CN118435670A - Estimation of obstacle position - Google Patents

Abstract

Systems, methods, and tools associated with estimating obstacle positions are disclosed herein. A WTRU may receive configuration information regarding Reference Signal (RS) resources and transmit RSs (e.g., sounding reference signals for positioning) using the configured resources. 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 the results of the measurements to a network device to assist the network device in determining the location of the obstacle.

Description

Estimation of obstacle position

Cross Reference to Related Applications

The present application claims the benefit of provisional U.S. patent application No. 63/257,420, filed on day 19 at 10 in 2021, provisional U.S. patent application No. 63/335,310, filed on day 27 at 4 in 2022, and provisional U.S. patent application No. 63/359,377, filed on day 8 in 2022, the disclosures of which are incorporated herein by reference in their entirety.

Background

Mobile communications using wireless communications continue to evolve. The fifth generation mobile communication radio access technology (radio access technology, RAT) may be referred to as a 5G New Radio (NR). The previous generation (legacy) mobile communication RAT may be, for example, fourth generation (fourth generation, 4G) long term evolution (long term evolution, LTE). The wireless communication device may establish communication with other devices and data networks, for example, via an access network such as a Radio Access Network (RAN).

Disclosure of Invention

Systems, methods, and tools associated with estimating obstacle positions are described herein. A Wireless Transmit Receive Unit (WTRU) as described herein may include a processor configured to: configuration information is received, wherein the configuration information may indicate a first set of resources. The processor may be further configured to: transmitting a first sounding reference signal (SRSp) for positioning using a first resource from the first set of resources; and in response to receiving a first reflected signal based on the transmission of the first SRSp, performing a first measurement of the first reflected signal. If the result of the first measurement satisfies a first condition, the processor may be further configured to: reporting the result of the first measurement to a network device.

In an example, the configuration information may further indicate a second set of resources and a relationship between the first resource and one or more resources from the second set of resources. Based on determining that the result of the first measurement satisfies the condition, the processor of the WTRU may be configured to: selecting a second resource from the second resource group based on the first resource used to transmit the first SRSp and a relationship between the first resource and the one or more resources from the second resource group; and transmitting a second SRSp using the second resource selected from the second resource group. In response to receiving a second reflected signal based on the transmission of the second SRSp, the processor may be further configured to: a second measurement of the second SRSp is performed. The processor may report the result of the second measurement to the network device if the result of the second measurement satisfies a second condition. The second measurement may include a Reference Signal Received Power (RSRP) measurement associated with the second reflected signal, and the result of the second measurement may be determined to satisfy the second condition based on determining that the RSRP measurement exceeds a threshold. The processor may be further configured to: determining a time delay between the transmission of the second SRSp and the reception of the second reflected signal; and reporting the time delay to the network device.

In an example, the first set of resources may be associated with SRSp transmit and first beamwidth beams, the second set of resources may be associated with SRSp transmit and second beamwidth beams, and the first beamwidth may be wider than the second beamwidth. In an example, the first measurement may include a Reference Signal Received Power (RSRP) measurement, and the result of the first measurement may be determined to satisfy the first condition based on determining that the RSRP measurement exceeds a threshold. In an example, the processor may be further configured to: determining a time delay between the transmission of the first SRSp and the reception of the first reflected signal; and reporting the time delay to the network device.

In an example, the processor may be further configured to: receiving a Positioning Reference Signal (PRS) from the network device; determining whether a second resource from the first resource group is spatially aligned with the PRS; and based on determining that no resources in the first set of resources are spatially aligned with the PRS, sending a request to the network device for SRSp resources spatially aligned with the PRS. It may be determined whether the second resource is spatially aligned with the PRS based on an angle of arrival of the PRS and a view axis angle of the second resource.

Drawings

Fig. 1A is a system diagram illustrating an example communication system in which one or more disclosed embodiments may be implemented.

Fig. 1B is a system diagram illustrating an example wireless transmit/receive unit (WTRU) that may be used within the communication system shown in fig. 1A, in accordance with an embodiment.

Fig. 1C is a system diagram illustrating an example Radio Access Network (RAN) and an example Core Network (CN) that may be used within the communication system shown in fig. 1A, according to an embodiment.

Fig. 1D is a system diagram illustrating another example RAN and another example CN that may be used in the communication system shown in fig. 1A, according to an embodiment.

Fig. 2 shows an example of detecting an object based on a difference between an expected angle of arrival (AoA) and a measured AoA.

Fig. 3 shows an example of detecting an obstacle and Round Trip Time (RTT).

Fig. 4 shows an example of RTT determination.

Fig. 5 shows an example of obstacle localization based on uplink angle of arrival (UL-AoA).

Fig. 6 illustrates an example of a Time Division Duplex (TDD) configuration for an active WTRU.

Fig. 7 shows an example of a TDD configuration for an inactive WTRU.

Fig. 8 shows an example in which a WTRU transmits SRSp to an obstacle and makes measurements related to the transmitted SRSp.

Fig. 9 shows an example of a WTRU transmitting SRSp in different directions.

Fig. 10 shows an example of a timeline for SRSp transmission and reception based on a TDD configuration.

Fig. 11 shows an example of a measurement gap.

Fig. 12 illustrates an example of obstacle detection using different SRSp beam sets, where SRSp-1, SRSp2-2, and SRSp2-3 in the second set may be spatially aligned or correlated with SRSp2 in the first set.

Fig. 13 shows an example of estimating the position of more than one obstacle.

Fig. 14 shows an example of obstacle detection based on more than one set of beams.

Fig. 15 illustrates an example of a TDD configuration that may include a sensing duration and a communication duration.

Fig. 16 shows an example of a TDD configuration.

Fig. 17 shows an example of a TDD time slot with a mix of half-slots and full-slots.

Fig. 18 shows an example of a duration in a TDD configuration associated with SRSp resources.

Fig. 19 shows an example of detecting the presence of an obstacle.

Fig. 20 illustrates an example of an association between a primary obstacle location and one or more relative (e.g., differential) locations.

Detailed Description

Fig. 1A is a schematic diagram illustrating an example communication system 100 in which one or more disclosed embodiments may be implemented. Communication system 100 may be a multiple-access system that provides content, such as voice, data, video, messages, broadcasts, etc., to a plurality of wireless users. Communication system 100 may enable multiple wireless users to access such content through the sharing of system resources, including wireless bandwidth. For example, communication system 100 may employ one or more channel access methods, such as Code Division Multiple Access (CDMA), time Division Multiple Access (TDMA), frequency Division Multiple Access (FDMA), orthogonal FDMA (OFDMA), single carrier FDMA (SC-FDMA), zero tail unique word DFT-spread OFDM (ZT UW DTS-s OFDM), unique word OFDM (UW-OFDM), resource block filtered OFDM, filter Bank Multicarrier (FBMC), and the like.

As shown in fig. 1A, the communication system 100 may include wireless transmit/receive units (WTRUs) 102a, 102b, 102c, 102d, RANs 104/113, CNs 106/115, public Switched Telephone Networks (PSTN) 108, the internet 110, and other networks 112, although it should be understood that the disclosed embodiments contemplate any number of WTRUs, base stations, networks, and/or network elements. Each of the WTRUs 102a, 102b, 102c, 102d may be any type of device configured to operate and/or communicate in a wireless environment. As an example, the WTRUs 102a, 102b, 102c, 102d (any of which may be referred to as a "station" and/or a "STA") may be configured to transmit and/or receive wireless signals and may include User Equipment (UE), mobile stations, fixed or mobile subscriber units, subscription-based units, pagers, cellular telephones, personal Digital Assistants (PDAs), smartphones, laptop computers, netbooks, personal computers, wireless sensors, hot spot or Mi-Fi devices, internet of things (IoT) devices, watches or other wearable devices, head Mounted Displays (HMDs), vehicles, drones, medical devices and applications (e.g., tele-surgery), industrial devices and applications (e.g., robots and/or other wireless devices operating in an industrial and/or automated processing chain environment), consumer electronics devices, devices operating on commercial and/or industrial wireless networks, and the like. Any of the WTRUs 102a, 102b, 102c, and 102d may be interchangeably referred to as a UE.

Communication system 100 may also include base station 114a and/or base station 114b. Each of the base stations 114a, 114b may be any type of device configured to wirelessly interface with at least one of the WTRUs 102a, 102b, 102c, 102d to facilitate access to one or more communication networks, such as the CN 106/115, the internet 110, and/or the other network 112. For example, the base stations 114a, 114B may be transceiver base stations (BTSs), node bs, code bs, home node bs, home evolved node bs, gnbs, NR node bs, site controllers, access Points (APs), wireless routers, and the like. Although the base stations 114a, 114b are each depicted as a single element, it should be appreciated that the base stations 114a, 114b may include any number of interconnected base stations and/or network elements.

Base station 114a may be part of RAN 104/113 that may also include other base stations and/or network elements (not shown), such as Base Station Controllers (BSCs), radio Network Controllers (RNCs), relay nodes, and the like. Base station 114a and/or base station 114b may be configured to transmit and/or receive wireless signals on one or more carrier frequencies, which may be referred to as cells (not shown). These frequencies may be in a licensed spectrum, an unlicensed spectrum, or a combination of licensed and unlicensed spectrum. A cell may provide coverage of wireless services to a particular geographic area, which may be relatively fixed or may change over time. The cell may be further divided into cell sectors. For example, a cell associated with base station 114a may be divided into three sectors. Thus, in one embodiment, the base station 114a may include three transceivers, i.e., one for each sector of a cell. In one embodiment, the base station 114a may employ multiple-input multiple-output (MIMO) technology and may utilize multiple transceivers for each sector of a cell. For example, beamforming may be used to transmit and/or receive signals in a desired spatial direction.

The base stations 114a, 114b may communicate with one or more of the WTRUs 102a, 102b, 102c, 102d over an air interface 116, which may be any suitable wireless communication link (e.g., radio Frequency (RF), microwave, centimeter wave, millimeter wave, infrared (IR), ultraviolet (UV), visible light, etc.). The air interface 116 may be established using any suitable Radio Access Technology (RAT).

More specifically, as noted above, communication system 100 may be a multiple access system and may employ one or more channel access schemes, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, or the like. For example, a base station 114a in the RAN 104/113 and the WTRUs 102a, 102b, 102c may implement a radio technology such as Universal Mobile Telecommunications System (UMTS) terrestrial radio access (UTRA), which may use Wideband CDMA (WCDMA) to establish the air interfaces 115/116/117.WCDMA may include communication protocols such as High Speed Packet Access (HSPA) and/or evolved HSPA (hspa+). HSPA may include high speed Downlink (DL) packet access (HSDPA) and/or High Speed UL Packet Access (HSUPA).

In one embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as evolved UMTS terrestrial radio access (E-UTRA), which may use Long Term Evolution (LTE) and/or LTE-advanced (LTE-a) and/or LTE-advanced Pro (LTE-a Pro) to establish the air interface 116.

In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as NR radio access that may use a New Radio (NR) to establish the air interface 116.

In one embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement multiple radio access technologies. For example, the base station 114a and the WTRUs 102a, 102b, 102c may implement LTE radio access and NR radio access together, e.g., using a Dual Connectivity (DC) principle. Thus, the air interface utilized by the WTRUs 102a, 102b, 102c may be characterized by multiple types of radio access technologies and/or transmissions sent to/from multiple types of base stations (e.g., enbs and gnbs).

In other embodiments, the base station 114a and the WTRUs 102a, 102b, 102c may implement radio technologies such as IEEE 802.11 (i.e., wireless fidelity (WiFi)), IEEE 802.16 (i.e., worldwide Interoperability for Microwave Access (WiMAX)), CDMA2000 1X, CDMA EV-DO, tentative standard 2000 (IS-2000), tentative standard 95 (IS-95), tentative standard 856 (IS-856), global system for mobile communications (GSM), enhanced data rates for GSM evolution (EDGE), GSM EDGE (GERAN), and the like.

The base station 114B in fig. 1A may be, for example, a wireless router, home node B, home evolved node B, or access point, and may utilize any suitable RAT to facilitate wireless connections in local areas such as businesses, homes, vehicles, campuses, industrial facilities, air corridors (e.g., for use by drones), roads, and the like. In one embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.11 to establish a Wireless Local Area Network (WLAN). In one embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.15 to establish a Wireless Personal Area Network (WPAN). In yet another embodiment, the base station 114b and the WTRUs 102c, 102d may utilize a cellular-based RAT (e.g., WCDMA, CDMA2000, GSM, LTE, LTE-A, LTE-a Pro, NR, etc.) to establish a pico cell or femto cell. As shown in fig. 1A, the base station 114b may have a direct connection with the internet 110. Thus, the base station 114b may not need to access the Internet 110 via the CN 106/115.

The RANs 104/113 may communicate with the CNs 106/115, which may be any type of network configured to provide voice, data, applications, and/or voice over internet protocol (VoIP) services to one or more of the WTRUs 102a, 102b, 102c, 102 d. The data may have different quality of service (QoS) requirements, such as different throughput requirements, delay requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, and the like. The CN 106/115 may provide call control, billing services, mobile location based services, prepaid calls, internet connections, video distribution, etc., and/or perform advanced security functions such as user authentication. Although not shown in fig. 1A, it should be appreciated that the RANs 104/113 and/or CNs 106/115 may communicate directly or indirectly with other RANs that employ the same RAT as the RANs 104/113 or a different RAT. For example, in addition to being connected to the RAN 104/113 that may utilize NR radio technology, the CN 106/115 may also communicate with another RAN (not shown) employing GSM, UMTS, CDMA 2000, wiMAX, E-UTRA, or WiFi radio technology.

The CN 106/115 may also act as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and/or other networks 112.PSTN 108 may include circuit-switched telephone networks that provide Plain Old Telephone Services (POTS). The internet 110 may include a global system for interconnecting computer networks and devices using common communication protocols, such as Transmission Control Protocol (TCP), user Datagram Protocol (UDP), and/or Internet Protocol (IP) in the TCP/IP internet protocol suite. Network 112 may include wired and/or wireless communication networks owned and/or operated by other service providers. For example, the network 112 may include another CN connected to one or more RANs, which may employ the same RAT as the RANs 104/113 or a different RAT.

Some or all of the WTRUs 102a, 102b, 102c, 102d in the communication system 100 may include multi-mode capabilities (e.g., the WTRUs 102a, 102b, 102c, 102d may include multiple transceivers for communicating with different wireless networks over different wireless links). For example, the WTRU 102c shown in fig. 1A may be configured to communicate with a base station 114a, which may employ a cellular-based radio technology, and with a base station 114b, which may employ an IEEE 802 radio technology.

Fig. 1B is a system diagram illustrating an example WTRU 102. As shown in fig. 1B, the WTRU 102 may include a processor 118, a transceiver 120, a transmit/receive element 122, a speaker/microphone 124, a keypad 126, a display/touchpad 128, non-removable memory 130, removable memory 132, a power source 134, a Global Positioning System (GPS) chipset 136, and/or other peripheral devices 138, etc. It should be appreciated that the WTRU 102 may include any sub-combination of the foregoing elements while remaining consistent with an embodiment.

The processor 118 may be a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) circuits, any other type of Integrated Circuit (IC), a state machine, or the like. The processor 118 may perform signal coding, data processing, power control, input/output processing, and/or any other functions that enable the WTRU 102 to operate in a wireless environment. The processor 118 may be coupled to a transceiver 120, which may be coupled to a transmit/receive element 122. Although fig. 1B depicts the processor 118 and the transceiver 120 as separate components, it should be understood that the processor 118 and the transceiver 120 may be integrated together in an electronic package or chip.

