EP4777844A1

EP4777844A1 - Methods for three-dimensional orientation estimation of a wireless transmit / receive unit

Info

Publication number: EP4777844A1
Application number: EP24777102.5A
Authority: EP
Inventors: Mohammad HEGGO; Remun KOIRALA; Alain Mourad
Original assignee: InterDigital Patent Holdings Inc
Current assignee: InterDigital Patent Holdings Inc
Priority date: 2023-09-12
Filing date: 2024-09-09
Publication date: 2026-07-22
Also published as: WO2025058964A1; CN121816512A

Abstract

A method performed by a WTRU may comprise receiving, from a network, configuration information associated with a 3D orientation estimation and positioning assistance information; receiving, from a TRP, one or more PRSs, wherein each of the one or more PRSs has been reflected from one or more scatterers prior to being received by the WTRU; measuring, based on the received configuration information, the one or more PRSs; estimating a location of the WTRU and estimating a location of the one or more scatterers; determining a 3D orientation of the WTRU based on the estimated location of the WTRU, the estimated location of the one or more scatterers, and an angle of arrival of the PRS; and transmitting, to the network, the determined 3D orientation of the WTRU.

Description

METHODS FOR THREE-DIMENSIONAL ORIENTATION ESTIMATION OF A WIRELESS TRANSMIT I RECEIVE UNIT

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Application No. 63/537,981 , filed September 12, 2023, the contents of which are incorporated herein by reference.

BACKGROUND

[0002] Wireless transmit/receive unit (WTRU) positioning involves determining the location of a WTRU within a Next Generation Radio Access Network (NG-RAN). Various methods may be used for WTRU positioning, depending on whether they are dependent on the radio access technology (RAT) being used (such as OTDOA, E-CID, Multi-RTT, DL-AoD, DL-TDOA, UL-TDOA, UL-AoA, etc.), independent of RAT (like Bluetooth, WLAN, or WTRU sensor-based methods), or a combination of both.

[0003] In the positioning architecture, an access and mobility management function (AMF) may receive a location service request from another entity (e.g., WTRU or Gateway Mobile Location Centre (GMLC)) or initiates some location service on behalf of a particular target WTRU (e.g., for an IMS emergency call from the WTRU). The AMF may then sends a location services request to a location management function (LMF). The LMF processes the location services request which may include WTRU-assisted positioning and/or transferring assistance data to the target WTRU to assist with WTRU-based and/or may include positioning of the target WTRU The target WTRU may determines its position using one or more positioning, methods. The WTRU returns its position to the LMF that sends this information back to the AMF.

SUMMARY

[0004] A method performed by a wireless transmit / receive unit (WTRU) may comprise: receiving, from a network, configuration information associated with a three-dimensional (3D) orientation estimation and positioning assistance information; receiving, from a transmission / reception point (TRP), one or more position reference signals (PRSs), wherein each of the one or more PRSs has been reflected from one or more scatterers prior to being received by the WTRU; measuring, based on the received configuration information, the one or more PRSs; estimating a location of the WTRU and estimating a location of the one or more scatterers; determining a 3D orientation of the WTRU based on the estimated location of the WTRU, the estimated location of the one or more scatterers, and an angle of arrival of the PRS; and transmitting, to the network, the determined 3D orientation of the WTRU. The method may further comprise selecting a subset of the one or more of the received PRS and associated measurements for orientation estimation is based on: identifying a set of PRS beam IDs; calculating a difference between an expected ToF and a measured ToF for each of the identified PRS beam IDs; and terminating the orientation estimation. [0005] The configuration information may indicate at least one of: a flag to start a 3D orientation estimation; a time window in which the WTRU is to perform the 3D orientation estimation; one or more metrics the WTRU is to measure during the 3D orientation estimation; expected time of flight (ToF) for a single-bounce beam identification; a reference signal received power per path (RSRPP) threshold; one or more update conditions; and/or one or more termination conditions. The positioning assistance information may include at least one of a PRS resource information or TRP information. The TRP information may include 3D orientation information of the TRP. The 3D orientation information of the TRP may be represented by at least one of a set of angles or a matrix. The set of angles may be Euler angles and the matrix may be a 3x3 matrix.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] A more detailed understanding may be had from the following description, given by way of example in conjunction with the accompanying drawings, wherein like reference numerals in the figures indicate like elements, and wherein:

[0007] FIG. 1A is a system diagram illustrating an example communications system in which one or more disclosed embodiments may be implemented;

[0008] FIG. 1 B is a system diagram illustrating an example wireless transmit/receive unit (WTRU) that may be used within the communications system illustrated in FIG 1A according to an embodiment;

[0009] 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 communications system illustrated in FIG. 1A according to an embodiment;

[0010] FIG. 1D is a system diagram illustrating a further example RAN and a further example CN that may be used within the communications system illustrated in FIG 1A according to an embodiment;

[0011] FIG. 2 is an example of a WTRU rotating with respect to a reference frame by an angle i around the x-axis;

[0012] FIG. 3 is a system diagram illustrating an example of an orientation estimation process;

[0013] FIG. 4 is a is an exemplary diagram illustrating different paths of the same PRS resource ID;

[0014] FIG. 5 is a diagram illustrating examples of scatterer location estimation using the single-bounce beams received from single TRP; and

[0015] FIG. 6 is a flowchart of an example procedure to select PRS resource paths of orientation estimation;

[0016] FIG. 7 is an example of a 3D orientation using a TRP in a NLoS system; and

[0017] FIG. 8 is a flowchart illustrating an example procedure performed by a WTRU DETAILED DESCRIPTION

[0018] FIG. 1A is a diagram illustrating an example communications system 100 in which one or more disclosed embodiments may be implemented. The communications system 100 may be a multiple access system that provides content, such as voice, data, video, messaging, broadcast, etc., to multiple wireless users. The communications system 100 may enable multiple wireless users to access such content through the sharing of system resources, including wireless bandwidth. For example, the communications systems 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), singlecarrier FDMA (SC-FDMA), zero-tail unique-word discrete Fourier transform Spread OFDM (ZT-UW-DFT-S- OFDM), unique word OFDM (UW-OFDM), resource block-filtered OFDM, filter bank multicarrier (FBMC), and the like.

[0019] As shown in FIG. 1A, the communications system 100 may include wireless transmit/receive units (WTRUs) 102a, 102b, 102c, 102d, a radio access network (RAN) 104, a core network (ON) 106, a public switched telephone network (PSTN) 108, the Internet 110, and other networks 112, though itwill be appreciated 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 By way of example, the WTRUs 102a, 102b, 102c, 102d, any of which may be referred to as a station (STA), may be configured to transmit and/or receive wireless signals and may include a user equipment (UE), a mobile station, a fixed or mobile subscriber unit, a subscription-based unit, a pager, a cellular telephone, a personal digital assistant (PDA), a smartphone, a laptop, a netbook, a personal computer, a wireless sensor, a hotspot or Mi-Fi device, an Internet of Things (loT) device, a watch or other wearable, a head-mounted display (HMD), a vehicle, a drone, a medical device and applications (e.g., remote surgery), an industrial device and applications (e.g., a robot and/or other wireless devices operating in an industrial and/or an automated processing chain contexts), a consumer electronics device, a device 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.

[0020] The communications systems 100 may also include a base station 114a and/or a 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 GN 106, the Internet 110, and/or the other networks 112. By way of example, the base stations 114a, 114b may be a base transceiver station (BTS), a NodeB, an eNode B (eNB), a Home Node B, a Home eNode B, a next generation NodeB, such as a gNode B (gNB), a new radio (NR) NodeB, a site controller, an access point (AP), a wireless router, and the like. While the base stations 114a, 114b are each depicted as a single element, it will be appreciated that the base stations 114a, 114b may include any number of interconnected base stations and/or network elements. [0021] The base station 114a may be part of the RAN 104, which may also include other base stations and/or network elements (not shown), such as a base station controller (BSC), a radio network controller (RNC), relay nodes, and the like. The base station 114a and/or the 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 a cell (not shown). These frequencies may be in licensed spectrum, unlicensed spectrum, or a combination of licensed and unlicensed spectrum A cell may provide coverage for a wireless service to a specific geographical area that may be relatively fixed or that may change over time. The cell may further be divided into cell sectors. For example, the cell associated with the 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 the cell. In an embodiment, the base station 114a may employ multiple-input multiple output (MIMO) technology and may utilize multiple transceivers for each sector of the cell. For example, beamforming may be used to transmit and/or receive signals in desired spatial directions.

[0022] 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, micrometer wave, infrared (IR), ultraviolet (UV), visible light, etc.). The air interface 116 may be established using any suitable radio access technology (RAT).

[0023] More specifically, as noted above, the communications 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, and the like. For example, the base station 114a in the RAN 104 and the WTRUs 102a, 102b, 102c may implement a radio technology such as Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access (UTRA), which may establish the air interface 116 using wideband CDMA (WCDMA). 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 Uplink (UL) Packet Access (HSUPA).

[0024] In an 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 establish the air interface 116 using Long Term Evolution (LTE) and/or LTE-Advanced (LTE-A) and/or LTE-Advanced Pro (LTE-A Pro). [0025] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as NR Radio Access , which may establish the air interface 116 using NR.

[0026] In an 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, for instance using dual connectivity (DC) principles. Thus, the air interface utilized by 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 , an eNB and a gNB). [0027] 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, CDMA2000 1X, CDMA2000 EV-DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), Global System for Mobile communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), GSM EDGE (GERAN), and the like. [0028] The base station 114b in FIG 1A may be a wireless router, Home Node B, Home eNode B, or access point, for example, and may utilize any suitable RAT for facilitating wireless connectivity in a localized area, such as a place of business, a home, a vehicle, a campus, an industrial facility, an air corridor (e.g., for use by drones), a roadway, 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 an 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 picocell or femtocell. As shown in FIG. 1A, the base station 114b may have a direct connection to the Internet 110. Thus, the base station 114b may not be required to access the Internet 110 via the CN 106.

[0029] The RAN 104 may be in communication with the CN 106, 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, 102d. The data may have varying quality of service (QoS) requirements, such as differing throughput requirements, latency requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, and the like. The CN 106 may provide call control, billing services, mobile location-based services, pre-paid calling, Internet connectivity, video distribution, etc., and/or perform high-level security functions, such as user authentication. Although not shown in FIG. 1 A, it will be appreciated that the RAN 104 and/or the CN 106 may be in direct or indirect communication with other RANs that employ the same RAT as the RAN 104 or a different RAT. For example, in addition to being connected to the RAN 104, which may be utilizing a NR radio technology, the CN 106 may also be in communication with another RAN (not shown) employing a GSM, UMTS, CDMA 2000, WiMAX, E-UTRA, or WiFi radio technology.

[0030] The CN 106 may also serve as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and/or the other networks 112. The PSTN 108 may include circuit-switched telephone networks that provide plain old telephone service (POTS). The Internet 110 may include a global system of interconnected computer networks and devices that use common communication protocols, such as the transmission control protocol (TCP), user datagram protocol (UDP) and/or the internet protocol (IP) in the TCP/IP internet protocol suite. The networks 112 may include wired and/or wireless communications networks owned and/or operated by other service providers. For example, the networks 112 may include another CN connected to one or more RANs, which may employ the same RAT as the RAN 104 or a different RAT. [0031] Some or all of the WTRUs 102a, 102b, 102c, 102d in the communications 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. 1 A may be configured to communicate with the base station 114a, which may employ a cellularbased radio technology, and with the base station 114b, which may employ an IEEE 802 radio technology.

