WO2023187075A1

WO2023187075A1 - Sidelink positioning in a communication network

Info

Publication number: WO2023187075A1
Application number: PCT/EP2023/058328
Authority: WO
Inventors: Gustav Lindmark; Antonino ORSINO; Zhilan XIONG; Ritesh SHREEVASTAV
Original assignee: Telefonaktiebolaget Lm Ericsson (Publ)
Priority date: 2022-03-30
Filing date: 2023-03-30
Publication date: 2023-10-05

Abstract

A method performed by a target communication device (12T) configured for use in a communication network (10) is disclosed. The target communication device (12T) receives positioning assistance information (16) for a candidate reference communication device (12C). In some embodiments, the candidate reference communication device (12C) is a candidate for the target communication device (12T) to select as a reference communication device with which to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information (16) for the candidate reference communication device (12C) includes information (16S) indicating a state of the candidate reference communication device (12C). In other embodiments, the positioning assistance information (16) for the candidate reference communication device (12C) alternatively or additionally includes information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C). The target communication device (12T) may perform sidelink positioning with assistance from the received positioning assistance information (16).

Description

SIDELINK POSITIONING IN A COMMUNICATION NETWORK

TECHNICAL FIELD

The present application relates generally to a communication network, and relates more particularly to sidelink positioning in such a network.

BACKGROUND

Positioning in a communication network aims to estimate the geographical position of a so-called target communication device that is the target of the positioning. Positioning traditionally relies on measurement of downlink and/or uplink signals transmitted between the target communication device and one or more radio network nodes. With the introduction of a sidelink between communication devices themselves, though, sidelink positioning exploits measurement of signals transmitted on a sidelink between peer communication devices in proximity. The position of the target communication device may for instance be determined relative to the position of one or more peer communication devices that serve as a reference for the positioning. Sidelink positioning may thereby extend positioning even to communication devices outside of network coverage and/or supplement traditional positioning so as to improve positioning reliability.

Problematically, the accuracy of sidelink positioning itself varies depending on where the peer communication devices used as a reference for the positioning are located with respect to each other and/or the target communication device. Depending on the geometric dilution of precision (GDOP), a small signal measurement error may result in a large positioning error. Increasing the number of signal measurements used for sidelink positioning can improve accuracy, but at the expense of increased positioning latency and signaling overhead. Challenges exist, therefore, in achieving accurate sidelink positioning with low positioning latency and signaling overhead.

SUMMARY

Some embodiments herein provide positioning assistance information to assist with the selection of which peer communication device(s) are to serve as a positioning reference for sidelink positioning of a target communication device. A communication device that is a candidate for selection may for example provide positioning assistance information indicating the device’s state, e.g., characterizing the device’s physical movement and/or orientation. Alternatively or additionally, a communication device that is a candidate for selection may provide positioning assistance information including information about any node(s) whose position is known to the device, e.g., information indicating the node(s) respective identities and/or positions. Some embodiments exploit such positioning assistance information to intelligently select the peer communication device(s) that are to serve as a positioning reference for sidelink positioning of the target communication device. Some embodiments for example exploit the positioning assistance information to (preferentially) select peer communication device(s) that know the position of at least one node whose position is also known to the target communication device. Alternatively or additionally, some embodiments exploit the positioning assistance information to (preferentially) select peer communication device(s) that have a certain state (e.g., are stationary, e.g. fixed location or have at least a minimum battery life remaining) or that have a state most similar to that of the target communication device (e.g., similar physical movement and/or orientation). Selecting reference communication device(s) intelligently in this and other ways using the positioning assistance information may advantageously improve the accuracy of sidelink positioning, as well as reduce positioning latency and signaling overhead.

More particularly, embodiments herein include a method performed by a target communication device configured for use in a communication network. The method comprises receiving positioning assistance information for a candidate reference communication device. In some embodiments, the candidate reference communication device is a candidate for the target communication device to select as a reference communication device with which to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. Additionally or alternatively, the positioning assistance information for the candidate reference communication device includes information about one or more nodes whose position is known to the candidate reference communication device. The method in some embodiments also comprises performing sidelink positioning with assistance from the received positioning assistance information.

In some embodiments, the information about the one or more nodes includes one or more identities identifying the one or more nodes whose position is known to the candidate reference communication device.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node. In one or more of these embodiments, the information indicating the position of the node is relative positioning information indicating the position of the node relative to a position of the candidate reference communication device. In one or more of these embodiments, the relative positioning information indicating the position of the node indicates a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device.

In some embodiments, the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device relative to a position of the candidate reference communication device. In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a state of the node. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In one or more of these embodiments, the information characterizing physical movement of the node includes information indicating a velocity of the node, an acceleration of the node, an angular velocity of the node, or any combination thereof. In one or more of these embodiments, the information characterizing physical movement of the node includes information indicating a traveling path of the node. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary, for example if it has a fixed location. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In one or more of these embodiments, the state of the battery of the node includes a remaining battery life of the battery and/or whether the battery is charging.

In some embodiments, the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device. In some embodiments, the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof. In other embodiments, the information characterizing physical movement of the candidate reference communication device alternatively or additionally includes information indicating a traveling path of the candidate reference communication device.

In some embodiments, the information indicating the state of the candidate reference communication device includes information indicating whether or not the candidate reference communication device is stationary.

In some embodiments, the information indicating the state of the candidate reference communication device includes information indicating a state of a battery of the candidate reference communication device.

In some embodiments, the positioning assistance information for the candidate reference communication device further includes information indicating a type of the candidate reference communication device from among multiple possible types. In some embodiments, the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating sidelink positioning measurement capabilities of the node. Additionally or alternatively, the information about the one or more nodes includes, for each of the one or more nodes, information indicating sidelink reference signal transmission capabilities of the node.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a serving cell of the node.

In some embodiments, the one or more nodes includes one or more communication devices whose position is known to the candidate reference communication device.

In some embodiments, the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device.

In some embodiments, the information about the one or more nodes is sorted according to one or more sorting criterions. In some embodiments, the one or more sorting criterions include a geographical distance of the one or more nodes from the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include an orientation of the one or more nodes relative to the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device.

In some embodiments, the one or more nodes are one or more nodes whose position is known to the candidate reference communication device and that are in proximity of the candidate reference communication device according to a proximity criterion.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information about one or more other nodes whose position is known to the node.

In some embodiments, the positioning assistance information is received as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the positioning assistance information is received as part of, or is triggered by, a sidelink direct communication procedure.

In some embodiments, the method further comprises receiving an update to at least some of the positioning assistance information. In one or more of these embodiments, the update is received responsive to requesting the update. In one or more of these embodiments, the update is received periodically. In one or more of these embodiments, the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information is received from the candidate reference communication device over a sidelink between the target communication device and the candidate reference communication device.

In some embodiments, the positioning assistance information is received from a network node in the communication network. In one or more of these embodiments, the network node implements a location management function, LMF.

In some embodiments, the positioning assistance information for the candidate reference communication device is received as part of receiving positioning assistance information for each of multiple candidate reference communication devices. In some embodiments, the positioning assistance information for each candidate reference communication device includes information indicating a state of the candidate reference communication device. Additionally or alternatively, the positioning assistance information for each candidate reference communication device includes information about one or more nodes whose position is known to the candidate reference communication device. In one or more of these embodiments, the method further comprises using the positioning assistance information received for each of the multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which to perform a sidelink positioning measurement. In one or more of these embodiments, the method further comprises performing a sidelink positioning measurement with each of the one or more selected reference communication devices. In one or more of these embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device. In one or more of these embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device. In one or more of these embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the received positioning assistance information. In some embodiments, a candidate reference communication device meets the selection criteria if the received positioning assistance information indicates a relative position between the candidate reference communication device and a node. Additionally, a candidate reference communication device meets the selection criteria if a relative position between that node and the target communication device is known. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In some embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information has a physical movement and/or physical orientation most similar to that of the target communication device. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. In some embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In some embodiments, using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information. In one or more of these embodiments, the method further comprises performing sidelink positioning with assistance from the received positioning assistance information.

Other embodiments herein include a method performed by a candidate reference communication device. The method comprises transmitting positioning assistance information for the candidate reference communication device. In some embodiments, the positioning assistance information is to assist a target communication device with sidelink positioning. In some embodiments, the positioning assistance information includes information indicating a state of the candidate reference communication device. Additionally or alternatively, the positioning assistance information includes information about one or more nodes whose position is known to the candidate reference communication device. In some embodiments, the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device. In some embodiments, the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof. In other embodiments, the information characterizing physical movement of the candidate reference communication device alternatively or additionally includes information indicating a traveling path of the candidate reference communication device.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node, information indicating a state of the node, and/or information indicating a serving cell of the node.

In some embodiments, the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device relative to a position of the candidate reference communication device.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a state of the node. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In one or more of these embodiments, the information characterizing physical movement of the node includes information indicating a velocity of the node, an acceleration of the node, an angular velocity of the node, or any combination thereof. In one or more of these embodiments, the information characterizing physical movement of the node includes information indicating a traveling path of the node. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In one or more of these embodiments, the state of the battery of the node includes a remaining battery life of the battery and/or whether the battery is charging.

In some embodiments, the information about the one or more nodes is sorted according to one or more sorting criterions. In some embodiments, the one or more sorting criterions include a geographical distance of the one or more nodes from the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include an orientation of the one or more nodes relative to the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device. In some embodiments, the one or more nodes are one or more nodes whose position is known to the candidate reference communication device and that are in proximity of the candidate reference communication device according to a proximity criterion.

In some embodiments, the positioning assistance information is transmitted as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the positioning assistance information is transmitted as part of, or is triggered by, a sidelink direct communication procedure.

In some embodiments, the method further comprises transmitting an update to at least some of the positioning assistance information. In one or more of these embodiments, the update is transmitted responsive to receiving a request for the update. In one or more of these embodiments, the update is transmitted periodically. In one or more of these embodiments, the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information is transmitted over a sidelink between the target communication device and the candidate reference communication device.

In some embodiments, the method further comprises performing a sidelink positioning measurement with the target communication device.

In some embodiments, the method further comprises providing user data and forwarding the user data to a host computer via the transmission to a base station.

Other embodiments herein include a method performed by a network node in a communication network. The method comprises obtaining positioning assistance information for a candidate reference communication device. In some embodiments, the positioning assistance information is to assist with positioning of a target communication device. In some embodiments, the candidate reference communication device is a candidate for selection as a reference communication device with which the target communication device is to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. Additionally or alternatively, the positioning assistance information for the candidate reference communication device includes information about one or more nodes whose position is known to the network node. The method also comprises transmitting, to the target communication device, the obtained positioning assistance information and/or signaling that commands or recommends the target communication device to perform a sidelink positioning measurement with each of one or more candidate reference communication devices selected by the network node based on the obtained positioning assistance information.

In some embodiments, the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device. In some embodiments, the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof. In other embodiments, the information characterizing physical movement of the candidate reference communication device includes information indicating a traveling path of the candidate reference communication device.

In some embodiments, the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device. In some embodiments, the information about the one or more nodes is sorted according to one or more sorting criterions. In some embodiments, the one or more sorting criterions include a geographical distance of the one or more nodes from the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include an orientation of the one or more nodes relative to the candidate reference communication device. Additionally or alternatively, the one or more sorting criterions include a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device.

In some embodiments, the positioning assistance information is obtained as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the method further comprises obtaining an update to at least some of the positioning assistance information. In one or more of these embodiments, the update is obtained responsive to requesting the update. In one or more of these embodiments, the update is obtained periodically. In one or more of these embodiments, the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information is received from the candidate reference communication device.

In some embodiments, the positioning assistance information is received from a network node in the communication network.

In some embodiments, obtaining the positioning assistance information comprises generating the positioning assistance information.

In some embodiments, the positioning assistance information is obtained as part of obtaining positioning assistance information for each of multiple candidate reference communication devices. In some embodiments, the positioning assistance information for each candidate reference communication device includes information indicating a state of the candidate reference communication device. Additionally or alternatively, the positioning assistance information for each candidate reference communication device includes information about one or more nodes whose position is known to the candidate reference communication device. In one or more of these embodiments, the method further comprises using the positioning assistance information obtained for each of multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which the target communication device is to perform a sidelink positioning measurement. In one or more of these embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device. In one or more of these embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device. In one or more of these embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the obtained positioning assistance information. In some embodiments, a candidate reference communication device meets the selection criteria if the positioning assistance information obtained for the candidate reference communication device indicates a relative position between the candidate reference communication device and a node. In some embodiments, a candidate reference communication device meets the selection criteria if a relative position between that node and the target communication device is known. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In some embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information has a physical movement and/or physical orientation most similar to that of the target communication device. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. In some embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In some embodiments, using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information. In one or more of these embodiments, the method further comprises transmitting signaling to the target communication device commanding or recommending the target communication device to perform a sidelink positioning measurement with each of the one or more selected candidate reference communication devices.

In some embodiments, the method further comprises transmitting the obtained positioning assistance information to the target communication device.