The transmit/receive element 122 may be configured to transmit signals to and receive signals from a base station (e.g., base station 114 a) over the air interface 116. For example, in one embodiment, the transmit/receive element 122 may be an antenna configured to transmit and/or receive RF signals. In one embodiment, the transmit/receive element 122 may be an emitter/detector configured to emit and/or receive, for example, IR, UV, or visible light signals. In another embodiment, the transmit/receive element 122 may be configured to transmit and/or receive both RF signals and optical signals. It should be appreciated that the transmit/receive element 122 may be configured to transmit and/or receive any combination of wireless signals.

Although the transmit/receive element 122 is depicted as a single element in fig. 1B, the WTRU 102 may include any number of transmit/receive elements 122. More specifically, the WTRU 102 may employ MIMO technology. Thus, in one embodiment, the WTRU 102 may include two or more transmit/receive elements 122 (e.g., multiple antennas) for transmitting and receiving wireless signals over the air interface 116.

The transceiver 120 may be configured to modulate signals to be transmitted by the transmit/receive element 122 and demodulate signals received by the transmit/receive element 122. As noted above, the WTRU 102 may have multi-mode capabilities. For example, therefore, the transceiver 120 may include multiple transceivers to enable the WTRU 102 to communicate via multiple RATs (such as NR and IEEE 802.11).

The processor 118 of the WTRU 102 may be coupled to and may receive user input data from a speaker/microphone 124, a keypad 126, and/or a display/touchpad 128, such as a Liquid Crystal Display (LCD) display unit or an Organic Light Emitting Diode (OLED) display unit. The processor 118 may also output user data to the speaker/microphone 124, the keypad 126, and/or the display/touchpad 128. Further, the processor 118 may access information from and store data in any type of suitable memory, such as the non-removable memory 130 and/or the removable memory 132. The non-removable memory 130 may include Random Access Memory (RAM), read Only Memory (ROM), a hard disk, or any other type of memory storage device. Removable memory 132 may include a Subscriber Identity Module (SIM) card, a memory stick, a Secure Digital (SD) memory card, and the like. In other embodiments, the processor 118 may access information from a memory that is not physically located on the WTRU 102, such as on a server or home computer (not shown), and store data in the memory.

The processor 118 may receive power from the power source 134 and may be configured to distribute and/or control power to other components in the WTRU 102. The power source 134 may be any suitable device for powering the WTRU 102. For example, the power source 134 may include one or more dry battery packs (e.g., nickel cadmium (NiCd), nickel zinc (NiZn), nickel metal hydride (NiMH), lithium ion (Li-ion), etc.), solar cells, fuel cells, and the like.

The processor 118 may also be coupled to a GPS chipset 136, which may be configured to provide location information (e.g., longitude and latitude) regarding the current location of the WTRU 102. In addition to or in lieu of information from the GPS chipset 136, the WTRU 102 may receive location information from base stations (e.g., base stations 114a, 114 b) over the air interface 116 and/or determine its location based on the timing of signals received from two or more nearby base stations. It should be appreciated that the WTRU 102 may acquire location information by any suitable location determination method while remaining consistent with an embodiment.

The processor 118 may also be coupled to other peripheral devices 138, which may include one or more software modules and/or hardware modules that provide additional features, functionality, and/or wired or wireless connections. For example, the peripheral devices 138 may include an accelerometer, an electronic compass, a satellite transceiver, a digital camera (for photo and/or video), a Universal Serial Bus (USB) port, a vibrating device, a television transceiver, a hands-free headset, bluetoothModules, frequency Modulation (FM) radio units, digital music players, media players, video game player modules, internet browsers, virtual reality and/or augmented reality (VR/AR) devices, activity trackers, and the like. The peripheral device 138 may include one or more sensors, which may be one or more of the following: gyroscopes, accelerometers, hall effect sensors, magnetometers, orientation sensors, proximity sensors, temperature sensors, time sensors; a geographic position sensor; altimeters, light sensors, touch sensors, magnetometers, barometers, gesture sensors, biometric sensors, and/or humidity sensors.

WTRU 102 may include a full duplex radio for which transmission and reception of some or all signals (e.g., associated with a particular subframe for UL (e.g., for transmission) and downlink (e.g., for reception)) may be concurrent and/or simultaneous. The full duplex radio station may include an interference management unit for reducing and/or substantially eliminating self-interference via hardware (e.g., choke) or via signal processing by a processor (e.g., a separate processor (not shown) or via processor 118). In one embodiment, WRTU 102 may include a half-duplex radio for which transmission and reception of some or all signals (e.g., associated with a particular subframe for UL (e.g., for transmission) or downlink (e.g., for reception)).

Fig. 1C is a system diagram illustrating a RAN 104 and a CN 106 according to one embodiment. As noted above, the RAN 104 may communicate with the WTRUs 102a, 102b, 102c over the air interface 116 using an E-UTRA radio technology. RAN 104 may also communicate with CN 106.

RAN 104 may include enode bs 160a, 160B, 160c, but it should be understood that RAN 104 may include any number of enode bs while remaining consistent with an embodiment. The enode bs 160a, 160B, 160c may each include one or more transceivers to communicate with the WTRUs 102a, 102B, 102c over the air interface 116. In one embodiment, the evolved node bs 160a, 160B, 160c may implement MIMO technology. Thus, the enode B160a may use multiple antennas to transmit wireless signals to and/or receive wireless signals from the WTRU 102a, for example.

Each of the evolved node bs 160a, 160B, 160c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in UL and/or DL, and the like. As shown in fig. 1C, the enode bs 160a, 160B, 160C may communicate with each other over an X2 interface.

The CN 106 shown in fig. 1C may include a Mobility Management Entity (MME) 162, a Serving Gateway (SGW) 164, and a Packet Data Network (PDN) gateway (or PGW) 166. While each of the foregoing elements are depicted as part of the CN 106, it should be understood that any of these elements may be owned and/or operated by an entity other than the CN operator.

The MME 162 may be connected to each of the evolved node bs 162a, 162B, 162c in the RAN 104 via an S1 interface and may function as a control node. For example, the MME 162 may be responsible for authenticating the user of the WTRUs 102a, 102b, 102c, bearer activation/deactivation, selecting a particular serving gateway during initial attach of the WTRUs 102a, 102b, 102c, and the like. MME 162 may provide control plane functionality for switching between RAN 104 and other RANs (not shown) employing other radio technologies such as GSM and/or WCDMA.

SGW 164 may be connected to each of the evolved node bs 160a, 160B, 160c in RAN 104 via an S1 interface. The SGW 164 may generally route and forward user data packets to/from the WTRUs 102a, 102b, 102 c. The SGW 164 may perform other functions such as anchoring user planes during inter-enode B handover, triggering paging when DL data is available to the WTRUs 102a, 102B, 102c, managing and storing the contexts of the WTRUs 102a, 102B, 102c, etc.

The SGW 164 may be connected to a PGW 166 that may provide the WTRUs 102a, 102b, 102c with access to a packet switched network, such as the internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

The CN 106 may facilitate communications with other networks. For example, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to a circuit-switched network (such as the PSTN 108) to facilitate communications between the WTRUs 102a, 102b, 102c and legacy landline communication devices. For example, the CN 106 may include or may communicate with an IP gateway (e.g., an IP Multimedia Subsystem (IMS) server) that serves as an interface between the CN 106 and the PSTN 108. In addition, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to other networks 112, which may include other wired and/or wireless networks owned and/or operated by other service providers.

Although the WTRU is depicted in fig. 1A-1D as a wireless terminal, it is contemplated that in some representative embodiments such a terminal may use a wired communication interface with a communication network (e.g., temporarily or permanently).

In representative embodiments, the other network 112 may be a WLAN.

A WLAN in an infrastructure Basic Service Set (BSS) mode may have an Access Point (AP) for the BSS and one or more Stations (STAs) associated with the AP. The AP may have access or interface to a Distribution System (DS) or another type of wired/wireless network that carries traffic to and/or from the BSS. Traffic originating outside the BSS and directed to the STA may arrive through the AP and may be delivered to the STA. Traffic originating from the STA and leading to a destination outside the BSS may be sent to the AP to be delivered to the respective destination. Traffic between STAs within the BSS may be sent through the AP, for example, where the source STA may send traffic to the AP and the AP may pass the traffic to the destination STA. Traffic between STAs within a BSS may be considered and/or referred to as point-to-point traffic. Point-to-point traffic may be sent between (e.g., directly between) a source STA and a destination STA using Direct Link Setup (DLS). In certain representative embodiments, the DLS may use 802.11e DLS or 802.11z Tunnel DLS (TDLS). A WLAN using an Independent BSS (IBSS) mode may not have an AP, and STAs (e.g., all STAs among STAs) within or using the IBSS may communicate directly with each other. The IBSS communication mode may sometimes be referred to herein as an "ad-hoc" communication mode.

When using the 802.11ac infrastructure mode of operation or similar modes of operation, the AP may transmit beacons on a fixed channel, such as a primary channel. The primary channel may be a fixed width (e.g., 20MHz wide bandwidth) or a dynamically set width via signaling. The primary channel may be an operating channel of the BSS and may be used by STAs to establish a connection with the AP. In certain representative embodiments, carrier sense multiple access/collision avoidance (CSMA/CA) may be implemented, for example, in an 802.11 system. For CSMA/CA, STAs (e.g., each STA), including the AP, may listen to the primary channel. If the primary channel is listened to/detected by a particular STA and/or determined to be busy, the particular STA may backoff. One STA (e.g., only one station) may transmit at any given time in a given BSS.

High Throughput (HT) STAs may communicate using 40MHz wide channels, for example, via a combination of a primary 20MHz channel with an adjacent or non-adjacent 20MHz channel to form a 40MHz wide channel.

Very High Throughput (VHT) STAs may support channels that are 20MHz, 40MHz, 80MHz, and/or 160MHz wide. 40MHz and/or 80MHz channels may be formed by combining consecutive 20MHz channels. The 160MHz channel may be formed by combining 8 consecutive 20MHz channels, or by combining two non-consecutive 80MHz channels (this may be referred to as an 80+80 configuration). For the 80+80 configuration, after channel coding, the data may pass through a segment parser that may split the data into two streams. An Inverse Fast Fourier Transform (IFFT) process and a time domain process may be performed on each stream separately. These streams may be mapped to two 80MHz channels and data may be transmitted by the transmitting STA. At the receiver of the receiving STA, the operations described above for the 80+80 configuration may be reversed and the combined data may be sent to a Medium Access Control (MAC).

The 802.11af and 802.11ah support modes of operation below 1 GHz. Channel operating bandwidth and carrier are reduced in 802.11af and 802.11ah relative to those used in 802.11n and 802.11 ac. The 802.11af supports 5MHz, 10MHz, and 20MHz bandwidths in the television white space (TVWS) spectrum, and the 802.11ah supports 1MHz, 2MHz, 4MHz, 8MHz, and 16MHz bandwidths using non-TVWS spectrum. According to representative embodiments, 802.11ah may support meter type control/machine type communications, such as MTC devices in macro coverage areas. MTC devices may have certain capabilities, such as limited capabilities, including supporting (e.g., supporting only) certain bandwidths and/or limited bandwidths. MTC devices may include batteries with battery lives above a threshold (e.g., to maintain very long battery lives).

WLAN systems that can support multiple channels, and channel bandwidths such as 802.11n, 802.11ac, 802.11af, and 802.11ah, include channels that can be designated as primary channels. The primary channel may have a bandwidth equal to the maximum common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel may be set and/or limited by STAs from all STAs operating in the BSS (which support a minimum bandwidth mode of operation). In the example of 802.11ah, for STAs (e.g., MTC-type devices) that support (e.g., only) 1MHz mode, the primary channel may be 1MHz wide, even though the AP and other STAs in the BSS support 2MHz, 4MHz, 8MHz, 16MHz, and/or other channel bandwidth modes of operation. The carrier sense and/or Network Allocation Vector (NAV) settings may depend on the state of the primary channel. If the primary channel is busy, for example, because the STA (supporting only 1MHz mode of operation) is transmitting to the AP, the entire available frequency band may be considered busy even though most of the frequency band remains idle and possibly available.

The available frequency band for 802.11ah in the united states is 902MHz to 928MHz. In korea, the available frequency band is 917.5MHz to 923.5MHz. In Japan, the available frequency band is 916.5MHz to 927.5MHz. The total bandwidth available for 802.11ah is 6MHz to 26MHz, depending on the country code.

Fig. 1D is a system diagram illustrating RAN 113 and CN 115 according to one embodiment. As noted above, RAN 113 may employ NR radio technology to communicate with WTRUs 102a, 102b, 102c over an air interface 116. RAN 113 may also communicate with CN 115.

RAN 113 may include gnbs 180a, 180b, 180c, but it should be understood that RAN 113 may include any number of gnbs while remaining consistent with one embodiment. Each of the gnbs 180a, 180b, 180c may include one or more transceivers to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, gnbs 180a, 180b, 180c may implement MIMO technology. For example, gnbs 180a, 108b may utilize beamforming to transmit signals to and/or receive signals from gnbs 180a, 180b, 180 c. Thus, the gNB 180a may use multiple antennas to transmit wireless signals to and/or receive wireless signals from the WTRU 102a, for example. In one embodiment, the gnbs 180a, 180b, 180c may implement carrier aggregation techniques. For example, the gNB 180a may transmit multiple component carriers to the WTRU 102a (not shown). A subset of these component carriers may be on the unlicensed spectrum while the remaining component carriers may be on the licensed spectrum. In one embodiment, the gnbs 180a, 180b, 180c may implement coordinated multipoint (CoMP) techniques. For example, WTRU 102a may receive coordinated transmissions from gNB 180a and gNB 180b (and/or gNB 180 c).

The WTRUs 102a, 102b, 102c may communicate with the gnbs 180a, 180b, 180c using transmissions associated with the scalable parameter sets. For example, the OFDM symbol interval and/or OFDM subcarrier interval may vary from one transmission to another, from one cell to another, and/or from one portion of the wireless transmission spectrum to another. The WTRUs 102a, 102b, 102c may communicate with the gnbs 180a, 180b, 180c using various or scalable length subframes or Transmission Time Intervals (TTIs) (e.g., including different numbers of OFDM symbols and/or continuously varying absolute time lengths).

The gnbs 180a, 180b, 180c may be configured to communicate with the WTRUs 102a, 102b, 102c in an independent configuration and/or in a non-independent configuration. In a standalone configuration, the WTRUs 102a, 102B, 102c may communicate with the gnbs 180a, 180B, 180c while also not accessing other RANs (e.g., such as the enode bs 160a, 160B, 160 c). In an independent configuration, the WTRUs 102a, 102b, 102c may use one or more of the gnbs 180a, 180b, 180c as mobility anchor points. In an independent configuration, the WTRUs 102a, 102b, 102c may use signals in unlicensed frequency bands to communicate with the gnbs 180a, 180b, 180 c. In a non-standalone configuration, the WTRUs 102a, 102B, 102c may communicate/connect with the gnbs 180a, 180B, 180c while also communicating/connecting with additional RANs (such as the enode bs 160a, 160B, 160 c). For example, the WTRUs 102a, 102B, 102c may implement DC principles to communicate with one or more gnbs 180a, 180B, 180c and one or more enodebs 160a, 160B, 160c substantially simultaneously. In a non-standalone configuration, the enode bs 160a, 160B, 160c may serve as mobility anchors for the WTRUs 102a, 102B, 102c, and the gnbs 180a, 180B, 180c may provide additional coverage and/or throughput for serving the WTRUs 102a, 102B, 102 c.

Each of the gnbs 180a, 180b, 180c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in UL and/or DL, support of network slices, interworking between dual connectivity, NR and E-UTRA, routing of user plane data towards User Plane Functions (UPFs) 184a, 184b, routing of control plane information towards access and mobility management functions (AMFs) 182a, 182b, and so on. As shown in fig. 1D, gnbs 180a, 180b, 180c may communicate with each other through an Xn interface.