[0032] FIG. 1 B is a system diagram illustrating an example WTRU 102. As shown in FIG. 1 B, 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 peripherals 138, among others. It will be appreciated that the WTRU 102 may include any sub-combination of the foregoing elements while remaining consistent with an embodiment.

[0033] 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), any other type of integrated circuit (IC), a state machine, and the like. The processor 118 may perform signal coding, data processing, power control, input/output processing, and/or any other functionality that enables the WTRU 102 to operate in a wireless environment. The processor 118 may be coupled to the transceiver 120, which may be coupled to the transmit/receive element 122. While FIG. 1 B depicts the processor 118 and the transceiver 120 as separate components, it will be appreciated that the processor 118 and the transceiver 120 may be integrated together in an electronic package or chip.

[0034] The transmit/receive element 122 may be configured to transmit signals to, or receive signals from, a base station (e.g., the base station 114a) 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 an embodiment, the transmit/receive element 122 may be an emitter/detector configured to transmit and/or receive IR, UV, or visible light signals, for example. In yet another embodiment, the transmit/receive element 122 may be configured to transmit and/or receive both RF and light signals. It will be appreciated that the transmit/receive element 122 may be configured to transmit and/or receive any combination of wireless signals.

[0035] Although the transmit/receive element 122 is depicted in FIG. 1 B as a single element, 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. [0036] The transceiver 120 may be configured to modulate the signals that are to be transmitted by the transmit/receive element 122 and to demodulate the signals that are received by the transmit/receive element 122. As noted above, the WTRU 102 may have multi-mode capabilities. Thus, the transceiver 120 may include multiple transceivers for enabling the WTRU 102 to communicate via multiple RATs, such as NR and IEEE 802.11 , for example.

[0037] The processor 118 of the WTRU 102 may be coupled to, and may receive user input data from, the speaker/microphone 124, the keypad 126, and/or the display/touchpad 128 (e.g., a liquid crystal display (LCD) display unit or 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. In addition, 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. The 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, and store data in, memory that is not physically located on the WTRU 102, such as on a server or a home computer (not shown).

[0038] The processor 118 may receive power from the power source 134, and may be configured to distribute and/or control the power to the 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 cell batteries (e.g., nickel-cadmium (NiCd), nickel-zinc (NiZn), nickel metal hydride (NiMH), lithium-ion (Li- ion), etc.), solar cells, fuel cells, and the like.

[0039] The processor 118 may also be coupled to the 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, the information from the GPS chipset 136, the WTRU 102 may receive location information over the air interface 116 from a base station (e.g., base stations 114a, 114b) and/or determine its location based on the timing of the signals being received from two or more nearby base stations. It will be appreciated that the WTRU 102 may acquire location information by way of any suitable location-determination method while remaining consistent with an embodiment

[0040] The processor 118 may further be coupled to other peripherals 138, which may include one or more software and/or hardware modules that provide additional features, functionality and/or wired or wireless connectivity. For example, the peripherals 138 may include an accelerometer, an e-compass, a satellite transceiver, a digital camera (for photographs and/or video), a universal serial bus (USB) port, a vibration device, a television transceiver, a handsfree headset, a Bluetooth® module, a frequency modulated (FM) radio unit, a digital music player, a media player, a video game player module, an Internet browser, a Virtual Reality and/or Augmented Reality (VR/AR) device, an activity tracker, and the like. The peripherals 138 may include one or more sensors. The sensors may be one or more of a gyroscope, an accelerometer, a hall effect sensor, a magnetometer, an orientation sensor, a proximity sensor, a temperature sensor, a time sensor; a geolocation sensor, an altimeter, a light sensor, a touch sensor, a magnetometer, a barometer, a gesture sensor, a biometric sensor, a humidity sensor and the like. [0041] The WTRU 102 may include a full duplex radio for which transmission and reception of some or all of the signals (e g., associated with particular subframes for both the UL (e.g., for transmission) and DL (e.g., for reception) may be concurrent and/or simultaneous. The full duplex radio may include an interference management unit to reduce and or substantially eliminate self-interference via either hardware (e.g., a choke) or signal processing via a processor (e.g., a separate processor (not shown) or via processor 118). In an embodiment, the WTRU 102 may include a half-duplex radio for which transmission and reception of some or all of the signals (e.g., associated with particular subframes for either the UL (e g, for transmission) or the DL (e g, for reception)).

[0042] FIG. 1C is a system diagram illustrating the RAN 104 and the CN 106 according to an embodiment. As noted above, the RAN 104 may employ an E-UTRA radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 104 may also be in communication with the CN 106.

[0043] The RAN 104 may include eNode-Bs 160a, 160b, 160c, though it will be appreciated that the 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 for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the eNode-Bs 160a, 160b, 160c may implement MIMO technology. Thus, the eNode-B 160a, for example, may use multiple antennas to transmit wireless signals to, and/or receive wireless signals from, the WTRU 102a.

[0044] Each of the eNode-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 the UL and/or DL, and the like. As shown in FIG. 1 C, the eNode-Bs 160a, 160b, 160c may communicate with one another over an X2 interface.

[0045] 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 (PGW) 166. While the foregoing elements are depicted as part of the CN 106, it will be appreciated that any of these elements may be owned and/or operated by an entity other than the CN operator.

[0046] The MME 162 may be connected to each of the eNode-Bs 162a, 162b, 162c in the RAN 104 via an S1 interface and may serve as a control node. For example, the MME 162 may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, bearer activation/deactivation, selecting a particular serving gateway during an initial attach of the WTRUs 102a, 102b, 102c, and the like. The MME 162 may provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as GSM and/or WCDMA

[0047] The SGW 164 may be connected to each of the eNode Bs 160a, 160b, 160c in the RAN 104 via the S1 interface. The SGW 164 may generally route and forward user data packets to/from the WTRUs 102a, 102b, 102c. The SGW 164 may perform other functions, such as anchoring user planes during inter-eNode B handovers, triggering paging when DL data is available for the WTRUs 102a, 102b, 102c, managing and storing contexts of the WTRUs 102a, 102b, 102c, and the like.

[0048] The SGW 164 may be connected to the PGW 166, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

[0049] The CN 106 may facilitate communications with other networks For example, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to circuit-switched networks, such as the PSTN 108, to facilitate communications between the WTRUs 102a, 102b, 102c and traditional land-line communications 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 the other networks 112, which may include other wired and/or wireless networks that are owned and/or operated by other service providers.

[0050] Although the WTRU is described in FIGS. 1A-1 D as a wireless terminal, it is contemplated that in certain representative embodiments that such a terminal may use (e.g., temporarily or permanently) wired communication interfaces with the communication network.

[0051] In representative embodiments, the other network 112 may be a WLAN.

[0052] A WLAN in 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 an interface to a Distribution System (DS) or another type of wired/wireless network that carries traffic in to and/or out of the BSS. Traffic to STAs that originates from outside the BSS may arrive through the AP and may be delivered to the STAs. Traffic originating from STAs to destinations outside the BSS may be sent to the AP to be delivered to respective destinations. 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 deliver the traffic to the destination STA The traffic between STAs within a BSS may be considered and/or referred to as peer-to-peer traffic. The peer-to- peer traffic may be sent between (e.g., directly between) the source and destination STAs with a direct link setup (DLS). In certain representative embodiments, the DLS may use an 802.11e DLS or an 802.11z tunneled DLS (TDLS). A WLAN using an Independent BSS (IBSS) mode may not have an AP, and the STAs (e.g., all of the STAs) within or using the IBSS may communicate directly with each other. The IBSS mode of communication may sometimes be referred to herein as an “ad-hoc” mode of communication.

[0053] When using the 802.11 ac infrastructure mode of operation or a similar mode of operations, the AP may transmit a beacon on a fixed channel, such as a primary channel. The primary channel may be a fixed width (e.g., 20 MHz wide bandwidth) or a dynamically set width. The primary channel may be the operating channel of the BSS and may be used by the STAs to establish a connection with the AP. In certain representative embodiments, Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) may be implemented, for example in 802.11 systems. For CSMA/CA, the STAs (e.g., every STA), including the AP, may sense the primary channel. If the primary channel is sensed/detected and/or determined to be busy by a particular STA, the particular STA may back off. One STA (e.g., only one station) may transmit at any given time in a given BSS.

[0054] High Throughput (HT) STAs may use a 40 MHz wide channel for communication, for example, via a combination of the primary 20 MHz channel with an adjacent or nonadjacent 20 MHz channel to form a 40 MHz wide channel.

[0055] Very High Throughput (VHT) STAs may support 20MHz, 40 MHz, 80 MHz, and/or 160 MHz wide channels The 40 MHz, and/or 80 MHz, channels may be formed by combining contiguous 20 MHz channels. A 160 MHz channel may be formed by combining 8 contiguous 20 MHz channels, or by combining two noncontiguous 80 MHz channels, which may be referred to as an 80+80 configuration. For the 80+80 configuration, the data, after channel encoding, may be passed through a segment parser that may divide the data into two streams. Inverse Fast Fourier Transform (IFFT) processing, and time domain processing, may be done on each stream separately The streams may be mapped on to the two 80 MHz channels, and the data may be transmitted by a transmitting STA. At the receiver of the receiving STA, the above described operation for the 80+80 configuration may be reversed, and the combined data may be sent to the Medium Access Control (MAC).

[0056] Sub 1 GHz modes of operation are supported by 802.11 af and 802.11 ah. The channel operating bandwidths, and carriers, are reduced in 802.11 af and 802.11ah relative to those used in 802.11n, and 802.11ac. 802.11 af supports 5 MHz, 10 MHz, and 20 MHz bandwidths in the TV White Space (TVWS) spectrum, and 802.11 ah supports 1 MHz, 2 MHz, 4 MHz, 8 MHz, and 16 MHz bandwidths using non-TVWS spectrum. According to a representative embodiment, 802.11 ah may support Meter Type Control/Machine- Type Communications (MTC), such as MTC devices in a macro coverage area. MTC devices may have certain capabilities, for example, limited capabilities including support for (e.g , only support for) certain and/or limited bandwidths The MTC devices may include a battery with a battery life above a threshold (e.g., to maintain a very long battery life).

[0057] WLAN systems, which may support multiple channels, and channel bandwidths, such as 802 11 n, 802.11ac, 802.11af, and 802.11 ah, include a channel which may be designated as the primary channel. The primary channel may have a bandwidth equal to the largest common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel may be set and/or limited by a STA, from among all STAs in operating in a BSS, which supports the smallest bandwidth operating mode. In the example of 802.11ah, the primary channel may be 1 MHz wide for STAs (e.g., MTC type devices) that support (e.g., only support) a 1 MHz mode, even if the AP, and other STAs in the BSS support 2 MHz, 4 MHz, 8 MHz, 16 MHz, and/or other channel bandwidth operating modes. Carrier sensing and/or Network Allocation Vector (NAV) settings may depend on the status of the primary channel. If the primary channel is busy, for example, due to a STA (which supports only a 1 MHz operating mode) transmitting to the AP, all available frequency bands may be considered busy even though a majority of the available frequency bands remains idle. [0058] In the United States, the available frequency bands, which may be used by 802.11 ah, are from 902 MHz to 928 MHz. In Korea, the available frequency bands are from 917.5 MHz to 923.5 MHz. In Japan, the available frequency bands are from 916.5 MHz to 927.5 MHz. The total bandwidth available for 802.11 ah is 6 MHz to 26 MHz depending on the country code.

[0059] FIG. 1 D is a system diagram illustrating the RAN 104 and the GN 106 according to an embodiment. As noted above, the RAN 104 may employ an NR radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 104 may also be in communication with the CN 106.