Other embodiments herein include a target communication device configured for use in a communication network. The target communication device is configured to receive positioning assistance information for a candidate reference communication device. In some embodiments, the candidate reference communication device is a candidate for the target communication device to select as a reference communication device with which to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information for the candidate reference communication device alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device. The target communication device is also configured to perform sidelink positioning with assistance from the received positioning assistance information.

In some embodiments, the target communication device is configured to perform the steps described above for a target communication device.

Other embodiments herein include a candidate reference communication device. The candidate reference communication device is configured to transmit positioning assistance information for the candidate reference communication device. In some embodiments, the positioning assistance information is to assist a target communication device with sidelink positioning. In some embodiments, the positioning assistance information includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device.

In some embodiments, the candidate reference communication device is configured to perform the steps described above for a candidate reference communication device.

Other embodiments herein include a network node configured for use in a communication network. The network node is configured to obtain positioning assistance information for a candidate reference communication device. In some embodiments, the positioning assistance information is to assist with positioning of a target communication device. In some embodiments, the candidate reference communication device is a candidate for selection as a reference communication device with which the target communication device is to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information for the candidate reference communication device alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device. The network node is also configured to transmit, to the target communication device, the obtained positioning assistance information and/or signaling that commands or recommends the target communication device to perform a sidelink positioning measurement with each of one or more candidate reference communication devices selected by the network node based on the obtained positioning assistance information.

In some embodiments, the network node is configured to perform the steps described above for a network node.

In some embodiments, a computer program comprises instructions which, when executed by at least one processor of a communication device, causes the communication device to perform the steps described above for a target communication device. In some embodiments, a computer program comprises instructions which, when executed by at least one processor of a network node, causes the network node to perform the steps described above for a network node. In some embodiments, a carrier containing the computer program is one of an electronic signal, optical signal, radio signal, or computer readable storage medium.

Other embodiments herein include a target communication device configured for use in a communication network. The target communication device comprises communication circuitry and processing circuitry. The processing circuitry is configured to receive positioning assistance information for a candidate reference communication device. In some embodiments, the candidate reference communication device is a candidate for the target communication device to select as a reference communication device with which to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information for the candidate reference communication device alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device. The processing circuitry is also configured to perform sidelink positioning with assistance from the received positioning assistance information.

In some embodiments, the processing circuitry is configured to perform the steps described above for a target communication device.

Other embodiments herein include a candidate reference communication device configured for use in a communication network. The candidate reference communication device comprises communication circuitry and processing circuitry. The processing circuitry is configured to transmit positioning assistance information for the candidate reference communication device. In some embodiments, the positioning assistance information is to assist a target communication device with sidelink positioning. In some embodiments, the positioning assistance information includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device.

In some embodiments, the processing circuitry is configured to perform the steps described above for a candidate reference communication device.

Other embodiments herein include a network node configured for use in a communication network. The network node comprises communication circuitry and processing circuitry. The processing circuitry is configured to obtain positioning assistance information for a candidate reference communication device. In some embodiments, the positioning assistance information is to assist with positioning of a target communication device. In some embodiments, the candidate reference communication device is a candidate for selection as a reference communication device with which the target communication device is to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information for the candidate reference communication device includes information indicating a state of the candidate reference communication device. In other embodiments, the positioning assistance information for the candidate reference communication device alternatively or additionally includes information about one or more nodes whose position is known to the candidate reference communication device. The processing circuitry is also configured to transmit, to the target communication device, the obtained positioning assistance information and/or signaling that commands or recommends the target communication device to perform a sidelink positioning measurement with each of one or more candidate reference communication devices selected by the network node based on the obtained positioning assistance information.

In some embodiments, the processing circuitry is configured to perform the steps described above for a network node.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a block diagram of a communication device configured for use in a communication network according to some embodiments.

Figure 2 is a block diagram of a situation where there are multiple communication devices that are candidates for serving as reference communication devices for positioning of a target communication device according to some embodiments.

Figure 3 is a block diagram of reference communication device selector selecting reference communication device(s) using positioning assistance information according to some embodiments.

Figure 4 is a block diagram of a reference communication device selector obtaining positioning assistance information for candidate reference communication devices according to some embodiments.

Figure 5 is a block diagram of a reference communication device selector selecting reference communication device(s) according to some embodiments.

Figure 6 is a block diagram of an architecture for positioning in New Radio according to some embodiments.

Figure 7 is a block diagram of sidelink communication configured for UE positioning according to some embodiments.

Figure 8 is a block diagram of sidelink positioning measurements, with one Target UE to many Reference UEs, according to some embodiments.

Figure 9 is a block diagram of sidelink positioning measurements, with many Target UEs to one Reference UEs, according to some embodiments.

Figure 10 is a block diagram of sidelink positioning measurements, with many Target UEs to many Reference UEs, according to some embodiments.

Figure 11 is a block diagram of an example for UE based positioning according to some embodiments.

Figure 12 is a block diagram of network based positioning according to some embodiments.

Figure 13 is a logic flow diagram of a method performed by a target communication device configured for use in a communication network in accordance with particular embodiments.

Figure 14 is a logic flow diagram of a method performed by a candidate reference communication device in accordance with other particular embodiments.

Figure 15 is a logic flow diagram of a method performed by a network node in accordance with other particular embodiments.

Figure 16 is a block diagram of a communication device according to some embodiments.

Figure 17 is a block diagram of a network node according to some embodiments.

Figure 18 is a block diagram of a communication system in accordance with some embodiments.

Figure 19 is a block diagram of a user equipment according to some embodiments.

Figure 20 is a block diagram of a network node according to some embodiments.

Figure 21 is a block diagram of a host according to some embodiments.

Figure 22 is a block diagram of a virtualization environment according to some embodiments.

Figure 23 is a block diagram of a host communicating via a network node with a UE over a partially wireless connection in accordance with some embodiments.

DETAILED DESCRIPTION

Figure 1 shows a communication device 12T configured for use in a communication network 10. The geographical position of the communication device 12T is to be determined using sidelink positioning. As such, the communication device 12T is the target of positioning in embodiments herein. Communication device 12T is accordingly referred to as the target communication device 12T.

Communication devices 12R-1 , 12R-2, and 12R-3 are shown and referred to as reference communication devices (collectively, reference communication devices 12R). These reference communication devices 12R serve as a reference for positioning of the target communication device 12T. The position of the target communication device 12T in this regard is determined based on sidelink positioning measurements performed with the reference communication devices 12R, e.g., where the sidelink positioning measurements reflect or indicate the position of the target communication device 12T relative to the respective positions of the reference communication devices 12R.

As shown in Figure 1 , for example, a sidelink positioning measurement M1 is performed on a sidelink between the target communication device 12T and reference communication device 12R-1 , e.g., in the form of a time-of-arrival (TOA) signal measurement, an angle-of- arrival (AoA) signal measurement, or an angle-of-departure (AoD) signal measurement. This sidelink positioning measurement M1 may reflect or indicate a position of the target communication device 12T relative to the position of the reference communication device 12R- 1 . Similarly, a sidelink positioning measurement M2 is performed on a sidelink between the target communication device 12T and reference communication device 12R-2, where this sidelink positioning measurement M2 may reflect or indicate a position of the target communication device 12T relative to the position of the reference communication device 12R- 2. And a sidelink positioning measurement M3 is performed on a sidelink between the target communication device 12T and reference communication device 12R-3, where this sidelink positioning measurement M3 may reflect or indicate a position of the target communication device 12T relative to the position of reference communication device 12R-3. The results of these sidelink positioning measurements M1 -M3 may be combined to estimate the position of the target communication device 12T, e.g., in an absolute sense.

Figure 2 shows a situation where there are multiple communication devices that are candidates for serving as reference communication devices for positioning of the target communication device 12T. Figure 2 depicts these multiple candidates as candidate reference communication devices 12C-1 through 12C-6 (collectively, candidate reference communication devices 12C). As shown, a reference communication device selector 13 selects, from among the multiple candidate reference communication devices 12C, one or more candidate reference communication devices as one or more reference communication devices 12R with which the target communication device 12T is to perform a sidelink positioning measurement. The reference communication device selector 13 may be implemented at the target communication device 12T itself or at a network node 14 in the communication network 10, e.g., where the network node 14 may for instance implement a location management function (LMF). Regardless, in the example shown, the reference communication device selector 13 selects candidate reference communication devices 12C-1 , 12C-2, and 12C-3 as reference communication devices 12R with which the target communication device 12T is to perform sidelink positioning measurements, e.g., consistent with Figure 1.

Some embodiments herein provide positioning assistance information that assists the reference communication device selector 13 with the selection of which candidate reference communication device(s) 12C are to serve as a positioning reference for sidelink positioning of the target communication device 12T. In some embodiments, the positioning assistance information can be exploited to select the reference communication device(s) in a way that advantageously improves the accuracy of sidelink positioning, as well as reduces positioning latency and signaling overhead.

Figure 3 shows one or more embodiments in this regard. As shown, the reference communication device selector 13 obtains positioning assistance information 16-1 for candidate reference communication device 12C-1. In one embodiment, the reference communication device selector 13 obtains the positioning assistance information 16-1 for candidate reference communication device 12C-1 by receiving that positioning assistance information 16-1 from the candidate reference communication device 12C-1 itself. For example, in embodiments where the reference communication device selector 13 is implemented by the target communication device 12T, the target communication device 12T may receive the positioning assistance information 16-1 over a sidelink with the candidate reference communication device 12C-1 , e.g., as part of (or as triggered by) a proximity services direct discovery procedure or a sidelink direct communication procedure. Or, the target communication device 12T may receive the positioning assistance information 16-1 from a network node, e.g., implementing an LMF. In other embodiments, by contrast, the reference communication device selector 13 obtains the positioning assistance information 16-1 for candidate reference communication device 12C-1 by generating that positioning assistance information 16-1. For example, in embodiments where the reference communication device selector 13 is implemented by the network node 14, the network node 14 may generate the positioning assistance information 16-1.

In any event, no matter how the positioning assistance information 16-1 is obtained, the positioning assistance information 16-1 for candidate reference communication device 12C-1 as shown may include state information 16S-1 . This state information 16S-1 is information indicating a state of the candidate reference communication device 12C-1 . The state information 16S-1 may for instance indicate the state of the candidate reference communication device 12C-1 in terms of a set of one or more attributes or parameters characterizing the candidate reference communication device 12C-1 at a certain time, e.g., where the attribute(s) or parameter(s) may vary over time.

In one embodiment, for example, the state information 16S-1 includes information characterizing physical movement of the candidate reference communication device 12C-1. For instance, the state information 16S-1 may characterize a velocity of the candidate reference communication device 12C-1 , an acceleration of the candidate reference communication device 12C-1 , an angular velocity of the candidate reference communication device 12C-1 , or any combination thereof. Alternatively or additionally, the state information 16S-1 may indicate a traveling path of the candidate reference communication device 12C-1 . Alternatively or additionally, the state information 16S-1 may include information indicating whether or not the candidate reference communication device 12C-1 is stationary. The stationary nature of the candidate reference communication device 12C-1 may for instance be dictated by the type or configuration of the candidate reference communication device 12C-1 , or may be dictated by actual detection that the candidate reference communication device 12C-1 has remained stationary, at least to a threshold extent and/or at least for a threshold amount of time.

The state information 16S-1 may alternatively or additionally characterize physical orientation of the candidate reference communication device 12C-1 . Such orientation may be a relative orientation, e.g., face-up or face-down, or may be an absolute orientation, e.g., facing northeast.

In still other embodiments, the state information 16S-1 may alternatively or additionally include information indicating a state of a battery of the candidate reference communication device 12C-1 . For example, the state of the battery of the candidate reference communication device 12C-1 includes a remaining battery life of the battery and/or whether the battery is charging.

The positioning assistance information 16-1 for candidate reference communication device 12C-1 as shown may alternatively or additionally include node information 16N-1. The node information 16N-1 is information about one or more node(s) 18-1... 18-N (collectively node(s) 18) whose position is known to the candidate reference communication device 12C-1 , e.g., at least relative to a position of the candidate reference communication device 12C-1 . The node(s) 18 may for instance include one or more communication devices whose position is known to the candidate reference communication device 12C-1 and/or include one or more transmission-reception points (TRPs) whose position is known to the candidate reference communication device 12C-1.

Regardless, the node information 16N-1 may, as an example, include one or more identifies identifying the node(s) 18 whose position is known to the candidate reference communication device 12C-1 . Alternatively or additionally, the node information 16N-1 may include, for each of the node(s) 18, information indicating a position of the node, e.g., relative to a position of the candidate reference communication device 12C-1 . In this case, for instance, the node information 16N-1 may include relative positioning information for each node indicating the position of the node relative to a position of the candidate reference communication device 12C-1 , e.g., in terms of a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device 12C-1 .

In still other embodiments, the node information 16N-1 may include, for each of the node(s) 18, information indicating a state of the node. The state may be indicated for instance similarly as described above for the candidate reference communication device 12C-1 .