The CN 115 shown in fig. 1D may include at least one AMF 182a, 182b, at least one UPF 184a, 184b, at least one Session Management Function (SMF) 183a, 183b, and possibly a Data Network (DN) 185a, 185b. While each of the foregoing elements are depicted as part of the CN 115, it should be understood that any of these elements may be owned and/or operated by an entity other than the CN operator.

AMFs 182a, 182b may be connected to one or more of gNB 180a, 180b, 180c in RAN 113 via an N2 interface and may function as a control node. For example, the AMFs 182a, 182b may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, support for network slices (e.g., handling of different PDU sessions with different requirements), selection of a particular SMF 183a, 183b, management of registration areas, termination of NAS signaling, mobility management, etc. The AMFs 182a, 182b may use network slices to customize CN support for the WTRUs 102a, 102b, 102c based on the type of service used by the WTRUs 102a, 102b, 102 c. For example, different network slices may be established for different use cases, such as services relying on ultra-high reliability low latency (URLLC) access, services relying on enhanced mobile broadband (eMBB) access, services for Machine Type Communication (MTC) access, and so on. AMF 162 may provide control plane functionality for switching between RAN 113 and other RANs (not shown) employing other radio technologies, such as LTE, LTE-A, LTE-a Pro, and/or non-3 GPP access technologies, such as WiFi.

The SMFs 183a, 183b may be connected to AMFs 182a, 182b in the CN 115 via an N11 interface. The SMFs 183a, 183b may also be connected to UPFs 184a, 184b in the CN 115 via an N4 interface. SMFs 183a, 183b may select and control UPFs 184a, 184b and configure traffic routing through UPFs 184a, 184b. The SMFs 183a, 183b may perform other functions such as managing and assigning UE IP addresses, managing PDU sessions, controlling policy enforcement and QoS, providing downlink data notifications, etc. The PDU session type may be IP-based, non-IP-based, ethernet-based, etc.

UPFs 184a, 184b may be connected to one or more of the gnbs 180a, 180b, 180c in the RAN 113 via an N3 interface, which may provide the WTRUs 102a, 102b, 102c with access to a packet-switched network, such as the internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. UPFs 184, 184b may perform other functions such as routing and forwarding packets, enforcing user plane policies, supporting multi-host PDU sessions, handling user plane QoS, buffering downlink packets, providing mobility anchoring, and the like.

The CN 115 may facilitate communications with other networks. For example, the CN 115 may include or may communicate with an IP gateway (e.g., an IP Multimedia Subsystem (IMS) server) that serves as an interface between the CN 115 and the PSTN 108. In addition, the CN 115 may provide the WTRUs 102a, 102b, 102c with access to other networks 112, which may include other wired and/or wireless networks owned and/or operated by other service providers. In one embodiment, the WTRUs 102a, 102b, 102c may connect to the local Data Networks (DNs) 185a, 185b through the UPFs 184a, 184b through an N3 interface to the UPFs 184a, 184b and an N6 interface between the UPFs 184a, 184b and the DNs 185a, 185b.

In view of fig. 1A-1D and the corresponding descriptions of fig. 1A-1D, one or more or all of the functions described herein with reference to one or more of the following may be performed by one or more emulation devices (not shown): the WTRUs 102a-d, base stations 114a-B, eNode-B160 a-c, MME 162, SGW 164, PGW 166, gNB 180a-c, AMFs 182a-B, UPFs 184a-B, SMFs 183a-B, DN 185a-B, and/or any other devices described herein. The emulation device can be one or more devices configured to emulate one or more or all of the functions described herein. For example, the emulation device may be used to test other devices and/or analog network and/or WTRU functions.

The simulation device may be designed to enable one or more tests of other devices in a laboratory environment and/or an operator network environment. For example, the one or more emulation devices can perform one or more functions or all functions while being fully or partially implemented and/or deployed as part of a wired and/or wireless communication network in order to test other devices within the communication network. The one or more emulation devices can perform one or more functions or all functions while being temporarily implemented/deployed as part of a wired and/or wireless communication network. The emulation device may be directly coupled to another device for testing purposes and/or may perform testing using over-the-air wireless communications.

The one or more emulation devices can perform one or more (including all) functions while not being implemented/deployed as part of a wired and/or wireless communication network. For example, the simulation device may be used in a test laboratory and/or a test scenario in a non-deployed (e.g., test) wired and/or wireless communication network in order to enable testing of one or more components. The one or more simulation devices may be test equipment. Direct RF coupling and/or wireless communication via RF circuitry (e.g., which may include one or more antennas) may be used by the emulation device to transmit and/or receive data.

References herein to timers may refer to time, time periods, tracking time periods, and the like. Reference herein to expiration of a timer may refer to determining that a time has occurred or that a time period has expired. Downlink (DL), uplink (UL), and/or downlink and uplink positioning operations may be used for WTRU positioning. The positioning may be performed using one or more of Positioning Reference Signals (PRS), sounding Reference Signals (SRS), and/or sounding reference signals (SRSp) for positioning purposes. The terms "resource" and "beam" are used interchangeably herein. The terms "SRS" and "SRSp" are used interchangeably herein. The terms "ID" and "index" are used interchangeably herein.

An obstacle (e.g., a traveling truck) may randomly block a path between the WTRU and a Transmission Reception Point (TRP), such as a base station, which may cause a line of sight (LOS) path between the WTRU and the TRP to be blocked, thereby reducing Reference Signal Received Power (RSRP) of the reference signal and/or reducing communication quality and positioning accuracy. A network (e.g., a base station) and/or WTRU may benefit from knowing the location of the obstacle. For example, the network and/or the WTRU may allocate resources based on the location of the obstacle and/or in order to avoid the obstacle.

A process for estimating an obstacle location may be described herein. The WTRU may send capability information to the network, wherein the capability information may indicate, for example, an obstacle positioning capability of the WTRU (e.g., DL/UL based or Round Trip Time (RTT) based positioning capability). The WTRU may receive configuration information regarding DL-RS resources and/or one or more monitoring (e.g., for reference signal) configurations. For example, the WTRU may determine to activate obstacle positioning if one or more activation conditions are met. The WTRU may perform obstacle positioning (e.g., send a report to the network (such as a measurement report for the monitored PRS resources) and/or transmit SRSp) based on configuration information related to positioning operations and/or associated conditions. The WTRU may terminate the obstacle locating if one or more termination conditions are met.

In an example, the positioning operation may be performed by the WTRU and/or the network (e.g., in downlink and/or uplink). One or more of the following may be applied. DL positioning operations may include (e.g., any) positioning operations using downlink reference signals (such as PRS). For example, a WTRU may receive multiple reference signals from one or more Transmission Points (TPs) and may measure a DL Reference Signal Time Difference (RSTD) and/or RSRP associated with the reference signals. For example, the DL location operation may include DL-angle of departure (AoD) or DL-time difference of arrival (TDOA) location. UL positioning operations may include positioning operations (e.g., any positioning operations) using uplink reference signals (such as SRSp). The WTRU may transmit SRSp to multiple Receiving Points (RPs), and the RPs may measure UL relative time of arrival (RTOA) and/or RSRP associated with the SRSp. In an example, the UL positioning operation may include UL-TDOA or UL angle of arrival (AoA) positioning. DL and UL positioning operations may include positioning operations (e.g., any positioning operation) that use both uplink and downlink reference signals for positioning. In an example, the WTRU may transmit SRSp to multiple TRPs, and the network (e.g., the gNB) may measure the Rx-Tx time difference associated with SRSp. For example, the network may measure RSRP of the received SRS. The WTRU may measure an Rx-Tx time difference of PRSs transmitted from the TRPs. The WTRU may measure the RSRP of the received PRS. The Rx-TX difference and/or RSRP measured at the WTRU and/or gNB may be used to calculate a Round Trip Time (RTT). The Rx-Tx difference may refer to the difference between the arrival time of a reference signal transmitted by a TRP and the transmission time of a reference signal transmitted from a WTRU. In an example, DL and UL positioning operations may include multi-RTT positioning (e.g., positioning based on respective RTTs between the WTRU and the plurality of TRPs).

As used herein, a network may include an AMF, a Location Management Function (LMF), or a next generation radio access network (NG-RAN). The terms "pre-configured" and "configured" are used interchangeably herein. The terms "non-serving gNB" and "adjacent gNB" are used interchangeably herein. The terms "gNB" and "TRP" are used interchangeably herein. The terms "PRS" and "PRS resource" are used interchangeably herein. As used herein, positioning reference signals and PRS resources may be associated with different sets of PRS resources. The terms "PRS", "DL-PRS" and "DL PRS" are used interchangeably herein. The terms "measurement gap" and "measurement gap pattern" are used interchangeably herein. The measurement gap pattern may include parameters such as measurement gap duration, measurement gap repetition period, and/or measurement gap periodicity.

The location reference unit (PRU) may include a WTRU or TRP whose location (e.g., altitude, latitude, geographic coordinates, and/or local coordinates) may be known by the network (e.g., gNB, LMF, etc.). The capability of the PRU may be the same as the WTRU or TRP (e.g., capable of receiving PRS, transmitting SRS or SRSp, performing and/or reporting measurements, or transmitting PRS). The WTRU acting as a PRU may be used by the network for calibration (e.g., correcting unknown timing offset, correcting unknown angular offset, etc.). An LMF may be an example of a node or entity (e.g., a network node or entity) that may be used or support positioning. In an example, the LMF may be replaced with another node or entity.

An obstacle (e.g., a traveling truck) may randomly block the path between the WTRU and the TRP, which may block the LOS path between the WTRU and the TRP, thereby reducing the RSRP of the reference signal and/or reducing the communication and positioning quality. For example, the location of the obstacle may be determined by the network and/or the WTRU such that resource allocation may be performed to avoid the obstacle.

A process for obstacle locating operations may be provided. The WTRU or PRU (e.g., which may perform measurements (e.g., on a reference signal such as SRSp or PRS) and/or send measurement reports or UL-RSs to the TRP (e.g., LMF, gNB, etc.) may be referred to as an active WTRU. The active WTRU may send capability information to the network indicating the WTRU's obstacle locating capability (e.g., DL/UL based or RTT based positioning). The active WTRU may receive configuration information regarding DL-RS resources and/or monitoring configuration. For example, if one or more activation conditions are met, the active WTRU may determine to activate obstacle positioning (e.g., obstacle position determination). The active WTRU may perform obstacle positioning based on the configured positioning method and associated conditions (e.g., send measurement reports for one or more monitored PRS resources to the network or send SRS for positioning). For example, the active WTRU may terminate the obstacle locating if one or more termination conditions are met.

The capability information described herein may include the capability of the active WTRU to function as a PRU. For example, if the network requests location information, the active WTRU may send its location information to the network. For example, if requested by the network, the active WTRU may provide its location to the network.

The active WTRU may receive assistance information for DL/UL RSs associated with other WTRUs. These other WTRUs may be referred to as PRUs or WTRUs that are not active WTRUs, which may be referred to as inactive WTRUs. In an example, one or more of these inactive WTRUs may be active WTRUs themselves so that they may monitor PRS intended for other WTRUs. For example, if there are three WTRUs in the network (e.g., WTRU1, WTRU2, and WTRU 3), then WTRU1 may monitor PRS resources configured for WTRU2 and WTRU3, and WTRU2 may monitor PRS resources configured for WTRU1 and WTRU 3. For example, the active WTRU may receive configuration information regarding UL RSs transmitted by other WTRUs such that the active WTRU may monitor UL RSs transmitted by other WTRUs.

The common DL/UL RS parameters may be configured. For example, an active WTRU may receive parameters as described herein, which may be common to obstacle locating operations. The parameters may include respective locations of inactive WTRUs/TRPs, which may be intended recipients of DL-RS/UL-RS. These parameters include the WTRU ID (e.g., TRP ID, ID associated with PRU, or ID of intended recipient of DL-RS). The parameter may include an LOS/NLOS indicator associated with the DL/UL RS resource or a TRP ID for the intended recipient of the DL/UL RS (e.g., inactive WTRU or TRP). For example, the LOS indicator may have a value between 0 and 1, and may indicate that there is a likelihood of LOS between TRP and inactive WTRUs or along the associated PRS resources. For example, if the LOS indicator associated with a PRS resource is set to 1, a high likelihood that PRSs transmitted on the PRS resource pass through the LOS path may be indicated.

The activation conditions may be provided and/or used for obstacle localization. For example, the active WTRU may determine to initiate obstacle locating if one or more of the following conditions are met. The condition may be satisfied if the RSRP of the indicated DL RS (e.g., PRS, channel state indicator reference signal (CSI-RS), synchronization Signal Block (SSB), demodulation reference signal (DM-RS), phase tracking reference signal (PT-RS), etc.) is below a pre-configured threshold. For example, if the RSRP of the indicated DL RS is below a threshold, the active WTRU may determine that obstacle locating is initiated. The active WTRU may receive an indication from the network of which DL RS resources to monitor on. A condition may be satisfied if measurements (e.g., measurements) of multiple paths (e.g., multiple times of arrival, multiple angles of arrival, etc.) associated with a channel satisfy certain criteria. The condition may be satisfied if an explicit indication to estimate the location of the obstacle is received from the network. For example, an active WTRU may receive such an indication for a WTRU-specific channel (e.g., PDSCH or PDCCH) or a broadcast channel (e.g., for SIB). As another example, an active WTRU may receive explicit indications from a gNB or LMF via Downlink Control Information (DCI), medium access control element (MAC-CE), radio Resource Control (RRC) signaling, an LTE Positioning Protocol (LPP) message, or the like. As another example, an active WTRU may receive an explicit indication from the network if the RSRP of the UL-RS (such as SRSp) is below a threshold. The condition may be satisfied if the change in RSRP exceeds a pre-configured threshold. For example, the active WTRU may report the RSRP for PRS XdBm during the last measurement reporting occasion and report the RSRP for PRS of YdBm during the current measurement reporting occasion. If X-Y is greater than a pre-configured threshold, the active WTRU may determine that obstacle locating is initiated. The condition may be satisfied if a preconfigured time for obstacle localization arrives. For example, the active WTRU may receive timing information related to the start and/or end of the obstacle location, including, for example, relative time to a reference time, time offset from receiving an indication, signal or channel from the network, and so on.

In an example, PRS and/or SRSp parameters may be provided. PRS resource configurations may include one or more of the following: PRS resource ID, PRS sequence ID (or other ID used to generate PRS sequences), PRS resource element offset, PRS resource slot offset, PRS symbol offset, PRS quasi co-location (QCL) information, PRS resource set ID, PRS resource list in resource set, number of PRS symbols, muting pattern and/or muting parameters (such as repetition factor and/or muting option) for PRS, PRS resource power, periodicity of PRS transmissions, spatial direction information of PRS transmissions (e.g., beam information and/or transmission angle), spatial direction information of UL RS reception (e.g., beam ID and/or angle of arrival used to receive UL RS), frequency layer ID, TRP ID, or PRS ID.

SRSp or SRS resource configurations may include one or more of the following: resource ID, comb offset value and/or cyclic shift value, starting position in frequency domain, number of SRSp symbols, shift in frequency domain of SRSp, hopping pattern, type of SRSp (e.g., aperiodic, semi-persistent or periodic), sequence ID for generating SRSp or other ID for generating SRSp sequence, periodicity or spatial information indicating which reference signal SRSp is transmitted with (e.g., DL RS, UL RS, CSI-RS, SRS, DM-RS, etc.) or SSB (e.g., SSB ID and/or cell ID of SSB), spatial relationship information spatially related to QCL information (e.g., QCL relationship between SRSp and other reference signals or SSB), QCL type (e.g., QCL type A, QCL type B and/or QCL type D), resource set ID, SRSp resource list in resource set, transmit power related information, path loss reference information (which may include index of SSB, CSI-RS or PRS), periodic or spatial information transmitted by SRSp, such as spatial direction information (e.g., beam information and/or transmission angle of incidence RS), spatial information for transmission of SRSp, spatial or spatial direction of reception of beam information (e.g., RS) and/or reception angle of arrival information, etc. In an example, the comb pattern for SRSp may be placed SRSp in every other resource element or subcarrier in the frequency domain, e.g., the comb pattern may be referred to as a comb-2 pattern. The comb offset may depend on the comb value. For example, for comb-2 mode, the comb offset values may include 0 and 1. For comb-4 mode, the comb offset values may include 0, 1,2, and 3. In an example (e.g., in comb-4 mode), SRSp may be placed in every 4 resource elements or subcarriers.