[0060] The RAN 104 may include gNBs 180a, 180b, 180c, though it will be appreciated that the RAN 104 may include any number of gNBs while remaining consistent with an embodiment. The gNBs 180a, 180b, 180c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In one embodiment, the 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 the gNBs 180a, 180b, 180c. Thus, the gNB 180a, for example, may use multiple antennas to transmit wireless signals to, and/or receive wireless signals from, the WTRU 102a. In an embodiment, the gNBs 180a, 180b, 180c may implement carrier aggregation technology. 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 unlicensed spectrum while the remaining component carriers may be on licensed spectrum. In an embodiment, the gNBs 180a, 180b, 180c may implement Coordinated Multi-Point (CoMP) technology. For example, WTRU 102a may receive coordinated transmissions from gNB 180a and gNB 180b (and/or gNB 180c).

[0061] The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using transmissions associated with a scalable numerology. For example, the OFDM symbol spacing and/or OFDM subcarrier spacing may vary for different transmissions, different cells, and/or different portions of the wireless transmission spectrum. The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using subframe or transmission time intervals (TTIs) of various or scalable lengths (e.g., containing a varying number of OFDM symbols and/or lasting varying lengths of absolute time).

[0062] The gNBs 180a, 180b, 180c may be configured to communicate with the WTRUs 102a, 102b, 102c in a standalone configuration and/or a non-standalone configuration. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c without also accessing other RANs (e.g., such as eNode-Bs 160a, 160b, 160c). In the standalone configuration, WTRUs 102a, 102b, 102c may utilize one or more of gNBs 180a, 180b, 180c as a mobility anchor point. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using signals in an unlicensed band. In a non-standalone configuration WTRUs 102a, 102b, 102c may communicate with/connect to gNBs 180a, 180b, 180c while also communicating with/connecting to another RAN such as eNode-Bs 160a, 160b, 160c. For example, WTRUs 102a, 102b, 102c may implement DC principles to communicate with one or more gNBs 180a, 180b, 180c and one or more eNode-Bs 160a, 160b, 160c substantially simultaneously. In the non- standalone configuration, eNode-Bs 160a, 160b, 160c may serve as a mobility anchor for WTRUs 102a, 102b, 102c and gNBs 180a, 180b, 180c may provide additional coverage and/or throughput for servicing WTRUs 102a, 102b, 102c.

[0063] 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 the UL and/or DL, support of network slicing, DC, interworking between NR and E-UTRA, routing of user plane data towards User Plane Function (UPF) 184a, 184b, routing of control plane information towards Access and Mobility Management Function (AMF) 182a, 182b and the like. As shown in FIG. 1D, the gNBs 180a, 180b, 180c may communicate with one another over an Xn interface.

[0064] The CN 106 shown in FIG. 1 D 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 the foregoing elements are depicted as part of the CN 106, it will be appreciated that any of these elements may be owned and/or operated by an entity other than the CN operator.

[0065] The AMF 182a, 182b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 104 via an N2 interface and may serve as a control node. For example, the AMF 182a, 182b may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, support for network slicing (e.g., handling of different protocol data unit (PDU) sessions with different requirements), selecting a particular SMF 183a, 183b, management of the registration area, termination of non-access stratum (NAS) signaling, mobility management, and the like. Network slicing may be used by the AMF 182a, 182b in order to customize CN support for WTRUs 102a, 102b, 102c based on the types of services being utilized WTRUs 102a, 102b, 102c. For example, different network slices may be established for different use cases such as services relying on ultra-reliable low latency (URLLC) access, services relying on enhanced massive mobile broadband (eMBB) access, services for MTC access, and the like The AMF 182a, 182b may provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as LTE, LTE-A, LTE-A Pro, and/or non-3GPP access technologies such as WiFi.

[0066] The SMF 183a, 183b may be connected to an AMF 182a, 182b in the CN 106 via an N11 interface. The SMF 183a, 183b may also be connected to a UPF 184a, 184b in the CN 106 via an N4 interface. The SMF 183a, 183b may select and control the UPF 184a, 184b and configure the routing of traffic through the UPF 184a, 184b. The SMF 183a, 183b may perform other functions, such as managing and allocating UE IP address, managing PDU sessions, controlling policy enforcement and QoS, providing DL data notifications, and the like. A PDU session type may be IP-based, non-IP based, Ethernet-based, and the like.

[0067] The UPF 184a, 184b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 104 via an N3 interface, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. The UPF 184, 184b may perform other functions, such as routing and forwarding packets, enforcing user plane policies, supporting multi-homed PDU sessions, handling user plane QoS, buffering DL packets, providing mobility anchoring, and the like.

[0068] The ON 106 may facilitate communications with other networks 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 the other networks 112, which may include other wired and/or wireless networks that are owned and/or operated by other service providers In one embodiment, the WTRUs 102a, 102b, 102c may be connected to a local DN 185a, 185b through the UPF 184a, 184b via the N3 interface to the UPF 184a, 184b and an N6 interface between the UPF 184a, 184b and the DN 185a, 185b.

[0069] In view of FIGs. 1A-1 D, and the corresponding description of FIGs. 1A-1 D, one or more, or all, of the functions described herein with regard to one or more of: WTRU 102a-d, Base Station 114a-b, eNode-B 160a-c, MME 162, SGW 164, PGW 166, gNB 180a-c, AMF 182a-b, UPF 184a-b, SMF 183a-b, DN 185a-b, and/or any other device(s) described herein, may be performed by one or more emulation devices (not shown). The emulation devices may be one or more devices configured to emulate one or more, or all, of the functions described herein. For example, the emulation devices may be used to test other devices and/or to simulate network and/or WTRU functions.

[0070] The emulation devices may be designed to implement one or more tests of other devices in a lab environment and/or in an operator network environment. For example, the one or more emulation devices may perform the one or more, 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 may perform the one or more, 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 purposes of testing and/or performing testing using over-the-air wireless communications.

[0071 ] The one or more emulation devices may perform the one or more, including all, functions while not being implemented/deployed as part of a wired and/or wireless communication network. For example, the emulation devices may be utilized in a testing scenario in a testing laboratory and/or a non-deployed (e.g., testing) wired and/or wireless communication network in order to implement testing of one or more components. The one or more emulation devices may be test equipment. Direct RF coupling and/or wireless communications via RF circuitry (e.g., which may include one or more antennas) may be used by the emulation devices to transmit and/or receive data.

[0072] The following abbreviations and acronyms may be referred to:

ACK Acknowledgement

AMF Access and Mobility Management Function

AoA Angle of Arrival

ARFCN Absolute Radio Frequency Channel Number

BLER Block Error Rate BWP Bandwidth Part

BWP Bandwidth Part

CAP Channel Access Priority

CAPC Channel access priority class

CCA Clear Channel Assessment

CCE Control Channel Element

CE Control Element

CG Configured grant or cell group

CO Channel Occupancy

CP Cyclic Prefix

CP-OFDM Conventional OFDM (relying on cyclic prefix)

CQI Channel Quality Indicator

CRC Cyclic Redundancy Check

CSI Channel State Information

CSI-RS Channel State Information Reference Signal

CW Contention Window

CWS Contention Window Size

DAI Downlink Assignment Index

DCI Downlink Control Information

DFI Downlink feedback information

DG Dynamic grant

DL Downlink

DM-RS Demodulation Reference Signal

DRB Data Radio Bearer eLAA enhanced Licensed Assisted Access

FeLAA Further Enhanced Licensed Assisted Access

GMLC Gateway Mobile Location Centre gNB g-Node B

HARQ Hybrid Automatic Repeat Request

LAA License Assisted Access

LBT Listen-Before-T alk

LMF Location Management Function

LoS Line of Sight

LPP LTE Positioning Protocol

LPP LTE Positioning Protocol (same as LPP above, related to positioning)

LTE Long Term Evolution (e.g. from 3GPP LTE R8 and up)

MAC-CE Medium Access Control - Control Element

MCS Modulation and Coding Scheme

MIMO Multiple Input Multiple Output

NACK Negative ACK

NLoS Non-Line-of-Sight

NR New Radio

OFDM Orthogonal Frequency-Division Multiplexing

PDSCH Physical Downlink Shared Channel

PHY Physical Layer

PID Process ID

PO Paging Occasion

PRACH Physical Random Access Channel

PRB Physical Resource Block

PRB: Physical Resource Block

PRS Positioning Reference Signal

PSS Primary Synchronization Signal

PUCCH Physical Uplink Control Channel PUSCH Physical Uplink Shared Channel

QCL Quasi Co-Location

RA Random Access (or procedure)

RACH Random Access Channel

RAR Random Access Response

RAT Radio Access Technology

RAT: Radio Access Technology

RCU Radio Access Network Central Unit

RF Radio Front End

RLF Radio Link Failure

RLM Radio Link Monitoring

RNTI Radio Network Identifier

RO RACH occasion

RRC Radio Resource Control

RRM Radio Resource Management

RS Reference Signal

RSRP Reference Signal Received Power

RSRP: Reference Signal Received Power

RSRPP Reference Signal Received Power Per Path

RSRQ: Reference Signal Received Quality

RSSI Received Signal Strength Indicator

RSSNR Reference Signal Signal-to-Noise Ratio

RTT Round-Trip Time

SB-NLoS Single-Bounce Non-Line of Sight

SDU Service Data Unit

SINR Signal-to-lnterference-plus-Noise Ratio

SPS Semi-persistent scheduling

SRS Sounding Reference Signal

SRSp SRS for Positioning

SS Synchronization Signal

SSB Synchronization Signal Block

SSS Secondary Synchronization Signal

SUL Supplemental Uplink

SWG Switching Gap (in a self-contained subframe)

TB Transport Block

TBS T ransport Block Size

ToF Time of Flight

TRP Transmission / Reception Point

TSC Time-sensitive communications

TSN Time-sensitive networking

UCI Uplink Control Information

UL Uplink

URLLC Ultra-Reliable and Low Latency Communications

WBWP Wide Bandwidth Part

WLAN Wireless Local Area Networks and related technologies (IEEE 8O2.xx domain)

WTRU Wireless Transmit / Receive Unit

[0073] WTRU positioning involves determining the location of a WTRU within a NG-RAN. Various methods may be used for WTRU positioning, depending on whether they are dependent on the RAT being used (such as OTDOA, E-CID, Multi-RTT, DL-AoD, DL-TDOA, UL-TDOA, UL-AoA, etc.), independent of RAT (like Bluetooth, WLAN, or WTRU sensor-based methods), or a combination of both. [0074] In the positioning architecture, an AMF may receive a location service request from another entity (e g., WTRU or GMLC) or initiates some location service on behalf of a particular target WTRU (e.g., for an IMS emergency call from the WTRU). The AMF may then sends a location services request to a LMF. The LMF processes the location services request which may include WTRU-assisted positioning and/or transferring assistance data to the target WTRU to assist with WTRU-based and/or may include positioning of the target WTRU The target WTRU may determines its position using one or more positioning, methods. The WTRU returns its position to the LMF that sends this information back to the AMF.