Although Figure 3 shows an example focusing on positioning assistance information 16- 1 for a single candidate reference communication device 12C-1 , the reference communication device selector 13 may in fact obtain positioning assistance information for each of multiple candidate reference communication devices. As shown in Figure 4, for instance, the reference communication device selector 13 obtains respective positioning assistance information 16- 1... 16-6 (generally, positioning assistance information 16) for each of multiple candidate reference communication devices 12C-1... 12C-6, e.g., by receiving or generating that positioning assistance information 16-1... 16-6.

In any event, the reference communication device selector in some embodiments exploits such positioning assistance information 16 to intelligently select the reference communication device(s) 12R that are to serve as a positioning reference for sidelink positioning of the target communication device 12T. Some embodiments for example exploit the positioning assistance information to (preferentially) select, from among the candidate reference communication devices 12C, one or more candidate reference communication device that know the position of at least one node whose position is also known to the target communication device 12T. Figure 5 shows one example.

As shown, candidate reference communication devices 12C-1 and 12C-2 provides respective positioning assistance information 16-1 and 16-2. The positioning assistance information 16-1 for candidate reference communication device 12C-1 indicates that candidate reference communication devices 12C-1 knows the position of node 18-1 , e.g., in terms of the relative distance between candidate reference communication devices 12C-1 and node 18-1 , as indicated by the solid line between the candidate reference communication devices 12C-1 and node 18-1. The positioning assistance information 16-2 for candidate reference communication device 12C-2 indicates that candidate reference communication devices 12C-2 similarly knows the position of nodes 18-2 and 18-3.

In this example, the target communication device 12T also knows the position of node 18-1 , e.g., in terms of the relative distance between target communication device 12T and node 18-1 , as indicated by the solid line between the target communication devices 12T and node 18- 1 . But the target communication device 12T does not know the position of either node 18-2 or 18-3. Accordingly, in this example, the reference communication device selector 11 selects candidate reference communication device 12C-1 (instead of candidate reference communication device 12C-2) because, according to the positioning assistance information 16-1 , candidate reference communication device 12C-1 knows the position of node 18-1 and node 18-1 ’s position is also known to the target communication device 12T. Indeed, selecting candidate reference communication device 12C-1 means that the target communication device 12T will determine the (relative) position of that candidate reference communication device 12C-1 , e.g., in terms of the relative distance between the target communication device 12T and candidate reference communication device 12C-1 . This in turn means that the relative distances between the target communication device 12T, node 18-1 , and candidate reference communication device 12C-1 will all be known, as the 3 sides of a triangle, such that the position of the target communication device 12T can be estimated.

Note that, in some embodiments, selection may account for one or more other factors as well. In in this case, candidate reference communication device(s) that know the position of at least one node whose position is also known to the target communication device 12T are preferred or prioritized for selection. But their selection may be outweighed by one or more other factors. Generally, then, the reference communication device selector 11 may preferentially select, from among the candidate reference communication devices 12C, one or more candidate reference communication device that know the position of at least one node whose position is also known to the target communication device 12T.

Alternatively or additionally to that described above, the reference communication device selector 13 in some embodiments exploits the state information 16S-1 to (preferentially) select candidate reference communication device(s) that have a certain state (e.g., are stationary or have at least a minimum battery life remaining) or that have a state most similar to that of the target communication device 12T (e.g., similar physical movement and/or orientation).

Selecting reference communication device(s) 12R intelligently in this and other ways using the positioning assistance information 16 may advantageously improve the accuracy of sidelink positioning, as well as reduce positioning latency and signaling overhead.

Note that communication device 12T herein is referred to as the target communication device 12T simply because it is the target of positioning in embodiments herein. The target nature of communication device 12T thereby reflects the role of communication device 12T in a positioning procedure or process, rather than reflecting anything about the type, capabilities, structure, or configuration of the communication device 12T. In fact, communication device 12T may be the target for positioning in one positioning procedure or process, but be a reference communication device for positioning in a different positioning procedure or process.

Some embodiments herein are exemplified in the following context for sidelink positioning in New Radio (NR). In this example, the target communication device 12T is exemplified as a target user equipment (UE) and the sidelink is exemplified as a PC5 interface. Peer communication devices may be exemplified as Proximity Services (ProSe) UEs. Positioning in NR

Some embodiments herein are applicable for positioning in NR, e.g., as supported by the architecture shown in Figure 6. The Location Management Function (LMF) is the location node in NR. There are also interactions between the location node and the gNodeB via the NR Positioning Protocol (NRPPa) protocol. The interactions between the gNodeB and the device is supported via the Radio Resource Control (RRC) protocol.

In the legacy Long Term Evolution (LTE) standards, the following techniques are supported.

Enhanced Cell ID. Essentially cell ID information to associate the device to the serving area of a serving cell, and then additional information to determine a finer granularity position.

Assisted Global Navigation Satellite System (GNSS). GNSS information retrieved by the device, supported by assistance information provided to the device from Enhanced Serving Mobile Location Center (E-SMLC).

OTDOA (Observed Time Difference of Arrival). The device estimates the time difference of reference signals from different base stations and sends to the E-SMLC for multilateration.

Uplink Time Difference of Arrival (UTDOA) (Uplink TDOA). The device is requested to transmit a specific waveform that is detected by multiple location measurement units (e.g., an eNB) at known positions. These measurements are forwarded to E-SMLC for multilateration.

Sensor methods such as Biometric pressure sensor which provides vertical position of the device and Inertial Motion Unit (IMU) which provides displacement.

NR supports the below radio access technology (RAT) dependent positioning methods.

DL-TDOA: The downlink (DL) TDOA positioning method makes use of the DL Reference Signal Time Difference (RSTD) (and optionally DL Positioning Reference Signal, PRS, Reference Signal Received Power, RSRP) of downlink signals received from multiple TPs (transmission points), at the UE. The UE measures the DL RSTD (and optionally DL PRS RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to locate the UE in relation to the neighboring TPs.

Multi-RTT: The Multi-RTT (round trip time) positioning method makes use of the UE Rx-Tx measurements and DL PRS RSRP of downlink signals received from multiple TRPs, measured by the UE and the measured gNB Rx-Tx measurements and UL sounding reference signal (SRS)-RSRP at multiple TRPs of uplink signals transmitted from UE.

UL-TDOA: The UL TDOA positioning method makes use of the UL TDOA (and optionally UL SRS-RSRP) at multiple RPs of uplink signals transmitted from UE. The RPs measure the UL TDOA (and optionally UL SRS-RSRP) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE.

DL-AoD: The DL angle of departure (AoD) positioning method makes use of the measured DL PRS RSRP of downlink signals received from multiple TPs, at the UE. The UE measures the DL PRS RSRP of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to locate the UE in relation to the neighboring TPs.

UL-AoA: The UL angle of arrival (AoA) positioning method makes use of the measured azimuth and zenith of arrival at multiple RPs (reception points) of uplink signals transmitted from the UE. The RPs measure azimuth AoA (A-AoA) and zenith AoA (Z-AoA) of the received signals using assistance data received from the positioning server, and the resulting measurements are used along with other configuration information to estimate the location of the UE.

NR-ECID: NR Enhanced Cell ID (NR E-CID) positioning refers to techniques which use additional UE measurements and/or NR radio resource and other measurements to improve the UE location estimate.

The positioning modes can be categorized in the below three areas. UE-Assisted: The UE performs measurements with or without assistance from the network and sends these measurements to the E-SMLC where the position calculation may take place.

UE-Based: The UE performs measurements and calculates its own position with assistance from the network.

Standalone: The UE performs measurements and calculates its own without network assistance.

Sidelink in NR

Some embodiments herein are applicable for sidelink. In this regard, 3GPP specified the LTE D2D (device-to-device) technology, also known as ProSe (Proximity Services) in the Release 12 and 13 of LTE. Later in Release 14 and 15, LTE vehicle to everything (V2X) related enhancements targeting the specific characteristics of vehicular communications were specified. A new radio (NR) version of V2X communications mainly targets advanced V2X services, which can be categorized into four use case groups: vehicles platooning, extended sensors, advanced driving, and remote driving. The advanced V2X services would require enhancements of the NR system and a new NR sidelink framework could help to meet the stringent requirements in terms of latency and reliability. NR V2X system also expects to have higher system capacity and better coverage and to allow for an easy extension to support the future development of further advanced V2X services and other services.

Given the targeted services by NR V2X, it is commonly recognized that groupcast/multicast and unicast transmissions are desired, in which the intended receiver of a message consists of only a subset of the vehicles in proximity to the transmitter (groupcast) or of a single vehicle (unicast). For example, in the platooning service there are certain messages that are only of interest of the members of the platoon, making the members of the platoon a natural groupcast. In another example, the see-through use case most likely involves only a pair of vehicles, for which unicast transmissions naturally fit. Therefore, NR sidelink can support broadcast (as in LTE), groupcast and unicast transmissions. Furthermore, NR sidelink is designed in such a way that its operation is possible with and without network coverage and with varying degrees of interaction between the UEs (user equipment) and the NW (network), including support for standalone, network-less operation.

Some embodiments herein are applicable for National Security and Public Safety, NSPS, e.g., taking NR Release 16 sidelink as a baseline. Besides, in some scenarios NSPS services need to operate with partial or without NW coverage, such as indoor firefighting, forest firefighting, earthquake rescue, sea rescue, etc., where the infrastructure is (partially) destroyed or not available, therefore, coverage extension is a crucial enabler for NSPS, for both NSPS services communicated between UE and cellular NW and that communicated between UEs over sidelink. Coverage extension for sidelink-based communication may include both UE to NW relay for cellular coverage extension and UE to UE relay for sidelink coverage extension.

Scenarios

Sidelink communication can occur in three different scenarios; in-coverage, out-of- coverage, and partial coverage. UEs that are in coverage of a gNB rely on configuration (through RRC and/or system information block, SIB) from the network.

UEs that are out of coverage rely on a (pre-)configuration available in the SIM of the device. Pre-configuration is (semi-)static. Updates are possible (when the UE is in coverage). Sidelink Transmission modes

Sidelink communication can be performed in three different transmission modes; unicast, broadcast, and groupcast.

ProSe Direct Discovery

Some embodiments herein are applicable in a network where the following models for ProSe Direct Discovery exist: Model A ("l am here")

This model defines two roles for the ProSe-enabled UEs that are participating in ProSe Direct Discovery.

Announcing UE: The UE announces certain information that could be used by UEs in proximity that have permission to discover.

Monitoring UE: The UE that monitors certain information of interest in proximity of announcing UEs.

In this model, the announcing UE broadcasts discovery messages at pre-defined discovery intervals and the monitoring UEs that are interested in these messages read them and process them.

Model B ("who is there?"/ "are you there?")

This model when restricted discovery type is used, defines two roles for the ProSe- enabled UEs that are participating in ProSe Direct Discovery.

Discoverer UE: The UE transmits a request containing certain information about what it is interested to discover.

Discoveree UE: The UE that receives the request message can respond with some information related to the discoverer's request.

It is equivalent to "who is there/are you there" since the discoverer UE sends information about other UEs that would like to receive responses from, e.g., the information can be about a ProSe Application Identity corresponding to a group and the members of the group can respond. Sidelink Positioning

Sidelink positioning as used herein may apply to in-coverage, partial-coverage and out-of- coverage scenarios, e.g., for V2X (TR38.845), public safety (TR38.845), commercial (TS22.261), HOT (TS22.104)

Some embodiments herein concern the positioning architecture and signalling procedures (e.g., configuration, measurement reporting, etc.) to enable sidelink positioning covering both UE based and network based positioning.

As used herein, a target UE is the UE that should be positioned. A reference UE is a UE with which the target UE performs sidelink positioning measurements with. A candidate reference UE is a UE with which the target UE may select to perform sidelink positioning measurements with.. A PRU UE is a UE with a priori known position (obtained from e.g. GNSS or configured as part of installation).

Notice that Target UE / Reference UE defines a relation between two UEs. A Target UE may at the same time also be a Reference UE to some other Target UE, etc.

Figure 7 shows an example schematic for sidelink communication configured for UE positioning.

Some embodiments herein address certain challenge(s) in this context.

Geometric positioning methods heretofore rely on time-of-arrival (TOA) or angular measurements of reference signals (RS) transmitted between the UE with unknown location and transmission-reception points (TRPs) with known locations. With the introduction of sidelink (SL) positioning measurements over the PC5 interface between UEs in proximity, SL measurement of TOA and angle-of-arrival/departure between the target UE and reference UEs in its proximity can be used for geometric positioning as well.

However, TOA and angular measurements between the target UE and TRPs or reference UEs are heavily biased under non-line-of-sight (NLOS) conditions. Hence, for accurate positioning, geometric positioning methods require LOS measurements between the target UE and multiple TRPs/reference UEs. This may not always be available depending on network deployment.