A monitoring arrangement (e.g., related to the monitoring of the reference signal) may be provided. The active WTRU may receive a monitoring configuration from the network, e.g., regarding DL/UL-RS resources. For example, the configuration parameters for monitoring the occasion may include one or more of the following. The configuration parameters for the monitoring occasion may include RS resources to be monitored (e.g., an entire set or subset of configured RS resources). For example, an active WTRU may receive an explicit indication from the network to report a subset of PRS/SRSp resources. The active WTRU may determine to select PRS/SRSp resources to monitor based on assistance information configured by the network. For example, an active WTRU may receive an indication from the network to select PRS/SRSp resources based on LOS or NLOS indicators associated with PRS/SRSp resources or TRP. The active WTRU may determine to monitor PRS resources having an associated indicator that is below a pre-configured threshold. Selecting PRS resources with a higher likelihood of NLOS may increase the likelihood that an active WTRU detects an obstacle.

The configuration parameters for the monitoring occasion may include a monitoring time window (e.g., monitoring start time and end time as indicated by symbol number, frame number, slot number, and/or PRS resource). For example, the active WTRU may determine the duration of the time window based on the duration of PRS resources monitored by the active WTRU. The active WTRU may be configured with a plurality of time windows corresponding to a plurality of RS resources that the active WTRU is configured to monitor.

The configuration parameters for monitoring the occasion may include monitoring periodicity (e.g., in terms of symbols, slots, subframes, and/or number of frames). For example, the active WTRU may determine a periodicity of a monitoring window, which may be aligned with a periodicity of PRS resources. The configuration parameters for monitoring the occasion may include a measurement gap configuration. During measurement gaps where an active WTRU may not expect to receive a data channel or a control channel, the active WTRU may assume that a monitoring time window is associated with the measurement gap. The LMF may indicate to the gNB the configuration for the monitoring window, and the gNB may schedule the measurement gap to align with the monitoring window. In this case, the active WTRU may not send a request to the network to configure the measurement gap. If the monitoring window is not configured, the active WTRU may send a request to the network (e.g., gNB, LMF, etc.) to configure the measurement gap to receive the DL-RS (e.g., PRS). During the measurement gap, the active WTRU may not receive a data channel or a control channel (e.g., PDCCH, PDSCH, etc.). In this case, the WTRU may measure and/or monitor signals transmitted by the TRP or inactive WTRU. For example, the active WTRU may send the request via Uplink Control Information (UCI), MAC-CE, RRC signaling, or LPP messages. The active WTRU may receive configuration information for measuring a gap, where the gap may be configured with a periodicity aligned with a periodicity of DL-RS resources that the active WTRU is monitoring. The duration of the measurement gap (e.g., each period of the measurement gap) may be long enough to cover one period of the periodically transmitted DL-RS. If the monitoring window is not configured, the active WTRU may receive an indication from the network that the active WTRU does not need a measurement gap associated with monitoring of PRS.

WTRU behavior may be associated with a power saving mode. For example, if the WTRU determines that no obstacle is present, the active WTRU may enter a power saving mode. The conditions under which the WTRU may determine to enter the power saving mode may be specific to the positioning operation as described herein. While in the power saving mode, the active WTRU may monitor an indication from the network to initiate monitoring of DL-RSs and/or UL-RSs. For example, an active WTRU may receive configuration information from the network at a time and/or frequency location allocated for a channel or signal, and the configuration information may include an indicator (e.g., a trigger) for the WTRU to begin monitoring for DL-RS and/or UL-RS. The indicator may be included in a periodically transmitted signal or channel (e.g., transmitted by a TRP), and the WTRU may receive information about the time and/or frequency location, periodicity, and/or duration of the signal or channel from the network. The indicator may be transmitted via broadcast signaling or WTRU-specific signaling. For broadcast signaling, an active WTRU may be configured with a search space (e.g., time and frequency resources) that may be dedicated to indicating initiation of reference signal (e.g., PRS) monitoring. During the power saving mode, the active WTRU may reset a timer or counter configured for the WTRU.

Termination conditions may be provided and/or used for obstacle localization. For example, the active WTRU may determine to terminate obstacle positioning if one or more of the following conditions are met. Based on the expiration of the timer, it can be considered that the condition for terminating obstacle positioning is satisfied. For example, an active WTRU may receive configuration information related to a duration that the active WTRU may perform obstacle positioning. Once the active WTRU starts obstacle locating, the active WTRU may start a timer. Based on the expiration of the timer, the active WTRU may return an indication to the network (e.g., LMF, gNB, etc.) that the active WTRU has terminated obstacle positioning. If no obstacle is detected for a preconfigured duration, it may be considered that the condition for terminating obstacle localization is satisfied. If one or more reporting conditions are not met (e.g., if any of these reporting conditions are not met) for a preconfigured number of occasions (e.g., continuously), then a condition to terminate obstacle positioning may be considered to be met. A condition for terminating obstacle positioning may be considered satisfied if an active WTRU receives an explicit indication from a network (e.g., LMF, gNB, etc.) to terminate the obstacle positioning. Based on the number of measurement reports transmitted, the condition for terminating obstacle localization can be considered to be satisfied. For example, the active WTRU may determine to terminate obstacle positioning once the active WTRU sends a pre-configured number of measurement reports to the network.

A PRU-aided estimation of the obstacle location may be performed. In an example, an active WTRU or PRU may monitor PRSs intended for other WTRUs or PRUs and may report these measurements to a network (e.g., LMF), for example, if the measurements on the PRSs satisfy one or more conditions. Measurements of multiple PRSs may be reported to a network (e.g., LMF) to help the network determine the size or dimension of an obstacle. In one or more of the examples provided herein, the WTRU may be assumed to be an active WTRU.

The inactive WTRU may receive configuration information about PRS (e.g., number of PRS symbols, repetition factor, frequency allocation, bandwidth, comb factor of PRS, PRS resource ID, PRS ID, periodicity, beginning and ending of semi-persistent DL RS transmissions, TRP ID, etc.). The inactive WTRU may be configured with a monitoring window during which the inactive WTRU may receive PRS transmitted from the TRP. The inactive WTRU may receive an indication of a measurement made on the configured PRS resources and report the measurement to the network (e.g., LMF, gNB, etc.). Upon expiration of the monitoring window duration, or if the inactive WTRU receives an explicit indication from the network to terminate monitoring, the inactive WTRU may terminate monitoring of the configured PRS resources.

The active WTRU may receive assistance information for PRS or other DL RSs associated with one or more inactive WTRUs, e.g., via LPP or RRC messages. For example, an active WTRU may receive configuration information regarding one or more of the following assistance information related to an inactive WTRU: information related to DL RSs (e.g., number of PRS symbols, repetition factor, frequency allocation, bandwidth, comb factor of PRS, PRS resource ID, PRS ID, periodicity, beginning and ending of semi-persistent DL-RS transmissions, etc.), RS source set ID (e.g., PRS resource set ID), transmission parameters for RSs (e.g., periodicity of PRS transmissions, muting pattern for PRS or comb pattern of PRS), view axis angle of transmitted reference signals (e.g., PRSes), expected AoD of DL RSs at TRP (e.g., PRS), range of AoD (e.g., minimum and maximum values of AoD, and/or lower and upper limits of AoD), expected AoA of DL RSs at an expected PRU/WTRU (e.g., minimum and maximum values of AoA, and/or lower and upper limits of AoA), location of TRPs from which PRS may be transmitted, and/or specific thresholds (e.g., thresholds used by an active WTRU to determine whether to include measurements in a report, whether to stop a positioning obstacle or to a network. The assistance information may be provided by the network (e.g., LMF, gNB, etc.) via LPP, RRC, or broadcast signaling.

The active WTRU may send a report to the network, where the report may include one or more of the following measurements, and PRS may be used as an example of DL-RS. The report may include an RSRP of PRS received via configured PRS resources. The active WTRU may store RSRP measurements for each measurement occasion (e.g., for each PRS resource during a periodic PRS transmission of one measurement duration) and may report the stored RSRP measurements. In an example, an active WTRU may process one or more RSRP measurements (e.g., calculate an average of multiple RSRP measurements) during one measurement duration, and may send the processed RSRP measurements to the network. The report may include PRS IDs associated with the measured PRSs. The report may include a WTRU ID, which may be the intended recipient of PRSs whose measurements were reported by the active WTRU. The report may include PRS resource IDs for the measured PRSs. The report may include a transmission source ID (e.g., TRP ID or cell ID) from which the measured PRS may be transmitted. The report may include the arrival time of PRS RSTD relative to a configured reference PRS (e.g., or reference TRP). The report may include the AoA. The report may include an estimated AoD at the TRP (e.g., the estimated AoD may be determined by the active WTRU based on the angle of arrival). The report may include one or more Rx beam indices for receiving PRS panel IDs for one or more panels receiving PRSs. The WTRU may send the report to the network via an LPP message, RRC signaling, or PUSCH transmission.

The active WTRU may receive configuration information about the report from the network. For example, the WTRU may receive one or more of the following parameters: reporting periodicity (e.g., reporting occasions such as scheduling at configured intervals according to time slots, symbols, frames, subframes, or times such as 5ms or 10 ms), start time of reporting, maximum number of PRS resources to report, ID of one or more PRS resources (e.g., an active WTRU may be configured to report measurements of specific PRS resources indicated by a network), ID of one or more WTRUs that may be intended to receive PRS (e.g., an active WTRU may be configured to report measurements of PRS intended for one or more specific WTRUs), or whether to report RSRP, RSTD, toA, aoA, aoD, estimated AoD, and/or converted AoA (e.g., where the converted AoA may be determined based on a location of a TRP, a location of an intended inactive WTRU, and/or a view axis angle of PRS transmitted from TRP to the intended inactive WTRU).

One or more conditions for reporting may be provided. For example, the active WTRU may determine to send a report with the measurements described herein if one or more of the following reporting conditions are met: the RSRP of the PRS associated with the inactive WTRU is above a threshold; the difference between the angle of arrival of the PRS associated with the inactive WTRU and the expected AoA at the expected WTRU is above a threshold; or the difference between the angle of arrival of the PRS and the angle of arrival of the transition based on the PRS's boresight direction may be above a threshold (e.g., the angle of arrival of the transition may be determined based on the boresight direction of the PRS, the location of a transmitting source such as a TRP, and/or the location of an intended recipient such as an inactive WTRU).

If one or more of the above conditions are not met (e.g., if any of the above conditions are not met), the active WTRU may perform one or more of the following. At measurement reporting occasions, the active WTRU may not send measurement reports to the network. An active WTRU may request that the network send PRSs from different TRPs intended for different inactive WTRUs. For example, if any of these conditions are not met for a preconfigured number of occasions (e.g., continuously), the active WTRU may determine to send the request. The active WTRU may enter a power saving mode (e.g., the active WTRU may not perform reference signal measurements) during which the active WTRU may initiate obstacle locating in response to receiving an indication from the network. For example, an active WTRU may receive a threshold from the network and may determine to enter a power saving mode if the number of occasions (e.g., consecutive occasions) that do not satisfy any of the reporting conditions is greater than the threshold.

An active WTRU may be configured with priority for one or more of the conditions described herein. For example, the WTRU may be configured with two thresholds (e.g., a first threshold and a second threshold for angle difference and RSRP, respectively). The WTRU may receive an indication from a network (e.g., LMF, gNB, etc.) that a priority of a first threshold is higher than a priority of a second threshold. If the detected angle difference is less than the first threshold, the active WTRU may determine not to send a measurement report (e.g., cancel the transmission of the report) even if the RSRP of the received PRS is greater than the second threshold.

The active WTRU may receive configuration information about PRS from the network. For example, if the RSRP of the configured PRS is less than a threshold, the active WTRU may determine to initiate obstacle positioning. The active WTRU may request assistance information from the network. The active WTRU may receive assistance information for PRSs associated with one or more intended recipients (e.g., inactive WTRUs) from a network (e.g., LMF), where the assistance information may include angle information (e.g., an intended AoD or a visual axis). The active WTRU may receive the LOS indicator, the time offset T, and/or the monitoring duration associated with PRS. The active WTRU may receive an indication and/or a threshold from the network to select a subset of PRS resources based on the LOS indicator. The active WTRU may determine a subset of PRS resources to monitor based on the LOS indicator (e.g., the WTRU may monitor PRS resources having LOS indicator values less than a threshold value). The active WTRU may initiate obstacle locating T time units (e.g., seconds) after the active WTRU receives the assistance information.

An active WTRU may receive PRSs intended for one or more inactive WTRUs. Based on the active WTRU receiving PRSs intended for the inactive WTRU, one or more of the following may be applied. For example, an active WTRU may send a measurement report for PRS to a network (e.g., LMF) if the active WTRU detects one or more of the following: the difference between the received angle of the PRS and a certain angle value (e.g., the converted AoA determined based on the assistance information) is greater than a pre-configured angle threshold; or the RSRP of the received PRS is greater than a preconfigured RSRP threshold. If the angular difference of the PRSs is less than an angle threshold, or the RSRP of the received PRS is less than an RSRP threshold, the active WTRU may not send a measurement report corresponding to the PRS. If the active WTRU does not send a measurement report for a duration longer than the threshold, the active WTRU may send a request to the network to configure one or more different PRS resource sets for monitoring and once configured, the WTRU may monitor those PRS resource sets. As described herein, an active WTRU may receive PRSs intended for one or more inactive WTRUs. After the monitoring duration, the active WTRU may terminate the obstacle localization.

Fig. 2 shows an example of detecting an object (e.g., an obstacle) based on a difference between an expected AoA and an actual AoA. The left side of fig. 2 shows an environment without obstructions. In such an environment, wtru_b (which may be an active WTRU) may not detect PRS intended for wtru_a (e.g., intended recipient of PRS). In the presence of an obstacle, as shown on the right side of fig. 2, wtru_b may receive PRS intended for wtru_a (e.g., due to reflection). In this case, there may be a difference between the expected AoA at wtru_a (e.g., the AoA shown on the left side of fig. 2) and the measured AoA at wtru_b (e.g., the AoA shown on the right side of fig. 2). As there may be an obstacle, wtru_b may report one or more measurements associated with PRS to the network (e.g., LMF).

The active WTRU may report the measurements for the multiple PRS resources described herein and may associate the measurements with the same ID and include the ID in the report for the network. Grouping measurements corresponding to multiple PRS resources may indicate to a network that the measurements are associated with the same obstacle, which may enable the network to determine a size of the obstacle. The ID may be considered as an identifier of the obstacle.

Conditions may be provided on which the active WTRU may associate multiple measurements with the same group ID. For example, an active WTRU may determine to group measurements and associate them with a group ID if at least one of the following conditions is met. The active WTRU may group multiple measurements if the AoA of each PRS resource in the group or the converted AoA is within a pre-configured range. The active WTRU may group multiple measurements if the relative arrival time (e.g., the arrival time difference between two received PRSs) is less than a pre-configured threshold. For example, an active WTRU may determine the PRS that arrived first and measure its arrival time. Based on the first PRS, the active WTRU may determine a relative arrival time of one or more PRSs that are later than the arrival of the first PRS. The active WTRUs may group those PRSs (e.g., PRS resources or PRS resource IDs) whose associated relative time is less than a pre-configured threshold.