[0075] DL-PRS may be used by a WTRU in the downlink for positioning purposes. DL-PRS mapping in the frequency-time domain may be configured through PRB. A physical resource block (PRB) may be defined as 12 continuous subcarriers in the frequency domain. The DL-PRS signal may be configured to start at any PRB and occupy a bandwidth that ranges from 24 PRBs to 272 PRBs with step of 4 PRBs. The PRS signal subcarrier spacing may reach up to 60 kHz for FR1 and 960 kHz for FR2. DL-PRS may be transferred using single or multiple beams. A DL-PRS beam may be considered as a resource while a set of DL-PRS multiple beams that are transmitted from the same TRP using the same frequency are considered as resource set. Each resource set has DL-PRS ID. The DL-PRS configuration may be provided at a hierarchal level. There may be at most four positioning frequency layers (PFL), where each PFL has at most 64 TRPs. Per frequency layer, each TRP may have two DL-PRS resource sets thus resulting in a total of eight resource sets per TRP. Each resource set has a unique ID and comprises up to 64 resources. Each resource may correspond to a beam where a DL- PRS is transferred. To better assist the WTRU to calculate its position, the LMF may transmit positioning assistance information that may include (cell ID, PRS priority list, TRP coordinates, spatial direction information of the DL-PRS, etc.). On the reception of the PRS signals, the WTRU may conduct multiple measurements on the DL-PRS to calculate its own position such as (RSRP, AoA, ToF, etc.).

[0076] FIG. 2 illustrates an exemplary rotation matrix R and its transpose, R^T. As shown in FIG 2, the Rotation matrix (R) is the matrix that maps any vector from the global reference coordinate frame to the local coordinate frame of the rotating object (WTRU/TRP).

[0077] If an object (e.g., WTRU) has rotated with respect to the reference frame by an angle i around the x-axis, then by an angle 0 around the y-axis, then by an angle q> around the z-axis, rotation matrix R may be a 3 x 3 matrix that represent the overall 3D rotation around the three axes as:

[0078] where R_z(<p'), Ry (9'), R_x ( p) are 3 x 3 matrices that represent the individual rotation around each axis. The rotation matrix is considered as real orthogonal that satisfies RR^T = I, where I is the identity matrix. Therefore, any vector q_r in the reference frame may be mapped to the local frame and vice versa using the following two relations: <1 = Rq_ri q_r = R^T<

[0079] To fully estimate the rotation matrix, at least two observations may be needed for two vectors in both the reference coordinates and local coordinates.

[0080] Estimating the orientation of a WTRU may be crucial for various applications, such as beamforming, beam tracking, and extended reality (XR). For instance, a network, such as a 5G network, may need to accurately determine the WTRU’s orientation within a 10-degree margin. Additionally, accurate orientation estimation is often necessary for extended reality applications.

[0081] A WTRU may utilize one or more PRSs to determine its orientation. However, a challenge arises in how the WTRU calculates its own rotation matrix under NLoS conditions using downlink PRS beams from a TRP.

[0082] As used herein, the term “TRP” may be used interchangeably with gNB or PRU, the term “Network” may refer to the AMF, LMF or gNB, the term “location” may be used interchangeably with “position,” and the term “RS” may refer to any of the positioning and reference signals (e.g., PRS, SRSp, CSI-RS, DM-RS, SSB, etc.) An orientation estimation procedure may be carried out with any of the mentioned RS.

[0083] A WTRU may receive (pre)configured threshold(s) from the network (e.g , LMF, gNB) via downlink physical channel (e.g., PDSCH, PDCCH, etc.) or via lower or higher layer signaling (e.g., UCI, MAC-CE, RRC or LPP message).

[0084] A “measurement occasion” may be defined as an instance where the WTRU measures the different positioning metrics (e.g., RSRP, ToF, etc.).

[0085] A LoS path between the WTRU and the TRP may refer to the direct path between the WTRU and the TRP.

[0086] A NLoS path between the WTRU and the TRP may refer to the single bounce or multi bounce path via other obstacles/ground reflections, etc

[0087] A SB-NLoS path between the WTRU and the TRP may refer to path where the radio signal reaches from the TRP to the WTRU through single reflection.

[0088] PRS resource path may be defined as each instance of the received PRS resource with its unique measurements. For example, the WTRU may receive a PRS ID 1 from multiple paths (e.g , LoS, single bounce, etc.) with multiple ToF measurements (e.g., X ms, Y ms, Z ms). Each instance or path of PRS resource with PRS ID 1 is considered as a PRS resource path.

[0089] A radio map may be defined as a 3D map of the scatterers in an area (e.g , coverage area of one or more TRPs). The radio map may include the 3D position information of the scatterers that were identified by the network and/or the WTRU, for example a scatterer may be located at a position (e.g., represented by 3D coordinates X, Y, and Z). The radio map may be available at the network and/or the WTRU. [0090] The maximum uncertainty range may be defined as the maximum measured and/or calculated uncertainty for a specific measurement (e.g., orientation, position, Euler angle, etc.).

[0091] A WTRU may decide to request network assistance for performing 3D orientation estimation. This decision may take place during a communication procedure, positioning procedure, and/or sensing procedure in which the WTRU is involved.

[0092] The request for network assistance may be triggered during communication procedure where: the difference between the AoA of a reference beam, and the AoA of the communication RS (e.g., PDSCH) QCL’ed (e g., QCL type-D) to the reference beam is above a (pre)configured threshold, the change in the RSRP and/or RSRQ of a RS is above a (pre) configured threshold, the change in the SNR/SINR of the communication channel above a (pre) configured threshold, the change in the status of connection to a certain TRP from LoS to NLoS and vice versa, and/or, change in the delay spread of the communication channel above (pre) configured threshold.

[0093] The request for network assistance may be triggered during positioning procedure where the change in the AoA/RSRP/ToF of specific PRS beam ID (e.g., between multiple measurement occasions) is above (pre)configured threshold, the change in the position of the WTRU (e.g., between multiple measurement occasions) is above certain threshold, the change in the connected TRPs to the WTRU, the WTRU receives a request for orientation estimation (e.g., from a location service application), and/or the uncertainty in the WTRU’s position is above a (pre)configured threshold.

[0094] The request for network assistance may be triggered during a sensing procedure where the difference in AoA to an obstacle (e.g , between multiple measurement occasions) is above a (pre)configured threshold, the difference in the RSRP and/or ToF of RS associated with an obstacle (e.g., between multiple measurement occasions) is above a (pre) configured threshold, and/or the difference in Doppler shift of RS associated with an obstacle (e.g., between multiple measurement occasions) is above (pre) configured threshold.

[0095] In one example, the network may request that the WTRU calculate its own 3D orientation due to one or more of the following reasons: the change in the AoA/RSRP/ToF of a specific SRS beam ID received from the WTRU is above threshold, the change in the AoA/RSRP/ToF of specific PRS beam ID reported by the WTRU is above a threshold, a change in the reported RAT independent calculated position and/or orientation from the WTRU is above a threshold, and/or a change in the TRPs connected to the WTRU (e.g., the connection of new TRP or the disconnection of an old TRP that may indicate the change in the WTRU orientation and/or position).

[0096] In one example, the WTRU may send the request to the network in either lower layer or higher layer Uu specific uplink signals (e.g., UCI, MAC-CE, RRC, LPP, etc.) or uplink physical channels (e.g., PUSCH or PUCCH). [0097] In one example, the WTRU may receive an indication/grantfrom the network to initiate a orientation estimation procedure. The indication (e.g., a flag, bit indication, etc.) may arrive in the form of one of the (dynamic) downlink Uu signals (e.g., DCI, MAC-CE, etc.).

[0098] In one example, the WTRU may receive PRS configurations from the network for orientation estimation.

[0099] In one example, a PRS configuration may contain at least one of the following parameters: number of symbols, transmission power, number of PRS resources included in PRS resource set, muting pattern for PRS (for example, the muting pattern may be expressed via a bitmap), periodicity, type of PRS (e.g., periodic, semi-persistent, or aperiodic), slot offset for periodic transmission for PRS, vertical shift of PRS pattern in the frequency domain, time gap during repetition, repetition factor, RE (resource element) offset, comb pattern, comb size, spatial relation, QCL information (e.g., QCL target, QCL source) for PRS, number of PRUs, number of TRPs, Absolute Radio-Frequency Channel Number (ARFCN), subcarrier spacing, expected RSTD, uncertainty in expected RSTD, start PRB, bandwidth, BWP ID, number of frequency layers, start/end time for PRS transmission, on/off indicator for PRS, TRP ID, PRS ID, cell ID, global cell ID, PRU ID, and applicable time window. The WTRU may apply a PRS configuration under a condition that the current time is within the applicable time window. “ID” may be used interchangeably with “index”.

[0100] In an example, the WTRU may also receive an orientation time window configuration with the PRS configuration including at least one of the following: start and/or end time of the window (e.g., in terms of symbol index, slot index, frame index, absolute time, relative time with respect to a reference point) and/or duration of the window (e.g., in terms of number of symbols, slots, frames, subframes, seconds).

[0101] In an example, the WTRU may receive a measurement window configuration (e.g., measurement gap) including at least one of the following: start and/or end time of the window (e.g., in terms of symbol index, slot index, frame index, absolute time, relative time with respect to a reference point), duration of the window (e g., in terms of number of symbols, slots, frames, subframes, seconds), and/or periodicity (e.g., in terms of number of symbols, slots, frames, subframes, seconds), etc.

[0102] FIG. 3 is a signal diagram illustrating an example of the orientation estimation process. As shown in FIG. 3, a DCI may trigger the orientation estimation window and its configuration. At 310, a WTRU 304 may receive, from a network 302, PRS configuration information. At 312, the network 302 may transmit, to the WTRU 304, a DCI trigger. At 314, the network 302 may transmit PRS signals to the WTRU 304. At 316, the WTRU 304 may transmit, to the network 302, a measurement report. At 318, the network 302 may transmit PRS signals to the WTRU 304. At 320, the WTRU 304 may transmit, to the network 302, a measurement report. [0103] In one example, a measurement window may be determined by the configured PRS resources, and the WTRU may measure the PRS signals in the measurement window.

[0104] In one example, the WTRU may also receive reporting window configurations indicating when the WTRU may report the measurements. The measurement window configurations may include of at least one of the following: reporting time (e g., in terms of symbol index, slot index, frame index, absolute time, relative time with respect to a reference point), and/or reporting periodicity (e.g., in terms of number of symbols, slots, frames, subframes, seconds).

[0105] As discussed herein, the examples include downlink-based orientation estimation with PRS resources, but the methods discussed herein may be applicable to uplink-based orientation estimation (e.g., with SRSp resources).

[0106] In one example a WTRU may send capability information to the network. This information may be sent after the network approves the orientation estimation request or sent uninitiated. Capabilities may refer to the ability of the WTRU or network to support different orientation estimation methods defined for LPP, different aspects of a particular position method (e.g., different types of assistance data) and common features not specific to only one orientation estimation method.

[0107] In one example, the exchange of capabilities between the WTRU and a network may be initiated by a request or sent as "unsolicited" information. If a request is used, the network sends an LPP Request Capabilities message to the WTRU with a request for capability information. The network may send a request for the LPP related capabilities of the target and/or the WTRU transfers its LPP-related capabilities to the server. The capabilities may refer to orientation estimation methods or may be common to multiple orientation estimation methods.

[0108] In another example the WTRU may send its capability information to the network and the capability message may include one or more of the following: WTRU positioning capabilities (e.g., the capability of the WTRU to estimate its position (e.g., via RAT dependent and/or RAT independent methods), capability of the WTRU to report its position to the network (e.g., periodically, upon request, etc.); WTRU measurement capabilities (e g., the capability of the WTRU to measure AoA/RSRP/RSRPP/ToF of the received PRS beams, and the range, resolution and error that correspond to each measurement, Doppler frequency measurement range and resolution, orientation estimation time, etc.), the WTRU’s reporting capabilities (e.g , ability to report its position and/or orientation periodically/aperiodically, ability to report the doppler frequency shifts, ability to report the scatterers’ locations, etc.); and/or type and quality of connection of the WTRU to the network (e.g., LoS/NLoS with one or more TRP(s), in-coverage, coverage cell ID, etc.).