Furthermore, even when there are LOS links from the UE to a sufficient number of TRPs/reference UEs, the positioning accuracy depends on the deployment geometry, i.e., where TRPs and reference UEs are located with respect to each other. Depending on the geometric dilution of precision (GDOP), a small error in measured TOA or angle may result in a large position error.

When the range from the UE to a network TRP/reference UE is large, then the path loss can render the transmitted reference signals undetectable resulting in that no positioning measurements can be obtained from this link.

Certain aspects of the disclosure and their embodiments may provide solutions to these or other challenges. Some embodiments herein introduce signaling of assistance data to help identify and select reference UEs for sidelink positioning measurements for a Target UE. With a good selection of reference UEs, problems with NLOS, GDOP and pathloss can be minimized and the positioning accuracy and latency can be optimized.

A reference UE can have known location. It is then called a positioning reference unit UE (PRU UE). Some embodiments herein include methods that are applicable to reference UEs which are PRU UEs as well as UEs without known location.

Some embodiments herein in this regard include overall sequential protocols and procedure flow for Sidelink positioning. Assistance data parameters are suggested. Different signaling alternatives for the assistance data are proposed, including enhancements to the ProSe Direct Discovery procedures (Mode A and Mode B) and the sidelink direct communication procedure. Some embodiments herein also provide a procedure for assistance data updates

The assistance data can be used by a Target UE or LMF to initiate sidelink measurement procedures.

Certain embodiments may provide one or more of the following technical advantage(s). In situations where positioning of a target UE with acceptable accuracy is not possible using DL and/or UL methods due to e.g. NLOS conditions or bad radio conditions, positioning can sometimes be possible using additional SL positioning measurements between the target UE and appropriate reference UEs. An intelligent selection of reference UEs for sidelink positioning measurements according to some embodiment has one or more of the following advantages.

The performed measurement will be more informative and have higher quality than with a random selection of reference UEs.

A higher positioning accuracy can thus be achieved.

It will be possible to reduce the number of SL measurements that must be performed since the measurements performed will have high quality.

Some embodiments provide reduced positioning latency since less sidelink measurements are needed.

Some embodiments provide reduced signaling overhead since less sidelink measurements are needed.

With reference UEs that are PRU UEs, it is possible for a target UE to perform positioning without any network TRPs.

Sidelink positioning measurements may be based on the positioning methods RTT, TDOA and/or AOA/D. These methods assume the possibility to perform range (RTT), pseudorange (TDOA), and angle-of-arrival/departure (AOA/D) measurements between UEs.

Range measurements: An estimate of range between two UEs can be obtained from TOA measurements of reference signals (RSs). For synchronized UEs it is enough to measure the TOA at one UE for one RS in one direction. For unsynchronized UEs, which is the most common situation, the round-trip time (RTT) is typically needed for RSs in both directions. Regarding transmission mode, the following cases can be differentiated between.

1 -to-1 : Range between the Target UE and one reference UE. This can be accomplished by unicast transmission of reference signals in both directions.

1-to-many: Range between the Target UE and several reference UEs. This can be accomplished by Target UE broadcast or groupcast of reference signal followed by reference UE responses with unicast/groupcast/broadcast of reference signals.

Many-to-1 : Range between many Target UEs and one reference UE. This can be accomplished by many Target UEs unicast reference signal followed by reference UE response with groupcast/broadcast reference signal.

Many-to-many: Range between many Target UEs and many Reference UEs. This can be accomplished by Target UEs broadcast and Reference UEs broadcast of reference signals.

Naturally, the 1-to-many, many-to-1 and many-to-many cases can be realized by repeating a 1 -to-1 procedure. For each of the above cases, the order of transmission can be changed, i.e., reference UE can transmit reference signal before Target UE.

Pseudo-range measurements: This is a range-measurement corrupted by a bias due to asynchronization between the sender and the receiver. Pseudo-range measurements are used in the TDOA positioning method because then the bias can be cancelled by taking the difference between two measurements, compare with the reference signal time difference, RSTD, positioning measurement.

Angle-of-arrival (AOA): A target UE can estimate AOA of received sidelink reference signals from reference UEs. A reference UE can estimate AOA of a received sidelink reference signal from the target UE.

Angle-of-departure (AOD): Similar to AOA, the AOD can be estimated for a reference signal transmitted by either the Target UE or a reference UE.

Figure 8 shows Sidelink positioning measurements, with one Target UE to many Reference UEs (1-to-many).

Figure 9 shows Sidelink positioning measurements, with many Target UEs to one Reference UEs (many-to-1).

Figure 10 shows Sidelink positioning measurements, with many Target UEs to many Reference UEs (many-to-many). For the many-to-many case, a UE can be both a target UE that needs to be positioned and at the same time a reference UE for some other target UE.

Reference UE assistance information

Table 1 below shows an example of the positioning assistance information 16-1 described in Figure 3. In one embodiment, one or multiple of the attributes listed in Table 1 can be provided for any candidate reference UE, to assist selecting reference UEs for a Target UE.

For UE based positioning, the attributes can be provided by the candidate reference UE to the Target UE over PC5, either via direct PC5-RRC, via sidelink broadcast/g roupcast, or via sidelink discovery. For Network based positioning, the attributes can be provided by the candidate reference UE to LMF or some other network node. For Network based positioning, some attributes may be computed by e.g., LMF. For UE based and network assisted positioning, the attributes can be provided by LMF or some other network node to the Target UE.

Table 1 : Assistance information, attributes of a candidate reference UE.

The state information in Table 2 is an example of the state information 16S-1 in Figure 3, e.g., also in conjunction with the stationary UE indicator, the travelling path, the battery status information, and/or the serving cell ID in Table 1 . Table 2: State information for candidate reference UE.

Stationary UE indicator: In many cases, a stationary UE is a better choice of reference. For instance, it does not introduce doppler effects to the measurements. Moreover, for a non- stationary UE other state-information may have a short validity time, i.e. they will be outdated shortly.

UE type: It may be more relevant to perform sidelink positioning measurements with a specific type of UE. For instance, for the positioning of a vehicle it may be relevant to find other vehicles as references.

Travelling path: A UE with a specific Traveling path can be a good reference. For instance there can be “leader-follower” applications, where one agent (UE) is the leader and other UEs follow. The leader has a specific traveling path and the followers follow by performing relative positioning measurements to it and stay in its vicinity.

Battery status information: As mentioned, in some cases the selection of reference UE may take into account remaining battery power or source of power (battery charging options) as an input criterion.

Position and Position uncertainty: The position of a reference UE is important for the Target UE positioning accuracy.

Velocity, velocity uncertainty, acceleration, acceleration uncertainty, orientation, orientation uncertainty, angular velocity, angular velocity uncertainty: Platooning use-cases (trucks following each other on a highway) - it can be good to select references with similar characteristics as the Target UE itself.

Time: Use the time-stamp in order to not use old state-information that may not be accurate anymore. Neighbor UEs of Reference LIE

The list of additional UEs is one example of the node information 16N-1 in Figure 3, i.e., where the additional UEs are the nodes in Figure 3. In Table 1 , the list of additional UEs for the candidate reference UE can include, for each additional UE, one or several of the attributes in Table 3.

Table 3: Attributes of an additional UE.

In one embodiment, the list of additional UEs of the candidate reference UE is sorted in descending or ascending order according to the distance between the candidate reference UE and the additional UE. In another embodiment, the list of additional UEs is sorted according to the relative orientation between the candidate reference UE and the additional UE. In another embodiment, the list of additional UEs of the candidate reference UE is sorted in descending or ascending order according to the signal strength or the signal quality.

In one embodiment, for UE based positioning, the list of additional UEs that is provided by a candidate reference UE to the Target UE can be filtered to only include UEs which are in proximity of the Target UE. In another embodiment, the list of additional UEs is independent of whether they are in proximity of the Target UE.

Consider an example. ProSe Direct discovery has identified that UE2, UE3 and UE4 are in proximity of the target UE (UE1). UE2 has already performed sidelink positioning measurements with UE3 and UE5.

Alternative 1) UE2 can then include both UE3 and UE5 in its list of additional UEs as it provides its assistance information to the Target UE

Alternative 2) UE2 can include only UE3 but exclude UE5 from its list of additional UEs since UE5 is not in the proximity of Target UE.

For UE based positioning, the list of additional UEs can be used by the Target UE in several ways. In one way, it can guide the target UE to find additional reference UEs to perform sidelink positioning measurements with. In another way, if the Target UE already has performed sidelink positioning measurement with one of the additional UEs as reference UE, then relative positioning information (between candidate reference UE and the additional UE) can be useful.

Figure 11 shows an example for UE based positioning: The Candidate Reference UE provides assistance data to the Target UE. Sidelink measurements between UE1 and UE3 gives relative position information (1-3).

In Figure 11 , UE1 (Target) should evaluate whether to initiate a sidelink positioning measurement procedure with Candidate Reference UE3. Sidelink measurements between UE1 and UE3 will give relative position information (1 -3). The assistance data from UE3 includes the additional UE2 and relative position information between the UE3 and UE2 (2-3). Target UE1 already has the UE2 as a reference UE and knows relative position information (1-2). If UE3 is selected as reference UE then the lengths of three sides of a triangle are known by Target UE1 , which can then compute its position.

For network-based positioning, the LMF or some other network entity keeps track of the assistance information (including the list of additional UEs) of multiple UEs. This allows the network to aggregate absolute and relative position information of each UE. For instance, the aggregated information can be represented with a graph where each UE is a node and each sidelink positioning measurement (e.g. range) between two UEs is represented with an edge. Clustering algorithms can be applied to the graph to identify clusters of UEs. Other graph algorithms can be applied to identify new sidelink positioning measurements that will be good to perform (i.e., identify what additional edges that are useful). When a new Target UE appears, such graph may already be in place so that the network can suggest or request what Reference UEs the Target UE shall perform sidelink positioning measurements with.

Consider the example in Figure 12 for Network based positioning. The network can suggest or request Reference UEs that the Target UEO should perform sidelink positioning measurements with based on reference UE assistance information and proximity information. In this example, the Target UEO appears. The network already knows the assistance information of UE1 through UE5. The network may represent relative position information between any two UEs with edges in a graph. From ProSe Direct Discovery it is identified that the set of proximal UEs to UEO is P(UEO) = {UE 1 ,UE2, UE3}, see the large circle. The network may suggest or request UEO to perform sidelink positioning measurements with UE2 and UE3 rather than UE1 , because these are the two most informative measurements that can be done.

Higher order neighbor UEs of Reference UE

In one embodiment, for UE based positioning, each additional UE of the candidate reference UE can, in addition to the attributes of Table 4, provide a list of additional UEs. One interpretation of this nested structure is that the candidate reference UE provides its neighbors and its neighbors’ neighbors. That is, both its first order neighbors and its second order neighbors. This is particularly useful in case some of the UE are out of coverage and cannot reach the network directly.

Note that, for network based or network assisted positioning, the network can know the assistance data of each UE, as far as they are in coverage. Consequently, the second (and third and fourth...) order neighbors of each UE can be computed by the network itself. Neighbor TRPs of Reference UE

The list of additional TRPs is an alternative or additional example of the node information 16N-1 in Figure 3, i.e., where the additional TRPs are the nodes in Figure 3.

In Table 1 , the list of additional RAN TRPs for the candidate reference UE can include, for each additional RAN TRP one or several of the attributes of Table 4.

Table 4: Attributes of an additional RAN TRP.

For UE based positioning, the list of additional RAN TRPs can be used by the Target UE in several ways. In one way, it can guide the target UE to find TRPs to perform uplink/downlink positioning measurements with. In another way, if the Target UE already has performed uplink and/or downlink positioning measurement with one of the additional RAN TRPs, then relative positioning information (between candidate reference UE and the additional RAN TRP) can be useful.

Procedures for providing Reference UE Assistance Information

In one embodiment, the reference UE assistance information over sidelink can be provided or request in different ways, both for UE-based and Network based positioning. The target UE can discover candidate reference UEs by triggering at least one of the following existing procedure:

1 . ProSe direct discovery method, Model A

2. ProSe direct discovery method, Model B

3. Sidelink Direct communication procedure Reference UE Assistance Information Update

The assistance data of Table 1 through Table 4 can change over time for a UE. This can happen for instance when the UE has performed new sidelink positioning measurements or when a UE has established its position. The change may be important for other UEs, in particular neighbor UEs that has previously received assistance data which has turned obsolete.

Let UE1 be a UE and P(UE1 ) a set of UEs. This set may include proximal UEs (to UE1 ) or UEs to which UE1 has provided its assistance data (i.e., the attributes in Table 1) at an earlier stage.

In one embodiment, for UE based positioning, when some attribute of the assistance data of Table 1 through Table 4 has changed for UE1 , then UE1 can signal a Reference UE assistance information update to UEs in the set P(UE1). The update may be sent over the PC5 interface. The update may also be sent from UE1 to LMF or some other network node, and then forwarded to the set P(UE1) over Uu interface.