On-demand obstacle localization may be performed. The active WTRU may send a request to the network (e.g., LMF, gNB, etc.) to change PRS beams (e.g., PRS resources) for monitoring, e.g., to improve accuracy of obstacle estimation. The active WTRU may send the request based on one or more of the following conditions. The active WTRU may obtain more than one AoA or more than one arrival time of PRS that the active WTRU is configured to monitor (e.g., the active WTRU may be configured to observe multipath channels). For example, if the number of observed aoas or the arrival time of PRSs is greater than a pre-configured threshold, and if the RSRP of the received PRS is less than a pre-configured threshold, etc., the active WTRU may send a request to the network (e.g., send a different PRS). The content of the request may include one or more of the following: the number of PRS or PRS resources (e.g., an active WTRU may request more PRS to reflect an obstacle in order to collect more measurements), the view axis angle (e.g., an active WTRU may request to transmit PRS at a particular angle), the ID of an intended WTRU or PRU (e.g., an active WTRU may know other inactive WTRUs configured by the network at the time of request by an active WTRU and an active WTRU may request a network to configure PRS so that PRS may be transmitted to an intended WTRU requested by an active WTRU), or QCL information (e.g., an active WTRU may indicate a QCL-D source, where the source may be co-located with another PRS, and the QCL-D source may be a CSI-RS or SSB).

For example, based on the active WTRU sending the request to the network, the active WTRU may receive one or more of the following configuration information from the network: information about PRS resources or PRS resource IDs, where the number of resources may match the number of PRSs requested by the active WTRU; information about PRS resources with view axis angle requested by the active WTRU; or information about PRS resources transmitted to inactive WTRUs with an ID requested by the active WTRU.

The position of the obstacle may be estimated based on RTT. In an example, an active WTRU may receive PRS and may transmit an uplink reference signal (UL-RS) to locate an obstacle. UL-RS may be assumed to be SRSp, but those skilled in the art will appreciate that UL-RS may not be limited to SRSp and may be any reference signal used in UL, such as SRS, DM-RS, PT-RS, etc.

A network (e.g., LMF) may provide assistance information for obstacle localization. The active WTRU may receive one or more of the following configuration information from the network (e.g., the gNB, LMF, etc.), e.g., based on receiving an indication to perform obstacle positioning such as RTT-based positioning. The configuration information may include information related to DL-RS resources, such as a number of PRS symbols, repetition factor, frequency allocation, bandwidth, comb factor of PRS, PRS resource ID, PRS ID, periodicity, start time and/or end time of PRS transmissions, and so on. The configuration information may include a gNB Tx-Rx time (e.g., a difference between a receive time of SRSp and a transmit time of a PRS, where SRSp may be associated with a SRSp resource ID configured for one or more inactive WTRUs, which may be recipients of the PRS transmitted by the gNB). The PRS resource ID may be one of the PRS resource IDs that the active WTRU may be configured to monitor. FIG. 4 shows an example of gNB Tx-Rx time (e.g., t4-t 1). The configuration information may include one or more Rx beam indices and/or a visual axis direction of the Rx beam (e.g., each Rx beam) at the TRP. For example, the active WTRU may indicate to the network which Rx beam index to use to receive the SRSp transmitted by the active WTRU. The active WTRU may receive information about a spatial filter used by the TRP to receive UL RSs from the active WTRU. for example, the spatial filter may be indicated by one or more DL-RS resource IDs (e.g., CSI-RS resource IDs or PRS resource IDs). The configuration information may include an expected RTT and gNBID, a WTRU ID, a PRS resource ID (e.g., transmitted by a gNB), and/or a SRSp resource ID (e.g., transmitted by an inactive WTRU and intended for a gNB), etc. The configuration information may include SRSp configuration information such as SRSp resources, comb values, repetition factors, number of symbols, transmit periodicity, and/or symbol/slot offset. The configuration information may include a DL-RS resource set ID, such as a PRS resource set ID. The configuration information may include transmission parameters for PRS, such as periodicity of PRS transmissions, muting patterns for PRS, and/or comb patterns of PRS. The configuration information may include a view axis angle of a transmitted reference signal (such as PRS). The configuration information may include an expected AoD of a reference signal, such as PRS at TRP, a range of aods (e.g., minimum and maximum values of aods and/or lower and upper limits of aods). The configuration information may include an expected AoA (e.g., minimum and maximum values of AoA and/or lower and upper limits of AoA) of a reference signal, such as PRS at the expected PRU/WTRU. the configuration information may include a location of a TRP from which PRSs may be transmitted. The configuration information may include one or more thresholds (e.g., thresholds used by the active WTRU to determine whether to include certain measurements in the report, whether to terminate obstacle positioning, and/or whether to send the report to the network).

The active WTRU may be configured to transmit UL-RS such as SRS or SRSp based on the conditions. The active WTRU may transmit UL-RS using UL-RS resources associated with UL-RS and/or based on one or more of the following conditions (e.g., which may be preconfigured for the WTRU). For example, an active WTRU may transmit UL-RS if the RSRP of PRS associated with an inactive WTRU is greater than a threshold. An active WTRU may transmit a UL-RS if the difference between the angle of arrival of PRS at the active WTRU intended for the inactive WTRU and the expected AoA at the expected inactive WTRU is greater than a threshold. The angle of arrival at the active WTRU may be a measured angle of arrival of PRS expected to be received by the inactive WTRU. The expected angle of arrival may be an angle of arrival of the PRS at the expected inactive WTRU. The difference between the actual angle of arrival reported by the active WTRU and the expected angle of arrival at the expected inactive WTRU may indicate that the PRS may have been reflected by an obstacle and have reached the active WTRU unintentionally. If the difference between the angle of arrival of the PRS and the angle of arrival of the transition based on the visual axis direction of the PRS, which may be determined based on the visual axis direction of the PRS, the location of the transmitting source (e.g., TRP), and/or the location of the intended recipient of the PRS (e.g., an inactive WTRU), is greater than a threshold, the active WTRU may transmit UL-RS. The active WTRU may transmit UL-RS if the difference between the expected RTT associated with the measured PRS and the derived RTT (e.g., derived based on the gNB Tx-Rx time associated with the measured PRS) is greater than a threshold. Such a difference may occur if there is a mismatch between SRSp and the PRS used by the WTRU to calculate RTT.

In an example, if one or more of the above conditions are not met (e.g., if any of the above conditions are not met), the active WTRU may perform one or more of the following. At measurement reporting occasions, the active WTRU may not send measurement reports to the network. The active WTRU may not send SRSp or a report corresponding to the Rx-Tx time to the network. An active WTRU may request that the network send PRSs from different TRPs intended for different inactive WTRUs. After a pre-configured number of occasions (e.g., continuously) that none of these conditions are met, the active WTRU may determine to send the request. The active WTRU may enter a power saving mode (e.g., the active WTRU may not perform measurements of reference signals) and may initiate obstacle localization based on receiving an indication from the network. For example, the active WTRU may receive a threshold from the network, and the active WTRU may determine to enter the power saving mode after a number of occasions (e.g., consecutive occasions) that do not satisfy any of these conditions exceeds the threshold.

The active WTRU may be configured with priorities for one or more of the conditions described above. For example, the active WTRU may receive an indication from the network (e.g., LMF, gNB, etc.) that the priority level of the angle-related condition is higher than the priority level of the RSRP-related condition, and if any of the angle-related conditions described herein are not met, the active WTRU may determine not to send a measurement report (e.g., cancel the transmission of the report) even if the RSRP of the received PRS is greater than a threshold (e.g., even if the RSRP-related condition is met).

The active WTRU may report one or more of the following information to the network (e.g., LMF, gNB, etc.). The reported information may include a PRS resource ID. For example, the active WTRU may report a resource ID of PRS received by the active WTRU that may be used to calculate WTRU Tx-Rx time and/or determine SRSp for transmission. For example, the reported information may include a SRSp resource ID associated with SRSp transmitted by the WTRU among a plurality SRSp resources configured by the network. Fig. 3 shows an example of transmitting SRSp along a direction of PRS received by an active WTRU (e.g., in this case, SRSp and PRS may be considered spatially aligned). In one example, the network may send an indication to the WTRU indicating that the PRS beam and SRSp beam are aligned. Such indication may be represented in terms of spatial QCL type D by correlating PRS resource IDs with SRSp resource IDs and/or indicating that PRS sources and SRSp resources are correlated or spatially aligned, etc. In this case, the gNB may expect to receive SRSp transmitted by the active WTRU using an Rx beam, which may be beamformed toward the same direction in which the PRS was transmitted. The reported information may include a TRP ID of the TRP expected to receive SRSp transmitted by the active WTRU. The reporting information may include the apparent axis angle of SRSp transmissions. For example, the WTRU may inform SRSp the network of the transmitted boresight angle so that the network may prepare a spatial filter to receive the transmitted SRSp. The reported information may include an expected AoA at the TRP. For example, the active WTRU may inform the network of the expected AoA and/or range of AoA that the TRP may expect to utilize to receive the transmission SRSp. The active WTRU may associate the expected AoA and/or the range of AoA with SRSp resource IDs. The WTRU may determine the expected AoA and/or range of AoA based on the angle of arrival of the PRS, the location of the intended recipient of the PRS, and/or the location of the TRP from which the PRS may be transmitted. The reported information may include one or more expected Rx beam indices at the TRP. For example, the active WTRU may report an Rx beam index and/or DL RS resource ID (e.g., PRS resource ID) to the network, which the TRP may utilize to align the spatial filter to receive SRSp transmitted by the active WTRU.

The reported information may include WTRU Tx-Rx time. For example, the active WTRU may report the difference between the receive time of the PRS and the transmit time of SRSp. Fig. 4 shows an example of WTRU Tx-Rx time (e.g., t3-t 2). The reported information may include a WTRU ID, which may be the intended recipient of PRSs whose measurements were reported by the active WTRU. The reported information may include an RSRP of PRS received on the configured PRS resources. The active WTRU may store RSRP measurements for each measurement occasion (e.g., for each PRS resource used for periodic PRS transmissions during a measurement duration) and may report the stored RSRP measurements. In an example, an active WTRU may process RSRP measurements performed during a measurement duration (e.g., calculate an average of the RSRP measurements) and may send the processed RSRP measurements to the network. The reported information may include a PRS ID associated with the measured PRS. The PRS ID may be used to generate a complex sequence that may be mapped to resource elements in one or more PRS symbols. The reported information may include a transmission source ID (e.g., TRP ID or cell ID) from which the measured PRS may be transmitted. The reported information may include the arrival time of the PRS. The reported information may include the angle of arrival of the PRS. The reported information may include an estimated AoD at the TRP (e.g., the estimated AoD may be determined by the active WTRU based on the angle of arrival). The reported information may include an Rx beam index for receiving PRSs. The reported information may include a panel ID of a panel for receiving PRS.

The active WTRU may receive reporting configuration information from the network. For example, the active WTRU may receive one or more of the following parameters: reporting periodicity (e.g., reporting occasions such as scheduling at configured intervals according to time slots, symbols, frames, subframes, and/or times such as 5ms or 10 ms), start time of reporting, maximum number of PRS resources and/or WTRU Tx-Rx measurements to report, PRS resource IDs (e.g., active WTRUs may be configured to report measurements and corresponding WTRU Rx-Tx measurements of PRS resources indicated by the network), WTRU IDs (e.g., active WTRUs may be configured to report measurements and corresponding WTRU Rx-Tx measurements of PRS intended for the listed WTRU IDs), or whether to report RSRP, RSTD, toA, aoA, aoD, estimated AoD, and/or converted AoA.

The active WTRU may receive PRS configuration information from the network. For example, if the RSRP of the configured PRS is less than a threshold, the active WTRU may determine to initiate obstacle positioning. The WTRU may request assistance information from the network. The active WTRU may receive assistance information from a network (e.g., LMF), wherein the assistance information may include one or more of: the expected RTT associated with PRS resource ID, TRP ID, and/or WTRU ID, the gNB Tx-Rx time associated with TRP ID, PRS resource ID, SRSp resource ID, and/or WTRU ID, time offset T, monitoring duration, SRSp resources configured for active WTRUs, wherein SRSp resources (e.g., each SRSp resource) may be associated with a respective view axis angle, PRS resource ID for PRS monitoring, and/or a receiver of PRS, which may be represented by, for example, a WTRU ID. The active WTRU may determine which PRS resources to monitor based on an indication from the network. For example, the active WTRU may initiate obstacle locating T time units (e.g., seconds) after the active WTRU receives the assistance information. The active WTRU may receive PRSs intended for the inactive WTRUs, measure the AoA and/or RSRP of PRS resources, and determine SRSp to transmit based on the view axis angle of the measured AoA and/or SRSp resources of the PRS such that a difference between the measured AoA and the view axis angle may be less than a threshold. If the active WTRU does not find the appropriate SRSp, the active WTRU may send a request for SRSp resources to the network. An active WTRU may send a measurement report to a network (e.g., LMF) if one or more of the following conditions are met. The active WTRU may send the measurement report if the difference between the expected RTT associated with the measured PRS resource ID and the derived RTT (e.g., derived based on the gNB Tx-Rx time associated with the measured PRS resource ID) is greater than a pre-configured threshold, or if the RSRP of the measured PRS resource is greater than a pre-configured threshold. The measurement report may include RSRP, RTT of PRS, and/or SRSp resource ID corresponding to SRSp. The WTRU may not send the measurement report if the RSRP of the measured PRS resources is less than or equal to a threshold. After determining which PRS resources to monitor based on the indication from the network, the active WTRU may continue to monitor the configured PRS resources (e.g., as described herein). After the monitoring duration ends, the active WTRU may terminate the obstacle localization.

The active WTRU may be configured to estimate the location of the obstacle. In an example, the active WTRU may be configured to monitor, receive, and/or measure SRSp transmitted from the inactive WTRU. Based on the measurements, the active WTRU may determine the location of the obstacle. The active WTRU may also report the measurements to the network (e.g., LMF, gNB, etc.).

For example, after the active WTRU receives an indication to perform UL-based estimation of the obstacle, the active WTRU may receive one or more of the following configuration information from the network (e.g., gNB, LMF, etc.). For example, the configuration information may include information related to UL-RS resources configured for the active WTRU, such as the number of SRSp symbols, repetition factor, frequency allocation, bandwidth, comb factor associated with SRSp, SRSp resource ID, SRSp ID, view axis angle of transmission, and so on. The configuration information may include information related to UL-RS resources configured for the inactive WTRU, such as the number of SRSp symbols, repetition factor, frequency allocation, bandwidth, comb factor associated with SRSp, SRSp resource ID, SRSp ID, view axis angle of transmission, etc. The configuration information may include an intended recipient (e.g., indicated by a TRP ID and/or a cell ID) of the UL-RS transmitted by the inactive WTRU. The configuration information may include an expected angle of arrival of a UL-RS transmitted by the inactive WTRU at an intended recipient (e.g., TRP). The configuration information may include an inactive WTRU ID, a location of the inactive WTRU that may transmit SRSp, and/or a threshold (e.g., which may be used by the active WTRU to determine whether to include certain measurements in the report, whether to terminate obstacle positioning, and/or whether to send the report to the network). The configuration information may include an LOS/NLOS indicator associated with SRSp resources or WTRU ID.

For example, if WTRU-based obstacle positioning is used, the active WTRU may be provided (e.g., configured) with assistance information described herein, such as visual axis information. The active WTRU and the inactive WTRU may receive the configuration information described herein via broadcast messages (e.g., in SIBs and/or posSIB) or WTRU-specific messages (e.g., RRC messages, LPP messages, DCI, and/or MAC-CEs). The active WTRU may determine monitoring SRSp based on the resource configuration described herein.

Fig. 5 shows an example of UL-AoA based obstacle localization. UL-based obstacle location estimation, as shown in fig. 5, may include an active WTRU monitoring SRSp (e.g., SRSp1, SRSp2, and SRSp) transmitted by multiple WTRUs (e.g., WTRU1, WTRU2, and WTRU 3), respectively. The active WTRU may make measurements SRSp and SRSp, and these SRSp may be reflected by obstacles. The active WTRU may not make measurements for SRSp, the SRSp may reach the intended recipient (e.g., the gNB).