[0109] In one example, a WTRU may be configured to estimate and/or report its own position in a configured time instance and/or periodicity. For example, the WTRU may be configured to report it position periodically with an indicated time instance and a time period. For example, the WTRU may be requested to report its position on request from the network.

[0110] In one example, the request may include of at least one of the following: WTRU location and/or associated uncertainty range, source of WTRU location (e.g., RAT independent, RAT dependent etc.), and/or timestamp of location estimation, etc. In one example, the WTRU may send a report including the above requested metrics. [0111] In one example, the WTRU may receive the assistance information associated with the configured PRS resources from one or more TRPs. In one example, the WTRU may receive the assistance information semi-statically (e.g., via LPP or RRC messages). The assistance information may include at least one of the following: PRS resource ID(s) (e.g., corresponding to the TRPs configured for orientation estimation), PRS resource set ID(s), AoD associated with the PRS resource ID(s) and/or PRS resource set ID(s), coordinates (e g., 2D, 3D) of the TRPs, and/or 3D orientation information

[0112] 3D orientation information may be expressed as TRP rotation matrices In one example, the WTRU may receive the TRP rotation matrix (e.g., 3x3 in case of 3D orientation) associated with each TRP. Each rotation matrix may define the absolute orientation with reference to the global coordinates for each associated TRP. The reference global coordinates for all the TRPs may be common.

[0113] 3D orientation information may be expressed as Euler angles In one example, the WTRU may receive the Euler angles in terms of degrees or radians associated with each TRP. The Euler angles are a set three angles, where each angle defines the rotation of the TRP around each axis of the three axes in the reference global coordinate In one example, the WTRU may receive from the network an indicator to define the order of the axis of rotation (e.g., the three axes) in the reference frame (e.g., the WTRU may receive from the network the Euler angle values (qj,0,cp) in radians or degrees and an indicator h. If h=1, then ip,0,cp refer to the rotation around the x-axis, then the y-axis, and then the z-axis. If h=2, then ip,0,<p refer to the rotation around the y-axis, then the x-axis, then the z-axis.

[0114] 3D orientation information may be expressed as Quaternion. In one example the WTRU may receive the quaternion value associated with each TRP. Each quaternion may have four components (e.g., q₀, qi, q2, qs), where the one component (e.g., qo) defines the rotation angle of the TRP (e.g. in degrees or radians) and the other three components define the axis of rotation around which the TRP rotates with respect to the global reference frame coordinate.

[0115] In an example, RSRP may be defined as the power of the received PRS resources.

[0116] In an example, RSRPP may be defined as the power per path of the received PRS resources. For example, PRS resource ID #1 may be received and be associated with the RSRP measurement value of X (Watts). PRS resource ID #1 may also be received through multiple paths (e.g., 3) Each path may be received at different time of arrival and may be associated with different RSRPP. So, the PRS resource ID #1 in this case may be associated with RSRPP values of X (Watts), Y (Watts) and Z (Watts) for the three paths.

[0117] In an example, ToF may be defined as the propagation duration between the transmitter and the receiver. ToF may be measured through measuring the time difference between time stamps. In one example, the ToF may be calculated using the round-trip time (RTT), where the ToF = RTT/2.

[0118] In an example, the RSRQ may measure the quality of received reference signal. The RSRQ may be defined as (W * RSRP)~ /RSSI , where N is the total number of used resource blocks and the RSSI is the average total received power in an OFDM symbol including power from serving cell, co-channel neighbour cell, and/or interference from other cells, noise

[0119] The WTRU may measure the time stamps in terms of symbol index, slot index, frame index, etc. The time stamps may either be absolute or relative. The absolute time may refer to the exact transmit and receive time of the PRS resources (e.g., Tx time: 5th slot, Rx time 6th slot, ToF = Rx timestamp -Tx timestamp = 1 slot). The relative time may refer to the difference in transmit and receive time of the PRS resources (e.g., ToF = 1 slot).

[0120] In one example, the accuracy of the time related measurement may depend upon the resolution AToF. The time resolution for ToF may be formulated as:

AToF = l/2SAf = T_s/2S where, Af is the subcarrier spacing used and S is the number of active subcarriers where the PRS signals are transmitted. The above formulation signifies that the PRS signal may be sampled 2S times every OFDM symbol duration.

[0121] In an example, the accuracy of the angle related measurement may depend upon the resolution AAoA, the minimum angle resolution for the AoA, which may be formulated as: where, A is the carrier wavelength, N is the number of elements in the antenna array, and r is the distance between two antenna elements in the antenna array.

[0122] In an example the WTRU may measure the elevation and azimuth AoA of the PRS beam, where the elevation AoA is the angle measured from the WTRU z-axis of its local coordinate and the azimuth AoA is the angle measured from the WTRU x-axis of its local coordinates.

[0123] In an example, the WTRU may measure the shift in measured frequency due to its mobility with respect to the scatterers. The doppler resolution may be formulated as:

Af_d = 1/(KT_S ) where, K is the total number of OFDM symbols allocated and T_s is the OFDM symbol duration.

[0124] In an example, the WTRU may receive the Euler angles in degrees or radians from the network which represent the rotation of the TRP by an angle ip around the reference x-axis, then by an angle 9 around the reference y-axis, then by an angle <p around the reference z-axis. In another example the WTRU may receive the quaternion of the TRP orientation that may be expressed in the form of (q_Ol q_r, q_2l q₃), where q₀ represent the scalar value of the rotation angle in degrees or radians and (q₁, q₂, q₃) represent the axis of rotation around which the TRP has rotated with an angle q₀. In one example the WTRU may convert between different representations of the orientation received from the network (e.g. rotation matrix, Euler angle, quaternion, etc.). For example, the rotation matrix R that corresponds to Euler angles (ip, 0, <p) may be expressed as:

R

[0125] The rotation matrix that corresponds to quaternion in the form of (q₀, q_r, q₂, q₃) may be expressed as:

[0126] In one example, the WTRU may activate the orientation estimation window upon receiving an indication from the network. This indication, may be defined in the initial configuration (e.g , indication with respect to a reference time, signal, etc. if the window configurations are with respect to a reference) For example, the WTRU may receive a DCI indication from the network where it activates the orientation estimation window.

[0127] In one example, if the window configurations are with respect to absolute time, the WTRU may activate the orientation estimation measurement window in the indicated time instance.

[0128] In one example, the WTRU, after receiving the PRS configurations, the orientation time window configurations and the measurement time window configuration, may receive the PRS resources and an indication from the network to initiate the orientation estimation phase. The WTRU may receive the assistance information associated with each PRS beam ID from its corresponding TRP.

[0129] In one example, the WTRU may start measuring the parameters (e.g. AoA, RSRP, RSRPP, ToF, etc.) for each PRS beam ID that corresponds to each TRP in the measurement window.

[0130] In one example, the WTRU may receive the PRS beams from one and/or multiple TRP(s) where each PRS beam may follow either one or a combination of LoS or single-bounce or multiple-bounce paths.

[0131] FIG. 4 illustrates the different paths (e.g., LoS, single bounce) of the same PRS resource ID. As shown in FIG. 4, a WTRU 404 may receive, from a TRP 402, a PRS resource with the same resource ID via a LoS path and/or a NLos path. If the PRS resource is received in a NLoS path, the PRS resource is scattered by scatter 406. The WTRU 404 may classify a received PRS resource with a specific measurement as LoS PRS resource, a single bounce NLoS PRS resource, or multi-bounce PRS resource.

[0132] A WTRU may classify a received PRS resource path as a LoS resource. The WTRU may classify a received PRS resource path as a LoS resource based on the LoS/NLoS ID for the received PRS resource being associated with the corresponding TRP For example, the WTRU may receive an LoS/NLoS indicator from the network for each TRP. The WTRU may then consider classifying a received PRS beam as the LoS beam only if the above condition is satisfied and/or fulfilled.

[0133] The WTRU may classify a received PRS resource path as a LoS resource based on the ToF measurement of the PRS resource path being associated with the received PRS resource is below a (pre)configured threshold

[0134] The WTRU may classify a received PRS resource path as a LoS resource based on the difference between the ToF of the PRS resource path and other PRS resource paths associated with the same PRS resource ID being above a (pre)configured threshold.

[0135] The WTRU may classify a received PRS resource path as a LoS resource based on the difference between the AoD from the TRP to the WTRU and the AoD of the received PRS resource path being below a (pre)configured threshold In one example, the WTRU may receive the expected AoD for the LoS path and the AoD of the DL-PRS beam. The WTRU may consider a specific PRS beam as LoS if the difference in the AoD between the measurement PRS beam ID and the expected AoD for the LoS path between the corresponding TRP and the WTRU is below a (pre)-configured threshold.

[0136] The WTRU may classify a received PRS resource path as a LoS resource based on the RSRP measurement of the measurement PRS beam being above the (pre)configured threshold.

[0137] The WTRU may classify a received PRS resource path as a LoS resource based on the difference in ToF between the PRS resource path and the other received PRS resources (e.g., associated with same of different PRS resource ID(s)) being above (pre) configured threshold.

[0138] The WTRU may classify a received PRS resource path as a LoS resource based on the difference in RSRP between the PRS resource path and other received PRS resource paths associated with the same PRS ID being above (pre) configured threshold.

[0139] A WTRU may identify a PRS resource as a SB-NLoS PRS beam The WTRU may identify a PRS resource as a SB-NLoS PRS beam based on the received PRS resource path is not identified as a LoS PRS resource. The WTRU may identify a PRS resource as a SB-NLoS PRS beam based on the ToF measurement of the PRS resource path is below a (pre)configured threshold. The WTRU may identify a PRS resource as a SB-NLoS PRS beam based on the difference in ToF between the PRS resource path and the other paths associated with the same PRS resource ID is above (pre) configured threshold. The WTRU may identify a PRS resource as a SB-NLoS PRS beam based on the difference in RSRPP between the PRS resource path and other paths associated with different and/or same PRS resource IDs associated with the same TRP is above (pre) configured threshold. The WTRU may identify a PRS resource as a SB-NLoS PRS beam based on the RSRPP of the PRS resource path is above the (pre)configured threshold.

[0140] The WTRU may identify the received PRS resource paths that are not identified as LoS or single bounce PRS resource path as multi-bounce PRS resource paths. The WTRU may be configured by the network to determine the location of the scatterers via measurements. [0141] FIG. 5 is diagram illustrating examples of scatterer location estimation using the single-bounce beams received from single TRP. As shown in FIG. 5, a WTRU 504 may use the single-bounce beam that is scattered, via scatterer 506, from a single TRP 502 to estimate the location of the scatterer 506 that corresponds to this single-bounce beam. The WTRU 504 may use other single-bounce beams that are scattered from different scatterers from the same and/or different TRP to estimate the orientation of the WTRU 504.

[0142] A WTRU may calculate the position of a scatterer that corresponds to each single-bounce PRS beam as follows:

[0143] First, knowing the coordinates of the TRP and the WTRU, the WTRU may calculate the LoS distance (d_LoS) between the TRP and the WTRU.

[0144] Knowing the AoD of the SB-NLoS PRS beam, TRP coordinates, TRP rotation matrix and WTRU coordinates, the WTRU may calculates the angle between the TRP-scatterer path and the LoS path (TRP- WTRU).

[0145] The WTRU may measure the ToF of the SB-PRS beam and calculates the overall SB-NLoS (TRP- Scatterer-WTRU) path length d_SBNLoS.

[0146] The WTRU may calculate the distance between itself and the scatterer d_{UE S} as:

[0147] The WTRU may then calculates the coordinates of the scatterer in the reference domain using the TRP coordinates, the distance between the TRP and the scatterer and the TRP rotation matrix.