It may cause too much overhead to send an update with minor change. For this reason, the trigger conditions for Reference UE assistance information update can be set differently. In one embodiment, all changes in assistance information will trigger sending an update (maximal overhead). In another embodiment, only changes of specific attributes will trigger sending an update. In another embodiment, changes are signaled only periodically when e.g., a configured timer expires. In another embodiment, changes are signaled only upon a request from a peer UE or the network. In another embodiment, only changes of specific attributes and the change are larger than some predefined threshold, will trigger sending an update.

Consider an example. At time t=tO, UEO is a Target UE that searches for Reference UEs. By ProSe Direct Discovery, {UE1 ,UE2} are identified to be in its proximity. The assistance data of both UE1 and UE2 is sent to UEO. UEO performs sidelink positioning measurement with UE1 as a reference (but not with UE2). Since UE1 has shared its assistance data with UEO, it holds that P(UE1 ) = {UEO}. Similarly, since UE2 has shared its assistance data with UEO it holds that P(UE2) = {UEO}.

At time t= t1 >t0, UE2 gets GNSS coverage and acquires its absolute position with high accuracy. UE2 sends an Assistance Information Update to P(UE2) = {UEO}. Given the updated assistance information of UE2, UEO choose to initiate a sidelink positioning measurement with UE2.

For Network based positioning, the network keeps the assistance information of each UE. For instance, LMF can keep both absolute and relative (from sidelink measurements) positioning information of UEs. The network can update the assistance information by itself from e.g., new uplink or downlink measurements. The network can also request to be informed of the result of new sidelink measurements or other measurements that requires to update the assistance information for a UE. In this way, the network can keep up-to-date assistance information.

As used herein, a term node is used which can be a network node or a UE. Examples of network nodes are NodeB, base station (BS), multi-standard radio (MSR) radio node such as MSR BS, eNodeB, gNodeB. MeNB, SeNB, integrated access backhaul (IAB) node, network controller, radio network controller (RNC), base station controller (BSC), relay, donor node controlling relay, base transceiver station (BTS), Central Unit (e.g. in a gNB), Distributed Unit (e.g. in a gNB), Baseband Unit, Centralized Baseband, C-RAN, access point (AP), transmission points, transmission nodes, RRU, RRH, nodes in distributed antenna system (DAS), core network node (e.g. MSC, MME etc), O&M, OSS, SON, positioning node (e.g. E-SMLC),etc.

Another example of a node is user equipment (UE), which is a non-limiting term and refers to any type of wireless device communicating with a network node and/or with another UE in a cellular or mobile communication system. Examples of UE are target device, device to device (D2D) UE, vehicular to vehicular (V2V), machine type UE, MTC UE or UE capable of machine to machine (M2M) communication, PDA, Tablet, mobile terminals, smart phone, laptop embedded equipment (LEE), laptop mounted equipment (LME), USB dongles etc.

In some embodiments, generic terminology, “radio network node” or simply “network node (NW node)”, is used. It can be any kind of network node which may comprise base station, radio base station, base transceiver station, base station controller, network controller, evolved Node B (eNB), Node B, gNodeB (gNB), relay node, access point, radio access point, Remote Radio Unit (RRU) Remote Radio Head (RRH), Central Unit (e.g. in a gNB), Distributed Unit (e.g. in a gNB), Baseband Unit, Centralized Baseband, C-RAN, access point (AP) etc.

The term radio access technology, or RAT, may refer to any RAT e.g., UTRA, E-UTRA, narrow band internet of things (NB-loT), WiFi, Bluetooth, next generation RAT, New Radio (NR), 4G, 5G, etc. Any of the equipment denoted by the terminology node, network node or radio network node may be capable of supporting a single or multiple RATs.

Further, what is described herein is described in the context of NR, but can be applied also to LTE and any radio access technology that enable the direct communication at least between two nearby devices with passing through a network node.

In view of the modifications and variations herein, Figure 13 depicts a method performed by a target communication device 12T configured for use in a communication network 10 in accordance with particular embodiments. The method comprises receiving positioning assistance information 16 for a candidate reference communication device 12C (Block 1300). In some embodiments, the candidate reference communication device 12C is a candidate for the target communication device 12T to select as a reference communication device 12R with which to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information 16 for the candidate reference communication device 12C includes information 16S indicating a state of the candidate reference communication device 12C. Additionally or alternatively, the positioning assistance information 16 for the candidate reference communication device 12C includes information 16N about one or more nodes 18 whose position is known to the candidate reference communication device 12C.

In some embodiments, the information about the one or more nodes includes one or more identities identifying the one or more nodes whose position is known to the candidate reference communication device 12C.

In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node. In one or more of these embodiments, the information indicating the position of the node is relative positioning information indicating the position of the node relative to a position of the candidate reference communication device 12C. In one or more of these embodiments, the relative positioning information indicating the position of the node indicates a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device 12C.

In some embodiments, the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device 12C relative to a position of the candidate reference communication device 12C.

In some embodiments, the positioning assistance information 16 for the candidate reference communication device 12C further includes information indicating a type of the candidate reference communication device 12C from among multiple possible types. In some embodiments, the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type. In some embodiments, the information about the one or more nodes includes, for each of the one or more nodes, information indicating sidelink positioning measurement capabilities of the node. Additionally or alternatively, the information about the one or more nodes includes, for each of the one or more nodes, information indicating sidelink reference signal transmission capabilities of the node.

In some embodiments, the one or more nodes includes one or more communication devices whose position is known to the candidate reference communication device 12C.

In some embodiments, the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device 12C.

In some embodiments, the information about the one or more nodes is sorted according to one or more sorting criterions. In some embodiments, the one or more sorting criterions include a geographical distance of the one or more nodes from the candidate reference communication device 12C. Additionally or alternatively, the one or more sorting criterions include an orientation of the one or more nodes relative to the candidate reference communication device 12C. Additionally or alternatively, the one or more sorting criterions include a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device 12C.

In some embodiments, the one or more nodes are one or more nodes whose position is known to the candidate reference communication device 12C and that are in proximity of the candidate reference communication device 12C according to a proximity criterion.

In some embodiments, the positioning assistance information 16 is received as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the positioning assistance information 16 is received as part of, or is triggered by, a sidelink direct communication procedure.

In some embodiments, the method further comprises receiving an update to at least some of the positioning assistance information 16 (Block 1310). In one or more of these embodiments, the update is received responsive to requesting the update. In one or more of these embodiments, the update is received periodically. In one or more of these embodiments, the positioning assistance information 16 includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information 16 is received from the candidate reference communication device 12C over a sidelink between the target communication device 12T and the candidate reference communication device 12C. In other embodiments, the positioning assistance information 16 is received from a network node in the communication network. In one or more of these embodiments, the network node implements a location management function, LMF.

In some embodiments, the method further comprises using the positioning assistance information 16 to select one or more candidate reference communication devices as one or more reference communication devices with which to perform a sidelink positioning measurement (Block 1320). In one such embodiment, the method also comprises performing a sidelink positioning measurement with each of the one or more selected reference communication devices (Block 1330).

In some embodiments, the positioning assistance information 16 for the candidate reference communication device 12C is received as part of receiving positioning assistance information 16 for each of multiple candidate reference communication devices. In some embodiments, the positioning assistance information 16 for each candidate reference communication device 12C includes information 16S indicating a state of the candidate reference communication device 12C. Additionally or alternatively, the positioning assistance information 16 for each candidate reference communication device 12C includes information 16N about one or more nodes 18 whose position is known to the candidate reference communication device 12C. In one or more of these embodiments, the method further comprises using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which to perform a sidelink positioning measurement. In one or more of these embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16, know the position of at least one node whose position is also known to the target communication device 12T. In one or more of these embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16, know the position of at least one node whose position is also known to the target communication device 12T. In one or more of these embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the received positioning assistance information 16. In some embodiments, a candidate reference communication device 12C meets the selection criteria if the received positioning assistance information 16 indicates a relative position between the candidate reference communication device 12C and a node. Additionally, a candidate reference communication device 12C meets the selection criteria if a relative position between that node and the target communication device 12T is known. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In some embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16 has a physical movement and/or physical orientation most similar to that of the target communication device 12T. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. In some embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information 16. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In some embodiments, using the positioning assistance information 16 received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information 16.

In one or more embodiments, the method further comprises performing sidelink positioning with assistance from the received positioning assistance information 16.

Figure 14 depicts a method performed by a candidate reference communication device 12C in accordance with other particular embodiments. The method comprises transmitting positioning assistance information 16 for the candidate reference communication device 12C (Block 1400). In some embodiments, the positioning assistance information 16 is to assist a target communication device 12T with sidelink positioning. In some embodiments, the positioning assistance information 16 includes information 16S indicating a state of the candidate reference communication device 12C. Additionally or alternatively, the positioning assistance information 16 includes information 16N about one or more nodes 18 whose position is known to the candidate reference communication device 12C.

In some embodiments, the positioning assistance information 16 for the candidate reference communication device 12C further includes information indicating a type of the candidate reference communication device 12C from among multiple possible types. In some embodiments, the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

In some embodiments, the positioning assistance information 16 is transmitted as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the positioning assistance information 16 is transmitted as part of, or is triggered by, a sidelink direct communication procedure.

In some embodiments, the method further comprises transmitting an update to at least some of the positioning assistance information 16 (Block 1410). In one or more of these embodiments, the update is transmitted responsive to receiving a request for the update. In one or more of these embodiments, the update is transmitted periodically. In one or more of these embodiments, the positioning assistance information 16 includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information 16 is transmitted over a sidelink between the target communication device 12T and the candidate reference communication device 12C.

In some embodiments, the method further comprises performing a sidelink positioning measurement with the target communication device 12T (Block 1420).

Figure 15 depicts a method performed by a network node in accordance with other particular embodiments. The method comprises obtaining positioning assistance information 16 for a candidate reference communication device 12C (Block 1500). In some embodiments, the positioning assistance information 16 is to assist with positioning of a target communication device 12T. In some embodiments, the candidate reference communication device 12C is a candidate for selection as a reference communication device with which the target communication device 12T is to perform a sidelink positioning measurement. In some embodiments, the positioning assistance information 16 for the candidate reference communication device 12C includes information 16S indicating a state of the candidate reference communication device 12C. Additionally or alternatively, the positioning assistance information 16 for the candidate reference communication device 12C includes information about one or more nodes whose position is known to the network node.

In some embodiments, the positioning assistance information 16 is obtained as part of, or is triggered by, a proximity services direct discovery procedure.

In some embodiments, the method further comprises obtaining an update to at least some of the positioning assistance information 16 (Block 1510). In one or more of these embodiments, the update is obtained responsive to requesting the update. In one or more of these embodiments, the update is obtained periodically. In one or more of these embodiments, the positioning assistance information 16 includes an updateable set of one or more information elements that are updateable and a non-updateable set of one or more information elements that are not updateable. In some embodiments, the update is an update to one or more information elements in the non-updateable set.

In some embodiments, the positioning assistance information 16 is received from the candidate reference communication device 12C.

In some embodiments, the positioning assistance information 16 is received from a network node in the communication network.

In some embodiments, obtaining the positioning assistance information 16 comprises generating the positioning assistance information 16.

In some embodiments, the method further comprises using the positioning assistance information 16 to select one or more candidate reference communication devices as one or more reference communication devices with which the target communication device 12T is to perform a sidelink positioning measurement (Block 1520). In one such embodiment, the method also comprises transmitting signaling to the target communication device 12T commanding or recommending the target communication device 12T to perform a sidelink positioning measurement with each of the one or more selected candidate reference communication devices (Block 1530).

In some embodiments, the positioning assistance information 16 is obtained as part of obtaining positioning assistance information 16 for each of multiple candidate reference communication devices. In some embodiments, the positioning assistance information 16 for each candidate reference communication device includes information 16S indicating a state of the candidate reference communication device . Additionally or alternatively, the positioning assistance information 16 for each candidate reference communication device includes information 16N about one or more nodes 18 whose position is known to the candidate reference communication device. In one or more of these embodiments, the method further comprises using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which the target communication device 12T is to perform a sidelink positioning measurement. In one or more of these embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16, know the position of at least one node whose position is also known to the target communication device 12T. In one or more of these embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16, know the position of at least one node whose position is also known to the target communication device 12T. In one or more of these embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the obtained positioning assistance information 16. In some embodiments, a candidate reference communication device meets the selection criteria if the positioning assistance information 16 obtained for the candidate reference communication device indicates a relative position between the candidate reference communication device and a node. In some embodiments, a candidate reference communication device meets the selection criteria if a relative position between that node and the target communication device 12T is known. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node. In some embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information 16 has a physical movement and/or physical orientation most similar to that of the target communication device 12T. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. In some embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information 16. In one or more of these embodiments, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node. In some embodiments, using the positioning assistance information 16 obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information 16. In one or more of these embodiments, the method further comprises transmitting signaling to the target communication device 12T commanding or recommending the target communication device 12T to perform a sidelink positioning measurement with each of the one or more selected candidate reference communication devices.