The active WTRU may be configured with a monitoring window during which the active WTRU may monitor SRSp transmitted by the inactive WTRU. In response to receiving the SRSp, the WTRU may determine a location of the obstacle based on one or more measurements. In an example, an active WTRU may be provided with a TDD configuration for monitoring SRSp transmissions from other WTRUs (e.g., inactive WTRUs). The TDD configuration can include a downlink time slot for monitoring SRSp. The uplink time slots in the TDD configuration may be used to send measurement reports to the network (e.g., the gNB or LMF).

Fig. 6 shows an example of a TDD configuration for an active WTRU. As shown in fig. 6, "D", "S" and "U" may represent downlink slots, special slots and uplink slots, respectively. The special slot may include one or more downlink, flexible, or uplink symbols. In an example, the WTRU may receive SRSp in downlink slot #4 from an inactive WTRU and may transmit a measurement report in an uplink slot, the measurement report including measurements performed by the WTRU on the received SRSp. For example, during a downlink time slot, the WTRU may be configured with a measurement gap by the network (e.g., the gNB or LMF) such that the WTRU may not receive reference signals or downlink channels from the network during the measurement gap.

The active WTRU may monitor SRSp based on a semi-static configuration. For example, the WTRU may receive RRC configuration information indicating the periodicity of SRSp and/or the monitoring mode in a time window. The WTRU may receive the duration and/or the start time and end time of the time window (e.g., expressed in terms of the number of symbols, slots, frames, or subframes).

The inactive WTRU may be configured to transmit SRSp. The inactive WTRU may be provided with a TDD configuration, where the configuration may include a combination of uplink and downlink time slots. The inactive WTRU may transmit SRSp in one or more uplink time slots and may receive a command for the next transmission in one or more downlink time slots. The inactive WTRU may be configured with multiple SRSp sets, where the sets (e.g., each set) may be associated with different beamwidths or frequency ranges (e.g., FR1, FR2-1, and/or FR 2-2).

Fig. 7 shows an example of a TDD configuration for an inactive WTRU. The inactive WTRU may receive an activation command for SRSp resource #1 from the network in the first downlink slot. Based on the command, the inactive WTRU may transmit SRS #1 in one or more uplink slots (e.g., the third slot and the fourth slot as shown in fig. 7). The inactive WTRU may receive an activate command for SRSp resource #2 and a deactivate command for SRSp #1 in a second downlink slot. Based on the command, the inactive WTRU may transmit SRSp #2 in one or more uplink timeslots (e.g., the eighth and ninth timeslots as shown in fig. 7). The WTRU may transmit SRSp based on a semi-static configuration. For example, the inactive WTRU may receive an RRC configuration indicating the periodicity and/or transmission mode of SRSp in the time window. The inactive WTRU may receive the duration and/or start time and end time of the time window (e.g., expressed in terms of the number of symbols, slots, frames, or subframes).

In an example, an inactive WTRU may be configured to monitor beam scans performed by an active WTRU. For example, the beam scanning pattern may include a repetition factor for SRSp resources (e.g., each SRSp resource), a number of SRSp resources, a SRSp resource index, a SRSp resource set index, and/or a duration of beam scanning. The inactive WTRU may receive the beam scan configuration via a broadcast message (e.g., in SIB and/or posSIB) or a dedicated message (e.g., LPP message, RRC message, DCI, and/or MAC-CE).

WTRU-assisted obstacle locating may be activated based on certain conditions. The active WTRU may be configured to report measurements related to SRSp of the active WTRU measurements. The active WTRU may send a measurement report to the network (e.g., LMF, gNB, etc.) if one or more of the following conditions are met regarding the measurements of the monitored SRSp resources: SRSp (e.g., which may be associated with an inactive WTRU) is greater than a threshold; if the difference between the expected angle of arrival of SRSp at the expected TRP and the measured AoA at the active WTRU is greater than the threshold; if the difference between the transition angle of arrival SRSp and the measured AoA at the active WTRU is greater than the threshold. The transition angle of arrival may be calculated based on the location of the inactive WTRU, the location of the intended TRP, and/or the angle of view of SRSp emissions.

In an example, if one or more of the above conditions are not met (e.g., if any of the above conditions are not met), the active WTRU may perform one or more of the following. At measurement reporting occasions, the active WTRU may not send measurement reports to the network. The active WTRU may request that the network transmit SRSp from a different inactive WTRU and/or an inactive WTRU intended for a different TRP. The active WTRU may determine to send the request based on one or more conditions not being met for a preconfigured number of occasions (e.g., continuously). The active WTRU may enter a power saving mode (e.g., the active WTRU may not perform measurements of reference signals) and may initiate obstacle locating in response to receiving an indication from the network. For example, an active WTRU may receive a threshold from a network, and the active WTRU may determine to enter a power saving mode based on a number of occasions (e.g., consecutive occasions) that do not meet one or more conditions exceeding the threshold.

The active WTRU may be configured with priorities for these conditions. In an example, if any of the angle-related conditions described herein are not met, the active WTRU may determine not to send a measurement report (e.g., cancel the transmission of the report) even if the RSRP of the received PRS is greater than a threshold (e.g., if the angle-related condition is given a higher priority than the RSRP-related condition).

The active WTRU may include in the report one or more of the following measurements: the received SRSp RSRP; received SRSp AoA; the received SRSp converted angle of arrival; received SRSp's SRSp resource ID; SRSp resource set ID associated with the received SRSp; a beam index for receiving SRSp; a panel ID for receiving SRSp panels; or an ID or index number associated with SRSp. In an example, the WTRU may associate the parameters described herein with the measurements (e.g., if the active WTRU receives multiple SRSp on the configured SRSp resources).

In an example, a WTRU (e.g., an active WTRU as described herein) may receive PRS configuration information from a network. For example, if the RSRP of the configured PRS is less than a threshold, the active WTRU may determine to initiate obstacle positioning. The WTRU may request assistance information from the network. The active WTRU may receive assistance information from the network (e.g., LMF), wherein the assistance information may include one or more SRSp resource IDs, SRSp details (e.g., periodicity) configured for the inactive WTRUs, and/or an expected AoA angle at an expected TRP associated with each SRSp. The active WTRU may receive SRSp and may measure its RSRP and/or AoA. If the difference between the expected AoA and the measured AoA is greater than a threshold, the WTRU may send a measurement report to the network (e.g., LMF), where the measurement report may include the received SRSp's SRSp resource ID, the received SRSp AoA, and/or RSRP. The active WTRU may continue to monitor the configured SRSp resources transmitted from the inactive WTRU. The active WTRU may initiate obstacle locating if the RSRP of another configured PRS is less than a threshold. Based on the initiation of the obstacle positioning, the WTRU may request assistance information from the network and repeat the above operations. In an example, an active WTRU may terminate obstacle positioning if the active WTRU receives an explicit termination indication from a network (e.g., LMF).

As described herein, WTRU-assisted obstacle locating may be performed by configuring the WTRU to transmit reference signals, make measurements associated with the reference signals, and/or report the measurements to the network so that the network or WTRU may detect the presence of an obstacle.

Fig. 8 shows an example in which a WTRU transmits SRSp to an obstacle and makes measurements related to the transmitted SRSp (e.g., the WTRU may measure SRSp reflected from the obstacle). The WTRU may report the measurements to the network (e.g., LMF or gNB). The WTRU may receive SRSp configuration information from the network for the WTRU to transmit one or more SRSp on different resources (e.g., beams). SRSp configuration information may indicate a transmission periodicity associated with SRSp, a repetition factor associated with SRSp, spatial information associated with SRSp, and so on.

Fig. 9 shows an example in which WTRUs transmit SRSp in different directions (e.g., using corresponding SRSp resources). Fig. 10 shows an example of a timeline for SRSp transmit and receive and Time Division Duplex (TDD) configuration. As shown in fig. 10, the WTRU may be configured with a TDD configuration such that the WTRU may transmit SRSp during one or more uplink time slots and receive reflected SRSp in one or more downlink time slots. The WTRU may be configured to measure SRSp and/or reflected SRSp of the WTRU transmissions.

The WTRU may be configured (e.g., by the network) to include one or more of the following measurements in the measurement report: SRSp resource IDs; SRSp resource set IDs; SRSp to the time difference between the transmit time and the receive time (e.g., the time difference may be t1-t0 shown in fig. 10); an RSRP corresponding to the received SRSp associated with SRSp resource IDs and/or SRSp resource set IDs; SRSp (e.g., per path) RSRP (e.g., if the WTRU receives multiple copies of SRSp); SRSp (e.g., per path) RSRP (e.g., if the WTRU receives multiple copies of SRSp), where the relative (e.g., per path) RSRP may be calculated relative to the highest RSRP; SRSp (e.g., if the WTRU receives multiple copies of SRSp), wherein the relative time delay may be calculated relative to the arrival time of the first SRSp; an Rx beam index for receiving SRSp; an indication of whether the WTRU has rotated; received angle of arrival SRSp; or whether the same Rx beam is used compared to the previous measurement report and/or measurement occasion.

The measurements corresponding to SRSp (e.g., SRSp measurements such as RSRP included in the measurement report) may be identified by and/or associated with the SRSp resource ID or resource index of SRSp and/or SRSp resource ID or resource index of SRSp. The above-described measurements may depend on an obstacle locating technique (e.g., timing-based location, angle-based location, and/or power-based location, etc.) with which the WTRU is configured. The WTRU may send the measurement report to the network (e.g., LMF, gNB).

The WTRU may receive one or more of the following assistance information (e.g., regarding obstacle positioning) from the network: the expected time difference associated with SRSp resources (e.g., t1-t0 shown in FIG. 10); an expected angle of arrival associated with SRSp resource IDs; measuring gap configuration; TDD configuration, wherein the network may indicate an uplink slot configuration and a downlink slot configuration (e.g., as shown in fig. 10, wherein "U" may indicate an uplink slot and "D" may indicate a downlink slot); a full duplex configuration and/or indication during which the WTRU may turn on or off the Tx antenna and/or the Rx antenna (e.g., freely) for reception or transmission; configuration information associated with a time window during which the WTRU may be expected to transmit SRSp and/or make measurements of the transmitted SRSp. Configuration information associated with the time window may indicate a window duration, periodicity, and/or a start time and an end time of the window (e.g., expressed in terms of symbols, slots, and/or frames). During the configured time window, the WTRU may transmit SRSp and make measurements related to the transmitted SRSp. Once the WTRU reaches the end of the time window, the WTRU may stop SRSp transmitting and send one or more of the performed measurements to the network.

Fig. 11 shows an example of a measurement gap. The duration of the measurement gap may be indicated by the measurement gap length shown in fig. 11 during which the WTRU may make measurements and may not be expected to transmit and/or receive data. Outside the measurement gap, the WTRU may be expected to transmit and/or receive data. The measurement gap may be configured with a measurement gap offset and/or a measurement gap periodicity.

The WTRU may be provided with configuration information associated with the sensing. The WTRU may be configured by a network (e.g., a gNB or LMF) to perform sensing (e.g., transmit SRSp, receive SRSp, the SRSp including the SRSp reflected, make measurements, etc.). The WTRU may receive SRSp configuration information from the network. The WTRU may be configured to perform sensing during rrc_connected or rrc_inactive mode. The WTRU may be configured to perform sensing during an initial access. For example, the WTRU may transmit a Physical Random Access Channel (PRACH) preamble at a Random Access Channel (RACH) occasion, which may be associated with the sensing capabilities of the WTRU. For example, the WTRU may indicate its sensing capability by transmitting a PRACH preamble on one or more RACH occasions. In a RACH related message (e.g., such as RACH response or msg 2), the WTRU may receive configuration information related to SRSp that the WTRU may use for sensing. The WTRU may perform sensing after the WTRU receives SRSp the configuration information from the network. In an example, the WTRU may receive SRSp configuration information (e.g., for sensing) from the network in a broadcast message (e.g., in a System Information Block (SIB) and/or a positioning SIB) or in a WTRU-specific message.

In an example, the WTRU may be configured by the network with a timing offset associated with sensing (e.g., for transmitting SRSp, receiving SRSp, and/or making measurements on SRSp, the SRSp including reflected SRSp). For example, the WTRU may receive an indication from the network to perform sensing at a time offset of T seconds (e.g., after the WTRU receives the indication), and the WTRU may initiate sensing at T seconds from the moment the WTRU receives the indication. The time offset T may be expressed in terms of the number of seconds and the number of symbols, slots, frames, etc. The WTRU may receive from the network an absolute time at which the WTRU may perform sensing. The start time may be associated with other configurations that the WTRU may receive from the network (e.g., a grant to activate a dynamic grant or configuration). For example, the WTRU may receive an indication that sensing is to begin at the next time that a dynamic grant or a configured grant is activated. The WTRU may receive an indication to start sensing at the next uplink slot in the configured grant or dynamic grant.

The WTRU may receive configuration information about SRSp of different beamwidths (e.g., wide and narrow beams) and/or relationships between these SRSp (e.g., one wide beam SRSp group may be associated with one narrow beam SRSp group). The WTRU may receive the configuration information in a broadcast message from the network or a WTRU-specific message. The WTRU may receive an ID (e.g., WTRU-specific ID, temporary ID, etc.) from the network, which the WTRU may utilize to scramble the SRSp sequence (e.g., to minimize interference that SRSp transmissions may cause to other WTRUs).

The WTRU may determine to perform sensing if the network or WTRU knows the location of the WTRU. The WTRU may determine its location by performing WTRU-based positioning. For example, if the network knows the location of the WTRU, the WTRU may receive an indication and/or SRSp configuration information from the network to perform sensing. The indication for sensing may be an implicit indication. For example, the WTRU may be configured with spatial information or QCL information related to SRSp resources, where the target SRSp resources and the reference SRSp resources may be the same. In this case, the WTRU may determine to use SRSp for sensing (e.g., the WTRU may transmit SRSp and/or make measurements to SRSp). As another example, if two resources are related by QCL (e.g., by QCL type D or QCL type B), it may be indicated that the two resources may share similar channel characteristics, such as similar spatial characteristics (e.g., similar RSRP attenuation for QCL type D, or similar doppler spread and/or doppler shift for QCL type B).

In an example, a WTRU may be configured with more than one SRSp resource groups, where the groups may correspond to different beamwidths (e.g., wide or narrow beams), different frequency ranges (e.g., FR1, FR2-1, FR2-2, kHz, GHz, and/or THz), different relative angles with respect to a reference angle or point, and/or different absolute angles. One (e.g., each) SRSp resource group may include more than one SRSp resource and one beam group may include more than one beam.

Fig. 12 shows an example of SRSp resources or beam groups, where SRSp-1, SRSp2-2, and SRSp-3 (e.g., associated with narrow beams) in the second group (or set) may be spatially aligned with SRSp2 (e.g., associated with wide beams) in the first group (or set).

The WTRU may be configured to perform beam scanning using SRSp resources in a (e.g., one) configured SRSp resource group (e.g., a first SRSp resource or beam group). For example, such a first group may correspond to the beam group having the widest beam width. The WTRU may determine SRSp from the first group that has the maximum RSRP, which SRSp may be referred to as the master SRSp. Based on the measurements of the first SRSp resource group (e.g., RSRP measurements), the WTRU may determine to transmit a second SRSp beam group, which may be spatially aligned with the master SRSp (e.g., as shown in fig. 12, wherein SRSp #2-1, SRSp #2-2, and SRSp #2-3 in the second group may be spatially aligned with SRSp #2 in the first group). In the examples provided herein, a first resource may be considered spatially aligned with or spatially correlated to a second resource if the transmit spatial filter associated with SRSp resources (e.g., beams) in the second group is within a preconfigured angle and/or range of angles of the transmit spatial filter associated with SRSp resources (e.g., beams) in the first group. The WTRU may receive an indication from the network that one or more SRSp resources in the second group are spatially related to SRSP resources in the first group. The beams in the second group may have a narrower beamwidth than the beams in the first SRSp beam group. The WTRU may determine to select a subset (e.g., subset) of SRSp resources from the second group based on the number N of resources that the WTRU may be configured (e.g., by the network) for the selection.

