received by the user equipment indicate a line of sight between the user equipment and the one or more satellite vehicles; and determining no tunnel exit of the user equipment in response to determining that the one or more parameters indicate no line of sight between the user equipment and at least one of the one or more satellite vehicles.

Abstract: Techniques for global navigation satellite system (GNSS)-based positioning of a mobile device based on antenna phase center compensation are disclosed. The techniques can include determining a phase center profile of a receiver antenna of the mobile device that is placed in a fixed-frame condition and executing an antenna phase center compensation procedure upon detecting placement of the mobile device in a non-fixed frame condition. The antenna phase center compensation procedure can include obtaining attitude information of the mobile device based at least in part on sensor data obtained from one or more sensors of the mobile device, and incorporating the attitude information of the mobile device into the phase center profile of the receiver antenna of the mobile device. A global navigation satellite system-based positioning operation may be executed that includes antenna phase center compensation based at least in part on incorporating the attitude information into the phase center profile.

Abstract: Aspects presented herein may improve/enhance camera-aided/assisted positioning by utilizing light and shadow created by an artificial light. In one aspect, a UE captures a set of images of an object using at least one camera. The UE estimates a direction of at least one light source based on a shadow of the object in the set of images, wherein the shadow of the object is created by the at least one light source. The UE calculates at least one of (1) a distance (d) between the at least one camera and a set of first features associated with the object based on the estimated direction of the at least one light source or (2) directional information of a set of second features associated with a surrounding environment that is within a threshold distance of the object.

Abstract: In some implementations, one or more devices may obtain measurement information for an epoch, the measurement information indicative of a pseudorange measurement, a carrier phase measurement, and a doppler measurement performed by a reference global navigation satellite system (GNSS) receiver of radio frequency (RF) signals transmitted by a plurality of GNSS satellites. The device(s) may obtain initial state-space representation (SSR) data comprising orbit correction, clock correction, and code bias information for the epoch. The device(s) may determine ionospheric correction data for the epoch based on the measurement information and the initial SSR data. The device(s) may determine tropospheric correction data for the epoch based on the determined ionospheric correction data, the measurement information, and the initial SSR data. The device(s) may provide the expanded SSR data, wherein the expanded SSR data includes the ionospheric correction data and the tropospheric correction data.

Abstract: An example method of position information authentication for a location application performed by a UE, the method comprising determining by a position engine, a position estimate of the UE and determining by the position engine, a position report message indicating the position estimate. The method also comprises determining by a security module, a digital signature generated using a first private key known to the UE and the position report message. The method further comprises transmitting the position report message associated with the digital signature to a location application executed by the UE or another device, wherein the location application is configured to provide one or more location-based services to the UE using the position estimate responsive to a successful authentication of the position report message using the digital signature generated based on the first private key.

Abstract: Techniques for Ultra Wide-Lane (UWL) Real-Time Kinematic (RTK) positioning a mobile device may include obtaining, using a multi-band GNSS receiver of the mobile device: a first carrier-phase measurement of a first GNSS signal on a first GNSS carrier frequency, and a second carrier-phase measurement of a second GNSS signal on second GNSS carrier frequency. Techniques may further comprise providing a position estimate of the mobile device, wherein: the position estimate is determined from a wide-lane (WL) combination of the first carrier-phase measurement and the second carrier-phase measurement, and the WL combination has a combined carrier phase noise that is less than a pseudo-range noise of the first carrier-phase measurement and a pseudo-range noise of the second carrier-phase measurement.

Abstract: A Precise Positioning Engine (PPE) may use correction information to perform highly accurate Global Navigation Satellite Systems (GNSS) positioning. Transitioning between, or “swapping,” of a first correction information source (e.g., Real-Time Kinematic (RTK) base station) with a second correction information source may be handled using correction information from the first correction information source to update a first state of the PPE. The updated PPE can then be modified by initializing at least ambiguity values of the PPE state. Correction information from the second base can be used to further update the PPE to a second state without a time update at the PPE. By employing this process, embodiments can reduce sudden changes in position estimation due to correction information source swapping, which can often result in resetting of the PPE and a reduced user experience quality.

Abstract: Techniques for precise positioning using differential carrier phase (DCP)-based measurement updates are disclosed. The techniques can include obtaining a pseudorange observation for a positioning epoch and a carrier phase observation for the positioning epoch based on measurements of global navigation satellite system (GNSS) signals transmitted by one or more space vehicles (SVs) of a GNSS constellation, generating a differential carrier phase observation for the positioning epoch based on the carrier phase observation for the positioning epoch and a determination that real-time kinematic (RTK) correction data associated with the GNSS constellation is unavailable, and generating a position, velocity, and time (PVT) observation of the mobile device for the positioning epoch based on the differential carrier phase observation for the positioning epoch.

Abstract: Aspects presented herein may enable a UE to perform positioning using virtual anchors and/or positioning reference units. In one aspect, a UE transmits a request for assistance data for performing UE-based positioning, where the request includes at least one of location information of the UE or a list of anchors observed by the UE. The UE receives the assistance data for the UE-based positioning, where the assistance data includes a list of virtual anchors and a list of positioning reference units (PRUs) that includes a set of virtual PRUs (VPRUs), where the list of virtual anchors and the list of PRUs are selected based on at least one of the location information of the UE or the list of anchors observed by the UE. The UE performs the UE-based positioning using at least one virtual anchor and at least one VPRU in the assistance data.

Abstract: Aspects presented herein may enable a network entity (e.g., a location server, an LMF, etc.) to generate and configure virtual anchors and/or virtual positioning reference units (VPRUs) for a UE for UE-based positioning. In one aspect, a network entity receives an indication to perform UE-based positioning for a UE. The network entity configures, for the UE, assistance data that includes a list of virtual anchors and a list of VPRUs for the UE-based positioning. The network entity transmits the assistance data including the list of virtual anchors and the list of VPRUs. The network entity may generate the list of virtual anchors based on a location offset to each physical anchor in a set of physical anchors. The network entity may generate the list of VPRUs based on at least one physical PRU.

Abstract: In some implementations, a device may obtain first set and second sets of pseudoranges for each of a user equipment (UE) and a reference station, corresponding to first second times, wherein the UE is within a threshold distance of a reference station at the first and second times. Each of the first and second sets of pseudoranges comprise a pseudorange from each of first and second low-earth orbit (LEO) satellites at respective first and second times. The second time is at least a threshold duration after the first time. The device may determine a UE location estimate based at least in part on: the first and second set of pseudoranges, and for each of the first and second times, a respective location of (i) each of the first and second LEO satellites, and (ii) the reference station. The device may output an indication of the location estimate.