In some embodiments, the method further comprises transmitting the obtained positioning assistance information 16 to the target communication device 12T (Block 1540).

Embodiments herein also include corresponding apparatuses. Embodiments herein for instance include a communication device configured to perform any of the steps of any of the embodiments described above for the target communication device 12T or any candidate reference communication device 12C-1... 12C-6.

Embodiments also include a communication device comprising processing circuitry and power supply circuitry. The processing circuitry is configured to perform any of the steps of any of the embodiments described above for the target communication device 12T or any candidate reference communication device 12C-1... 12C-6. The power supply circuitry is configured to supply power to the communication device.

Embodiments further include a communication device comprising processing circuitry. The processing circuitry is configured to perform any of the steps of any of the embodiments described above for the target communication device 12T or any candidate reference communication device 12C-1 ... 12C-6. In some embodiments, the communication device further comprises communication circuitry.

Embodiments further include a communication device comprising processing circuitry and memory. The memory contains instructions executable by the processing circuitry whereby the communication device is configured to perform any of the steps of any of the embodiments described above for the target communication device 12T or any candidate reference communication device 12C-1 ... 12C-6. Embodiments moreover include a user equipment (UE). The UE comprises an antenna configured to send and receive wireless signals. The UE also comprises radio front-end circuitry connected to the antenna and to processing circuitry, and configured to condition signals communicated between the antenna and the processing circuitry. The processing circuitry is configured to perform any of the steps of any of the embodiments described above for the target communication device 12T or any candidate reference communication device 12C-1... 12C-6. In some embodiments, the UE also comprises an input interface connected to the processing circuitry and configured to allow input of information into the UE to be processed by the processing circuitry. The UE may comprise an output interface connected to the processing circuitry and configured to output information from the UE that has been processed by the processing circuitry. The UE may also comprise a battery connected to the processing circuitry and configured to supply power to the UE.

Embodiments herein also include a network node 14 configured to perform any of the steps of any of the embodiments described above for the network node 14.

Embodiments also include a network node 14 comprising processing circuitry and power supply circuitry. The processing circuitry is configured to perform any of the steps of any of the embodiments described above for the network node 14. The power supply circuitry is configured to supply power to the network node 14.

Embodiments further include a network node 14 comprising processing circuitry. The processing circuitry is configured to perform any of the steps of any of the embodiments described above for the network node 14. In some embodiments, the network node 14 further comprises communication circuitry.

Embodiments further include a network node 14 comprising processing circuitry and memory. The memory contains instructions executable by the processing circuitry whereby the network node 14 is configured to perform any of the steps of any of the embodiments described above for the network node 14.

More particularly, the apparatuses described above may perform the methods herein and any other processing by implementing any functional means, modules, units, or circuitry. In one embodiment, for example, the apparatuses comprise respective circuits or circuitry configured to perform the steps shown in the method figures. The circuits or circuitry in this regard may comprise circuits dedicated to performing certain functional processing and/or one or more microprocessors in conjunction with memory. For instance, the circuitry may include one or more microprocessor or microcontrollers, as well as other digital hardware, which may include digital signal processors (DSPs), special-purpose digital logic, and the like. The processing circuitry may be configured to execute program code stored in memory, which may include one or several types of memory such as read-only memory (ROM), random-access memory, cache memory, flash memory devices, optical storage devices, etc. Program code stored in memory may include program instructions for executing one or more telecommunications and/or data communications protocols as well as instructions for carrying out one or more of the techniques described herein, in several embodiments. In embodiments that employ memory, the memory stores program code that, when executed by the one or more processors, carries out the techniques described herein.

Figure 16 for example illustrates a communication device 1600 as implemented in accordance with one or more embodiments. The communication device 1600 may be the target communication device 12T or any candidate reference communication device 12C-1... 12C-6. As shown, the communication device 1600 includes processing circuitry 1610 and communication circuitry 1620. The communication circuitry 1620 (e.g., radio circuitry) is configured to transmit and/or receive information to and/or from one or more other nodes, e.g., via any communication technology. Such communication may occur via one or more antennas that are either internal or external to the wireless communication device 1600. The processing circuitry 1610 is configured to perform processing described above, e.g., in Figure 13 or 14, such as by executing instructions stored in memory 1630. The processing circuitry 1610 in this regard may implement certain functional means, units, or modules.

Figure 17 illustrates a network node 14 as implemented in accordance with one or more embodiments. As shown, the network node 14 includes processing circuitry 1710 and communication circuitry 1720. The communication circuitry 1720 is configured to transmit and/or receive information to and/or from one or more other nodes, e.g., via any communication technology. The processing circuitry 1710 is configured to perform processing described above, e.g., in Figure 15, such as by executing instructions stored in memory 1730. The processing circuitry 1710 in this regard may implement certain functional means, units, or modules.

Those skilled in the art will also appreciate that embodiments herein further include corresponding computer programs.

A computer program comprises instructions which, when executed on at least one processor of an apparatus, cause the apparatus to carry out any of the respective processing described above. A computer program in this regard may comprise one or more code modules corresponding to the means or units described above.

Embodiments further include a carrier containing such a computer program. This carrier may comprise one of an electronic signal, optical signal, radio signal, or computer readable storage medium.

In this regard, embodiments herein also include a computer program product stored on a non-transitory computer readable (storage or recording) medium and comprising instructions that, when executed by a processor of an apparatus, cause the apparatus to perform as described above. Embodiments further include a computer program product comprising program code portions for performing the steps of any of the embodiments herein when the computer program product is executed by a computing device. This computer program product may be stored on a computer readable recording medium.

Figure 18 shows an example of a communication system 1800 in accordance with some embodiments.

In the example, the communication system 1800 includes a telecommunication network 1802 that includes an access network 1804, such as a radio access network (RAN), and a core network 1806, which includes one or more core network nodes 1808. The access network 1804 includes one or more access network nodes, such as network nodes 1810a and 1810b (one or more of which may be generally referred to as network nodes 1810), or any other similar 3^rd Generation Partnership Project (3GPP) access node or non-3GPP access point. The network nodes 1810 facilitate direct or indirect connection of user equipment (UE), such as by connecting UEs 1812a, 1812b, 1812c, and 1812d (one or more of which may be generally referred to as UEs 1812) to the core network 1806 over one or more wireless connections.

Example wireless communications over a wireless connection include transmitting and/or receiving wireless signals using electromagnetic waves, radio waves, infrared waves, and/or other types of signals suitable for conveying information without the use of wires, cables, or other material conductors. Moreover, in different embodiments, the communication system 1800 may include any number of wired or wireless networks, network nodes, UEs, and/or any other components or systems that may facilitate or participate in the communication of data and/or signals whether via wired or wireless connections. The communication system 1800 may include and/or interface with any type of communication, telecommunication, data, cellular, radio network, and/or other similar type of system.

The UEs 1812 may be any of a wide variety of communication devices, including wireless devices arranged, configured, and/or operable to communicate wirelessly with the network nodes 1810 and other communication devices. Similarly, the network nodes 1810 are arranged, capable, configured, and/or operable to communicate directly or indirectly with the UEs 1812 and/or with other network nodes or equipment in the telecommunication network 1802 to enable and/or provide network access, such as wireless network access, and/or to perform other functions, such as administration in the telecommunication network 1802.

In the depicted example, the core network 1806 connects the network nodes 1810 to one or more hosts, such as host 1816. These connections may be direct or indirect via one or more intermediary networks or devices. In other examples, network nodes may be directly coupled to hosts. The core network 1806 includes one more core network nodes (e.g., core network node 1808) that are structured with hardware and software components. Features of these components may be substantially similar to those described with respect to the UEs, network nodes, and/or hosts, such that the descriptions thereof are generally applicable to the corresponding components of the core network node 1808. Example core network nodes include functions of one or more of a Mobile Switching Center (MSC), Mobility Management Entity (MME), Home Subscriber Server (HSS), Access and Mobility Management Function (AMF), Session Management Function (SMF), Authentication Server Function (AUSF), Subscription Identifier De-concealing function (SIDF), Unified Data Management (UDM), Security Edge Protection Proxy (SEPP), Network Exposure Function (NEF), and/or a User Plane Function (UPF).

The host 1816 may be under the ownership or control of a service provider other than an operator or provider of the access network 1804 and/or the telecommunication network 1802, and may be operated by the service provider or on behalf of the service provider. The host 1816 may host a variety of applications to provide one or more service. Examples of such applications include live and pre-recorded audio/video content, data collection services such as retrieving and compiling data on various ambient conditions detected by a plurality of UEs, analytics functionality, social media, functions for controlling or otherwise interacting with remote devices, functions for an alarm and surveillance center, or any other such function performed by a server.

As a whole, the communication system 1800 of Figure 18 enables connectivity between the UEs, network nodes, and hosts. In that sense, the communication system may be configured to operate according to predefined rules or procedures, such as specific standards that include, but are not limited to: Global System for Mobile Communications (GSM); Universal Mobile Telecommunications System (UMTS); Long Term Evolution (LTE), and/or other suitable 2G, 3G, 4G, 5G standards, or any applicable future generation standard (e.g., 6G); wireless local area network (WLAN) standards, such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standards (WiFi); and/or any other appropriate wireless communication standard, such as the Worldwide Interoperability for Microwave Access (WiMax), Bluetooth, Z-Wave, Near Field Communication (NFC) ZigBee, LiFi, and/or any low- power wide-area network (LPWAN) standards such as LoRa and Sigfox.

In some examples, the telecommunication network 1802 is a cellular network that implements 3GPP standardized features. Accordingly, the telecommunications network 1802 may support network slicing to provide different logical networks to different devices that are connected to the telecommunication network 1802. For example, the telecommunications network 1802 may provide Ultra Reliable Low Latency Communication (URLLC) services to some UEs, while providing Enhanced Mobile Broadband (eMBB) services to other UEs, and/or Massive Machine Type Communication (mMTC)/Massive loT services to yet further UEs.

In some examples, the UEs 1812 are configured to transmit and/or receive information without direct human interaction. For instance, a UE may be designed to transmit information to the access network 1804 on a predetermined schedule, when triggered by an internal or external event, or in response to requests from the access network 1804. Additionally, a UE may be configured for operating in single- or multi-RAT or multi-standard mode. For example, a UE may operate with any one or combination of Wi-Fi, NR (New Radio) and LTE, i.e. being configured for multi-radio dual connectivity (MR-DC), such as E-UTRAN (Evolved-UMTS Terrestrial Radio Access Network) New Radio - Dual Connectivity (EN-DC).

In the example, the hub 1814 communicates with the access network 1804 to facilitate indirect communication between one or more UEs (e.g., UE 1812c and/or 1812d) and network nodes (e.g., network node 1810b). In some examples, the hub 1814 may be a controller, router, content source and analytics, or any of the other communication devices described herein regarding UEs. For example, the hub 1814 may be a broadband router enabling access to the core network 1806 for the UEs. As another example, the hub 1814 may be a controller that sends commands or instructions to one or more actuators in the UEs. Commands or instructions may be received from the UEs, network nodes 1810, or by executable code, script, process, or other instructions in the hub 1814. As another example, the hub 1814 may be a data collector that acts as temporary storage for UE data and, in some embodiments, may perform analysis or other processing of the data. As another example, the hub 1814 may be a content source. For example, for a UE that is a VR headset, display, loudspeaker or other media delivery device, the hub 1814 may retrieve VR assets, video, audio, or other media or data related to sensory information via a network node, which the hub 1814 then provides to the UE either directly, after performing local processing, and/or after adding additional local content. In still another example, the hub 1814 acts as a proxy server or orchestrator for the UEs, in particular in if one or more of the UEs are low energy loT devices.

The hub 1814 may have a constant/persistent or intermittent connection to the network node 1810b. The hub 1814 may also allow for a different communication scheme and/or schedule between the hub 1814 and UEs (e.g., UE 1812c and/or 1812d), and between the hub 1814 and the core network 1806. In other examples, the hub 1814 is connected to the core network 1806 and/or one or more UEs via a wired connection. Moreover, the hub 1814 may be configured to connect to an M2M service provider over the access network 1804 and/or to another UE over a direct connection. In some scenarios, UEs may establish a wireless connection with the network nodes 1810 while still connected via the hub 1814 via a wired or wireless connection. In some embodiments, the hub 1814 may be a dedicated hub - that is, a hub whose primary function is to route communications to/from the UEs from/to the network node 1810b. In other embodiments, the hub 1814 may be a non-dedicated hub - that is, a device which is capable of operating to route communications between the UEs and network node 1810b, but which is additionally capable of operating as a communication start and/or end point for certain data channels. Figure 19 shows a UE 1900 in accordance with some embodiments. As used herein, a UE refers to a device capable, configured, arranged and/or operable to communicate wirelessly with network nodes and/or other UEs. Examples of a UE include, but are not limited to, a smart phone, mobile phone, cell phone, voice over IP (VoIP) phone, wireless local loop phone, desktop computer, personal digital assistant (PDA), wireless cameras, gaming console or device, music storage device, playback appliance, wearable terminal device, wireless endpoint, mobile station, tablet, laptop, laptop-embedded equipment (LEE), laptop-mounted equipment (LME), smart device, wireless customer-premise equipment (CPE), vehicle-mounted or vehicle embedded/integrated wireless device, etc. Other examples include any UE identified by the 3rd Generation Partnership Project (3GPP), including a narrow band internet of things (NB-loT) UE, a machine type communication (MTC) UE, and/or an enhanced MTC (eMTC) UE.