The WTRU may determine the number of beams in the second group based on one or more of: SRSp resource IDs with the largest RSRP in the first group (or set); SRSP resource ID with the shortest time difference between transmit time and receive time of SRSp; SRSp spatial relationship information of the resource; etc. With respect to spatial information, a target signal and a source signal (e.g., reference signals) may be indicated, where the target signal and the source signal may be spatially aligned. The target signal and the source signal may be DL signals (e.g., DL RS) and/or UL signals (e.g., UL RS). For example, if the spatial relationship information of SRSp #2 and SRSp #2-1 in fig. 12 indicates ssb#2 as a source signal, the WTRU may determine that SRSp #2 and SRSp #2-1 may be spatially correlated. If SRSp #2 has a beam width greater than SRSp #2-1, the WTRU may determine that SRSP2-1 may be spatially contained in SRSp # 2.

In an example, the WTRU may be configured to transmit SRSp, measure the transmitted SRSp (e.g., including the signal reflected from SRSp), and/or receive a parameter N, which may indicate the number of SRSp resources in one SRS resource group associated with a narrow beam. The WTRU may receive configuration information about multiple (e.g., two) SRSp groups (e.g., beamwidths and/or spatial information for the groups), where the first group may include beams having a wider beamwidth than the beams in the second group. The WTRU may be configured with a TDD configuration (e.g., an uplink slot configuration and a downlink slot configuration). The WTRU may transmit SRSp in the first SRSp group in one or more uplink time slots and may measure the corresponding RSRP in one or more downlink time slots. The WTRU may determine SRSp resources (e.g., master SRSp) with the maximum RSRP. The WTRU may determine N (e.g., N > =1) SRSp resources from the second SRSp resource set, where N SRSp may be spatially aligned with the master SRSp (e.g., determined based on configured spatial information). The WTRU may transmit N SRSp, make measurements on N SRSp (e.g., including the reflection N SRSp), and report the measurements to the network (e.g., RSRP measurements). In an example, the WTRU may report the RSRP from SRSp of the first group and request the network to configure the second SRSp resource group. The WTRU may receive a second SRSp set of resources, which may be spatially aligned with at least SRSp from the first set having the largest RSRP.

The WTRU may determine as a master SRSp a SRSp beam from the first SRSp resource group having a shortest time difference between transmit time and receive time (e.g., of reflected SRSp) (e.g., master SRSp may be determined based on RSRP measurements, time differences, etc.). The time difference between the transmit time SRSp and the receive time SRSp may be as shown in fig. 10. The WTRUs may determine the subset of those SRSp from the second SRSp resource group based on the spatial alignment between SRSp and the primary SRSp from the second SRSp resource group.

The WTRU may perform beam scanning to detect multiple obstacles. For example, the WTRU may determine that there may be multiple obstructions in the vicinity of the WTRU, and may associate the obstructions (e.g., each obstruction) with the master SRSp, where the master SRSp may correspond to SRSp that has the longest or shortest time difference between the transmit time and the receive time (e.g., of the reflected SRSp). Fig. 13 shows an example in which the master SRSp for obstacle #1 may be SRSp #2 and the master SRSp for obstacle #2 may be SRSp #5 (e.g., from the first SRSp beam set shown on the left). In this case, the WTRU may determine to transmit a beam with a narrower beam, which may be one or more of SRSp #2-1, SRSp #2-2, or SRSp #2-3 for obstacle #1, and SRSp #5-1, SRSp #5-2, or SRSp #5-3 for obstacle # 2.

In an example where the WTRU may perform an Rx beam scan, the WTRU may fix the transmit beam, transmit SRSp with a configured periodicity, and change the Rx beam with the configured periodicity to receive SRSp from different directions. In an example, the WTRU may perform the configured beam sweep after the sequence SRSp transmitted. For example, the WTRU may be configured by the network to use more than one SRSp resources to perform transmissions at the configured number of repetitions, and may scan for the resources. For example, the WTRU may be configured with 3 SRSp resources, each SRSp resource having 2 repetitions, and the WTRU may transmit SRSp resource #1 on 2 uplink slots. In this case, the WTRU may transmit SRSp resource #2 on 2 uplink slots and/or SRSp resource #3 on 2 uplink slots. The WTRU may be configured with a beam scanning mode by the network. For example, the beam scanning pattern may include a repetition factor for SRSp resources (e.g., each SRSp resource), a number of SRSp resources, a SRSp resource index, a SRSp resource set index, and/or a duration of beam scanning.

The WTRU may be configured to send measurement reports related to SRSp measurements and/or beam scans. In the measurement report, the WTRU may report RSRP and/or a time difference between a transmission time and an arrival time associated with the primary SRSp resources (e.g., indicated by SRSp resource ID). The measurement report may include RSRP and/or a time difference between a transmit time and an arrival time associated with the second SRSp resource group (e.g., which may be spatially aligned with the master SRSp). The WTRU may be configured to report RSRP and/or a time difference between a transmission time and an arrival time associated with SRSp resources (e.g., specific SRSp resources).

If the WTRU detects multiple paths in the received SRSp measurements, the WTRU may include multipath measurements in a measurement report, which may include one or more of the following measurements: the relative RSRP of the path (e.g., for each path) or the RSRP of the first path relative to the path having the highest RSRP; or a relative time delay of the path (e.g., each path) relative to the arrival time of the first path. The WTRU may be configured with the maximum number of paths that the WTRU may report to the network.

In an example, a WTRU may be configured to determine a relative position of an obstacle with respect to the WTRU. The WTRU may report angle information and/or distance information of the obstacle (e.g., from the WTRU) to the network. The WTRU may determine the relative position of the obstacle based on measurements taken from one or more of the received SRSp.

The WTRU may determine that an obstacle is present if one or more of the following conditions are met: the RSRP of received SRSp is greater than a pre-configured threshold; the time difference associated with the received SRSp is less than or equal to a pre-configured threshold; the time difference associated with the received SRSp is greater than a pre-configured threshold; the time difference associated with the received SRSp is greater than a pre-configured threshold and less than or equal to the pre-configured threshold; the Rx beam for receiving SRSp is spatially aligned with the transmit beam of SRSp.

If the WTRU determines that an obstruction is present, the WTRU may determine a primary SRSp beam and may transmit a second SRSp beam set, which may be spatially aligned with the primary SRSp beam. For example, by setting the target resource and the reference resource (e.g., in spatial relationship information or QCL relationship) to the same SRSp resources, the WTRU may send an indication to the network that an obstacle is present (e.g., in a report).

In an example, the WTRU may be configured to transmit SRSp, measure the transmitted SRSp (e.g., including reflecting the transmitted SRSp), and receive a parameter N, which may indicate the number of SRSp resources in one SRSp resource group associated with the narrow beam. The WTRU may receive configuration information (e.g., beam width and/or spatial information) for multiple (e.g., two) SRSp groups, where the first group may include beams having a wider beam width than the beams in the second group. The WTRU may transmit one or more SRSp in the first SRSp group and may measure the time difference between the transmit time and the receive time of SRSp (e.g., the receive time of SRSp reflected). If the time difference is less than or equal to the threshold, the WTRU may determine that SRSp is the master SRSp (e.g., SRSp resources associated with the shortest time difference). The WTRU may determine N SRSp resources from the second SRSp resource group or set, where the N SRSp resources may be spatially aligned with the master SRSp (e.g., determined based on configured spatial information). The WTRU may transmit SRSp using the N SRSp resources, make measurements associated with the N SRSp resources, and report the results of the measurements (e.g., time difference measurements) to the network.

Fig. 13 shows an example of obstacle localization for more than one obstacle, and fig. 14 shows an example of obstacle localization with more than one beam set.

A relationship between the frequency range and/or the plurality of beam groups may be provided. In an example, a WTRU may be configured with more than one beam group. For example, as shown in fig. 14, these beam sets may be associated with different frequency ranges (e.g., FR1, FR2-1, FR2-3, and FR 3) and/or relative/absolute angles, wherein the third beam set and the fourth beam set may be used to detect different areas of the surface of the object. Different primary SRSp resources/beams may correspond to different obstacles or different portions of an obstacle. The WTRU may indicate to the network that one or more primary SRSp resources may be associated with the same obstacle or different obstacles, for example, by associating a primary SRSp resource ID with the ID of the obstacle.

There may be a hierarchical relationship between the beams. The WTRU may report the spatial relationship between SRSp resources of the measurements to the network (e.g., LMF or gNB). For example, as shown in fig. 14, SRSp resource #2 may reflect from an obstacle and the WTRU may measure a higher RSRP associated with SRS resource #2 than SRSp resource #1 or SRSp resource # 3. The WTRU may also measure a higher RSRP for SRSp #2-1 and SRSp #2-2 than SRSp #2-3, and a higher RSRP for SRSp #3-2 than SRSp #3-1 and SRSp # 3-3. In this case, the WTRU may report SRSp the relationship or association between the resources to the network. As shown in fig. 14, in the report, the WTRU may associate SRSp #2-1 and SRSp #2-2 with SRSp resource#2, SRSp #3-2 with SRSp #2-1, and SRSp #3-5 with SRSp #2-3. The WTRU may provide the relationship or association in the same report or in different reports, e.g., depending on when the WTRU transmits SRSp.

There may be a hierarchy associated with the obstacle. For example, if the WTRU detects more than one obstacle, the WTRU may create a hierarchy for the detected obstacle, where there may be multiple levels in the hierarchy that may correspond to different levels of detail (e.g., regarding shape, size, dimensions, and/or materials) of the same obstacle.

The WTRU may determine the master SRSp described herein based on one or more of the following conditions: the RSRP of received SRSp is greater than a pre-configured threshold; the time difference associated with received SRSp is less than or equal to a pre-configured threshold; the time difference associated with received SRSp is greater than a pre-configured threshold; the time difference associated with the received SRSp is greater than the pre-configured threshold and less than or equal to the pre-configured threshold; or the Rx beam for receiving SRSp is spatially aligned with the transmit beam of SRSp.

Termination conditions and retrogression associated with obstacle positioning may be provided. The WTRU may be configured with a sensing parameter (e.g., the number of iterations that the WTRU may perform sensing). For example, the WTRU may repeat the beam scanning process until the WTRU finds N primary SRSp resources. The WTRU may be configured with a timer and may terminate the beam scanning process if the timer expires. If the WTRU does not find the primary SRSp resources (e.g., any primary SRSp resources), the WTRU may send a request to the network so that the WTRU may be configured with other SRSp resources for positioning. The WTRU may be configured with a timer and may continue transmitting the configured SRSp, for example, until the timer expires. For example, after the WTRU transmits SRSp of the plurality of configurations (e.g., all SRSp of the configured SRSp), the WTRU may terminate sensing.

Fig. 15 shows an example of a TDD configuration that may include both a sensing duration and a communication duration. As shown in fig. 15, the TDD configuration includes three durations, where duration 1 and duration 3 may be configured for sensing and duration 2 may be configured for communication. During the duration for communication, the WTRU may receive an indication of PDSCH/PDCCH from the network and may transmit a reference signal, PUCCH transmission, or PUSCH transmission in one or more uplink slots. In this figure, "U" may indicate an uplink slot, "D" may indicate a downlink slot, and "S" may indicate a slot that may include both downlink and uplink symbols. One or more of the slots may also include guard symbols or flexible symbols. The WTRU may receive the TDD configuration via an RRC or LPP message.

Fig. 16 shows an example of a TDD configuration in which a portion of a slot may be used for uplink transmission or reception. As shown in fig. 16, the WTRU may be configured with a special slot "S" in which the first N symbols in the slot may be dedicated to uplink transmission and the remainder of the slot (e.g., 14 to N symbols) may be dedicated to reception of downlink signals (e.g., including reflected SRSp).

Fig. 17 shows an example of a TDD configuration in which half-slot and full-slot mixing can be used for transmission or reception. In an example, the half slot may include half of the number of OFDM symbols of the full slot. The WTRU may be configured to transmit SRSp during a first half-slot, which may be configured for uplink transmission. TDD and Frequency Division Duplex (FDD) are used interchangeably herein.

Fig. 18 shows an example of a duration in a TDD configuration that may be associated with SRSp resources. The duration (e.g., each duration) in the TDD configuration may be associated with one or more SRSp resources such that the duration (e.g., each duration) is available for the SRSp resources of the sensing configuration. For example, duration 1 shown in fig. 18 may be used for transmissions using SRSp resource #1 in an uplink slot (e.g., denoted as "U"), and the WTRU may be ready to receive transmissions (e.g., reflected SRSp) associated with SRSp resource #1 in one or more downlink symbols and/or slots (e.g., denoted as "D"). Duration 2 may be used for transmissions using SRSp resource #2 in the uplink slot and the WTRU may be ready to receive transmissions associated with SRSp resource #2 in one or more downlink symbols and/or slots. More than one duration may be used for SRSp resources. For example, both duration 1 and duration 2 shown in fig. 18 may be used to perform transmissions using SRSp resource #1 in one or more uplink slots/symbols of the respective duration and to receive transmissions associated with SRSp resource #1 in one or more downlink slots/symbols of the respective duration.

Fig. 19 shows an example of detecting the presence of an obstacle. As shown in fig. 19, the actions associated with obstacle detection may include one or more of the following operations. The WTRU may receive configuration information, spatial association or alignment information, one or more thresholds, and/or a number of resources (e.g., N) indicating a first set of resources (e.g., SRSp resources) and a second set of resources (e.g., from the LMF). The WTRU may transmit the first SRSp using resources (e.g., SRSp # 2) in the first set of resources. If the WTRU receives a second SRSp corresponding to the first SRSp (e.g., performs a measurement associated with the second SRSp) (e.g., the second SRSp may be a reflected signal of the first SRSp due to an obstruction) and the WTRU determines that the first measurement (e.g., RSRP) of the second SRSp is greater than a configured threshold value), the WTRU may transmit at least a third SRSp using resources in a second set of resources (e.g., a subset of the N configured resources from the second set). For example, the third SRSp and/or the resources used to transmit the third SRSp may be determined based on spatial association information received by the WTRU (e.g., which may indicate a relationship or correspondence between one or more resources from the first SRSp resource group and one or more resources from the second SRSp resource group). The WTRU may receive at least a fourth SRSp corresponding to the third SRSp (e.g., perform measurements associated with the fourth SRSp) (e.g., the fourth SRSp may be a reflected signal of the third SPSp due to an obstruction). For example, the WTRU may perform the measurements by measuring at least the second SRSp and/or fourth SRSp (e.g., with respect to RSRP, time difference, etc.), and may send a report including one or more of: a measurement associated with the second SRSp (e.g., RSRP and/or time measurement) or a measurement associated with the fourth SRSp (e.g., RSRP and/or time measurement).

As described herein, the configuration information received by the WTRU may indicate multiple (e.g., two) SRSp resource groups, spatial association information of SRSp resources in the groups, one or more thresholds (e.g., RSRP and/or time-dependent thresholds), and/or the number N of resources the WTRU may select from the second resource group described herein. As shown in fig. 19, one or more SRSp resources (e.g., six SRSp resources) in the SRSp resources in the first group may be related to one or more SRSp resources (e.g., three SRSp resources) in the SRSp resources in the second group, and the relationship may be indicated by spatial information received by the WTRU. For example, as shown in fig. 19, SRSp resource #2-1, SRSp resource #2-2, and SRSp resource #2-3 may be spatially correlated with SRSp resource #2 (e.g., the transmit spatial filter for SRSp resource #2-1 may be within a preconfigured angle relative to the transmit spatial filter for SRSp resource # 2).