[0148] In one example, a WTRU may determine the scatterer’s location on receiving one or more PRS resource paths associated with the same PRS resource ID through single or multiple bounces. In one example, the copies of the PRS resource ID may be differentiated via one or more measurement metrics (e.g., ToF, AoA, etc.) For example, the WTRU may receive a PRS resource ID path with ToF X1 seconds and AoA Y1 degrees. For example, the WTRU may also receive another PRS resource ID path associated with the same PRS resource ID with X2 seconds of ToF and Y2 degrees of AoA. In one example, the WTRU may receive one or more scattered PRS resource paths from the same scatterer.

[0149] The WTRU may receive, from a single scatterer, multiple single-bounce paths with the same PRS beam ID at different time stamps (i.e. different ToF). Though these paths may arrive the WTRU at different AoAs, however, they are separated from each other by an average resolution of AAoA<AAoA_min, where AAoA_min is the minimum detectable resolution by the WTRU. The WTRU may assign the same AoA to all these paths. Then, the WTRU may calculate multiple geometric locations for the same scatterer corresponding to each received single-bounce path of the PRS beam ID using the same AoA(s) and different ToF(s). The WTRU may select the scatterer location that corresponds to the received path of the PRS beam ID with the highest RSRPP and/or shortest ToF and/or mixture of both. In another example, the WTRU may calculate the average scatterer position of the calculated different positions for the scatterer.

[0150] In one example, the WTRU may also be configured to determine and report the uncertainty in location of the scatterers. In another example, the WTRU may also be requested to report the source of the uncertainty.

[0151] The source of the uncertainty may arise from the uncertainty in WTRU location. For example, the uncertainty in WTRU location may be associated with at least one of the following: the uncertainty in positioning method (e.g., uncertainty in positioning with RAT independent methods such as GPS, uncertainty in positioning with RAT dependent methods such as TDoA, etc.), the time resolution arising from limited bandwidth during position estimation, and/or the angle resolution arising from the limited number of antenna elements, (e.g. the actual AoD has resolution which is less than the minimum resolution of AoD that may be calculated by the network). The uncertainty in the AoD may reflect on the calculation of the angle (0) between the single-bounce PRS beam path from the TRP to the scatterer and the LoS path from the TRP to the WTRU. The uncertainty in the angle (0) may reflect on the calculations of the distances of the WTRU and the TRP to the scatterer and therefore, impact the uncertainty of the actual scatterer location The uncertainty in WTRU location may be associated with the Doppler shift resolution arising from the limited symbol time.

[0152] The source of the uncertainty may arise from the uncertainty in the measurement of PRS resource path For example, the uncertainty in the classification of a PRS resource path as single bounce PRS path may be dependent on at least one of the following: uncertainty in the ToF due to limited bandwidth (e.g. the actual ToF has a resolution which is less than the minimum resolution AToF that may be detected by the WTRU) The uncertainty in the ToF should reflect on calculation for the SB-NLoS beam path length and/or uncertainty in the RSRPP that may be associated with the noise level and/or interference level from neighbouring cells.

[0153] In one example, the WTRU may calculate the uncertainty range U_{LoS n} corresponding to each PRS beam (e.g. LoS and/or single-bounce NLoS).

[0154] In one example, the uncertainty range of the LoS PRS beam may be calculated based on the calculated uncertainty range of at least one of the following: the uncertainty range of WTRU coordinates (e.g. the calculated WTRU coordinates using RAT-dependent and/or independent methods); the uncertainty range of the indicator of the LoS PRS beam ID (e.g., the indicator uncertainty may result from the uncertainty in the WTRU position and/or the difference between the expected AoD for the LoS beam and the actual AoD of the LoS PRS beam ID); and/or the uncertainty in the measured AoA of the LoS PRS beam ID (e.g., the AoA uncertainty may result from the difference between the measured WTRU AoA and the actual AoA is < AAoA_mjn)

[0155] In another example, the WTRU may calculate the uncertainty range U_{NLnS n} corresponding to each single-bounce PRS beam based on at least one of the following: the uncertainty range of WTRU coordinates (e g., the calculated WTRU coordinates using RAT-dependent and/or independent methods); scatterers’ locations uncertainty range; and/or the uncertainty in the measured AoA of the single-bounce PRS beam ID (e g., the AoA uncertainty may result from the difference between the measured WTRU AoA and the actual AoA is < AoA_min}.

[0156] In one example, the WTRU may be configured to determine the validity time of a scatterer. The validity time may refer to the total time duration when the scatterer may be expected to provide a reliable single bounce path for orientation estimation. In one example, the validity time may be measured in terms of number of symbols, slots, frames, subframes, and/or seconds.

[0157] In one example, the WTRU may calculate the validity time of the scatterer. The WTRU may calculate the validity time of the scatterer based on the difference in the position of the scatterer in multiple measurement occasions (e.g., N occasions) is above a (pre)configured threshold.

[0158] The WTRU may calculate the validity time of the scatterer based on a change in the measured doppler shift in multiple measurement occasions being above a (pre)configured threshold. For example, the change in doppler shift may indicate that either the scatterer or the WTRU is mobile. The WTRU may determine a validity time duration (e g., T 1 seconds) if the measured velocity of the scatterer is above a (pre)configured threshold. The WTRU may determine a validity time duration (e.g., T2 seconds) if the measured velocity of the WTRU is above a (pre)configured threshold.

[0159] The WTRU may calculate the validity time of the scatterer based on the uncertainty of the scatter’s location being above a (pre)configured threshold. For example, if the uncertainty range corresponding to a scatterer is above a (pre) configured minimum threshold, the WTRU may invalidated the scatterer location measurement after a (pre) configured time, T.

[0160] The WTRU may calculate the validity time of the scatterer based on the level of confidence LoC_n of the scatterer being below a (pre)configured threshold, The WTRU may assign a level of confidence (LoC_n) to each scatterer. The LoC_n may be calculated based on a scatterer radio map that may be available at the network and/or the WTRU (e.g. the scatterer with a previous history record in the radio map may have high LoC, for example the scatterer that has been detected successfully by the WTRU and/or the network in previous (m) measurement occasions should be assigned a corresponding LoC according to the value of m ). In one example, if the LoC_n of a scatterer is below a (pre)configured threshold, the WTRU may invalidate the measurement of the scatterer location after a (pre) configured time, T.

[0161] In one example, the WTRU may assign a weighting factor, a„, for each PRS resource path. In one example, the weighting factor may be a discrete or a continuous value. In one example, the WTRU may calculate the ToF, RSRP, RSRPP, and/or RSRQ for each LoS and/or single-bounce PRS beam ID to assign a weighting factor, a„, to each path. The WTRU may assign the weighting factor based on the measured RSRPP and/or RSRQ for the PRS resource path being above a (pre) configured threshold.

[0162] A WTRU may determine the weighing factor based on the difference between the value of the measured RSRPP and/or RSRQ and their corresponding (pre)configured thresholds. The WTRU may select the set of beams and/or TRPs (e g. in the case of multiple connected TRPs) to be considered in the orientation estimation based on (pre)-configured threshold values for the weighting factor and LoC_n.

[0163] In one example, the WTRU may select a number of paths for orientation estimation (e.g. LoS and/or single-bounce NLoS). The WTRU may select the paths based on the combination of one or more of the following metrics: number of LoS PRS paths (N_Los ), number of single bounce PRS path ( NNLOS ) calculated weighting factor, a_n, calculated LoC_n of the scatterers in the case of single-bounce PRS beams, calculated uncertainty levels for each PRS beam.

[0164] In one example, the WTRU may select the NLoS LoS PRS paths whose weighting factors are above the (pre) configured threshold. In case the number of the LoS paths N_Los is below the (pre) configured minimum threshold number of paths N_min , the WTRU may use the single-bounce PRS paths to be used with the LoS paths in the orientation estimation. The WTRU may select a number of single-bounce paths NNLOS whose weighting factors an and/or LoC_n are above the (pre) configured thresholds. The WTRU may calculate its orientation (e.g., 3D rotation matrix, Euler angle, etc.) using the combination of LoS and single-bounce PRS beam paths. The WTRU may calculate the uncertainty range U_R associated with the calculated orientation. In the case the uncertainty range exceeds the maximum (pre) configured uncertainty range, U_max the WTRU may discard the PRS beam path with the highest uncertainty range.

[0165] FIG. 6 is a flowchart of an example procedure 600, performed by a WTRU, to select PRS resource paths of orientation estimation.

[0167] At 604, the WTRU may determine whether NL_OS is greater than N_min, where N_min is a (pre)configured minimum number of paths.

[0169] At 608, the WTRU may determine whether NLOS+NNLOS is greater than N_min-

[0170] At 610, if at 608, the WTRU determines that NLOS+NNLOS is greater than Nmin, the WTRU may calculate the rotation matrix.

[0171 ] At 612, the WTRU may calculate the uncertainty range, UR, of the rotation matrix.

[0172] At 614, the WTRU may determine whether U is greater than Umax, where Umax is the maximum (pre)configured uncertainty.

[0173] At 616, if U_R is not greater than U_max, the WTRU may end the procedure. [0174] At 620, if U_R is greater than U_max, the WTRU may discard the beam with the highest uncertainty level.

[0175] At 622, the WTRU may determine whether the WTRU uses single-bounce NLoS beams.

[0176] If, at 622, the WTRU determines that the WTRU does use single-bounce NLoS beams, it may proceed to 608, which is described above. If, at 622, the WTRU determines that the WTRU does not use singlebounce NLoS beams, the WTRU may proceed to 606, which is described above.

[0177] Going back to 608, if the WTRU determines that NLOS+NNLOS is not greater than N_min, the WTRU may proceed to 618 and report, to the network, that there are insufficient paths to calculate its orientation. The WTRU may then request additional resources.

[0178] The WTRU may calculate its rotation matrix using the coordinates of the WTRU, TRP(s), and the scatterers in the reference domain, weighting factors for the SB-NLoS beams and scatterers’ level of confidence.

[0179] The WTRU calculates the position vectors q_n that connect the WTRU to the selected scatterers and/or TRP(s) using its own location p_UE and the scatterers’ and/or TRP(s)’ locations p_sn in the reference coordinate system as q_n = p_UE — p_sn.

[0180] The WTRU calculates the local vectors q_UEn that represent the values of the position vectors q_n in the WTRU local coordinate system, using the AoA of the LoS and/or single-bounce beams received from the TRP(s) and/or the scatterers.

[0181] The WTRU may calculate the B matrix as: 5JH = 1 ( n o n Qn lJE,n •

[0182] The WTRU may calculate the SVD of the B matrix as:

B = USV^T

[0183] The WTRU may calculate the diagonal matrix M as:

1 0 0

M = 0 1 0

0 0 det(L/)det(

[0184] The WTRU may calculate the transpose of its rotation matrix as:

R^T = UMV^T

[0185] A WTRU may decide to discard a certain LoS and/or single-bounce PRS beam if its weighting factor a_n is below certain (pre)-configured threshold and/or the LoC is below a (pre)-configured threshold.

[0186] In one example the WTRU may be configured to measure and report the uncertainty range associated with the rotation matrix. The uncertainty range may be calculated based on the uncertainty range calculated from one or more of the following: [0187] The uncertainty range may be calculated based on the uncertainty range calculated from the uncertainty range in AoA of the DL-PRS. In one example, the WTRU may receive the PRS beam at an AoA which is less than the minimum resolution AoA_min that may be detected by the WTRU. In another example, the WTRU may receive the PRS beam at an AoA equals to 0, while the WTRU measures the received PRS beam AoA as 0_t such that 10 - 0_t | < AoA_min. The difference between the measured AoA and the actual AoA may be a source of uncertainty in the orientation estimation.