A UE may support device-to-device (D2D) communication, for example by implementing a 3GPP standard for sidelink communication, Dedicated Short-Range Communication (DSRC), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), or vehicle-to-everything (V2X). In other examples, a UE may not necessarily have a user in the sense of a human user who owns and/or operates the relevant device. Instead, a UE may represent a device that is intended for sale to, or operation by, a human user but which may not, or which may not initially, be associated with a specific human user (e.g., a smart sprinkler controller). Alternatively, a UE may represent a device that is not intended for sale to, or operation by, an end user but which may be associated with or operated for the benefit of a user (e.g., a smart power meter).

The UE 1900 includes processing circuitry 1902 that is operatively coupled via a bus 1904 to an input/output interface 1906, a power source 1908, a memory 1910, a communication interface 1912, and/or any other component, or any combination thereof. Certain UEs may utilize all or a subset of the components shown in Figure 19. The level of integration between the components may vary from one UE to another UE. Further, certain UEs may contain multiple instances of a component, such as multiple processors, memories, transceivers, transmitters, receivers, etc.

The processing circuitry 1902 is configured to process instructions and data and may be configured to implement any sequential state machine operative to execute instructions stored as machine-readable computer programs in the memory 1910. The processing circuitry 1902 may be implemented as one or more hardware-implemented state machines (e.g., in discrete logic, field-programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), etc.); programmable logic together with appropriate firmware; one or more stored computer programs, general-purpose processors, such as a microprocessor or digital signal processor (DSP), together with appropriate software; or any combination of the above. For example, the processing circuitry 1902 may include multiple central processing units (CPUs). In the example, the input/output interface 1906 may be configured to provide an interface or interfaces to an input device, output device, or one or more input and/or output devices. Examples of an output device include a speaker, a sound card, a video card, a display, a monitor, a printer, an actuator, an emitter, a smartcard, another output device, or any combination thereof. An input device may allow a user to capture information into the UE 1900. Examples of an input device include a touch-sensitive or presence-sensitive display, a camera (e.g., a digital camera, a digital video camera, a web camera, etc.), a microphone, a sensor, a mouse, a trackball, a directional pad, a trackpad, a scroll wheel, a smartcard, and the like. The presence-sensitive display may include a capacitive or resistive touch sensor to sense input from a user. A sensor may be, for instance, an accelerometer, a gyroscope, a tilt sensor, a force sensor, a magnetometer, an optical sensor, a proximity sensor, a biometric sensor, etc., or any combination thereof. An output device may use the same type of interface port as an input device. For example, a Universal Serial Bus (USB) port may be used to provide an input device and an output device.

In some embodiments, the power source 1908 is structured as a battery or battery pack. Other types of power sources, such as an external power source (e.g., an electricity outlet), photovoltaic device, or power cell, may be used. The power source 1908 may further include power circuitry for delivering power from the power source 1908 itself, and/or an external power source, to the various parts of the UE 1900 via input circuitry or an interface such as an electrical power cable. Delivering power may be, for example, for charging of the power source 1908. Power circuitry may perform any formatting, converting, or other modification to the power from the power source 1908 to make the power suitable for the respective components of the UE 1900 to which power is supplied.

The memory 1910 may be or be configured to include memory such as random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic disks, optical disks, hard disks, removable cartridges, flash drives, and so forth. In one example, the memory 1910 includes one or more application programs 1914, such as an operating system, web browser application, a widget, gadget engine, or other application, and corresponding data 1916. The memory 1910 may store, for use by the UE 1900, any of a variety of various operating systems or combinations of operating systems.

The memory 1910 may be configured to include a number of physical drive units, such as redundant array of independent disks (RAID), flash memory, USB flash drive, external hard disk drive, thumb drive, pen drive, key drive, high-density digital versatile disc (HD-DVD) optical disc drive, internal hard disk drive, Blu-Ray optical disc drive, holographic digital data storage (HDDS) optical disc drive, external mini-dual in-line memory module (DIMM), synchronous dynamic random access memory (SDRAM), external micro-DIMM SDRAM, smartcard memory such as tamper resistant module in the form of a universal integrated circuit card (UICC) including one or more subscriber identity modules (SIMs), such as a USIM and/or ISIM, other memory, or any combination thereof. The UICC may for example be an embedded UICC (eUlCC), integrated UICC (iUICC) or a removable UICC commonly known as ‘SIM card.’ The memory 1910 may allow the UE 1900 to access instructions, application programs and the like, stored on transitory or non-transitory memory media, to off-load data, or to upload data. An article of manufacture, such as one utilizing a communication system may be tangibly embodied as or in the memory 1910, which may be or comprise a device-readable storage medium.

The processing circuitry 1902 may be configured to communicate with an access network or other network using the communication interface 1912. The communication interface 1912 may comprise one or more communication subsystems and may include or be communicatively coupled to an antenna 1922. The communication interface 1912 may include one or more transceivers used to communicate, such as by communicating with one or more remote transceivers of another device capable of wireless communication (e.g., another UE or a network node in an access network). Each transceiver may include a transmitter 1918 and/or a receiver 1920 appropriate to provide network communications (e.g., optical, electrical, frequency allocations, and so forth). Moreover, the transmitter 1918 and receiver 1920 may be coupled to one or more antennas (e.g., antenna 1922) and may share circuit components, software or firmware, or alternatively be implemented separately.

In the illustrated embodiment, communication functions of the communication interface 1912 may include cellular communication, Wi-Fi communication, LPWAN communication, data communication, voice communication, multimedia communication, short-range communications such as Bluetooth, near-field communication, location-based communication such as the use of the global positioning system (GPS) to determine a location, another like communication function, or any combination thereof. Communications may be implemented in according to one or more communication protocols and/or standards, such as IEEE 802.11 , Code Division Multiplexing Access (CDMA), Wideband Code Division Multiple Access (WCDMA), GSM, LTE, New Radio (NR), UMTS, WiMax, Ethernet, transmission control protocol/internet protocol (TCP/IP), synchronous optical networking (SONET), Asynchronous Transfer Mode (ATM), QUIC, Hypertext Transfer Protocol (HTTP), and so forth.

Regardless of the type of sensor, a UE may provide an output of data captured by its sensors, through its communication interface 1912, via a wireless connection to a network node. Data captured by sensors of a UE can be communicated through a wireless connection to a network node via another UE. The output may be periodic (e.g., once every 15 minutes if it reports the sensed temperature), random (e.g., to even out the load from reporting from several sensors), in response to a triggering event (e.g., when moisture is detected an alert is sent), in response to a request (e.g., a user initiated request), or a continuous stream (e.g., a live video feed of a patient).

As another example, a UE comprises an actuator, a motor, or a switch, related to a communication interface configured to receive wireless input from a network node via a wireless connection. In response to the received wireless input the states of the actuator, the motor, or the switch may change. For example, the UE may comprise a motor that adjusts the control surfaces or rotors of a drone in flight according to the received input or to a robotic arm performing a medical procedure according to the received input.

A UE, when in the form of an Internet of Things (loT) device, may be a device for use in one or more application domains, these domains comprising, but not limited to, city wearable technology, extended industrial application and healthcare. Non-limiting examples of such an loT device are a device which is or which is embedded in: a connected refrigerator or freezer, a TV, a connected lighting device, an electricity meter, a robot vacuum cleaner, a voice controlled smart speaker, a home security camera, a motion detector, a thermostat, a smoke detector, a door/window sensor, a flood/moisture sensor, an electrical door lock, a connected doorbell, an air conditioning system like a heat pump, an autonomous vehicle, a surveillance system, a weather monitoring device, a vehicle parking monitoring device, an electric vehicle charging station, a smart watch, a fitness tracker, a head-mounted display for Augmented Reality (AR) or Virtual Reality (VR), a wearable for tactile augmentation or sensory enhancement, a water sprinkler, an animal- or item-tracking device, a sensor for monitoring a plant or animal, an industrial robot, an Unmanned Aerial Vehicle (UAV), and any kind of medical device, like a heart rate monitor or a remote controlled surgical robot. A UE in the form of an loT device comprises circuitry and/or software in dependence of the intended application of the loT device in addition to other components as described in relation to the UE 1900 shown in Figure 19.

As yet another specific example, in an loT scenario, a UE may represent a machine or other device that performs monitoring and/or measurements, and transmits the results of such monitoring and/or measurements to another UE and/or a network node. The UE may in this case be an M2M device, which may in a 3GPP context be referred to as an MTC device. As one particular example, the UE may implement the 3GPP NB-loT standard. In other scenarios, a UE may represent a vehicle, such as a car, a bus, a truck, a ship and an airplane, or other equipment that is capable of monitoring and/or reporting on its operational status or other functions associated with its operation.

In practice, any number of UEs may be used together with respect to a single use case. For example, a first UE might be or be integrated in a drone and provide the drone’s speed information (obtained through a speed sensor) to a second UE that is a remote controller operating the drone. When the user makes changes from the remote controller, the first UE may adjust the throttle on the drone (e.g. by controlling an actuator) to increase or decrease the drone’s speed. The first and/or the second UE can also include more than one of the functionalities described above. For example, a UE might comprise the sensor and the actuator, and handle communication of data for both the speed sensor and the actuators.

Figure 20 shows a network node 2000 in accordance with some embodiments. As used herein, network node refers to equipment capable, configured, arranged and/or operable to communicate directly or indirectly with a UE and/or with other network nodes or equipment, in a telecommunication network. Examples of network nodes include, but are not limited to, access points (APs) (e.g., radio access points), base stations (BSs) (e.g., radio base stations, Node Bs, evolved Node Bs (eNBs) and NR NodeBs (gNBs)).

Base stations may be categorized based on the amount of coverage they provide (or, stated differently, their transmit power level) and so, depending on the provided amount of coverage, may be referred to as femto base stations, pico base stations, micro base stations, or macro base stations. A base station may be a relay node or a relay donor node controlling a relay. A network node may also include one or more (or all) parts of a distributed radio base station such as centralized digital units and/or remote radio units (RRUs), sometimes referred to as Remote Radio Heads (RRHs). Such remote radio units may or may not be integrated with an antenna as an antenna integrated radio. Parts of a distributed radio base station may also be referred to as nodes in a distributed antenna system (DAS).

Other examples of network nodes include multiple transmission point (multi-TRP) 5G access nodes, multi-standard radio (MSR) equipment such as MSR BSs, network controllers such as radio network controllers (RNCs) or base station controllers (BSCs), base transceiver stations (BTSs), transmission points, transmission nodes, multi-cell/multicast coordination entities (MCEs), Operation and Maintenance (O&M) nodes, Operations Support System (OSS) nodes, Self-Organizing Network (SON) nodes, positioning nodes (e.g., Evolved Serving Mobile Location Centers (E-SMLCs)), and/or Minimization of Drive Tests (MDTs).

The network node 2000 includes a processing circuitry 2002, a memory 2004, a communication interface 2006, and a power source 2008. The network node 2000 may be composed of multiple physically separate components (e.g., a NodeB component and a RNC component, or a BTS component and a BSC component, etc.), which may each have their own respective components. In certain scenarios in which the network node 2000 comprises multiple separate components (e.g., BTS and BSC components), one or more of the separate components may be shared among several network nodes. For example, a single RNC may control multiple NodeBs. In such a scenario, each unique NodeB and RNC pair, may in some instances be considered a single separate network node. In some embodiments, the network node 2000 may be configured to support multiple radio access technologies (RATs). In such embodiments, some components may be duplicated (e.g., separate memory 2004 for different RATs) and some components may be reused (e.g., a same antenna 2010 may be shared by different RATs). The network node 2000 may also include multiple sets of the various illustrated components for different wireless technologies integrated into network node 2000, for example GSM, WCDMA, LTE, NR, WiFi, Zigbee, Z-wave, LoRaWAN, Radio Frequency Identification (RFID) or Bluetooth wireless technologies. These wireless technologies may be integrated into the same or different chip or set of chips and other components within network node 2000.

The processing circuitry 2002 may comprise a combination of one or more of a microprocessor, controller, microcontroller, central processing unit, digital signal processor, application-specific integrated circuit, field programmable gate array, or any other suitable computing device, resource, or combination of hardware, software and/or encoded logic operable to provide, either alone or in conjunction with other network node 2000 components, such as the memory 2004, to provide network node 2000 functionality.