If the WTRU receives a second SRSp corresponding to the first SRSp (e.g., the second SRSp may be a transmission from the first SRSp of the obstruction), the WTRU may perform correlation analysis and/or peak detection between the received signal and the SRSp sequence (e.g., which may be transmitted before receiving the reflected signal) in the time and/or frequency domain, as described herein. In one example, the SRSp sequence may include a sequence of complex values (e.g., N complex numbers) that may be placed across resource elements in the frequency domain. In another example, the SRSp sequence may include a sequence of complex values that may be placed across OFDM or DFTsOFDM symbols/samples in the time domain. The correlation analysis (e.g., performed using a correlator component of the WTRU) may indicate that the second (e.g., reflected) SRSp has the same or substantially similar time signal characteristics and/or frequency signal characteristics (e.g., with respect to comb mode, signal mode across time domain, periodicity, duration, bandwidth, center frequency, etc.) as the first SRSp (e.g., the correlation value calculated based on one or more of the foregoing characteristics is greater than a pre-configured threshold), and the WTRU may determine that the first SRSp and second SRSp are the same (e.g., or that the second SRSp is the first SRSp reflected from an obstacle) based on the indication. The WTRU may repeat the techniques described herein for one or more (e.g., all) of the SRSp resources in the first group SRSp resources (e.g., transmit SRSp resources and detect/analyze the transmitted transmissions of SRSp by performing correlation analysis).

In an example, the WTRU may treat the transmitted SRSp as the master SRSp if the RSRP of the reflected SRSp is greater than the configured threshold. For such masters SRSp (e.g., for each master SRSp), the WTRU may determine a subset of N SRSp resources from the second SRSp resource group that are spatially related to the master SRSp, e.g., based on configured spatial information (e.g., which may indicate the relative angles of the master SRSp resources to its spatially aligned SRSp resource IDs, SRSp resources, etc.). In an example, if the second SRSp resource group includes more than N SRSp resources that may have the same spatial relationship as the master SRSp, the WTRU may select N SRSp resources based on one or more of: starting with either the highest SRSp resource ID or the lowest SRSp resource ID, based on the ascending or descending order of SRSp resource IDs; based on one or more priorities indicated by the network (e.g., the WTRU may receive a list of SRSp resource indices or IDs ordered based on priorities that the WTRU may use when selecting SRSp resources from the second group); etc.

The measurements described herein may include RSRP measurements and/or time measurements associated with SRSp (e.g., a time difference between transmission of the first SRSp and reception of the second SRSp). The WTRU may transmit the third SRSp using the set of N SRSp resources and if the WTRU receives SRSp (e.g., fourth SRSp) a reflection corresponding to the third SRSp, the WTRU may determine whether the received SRSp is a reflected version of the third SRSp, for example, by performing a correlation analysis as described herein. If the RSRP of the transmitted SRSp is greater than the threshold, the WTRU may determine that the received SRSp (or the transmitted corresponding SRSp) is the primary SRSp.

The WTRU may be configured with multiple thresholds, where the thresholds (e.g., each threshold) may correspond to one SRSp resource group. For example, the SRSp resource groups may be associated with different beamwidths and/or frequency ranges. In this case, RSRP values corresponding to different beamwidths may be different. For multiple SRSp resource groups with different beamwidths, the WTRU may receive different values of RSRP thresholds from the network. For the masters SRSp in the first and/or second groups described herein (e.g., for each master SRSp), the WTRU may report RSRP and/or time difference measurements (e.g., examples of time differences may be shown in fig. 19 and 9). These measurements may include RSRP measurements of fourth SRSp, time differences between transmission of third SRSp and reception of fourth SRSp, and so on.

The WTRU may be configured with a time window during which the WTRU may monitor for reflections SRSp. For example, the time window may begin after the WTRU completes SRSp's transmission, and the WTRU may monitor whether the WTRU received a reflected version of SRSp transmitted during the time window. The time window may be indicated by a start time and an end time and/or a duration (e.g., expressed in terms of a number of symbols, slots, frames, or seconds). The time window may be indicated by a downlink slot or symbol and/or a flexible slot or symbol of the TDD format. If the WTRU does not receive the reflection SRSp during the time window, the WTRU may stop monitoring and may transmit the next SRSp in the same SRSp resource set.

It should be noted that reference signals that may be used (e.g., for sensing) in the examples described herein may not be limited to SRSp. The term "SRSp" may be used interchangeably with other types of reference signals including, for example, CSI-RS, PRS, SRS, side link PRS, etc.

An association between the obstacle and one or more masters SRSp may be established. As described herein, the WTRU may transmit SRSp using multiple SRSp resource sets and may measure the reflected SRSp to estimate the position of the obstacle. For these resource groups (e.g., for each of these resource groups), the WTRU may determine one or more masters SRSp. These SRSp resource groups may be associated with different beamwidths, center frequencies, bandwidths, and/or frequency ranges. The WTRU may determine the location of the obstacle based on one or more measurements (e.g., RSRP and/or time difference) performed on the masters SRSp (e.g., for each master SRSp). The WTRU may report detailed information about the obstacle (e.g., the size of the obstacle, the shape of the obstacle, etc.) to the network by associating location information related to the same obstacle with each other. For example, the WTRU may determine and/or report relative location information (e.g., relative to primary location information) based on the spatial relationship of the primary SRSp. The primary position of the obstacle may be represented as an absolute position (e.g., in terms of global/local coordinates), and the relative position of the obstacle may be represented as a position relative to the position of the WTRU (e.g., determined based on the difference in coordinates of the two entities). The WTRU may determine and/or report a primary or relative position based on the indication received from the network. In an example, the WTRU may determine the primary location of the obstacle based on measurements (e.g., RSRP, aoD, aoA and/or time difference) corresponding to the first primary SRSp in the first SRSp resource group. If the WTRU determines a second master SRSp in the second SRSp resource group that may be spatially associated with the first master SRSp, the WTRU may determine a second location of the obstacle based on measurements corresponding to the second master SRSp. The second position may be expressed as a relative position with respect to the primary position. If the WTRU determines a third master SRSp in the second resource group, the WTRU may determine a relative position to the primary position based on the measurements of that master SRSp. The WTRU may repeat the techniques described herein for the master SRSp in the third group, where the location information associated with the master SRSp may be represented as a relative location with respect to the master location. In an example, if the WTRU determines more than one master SRSp, the WTRU may receive an indication from the network to report the relative (e.g., differential) location and/or the master location to the network. In an example, if the WTRU determines more than one master SRSp, the WTRU may determine to report the relative (e.g., differential) location and/or the master location to the network without receiving an indication from the network.

Fig. 20 illustrates an example of an association of a primary obstacle location with one or more relative (e.g., differential) locations. As shown, the WTRU may determine the primary location (x, y) of the obstacle based on measurements corresponding to SRSp #2-2 (which may be the first primary SRSp). The WTRU may perform obstacle locating using a second SRSp resource set spatially correlated with SRSp #2-2, and the WTRU may determine a second master SRSp and a third master SRSp, SRSp #3-2 and SRSp #3-5, respectively. The WTRU may obtain location information associated with SRSp through obstacle localization. Obstacle positioning may be angle-based or RTT-based. If angle-based positioning is used, the WTRU may determine the location of the obstacle based on the received SRSp RSRP, SRSp resource ID, the received (e.g., reflected) angle of arrival SRSp, and/or the SRSp departure angle. If RTT-based positioning is used, the WTRU may determine the location of the obstacle based on the time difference, e.g., as shown in fig. 19. In an example, the WTRU may determine an absolute position of the obstacle (e.g., a primary position as described herein) and/or a position associated with SRSp based on a measurement and/or the absolute position of the WTRU. For example, RTT-based positioning techniques may infer the distance between an obstacle and a WTRU. Based on the angle of departure of SRSp, the angle of arrival of the reflected SRSp, the distance information, and/or the absolute position of the WTRU, the WTRU may determine the absolute position of the obstacle. For example, if the WTRU does not have information about the absolute position of the WTRU, or cannot determine the absolute position of the WTRU, the WTRU may determine the relative position of the obstacle with respect to the WTRU. The absolute position of the WTRU may be provided by the network or may be determined by the WTRU using RAT-related positioning methods (e.g., DL-TDOA, DL-AoD) or RAT-independent positioning methods (e.g., GNSS-based positioning). Based on measurements made on SRSp #3-2 and SRSp #3-5, the WTRU may determine corresponding relative location information about the primary location (x, y). As shown in fig. 20, the relative position information corresponding to SRSp #3-2 and SRSp #3-5 may be represented as (dx 2, dy 2) and (dx 1, dy 1), respectively, and the absolute positions associated with SRSp #3-2 and SRSp #3-5 may be represented as (x+dx2, y+dy2) and (x+dx1, y+dy1), respectively. If the WTRU terminates sensing, the WTRU may report the primary (e.g., absolute) position and/or a relative position with respect to the primary position to the network (e.g., LMF and/or gNB). If the WTRU determines that there are multiple obstructions (e.g., multiple primary locations), the WTRU may report multiple primary locations and a relative location associated with the primary locations (e.g., with each of the primary locations).

Although the above features and elements are described in particular combinations, each feature or element can be used alone without the other features and elements of the preferred embodiments or in various combinations with or without other features and elements. While the implementations described herein may consider 3GPP specific protocols, it should be appreciated that the implementations described herein are not limited to this scenario and may be applicable to other wireless systems. For example, while the solutions described herein consider LTE, LTE-a, new Radio (NR), or 5G specific protocols, it should be understood that the solutions described herein are not limited to this scenario, and are applicable to other wireless systems as well. The processes described above may be implemented in computer programs, software and/or firmware incorporated in a computer readable medium for execution by a computer and/or processor. Examples of computer readable media include, but are not limited to, electronic signals (transmitted over a wired or wireless connection) and/or computer readable storage media. Examples of computer-readable storage media include, but are not limited to, read-only memory (ROM), random-access memory (RAM), registers, cache memory, semiconductor memory devices, magnetic media (such as, but not limited to, internal hard disks and removable disks), magneto-optical media, and optical media (such as Compact Disks (CD) -ROM disks, and/or Digital Versatile Disks (DVD)). A processor associated with the software may be used to implement a radio frequency transceiver for the WTRU, the terminal, the base station, the RNC, and/or any host computer.

Claims (22)

1. A Wireless Transmit Receive Unit (WTRU), the WTRU comprising:

A processor configured to:

Receiving configuration information, wherein the configuration information indicates a first resource group;

transmitting a first sounding reference signal (SRSp) for positioning using a first resource from the first set of resources;

performing a first measurement associated with a first reflected signal of the first SRSp; and

Based on determining that a result of the first measurement satisfies a first condition, an indication of the result of the first measurement is reported to a network device.

2. The WTRU of claim 1, wherein the configuration information further indicates a second resource group and a relationship between the first resource and one or more resources from the second resource group, and wherein based on determining that the result of the first measurement satisfies the first condition, the processor is further configured to:

Selecting a second resource from the second resource group based on the first resource and the relationship between the first resource and the one or more resources from the second resource group; and

A second SRSp is transmitted using the second resource selected from the second resource group.

3. The WTRU of claim 2, the processor further configured to:

Performing a second measurement associated with a second reflected signal of the second SRSp; and

Based on determining that a result of the second measurement satisfies a second condition, an indication of the result of the second measurement is reported to the network device.

4. The WTRU of claim 3, wherein the second measurement comprises a Reference Signal Received Power (RSRP) measurement associated with the second reflected signal, and wherein the result of the second measurement is determined to satisfy the second condition based on a determination that the RSRP measurement exceeds a threshold.

5. The WTRU of claim 3 wherein the processor is further configured to determine a time delay between transmission of the second SRSp and reception of the second reflected signal, the processor being further configured to report the time delay to the network device.

6. The WTRU of claim 2, wherein the first set of resources is associated with a beam of a first beamwidth, wherein the second set of resources is associated with a beam of a second beamwidth, and wherein the first beamwidth is wider than the second beamwidth.

7. The WTRU of claim 1, wherein the first measurement comprises a Reference Signal Received Power (RSRP) measurement, and wherein the result of the first measurement is determined to satisfy the first condition based on a determination that the RSRP measurement exceeds a threshold.

8. The WTRU of claim 1, wherein the processor is further configured to determine a time delay between transmission of the first SRSp and reception of the first reflected signal, the processor being further configured to report the time delay to the network device.

9. The WTRU of claim 1, wherein the processor is further configured to:

Receiving a Positioning Reference Signal (PRS) from the network device;

determining whether a second resource from the first resource group is spatially aligned with the PRS; and

Based on determining that no resources in the first set of resources are spatially aligned with the PRS, a request for SRSp resources spatially aligned with the PRS is sent to the network device.

10. The WTRU of claim 9, wherein determining whether the second resource is spatially aligned with the PRS is based on an angle of arrival of the PRS and an apparent axis angle of the second resource.

11. The WTRU of claim 1 wherein the first set of resources is associated with SRSp transmissions.

12. A method implemented by a Wireless Transmit Receive Unit (WTRU), the method comprising:

Receiving configuration information, wherein the configuration information indicates a first resource group;

transmitting a first sounding reference signal (SRSp) for positioning using a first resource from the first set of resources;

performing a first measurement associated with a first reflected signal of the first SRSp; and

Based on determining that a result of the first measurement satisfies a first condition, an indication of the result of the first measurement is reported to a network device.

13. The method of claim 12, wherein the configuration information further indicates a second set of resources and a relationship between the first resource and one or more resources from the second set of resources, and wherein the method further comprises, based on determining that the result of the first measurement satisfies the first condition:

Selecting a second resource from the second resource group based on the first resource and the relationship between the first resource and the one or more resources from the second resource group; and

A second SRSp is transmitted using the second resource selected from the second resource group.

14. The method of claim 13, wherein the method further comprises:

Performing a second measurement associated with a second reflected signal of the second SRSp; and

Based on determining that a result of the second measurement satisfies a second condition, an indication of the result of the second measurement is reported to the network device.

15. The method of claim 14, wherein the second measurement comprises a Reference Signal Received Power (RSRP) measurement associated with the second reflected signal, and wherein the result of the second measurement is determined to satisfy the second condition based on a determination that the RSRP measurement exceeds a threshold.

16. The method of claim 14, the method further comprising: determining a time delay between transmission of the second SRSp and reception of the second reflected signal; and reporting the time delay to the network device.

17. The method of claim 13, wherein the first set of resources is associated with a beam of a first beamwidth, the second set of resources is associated with a beam of a second beamwidth, and the first beamwidth is wider than the second beamwidth.

18. The method of claim 12, wherein the first set of resources is associated with SRSp transmissions.

19. The method of claim 12, wherein the first measurement comprises a Reference Signal Received Power (RSRP) measurement, and wherein the result of the first measurement is determined to satisfy the first condition based on a determination that the RSRP measurement exceeds a threshold.

20. The method of claim 12, the method further comprising: determining a time delay between transmission of the first SRSp and reception of the first reflected signal; and reporting the time delay to the network device.

21. The method of claim 12, the method further comprising:

Receiving a Positioning Reference Signal (PRS) from the network device;

determining whether a second resource from the first resource group is spatially aligned with the PRS; and

Based on determining that no resources in the first set of resources are spatially aligned with the PRS, a request for SRSp resources spatially aligned with the PRS is sent to the network device.

22. A network device, the network device comprising:

A processor configured to:

receiving information from a Wireless Transmit Receive Unit (WTRU), wherein the information indicates measurements associated with reflected signals of a sounding reference signal (SPSp) for positioning;

determining the presence or absence of an obstacle between the network device and the WTRU based on the information received from the WTRU; and

The WTRU is allocated resources based on the presence or absence of the obstacle.