[0188] The uncertainty range may be calculated based on the uncertainty range calculated from the uncertainty range in the ToF of the DL-PRS beam. In one example, the difference between the calculated ToF of the DL-PRS beam and the actual ToF of the DL-PRS beam is less than ToF, which is the minimum resolution ToF that may be detected by the WTRU. In one example, the uncertainty range may be equal to the difference between the measured and calculated ToF. The uncertainty in the ToF may result in uncertainty in the calculated distance between the WTRU and the scatterer (e.g. NLoS case) and/or the TRP (e.g. LoS case). [0189] The uncertainty range may be calculated based on the uncertainty range calculated from the uncertainty range in the RSRP/RSRPP/RSRQ. In one example, the calculated received power of a DL-PRS beam and/or DL-PRS beam path may be affected by the channel gain over this path and/or the level of noise and/or the resolution of the WTRU for the minimum power detected

[0190] The uncertainty range may be calculated based on the uncertainty range calculated from the uncertainty in scatterer’s locations, (e.g. false estimation of the scatterers’ locations, mis-identification of SBNLOS PRS beams, etc.)

[0191] The uncertainty range may be calculated based on the uncertainty range calculated from the uncertainty in WTRU’s position, (e g. uncertainty in WTRU positioning using RAT-dependent or independent methods, WTRU mobility in the time gap between orientation estimation initiation and orientation estimation calculation.

[0192] In one example, the WTRU may calculate the uncertainty range of the rotation matrix based on the calculation of the individual uncertainty range of each path in the set of paths (e.g. LoS and/or NLoS) that are used in the orientation estimation procedure

[0193] In one example, the WTRU may be configured with a maximum uncertainty range threshold for the rotation matrix. In case the calculated uncertainty range exceeds the maximum (pre) configured range, the WTRU may select different set of beams in its orientation estimation procedure and/or discard the beam with the highest uncertainty range. In another example, the WTRU may be configured by the network for the maximum uncertainty range required for each PRS beam or path

[0194] In one example, the WTRU may express the uncertainty range of its orientation estimation in the form of the uncertainty range of each of the Euler angles represented by the WTRU rotation matrix. In this case, the uncertainty may be measured in terms of angle (e.g., degrees, radians, etc.) [0195] In another example, the WTRU may represent the uncertainty range of its orientation estimation in the form of the uncertainty range of the quaternion, which may be expressed in the form of the uncertainty range of the general axis of rotation and the uncertainty range of the angle of rotation around this axis In this case, the uncertainty in general axis of rotation may be measured in terms of meters and the uncertainty in the angle of rotation may be measured in terms of (e.g., degrees, radians).

[0196] In another example, the WTRU may represent the uncertainty range of the orientation estimation in terms of covariance of the rotation matrix.

[0197] In one example, the WTRU may be configured to report its rotation matrix that is calculated using RAT and RAT independent methods and/or their difference. The WTRU may report the uncertainty range of the reported rotation matrix.

[0198] In one example, the WTRU orientation estimation report may include 3D orientation information that may be expressed using at least one of the following: Rotation matrix, Quaternion, and/or Euler angles.

[0199] the WTRU orientation estimation report may also include: uncertainty range associated with rotation matrix (e.g., co-variance matrix)/quaternions and/or Euler angles, scatterers’ locations, validity time associated with the scatterers’ location, uncertainty range associated with the scatterers’ location, level of confidence assigned by the WTRU to each scatterer, time stamp of rotation matrix and/or Euler and/or Quaternion, time stamp of the WTRU position, WTRU position, uncertainty range associated with the WTRU’s location, selected subset of the PRS resource ID(s) considered in the orientation estimation, and/or weighting factor (e.g., a_n) associated with each PRS resource path.

[0200] In one example, the WTRU may be configured to calculate its orientation. In one example, the configuration may consist of resource which may either be periodic/aperiodic or semi-persistent. Also, the WTRU may be configured to report the measurements and/or validity report to the network in a periodic/aperiodic/semipersistent state.

[0201] In one example, the WTRU may be configured to update its orientation estimation measurement and/or invalidate its previous orientation estimation measurement in the case of one or more of the following:

[0202] In one example, the WTRU may be configured to request the network to re-transmit the PRS resources for orientation estimation. The WTRU may determine to do so in case of at least on of the following conditions:

[0203] The WTRU may request the network to re-transmit the PRS resources for orientation estimation based on the change in the measured AoATToF and/or RSRP and/or AoD of a specific PRS resource ID between N measurement occasions is above a (pre) configured threshold In one example, the specific PRS resource ID may be a PRS resource path. For example, the WTRU may measure an AoA of X1 degrees in PRS resource ID #1 in time t1 and X2 degrees in time t2. The WTRU may determine to request for orientation estimation update if X1-X2 is above a (pre)configured threshold. [0204] The WTRU may request the network to re-transmit the PRS resources for orientation estimation based on the change in the status of the PRS beam ID. For example, the WTRU may be configured to update its orientation estimation in the case of the change of the same PRS beam ID ((e.g. that was used in previous measurement occasion)) from LoS to NLoS In another example, the WTRU may be configured to update its orientation estimation measurement in the case of the change of a specific path of the same PRS beam ID ((e.g. that was used in previous measurement occasion)) from single-bounce to double or multiple bounce path. [0205] The WTRU may request the network to re-transmit the PRS resources for orientation estimation based on the change in the status of the TRP. In one example, the WTRU may be configured to update its orientation estimation, measurement if a specific TRP (e.g that was used in previous measurement occasion) changed its status from LoS to NLoS orvice-versa. In anotherexample, the WTRU may be configured to update its orientation estimation if there is a change in the connection from connected to disconnected and vice versa. [0206] The WTRU may request the network to re-transmit the PRS resources for orientation estimation based on the change in the Doppler frequency measured for the scattered PRS and/or SRSp from a specific scatterer (e g. that was used in previous measurement occasion) The WTRU may be configured to update its orientation estimation measurement if the reflected PRS and/or SRSp from a specific scatterer experienced a change in its measured Doppler frequency above a (pre) configured threshold. In another example, the WTRU may be configured to update its orientation estimation measurement in the case of the change in the status of the scatterer (e.g. presence, absence, mobility, etc.) in the radio map which may be available at the WTRU and/or the network. In one example, the WTRU may receive an update from the network for the scatterer’s and/or group of scatterers’ level(s) of confidence. The WTRU may update its orientation estimation measurement based on the updated level(s) of confidence.

[0207] The WTRU may request the network to re-transmit the PRS resources for orientation estimation based on the change in the measured WTRU position (e.g. using RAT-dependent and/or independent methods) above (pre) configured threshold.

[0208] In one example, the WTRU may determine the new configurations that it may request from the network for orientation estimation.

[0209] For example, the WTRU may request the new PRS transmission time and/or frequency resources if it determines to request the network to re-transmit the PRS resources.

[0210] For example, the WTRU may request a new PRS transmission type and/or its associated configurations. For example, the WTRU may request a periodic PRS transmission type with a new periodicity if it determines to request the network to re-transmit the PRS resources.

[0211] For example, the WTRU may request a (subset) of PRS resource IDs when it determines to request the network to re-transmit the PRS resources such that the AoD of the new PRS resource ID(s) are aligned with the scatterer’s location. [0212] For example, the WTRU may request a (subset) of PRS resource set ID(s) such that the new PRS resource configurations consist of resources with certain beam width.

[0213] In one example, the new PRS resource configurations may be dependent of the QoS requirement for orientation estimation at the WTRU (e.g., configured by the network), uncertainty in rotation matrix, Euler angles etc.

[0214] In one example, the WTRU may request the periodicity of the requested PRS resource configurations.

[0215] The WTRU may request the periodicity of the requested PRS resource configurations based on the average time of change of the AoA/ToF/RSRP/RSRPP above (pre) configured threshold measured for a specific PRS beam ID (e.g. that was used in previous measurement occasions) or a specific path (e.g. singlebounce path) of PRS beam across (pre) configured N measurement occasions.

[0216] The WTRU may request the periodicity of the requested PRS resource configurations based on the average time of change above (pre) configured threshold that’s calculated for the WTRU orientation (e.g. rotation matrix, Euler angles, quaternion, etc.) across (pre) configured N measurement occasions.

[0217] The WTRU may request the periodicity of the requested PRS resource configurations based on the average time of change in Doppler frequency above (pre) configured that is measured for the reflected PRS beam and/or SRSp from a specific scatterer (e.g. that was used in previous measurement occasions) across (pre) configured N measurement occasions.

[0218] The WTRU may request the periodicity of the requested PRS resource configurations based on the average time of change in the WTRU position above (pre) configured threshold across (pre) configured N measurement occasions.

[0219] In one example, the WTRU may be configured to report the recommended update time interval to the network in a periodic, aperiodic or semipersistent state. The WTRU may send the recommended time interval with its orientation estimation measurement report and/or its update report and/or unsolicited.

[0220] In one example the WTRU may send in its update report to the network at least one of the following: updated orientation measurement, difference between current measurement and previous measurement that’s captured in the previous measurement occasion, time stamp of the updated measurement, recommended update time interval, the change in scatterers’ IDs, locations, etc., the uncertainty range of the current measurement, the difference between the current uncertainty range and the previous uncertainty range that’s calculated for previous orientation estimation measurement, and/or reason(s) for update In one example, the WTRU may send the change in the measured parameters like AoA/RSRP/RSRPP/ToF, etc.

[0221] In another example, the WTRU may be configured to report the invalidity of its previous orientation estimation measurement to the network. [0222] In one example, the WTRU may trigger a request to the network to update its position assistance information based on one or more of the following: connection to a new TRP and/or Change in the WTRU position above (pre) configured threshold.

[0223] In one example, the WTRU may be configured to terminate its orientation estimation procedure.

[0224] the WTRU may be configured to terminate its orientation estimation procedure based on the change in the measured AoA/ToF/RSRP/RSRPP for a specific PRS beam ID or a specific path of a PRS beam (e.g. that was used in previous measurement occasions) that is measured for N measurement occasions is below a (pre) configured threshold.

[0225] The WTRU may be configured to terminate its orientation estimation procedure based on the change in the measured WTRU orientation (e.g. rotation matrix, Euler angle, quaternion, etc ) that is calculated across N measurement occasions is below a (pre) configured threshold.

[0226] The WTRU may be configured to terminate its orientation estimation procedure based on the allocation of the WTRU resources (e.g. processing, computational, battery, antenna, etc ) to higher priority WTRU tasks. In one example, the WTRU may request to terminate the orientation estimation procedure if the update time interval that’s calculated by the WTRU and/or configured by the network is below a minimum threshold, which may interfere with the scheduling of other higher priority WTRU tasks.

[0227] The WTRU may be configured to terminate its orientation estimation procedure based on the uncertainty range measured by the WTRU for the calculated WTRU orientation (e.g. rotation matrix, Euler angles, quaternion, etc.) is above (pre) configured maximum threshold for N measurement occasions.

[0228] In one example, the WTRU may report to the network its request to terminate the orientation estimation procedure.

[0229] The WTRU may include a termination indicator in its termination report to the network. In one example, the termination indicator may refer to the reason of termination. For example, termination indicator = 1 refers to uncertainty range above (pre) configured threshold for N measurement occasions. While an indicator value = 2 refers to the allocation of WTRU resources to other higher priority tasks.

[0230] The WTRU may include a termination time stamp in its termination report to the network. The WTRU may include a detailed termination reason in its termination report to the network. In one example, the WTRU may report the average change in its calculated orientation over N consecutive measurement stamps. In another example, the WTRU may report to the network the other higher priority tasks and the priority order of the orientation estimation procedure.

[0231] The WTRU may include the latest WTRU orientation, that is calculated using the RAT-dependent and/or independent methods in its termination report to the network. The WTRU may also include the latest WTRU orientation time stamp in its termination report to the network.

[0232] FIG. 7 illustrates an example of a 3D orientation using a TRP in a NLoS system. [0233] A WTRU 704 may receive configuration information from the network for 3D orientation estimation. The configuration information may include a flag to start orientation estimation procedure The configuration information may include and/or indicate the time window for the orientation estimation procedure (e.g. start time & duration to get the output). The configuration information may include and/or indicate the metrics to be measured by the WTRU in the orientation estimation procedure (e.g. RSRP/ToF/AoA/ RSRPP). The configuration information may include and/or indicate the expected ToF and/or RSRPP threshold for singlebounce beam identification (e.g. assuming that the radio signal travels to the WTRU via a single reflection — "single bounce”), and other threshold values (e.g to identify LoS PRS beams /change in measured parameters). The configuration information may include and/or indicate update conditions, which may include an update period and/or a change in one of the measured and/or received and/or calculated metrics above the maximum threshold value (e.g. RSRPP/ToF/AoA, WTRU position). The configuration information may include and/or indicate termination conditions, including a change in one of the measured and/or received and/or calculated metrics is below the minimum threshold value for period of time.

[0234] The WTRU 704 may receive the positioning assistance information from the network. The positioning assistance information from the network may include PRS resource information, including, but not limited to, beam IDs and/or AoDs. The positioning assistance information from the network may include TRP information including TRP coordinates and TRP 3D orientation information (e.g. which may be represented as a set of angles or matrix values).

[0235] The WTRU may then receive and measure the PRS transmitted from the TRP 702 according to the measurement configuration including the measurement of at least ToF and AoA for the received PRS. As shown in FIG. 7, the TRP 702 may transmit a NLoS PRS 710 from a first beam and a NLoS PRS 712 from a second beam Prior to being received by the WTRU 704, the NLoS PRS 710 may be scattered by scatterer 706 and the NLoS PRS 712 may be scattered by scatterer 708

[0236] The WTRU 704 may then select the received PRS resources and the associated measurements for orientation estimation. First, the WTRU may identify the set of PRS beam IDs meeting the single-bounce path criteria (i.e. the ToF is below the configured expected threshold and/or the RSRPP is above the configured expected threshold). Next, the WTRU may calculate the difference between the configured expected ToF and/or RSRPP and measured ToF and/or RSRPP for each of the identified PRS beam IDs and further selects a subset of PRS beam IDs for orientation estimation for which the calculated difference is above the configured threshold. Next, the WTRU may report and terminate orientation estimation due to “Insufficient suitable beams” if the number of the PRS beam IDs that meet the single-bounce criteria (e.g. the ToF is below the configured expected threshold and/or the RSRPP is above the configured expected threshold) is below a certain threshold. [0237] The WTRU 704 may then estimate the location of the scatterer 706 and scatter 708 based on the selected subset of PRS beam IDs and the associated measurements, its location, the location of the TRP 702, the 3D orientation information of the TRP 702. [0238] The WTRU 704 may then estimate its 3D orientation based on its location and the estimated scatterer location.

[0239] The WTRU may then transmit/report its 3D orientation. The WT RU may also transmit/report the location of the scatterer 706 and scatterer 708, the selected subset of PRS beam IDs, and/or the uncertainty range associated with the 3D orientation estimation.

[0240] For an orientation estimation update, a WTRU may be configured with a Doppler shift measurement of single bounce PRS beams. The WTRU may then measures the Doppler shift over multiple occasions, if the change in the Doppler shift of the single-bounce PRS beam is above certain threshold. The WTRU may report, to the network, the Doppler shift change. The WTRU may be configured with the measurement of the single bounce PRS beams parameters that may include one or more of the following: AoA/WTRU position/RSRPP/ToF. The WTRU may measures single bounce PRS beam parameters over multiple measurement occasions. The WTRU reports to the network the change in the single bounce PRS beams parameters and/or the invalidity of its latest rotation 3D orientation estimation based on: (1) the change in AoA of certain PRS beam ID observed at 2 measurement occasions is above certain threshold and (2) the change in (measured WTRU position/ RSRPP/ToF) at 2 measurement occasions is above certain threshold.

[0241] For an orientation termination procedure, the WTRU may be configured with the measurement of the single bounce PRS beams parameters that may include one or more of the following: AoA/ /RSRPP/ToF/Doppler shift. The WTRU measures single bounce PRS beam parameters over multiple measurement occasions. The WTRU terminates orientation estimation procedure based on: (1) the change in the (AoA/RSRPP/ToF) for the received PRS beams from the TRP is below the minimum threshold for a certain period and/or (2) the change in the doppler shift in the scatterers’ single-bounce PRS beams is below the minimum threshold for a certain period of time. The WTRU may then report, to the network, the change in the single bounce PRS beam parameters and its decision to terminate the orientation estimation procedure.

[0242] FIG. 8 is a flowchart illustrating an example procedure performed by a WTRU for 3D orientation estimation.

[0243] At 802, the WTRU may receive, from a network, (1) configuration information associated with a 3D orientation estimation and (2) positioning assistance information. The configuration information may include and/or indicate at least one of: a flag to start a 3D orientation estimation; a time window in which the WTRU is to perform the 3D orientation estimation; one or more metrics the WTRU is to measure during the 3D orientation estimation; expected ToF for a single-bounce beam identification; a RSRPP threshold; one or more update conditions; and/or one or more termination conditions. The positioning assistance information may include at least one of a PRS resource information or TRP information. The TRP information may include 3D orientation information of the TRP. The 3D orientation information of the TRP may be represented by at least one of a set of angles or a matrix. The set of angles may be Euler angles and the matrix may be a 3x3 matrix. [0244] At 804, the WTRU may receive, from a TRP, one or more PRSs Each of the one or more PRSs may have been reflected from one or more scatterers prior to being received by the WTRU

[0245] At 806, the WTRU may measure, based on the received configuration information, the one or more PRSs.

[0246] At 808, the WTRU may estimate a location of the WTRU and estimate a location of the one or more scatterers. The estimation of the location of the one or more scatterers may be based on at least one of: a selected subset of PRS beam IDs and associated measurements, the location of the WTRU, the location of the TRP, and/or TRP 3D orientation information.

[0247] At 810, the WTRU may determine a 3D orientation of the WTRU based on the estimated location of the WTRU, the estimated location of the one or more scatterers, and an angle of arrival of the PRS.

[0248] At 812, the WTRU may transmit, to the network, the determined 3D orientation of the WTRU.

[0249] Although features and elements are described above in particular combinations, one of ordinary skill in the art will appreciate that each feature or element can be used alone or in any combination with the other features and elements. In addition, the methods described herein may be implemented in a computer program, software, or firmware incorporated in a computer-readable medium for execution by a computer or processor. Examples of computer-readable media include electronic signals (transmitted over wired or wireless connections) and computer-readable storage media. Examples of computer-readable storage media include, but are not limited to, a read only memory (ROM), a random access memory (RAM), a register, cache memory, semiconductor memory devices, magnetic media such as internal hard disks and removable disks, magnetooptical media, and optical media such as CD-ROM disks, and digital versatile disks (DVDs). A processor in association with software may be used to implement a radio frequency transceiver for use in a WTRU, UE, terminal, base station, RNC, or any host computer.

Claims

CLAIMS What is Claimed:

1. A method performed by a wireless transmit / receive unit (WTRU), the method comprising: receiving, from a network, (a) configuration information associated with a three-dimensional (3D) orientation estimation and (b) positioning assistance information; receiving, from a transmission / reception point (TRP), one or more position reference signals (PRSs), wherein each of the one or more PRSs has been reflected from one or more scatterers prior to being received by the WTRU; measuring, based on the received configuration information, the one or more PRSs; estimating a location of the WTRU and estimating a location of the one or more scatterers; determining a 3D orientation of the WTRU based on the estimated location of the WTRU, the estimated location of the one or more scatterers, and an angle of arrival of the PRS; and transmitting, to the network, the determined 3D orientation of the WTRU.

2. The method of claim 1 , further comprising: selecting a subset of the one or more of the received PRS and associated measurements for orientation estimation is based on: identifying a set of PRS beam IDs; calculating a difference between an expected time of flight (ToF) and a measured ToF for each of the identified PRS beam IDs; and terminating the orientation estimation.

3. The method of claim 1 , wherein the configuration information indicates at least one of: a flag to start a 3D orientation estimation; a time window in which the WTRU is to perform the 3D orientation estimation; one or more metrics the WTRU is to measure during the 3D orientation estimation; expected ToF for a single-bounce beam identification; a reference signal received power per path (RSRPP) threshold; one or more update conditions; or one or more termination conditions.

4. The method of claim 1 , wherein the estimation of the location of the one or more scatterers is based on at least one of: a selected subset of PRS beam IDs and associated measurements, the location of the WTRU, the location of the TRP, or TRP 3D orientation information.

5. The method of claim 1 , wherein the positioning assistance information includes at least one of a PRS resource information or TRP information.

6. The method of claim 5, wherein the TRP information includes 3D orientation information of the TRP

7. The method of claim 6, wherein the 3D orientation information of the TRP is represented by at least one of a set of angles or a matrix.

8. The method of claim 7, wherein the set of angles are Euler angles.

9. The method of claim 7, wherein the matrix is a 3x3 matrix

10. A wireless transmit / receive unit (WTRU) comprising: a transceiver; and a processor operatively coupled to the transceiver; wherein the transceiver and the processor are configured to: receive, from a network, (a) configuration information associated with a three-dimensional (3D) orientation estimation and (b) a positioning assistance information; receive, from a transmission / reception point (TRP), one or more position reference signals (PRSs), wherein each of the one or more PRSs has been reflected from one or more scatterers prior to being received by the WTRU; measure, based on the received configuration information, the one or more PRSs; estimate a location of the WTRU and estimating a location of the one or more scatterers; determine a 3D orientation of the WTRU based on the estimated location of the WTRU, the estimated location of the one or more scatterers, and an angle of arrival of the PRS; and transmit, to the network, the determined 3D orientation of the WTRU.

11. The WTRU of claim 10, wherein the transceiver and processor are further configured to: select a subset of the one or more of the received PRS and associated measurements for orientation estimation is based on: identify a set of PRS beam IDs; calculate a difference between an expected time of flight (ToF) and a measured ToF for each of the identified PRS beam IDs; and terminate the orientation estimation.

12. The WTRU of claim 10, wherein the configuration information indicates at least one of: a flag to start a 3D orientation estimation; a time window in which the WTRU is to perform the 3D orientation estimation; one or more metrics the WTRU is to measure during the 3D orientation estimation; expected ToF for a single-bounce beam identification; a reference signal received power per path (RSRPP) threshold; one or more update conditions; or one or more termination conditions.

13. The WTRU of claim 10, wherein the estimation of the location of the one or more scatterers is based on at least one of: a selected subset of PRS beam IDs and associated measurements, the location of the WTRU, the location of the TRP, or TRP 3D orientation information.

14. The WTRU of claim 10, wherein the positioning assistance information includes at least one of a PRS resource information or TRP information.

15. The WTRU of claim 14, wherein the TRP information includes 3D orientation information of the TRP.

16. The WTRU of claim 15, wherein the 3D orientation information of the TRP is represented by at least one of a set of angles or a matrix.

17. The WTRU of claim 16, wherein the set of angles are Euler angles.

18. The WTRU of claim 16, wherein the matrix is a 3x3 matrix.