In some embodiments, the processing circuitry 2002 includes a system on a chip (SOC). In some embodiments, the processing circuitry 2002 includes one or more of radio frequency (RF) transceiver circuitry 2012 and baseband processing circuitry 2014. In some embodiments, the radio frequency (RF) transceiver circuitry 2012 and the baseband processing circuitry 2014 may be on separate chips (or sets of chips), boards, or units, such as radio units and digital units. In alternative embodiments, part or all of RF transceiver circuitry 2012 and baseband processing circuitry 2014 may be on the same chip or set of chips, boards, or units.

The memory 2004 may comprise any form of volatile or non-volatile computer-readable memory including, without limitation, persistent storage, solid-state memory, remotely mounted memory, magnetic media, optical media, random access memory (RAM), read-only memory (ROM), mass storage media (for example, a hard disk), removable storage media (for example, a flash drive, a Compact Disk (CD) or a Digital Video Disk (DVD)), and/or any other volatile or non-volatile, non-transitory device-readable and/or computer-executable memory devices that store information, data, and/or instructions that may be used by the processing circuitry 2002. The memory 2004 may store any suitable instructions, data, or information, including a computer program, software, an application including one or more of logic, rules, code, tables, and/or other instructions capable of being executed by the processing circuitry 2002 and utilized by the network node 2000. The memory 2004 may be used to store any calculations made by the processing circuitry 2002 and/or any data received via the communication interface 2006. In some embodiments, the processing circuitry 2002 and memory 2004 is integrated.

The communication interface 2006 is used in wired or wireless communication of signaling and/or data between a network node, access network, and/or UE. As illustrated, the communication interface 2006 comprises port(s)/terminal(s) 2016 to send and receive data, for example to and from a network over a wired connection. The communication interface 2006 also includes radio front-end circuitry 2018 that may be coupled to, or in certain embodiments a part of, the antenna 2010. Radio front-end circuitry 2018 comprises filters 2020 and amplifiers 2022. The radio front-end circuitry 2018 may be connected to an antenna 2010 and processing circuitry 2002. The radio front-end circuitry may be configured to condition signals communicated between antenna 2010 and processing circuitry 2002. The radio front-end circuitry 2018 may receive digital data that is to be sent out to other network nodes or UEs via a wireless connection. The radio front-end circuitry 2018 may convert the digital data into a radio signal having the appropriate channel and bandwidth parameters using a combination of filters 2020 and/or amplifiers 2022. The radio signal may then be transmitted via the antenna 2010. Similarly, when receiving data, the antenna 2010 may collect radio signals which are then converted into digital data by the radio front-end circuitry 2018. The digital data may be passed to the processing circuitry 2002. In other embodiments, the communication interface may comprise different components and/or different combinations of components.

In certain alternative embodiments, the network node 2000 does not include separate radio front-end circuitry 2018, instead, the processing circuitry 2002 includes radio front-end circuitry and is connected to the antenna 2010. Similarly, in some embodiments, all or some of the RF transceiver circuitry 2012 is part of the communication interface 2006. In still other embodiments, the communication interface 2006 includes one or more ports or terminals 2016, the radio front-end circuitry 2018, and the RF transceiver circuitry 2012, as part of a radio unit (not shown), and the communication interface 2006 communicates with the baseband processing circuitry 2014, which is part of a digital unit (not shown).

The antenna 2010 may include one or more antennas, or antenna arrays, configured to send and/or receive wireless signals. The antenna 2010 may be coupled to the radio front-end circuitry 2018 and may be any type of antenna capable of transmitting and receiving data and/or signals wirelessly. In certain embodiments, the antenna 2010 is separate from the network node 2000 and connectable to the network node 2000 through an interface or port.

The antenna 2010, communication interface 2006, and/or the processing circuitry 2002 may be configured to perform any receiving operations and/or certain obtaining operations described herein as being performed by the network node. Any information, data and/or signals may be received from a UE, another network node and/or any other network equipment. Similarly, the antenna 2010, the communication interface 2006, and/or the processing circuitry 2002 may be configured to perform any transmitting operations described herein as being performed by the network node. Any information, data and/or signals may be transmitted to a UE, another network node and/or any other network equipment.

The power source 2008 provides power to the various components of network node 2000 in a form suitable for the respective components (e.g., at a voltage and current level needed for each respective component). The power source 2008 may further comprise, or be coupled to, power management circuitry to supply the components of the network node 2000 with power for performing the functionality described herein. For example, the network node 2000 may be connectable to an external power source (e.g., the power grid, an electricity outlet) via an input circuitry or interface such as an electrical cable, whereby the external power source supplies power to power circuitry of the power source 2008. As a further example, the power source 2008 may comprise a source of power in the form of a battery or battery pack which is connected to, or integrated in, power circuitry. The battery may provide backup power should the external power source fail.

Embodiments of the network node 2000 may include additional components beyond those shown in Figure 20 for providing certain aspects of the network node’s functionality, including any of the functionality described herein and/or any functionality necessary to support the subject matter described herein. For example, the network node 2000 may include user interface equipment to allow input of information into the network node 2000 and to allow output of information from the network node 2000. This may allow a user to perform diagnostic, maintenance, repair, and other administrative functions for the network node 2000.

Figure 21 is a block diagram of a host 2100, which may be an embodiment of the host 1816 of Figure 18, in accordance with various aspects described herein. As used herein, the host 2100 may be or comprise various combinations hardware and/or software, including a standalone server, a blade server, a cloud-implemented server, a distributed server, a virtual machine, container, or processing resources in a server farm. The host 2100 may provide one or more services to one or more UEs.

The host 2100 includes processing circuitry 2102 that is operatively coupled via a bus 2104 to an input/output interface 2106, a network interface 2108, a power source 2110, and a memory 2112. Other components may be included in other embodiments. Features of these components may be substantially similar to those described with respect to the devices of previous figures, such as Figures 19 and 20, such that the descriptions thereof are generally applicable to the corresponding components of host 2100.

The memory 2112 may include one or more computer programs including one or more host application programs 2114 and data 2116, which may include user data, e.g., data generated by a UE for the host 2100 or data generated by the host 2100 for a UE. Embodiments of the host 2100 may utilize only a subset or all of the components shown. The host application programs 2114 may be implemented in a container-based architecture and may provide support for video codecs (e.g., Versatile Video Coding (VVC), High Efficiency Video Coding (HEVC), Advanced Video Coding (AVC), MPEG, VP9) and audio codecs (e.g., FLAC, Advanced Audio Coding (AAC), MPEG, G.711 ), including transcoding for multiple different classes, types, or implementations of UEs (e.g., handsets, desktop computers, wearable display systems, heads-up display systems). The host application programs 2114 may also provide for user authentication and licensing checks and may periodically report health, routes, and content availability to a central node, such as a device in or on the edge of a core network. Accordingly, the host 2100 may select and/or indicate a different host for over-the-top services for a UE. The host application programs 2114 may support various protocols, such as the HTTP Live Streaming (HLS) protocol, Real-Time Messaging Protocol (RTMP), Real-Time Streaming Protocol (RTSP), Dynamic Adaptive Streaming over HTTP (MPEG-DASH), etc.

Figure 22 is a block diagram illustrating a virtualization environment 2200 in which functions implemented by some embodiments may be virtualized. In the present context, virtualizing means creating virtual versions of apparatuses or devices which may include virtualizing hardware platforms, storage devices and networking resources. As used herein, virtualization can be applied to any device described herein, or components thereof, and relates to an implementation in which at least a portion of the functionality is implemented as one or more virtual components. Some or all of the functions described herein may be implemented as virtual components executed by one or more virtual machines (VMs) implemented in one or more virtual environments 2200 hosted by one or more of hardware nodes, such as a hardware computing device that operates as a network node, UE, core network node, or host. Further, in embodiments in which the virtual node does not require radio connectivity (e.g., a core network node or host), then the node may be entirely virtualized.

Applications 2202 (which may alternatively be called software instances, virtual appliances, network functions, virtual nodes, virtual network functions, etc.) are run in the virtualization environment Q400 to implement some of the features, functions, and/or benefits of some of the embodiments disclosed herein.

Hardware 2204 includes processing circuitry, memory that stores software and/or instructions executable by hardware processing circuitry, and/or other hardware devices as described herein, such as a network interface, input/output interface, and so forth. Software may be executed by the processing circuitry to instantiate one or more virtualization layers 2206 (also referred to as hypervisors or virtual machine monitors (VMMs)), provide VMs 2208a and 2208b (one or more of which may be generally referred to as VMs 2208), and/or perform any of the functions, features and/or benefits described in relation with some embodiments described herein. The virtualization layer 2206 may present a virtual operating platform that appears like networking hardware to the VMs 2208.

The VMs 2208 comprise virtual processing, virtual memory, virtual networking or interface and virtual storage, and may be run by a corresponding virtualization layer 2206. Different embodiments of the instance of a virtual appliance 2202 may be implemented on one or more of VMs 2208, and the implementations may be made in different ways. Virtualization of the hardware is in some contexts referred to as network function virtualization (NFV). NFV may be used to consolidate many network equipment types onto industry standard high volume server hardware, physical switches, and physical storage, which can be located in data centers, and customer premise equipment. In the context of NFV, a VM 2208 may be a software implementation of a physical machine that runs programs as if they were executing on a physical, non-virtualized machine. Each of the VMs 2208, and that part of hardware 2204 that executes that VM, be it hardware dedicated to that VM and/or hardware shared by that VM with others of the VMs, forms separate virtual network elements. Still in the context of NFV, a virtual network function is responsible for handling specific network functions that run in one or more VMs 2208 on top of the hardware 2204 and corresponds to the application 2202.

Hardware 2204 may be implemented in a standalone network node with generic or specific components. Hardware 2204 may implement some functions via virtualization. Alternatively, hardware 2204 may be part of a larger cluster of hardware (e.g. such as in a data center or CPE) where many hardware nodes work together and are managed via management and orchestration 2210, which, among others, oversees lifecycle management of applications 2202. In some embodiments, hardware 2204 is coupled to one or more radio units that each include one or more transmitters and one or more receivers that may be coupled to one or more antennas. Radio units may communicate directly with other hardware nodes via one or more appropriate network interfaces and may be used in combination with the virtual components to provide a virtual node with radio capabilities, such as a radio access node or a base station. In some embodiments, some signaling can be provided with the use of a control system 2212 which may alternatively be used for communication between hardware nodes and radio units.

Figure 23 shows a communication diagram of a host 2302 communicating via a network node 2304 with a UE 2306 over a partially wireless connection in accordance with some embodiments. Example implementations, in accordance with various embodiments, of the UE (such as a UE 1812a of Figure 18 and/or UE 1900 of Figure 19), network node (such as network node 1810a of Figure 18 and/or network node 2000 of Figure 20), and host (such as host 1816 of Figure 18 and/or host 2100 of Figure 21 ) discussed in the preceding paragraphs will now be described with reference to Figure 23.

Like host 2100, embodiments of host 2302 include hardware, such as a communication interface, processing circuitry, and memory. The host 2302 also includes software, which is stored in or accessible by the host 2302 and executable by the processing circuitry. The software includes a host application that may be operable to provide a service to a remote user, such as the UE 2306 connecting via an over-the-top (OTT) connection 2350 extending between the UE 2306 and host 2302. In providing the service to the remote user, a host application may provide user data which is transmitted using the OTT connection 2350.

The network node 2304 includes hardware enabling it to communicate with the host 2302 and UE 2306. The connection 2360 may be direct or pass through a core network (like core network 1806 of Figure 18) and/or one or more other intermediate networks, such as one or more public, private, or hosted networks. For example, an intermediate network may be a backbone network or the Internet.

The UE 2306 includes hardware and software, which is stored in or accessible by UE 2306 and executable by the UE’s processing circuitry. The software includes a client application, such as a web browser or operator-specific “app” that may be operable to provide a service to a human or non-human user via UE 2306 with the support of the host 2302. In the host 2302, an executing host application may communicate with the executing client application via the OTT connection 2350 terminating at the UE 2306 and host 2302. In providing the service to the user, the UE's client application may receive request data from the host's host application and provide user data in response to the request data. The OTT connection 2350 may transfer both the request data and the user data. The UE's client application may interact with the user to generate the user data that it provides to the host application through the OTT connection 2350.

The OTT connection 2350 may extend via a connection 2360 between the host 2302 and the network node 2304 and via a wireless connection 2370 between the network node 2304 and the UE 2306 to provide the connection between the host 2302 and the UE 2306. The connection 2360 and wireless connection 2370, over which the OTT connection 2350 may be provided, have been drawn abstractly to illustrate the communication between the host 2302 and the UE 2306 via the network node 2304, without explicit reference to any intermediary devices and the precise routing of messages via these devices.

As an example of transmitting data via the OTT connection 2350, in step 2308, the host 2302 provides user data, which may be performed by executing a host application. In some embodiments, the user data is associated with a particular human user interacting with the UE 2306. In other embodiments, the user data is associated with a UE 2306 that shares data with the host 2302 without explicit human interaction. In step 2310, the host 2302 initiates a transmission carrying the user data towards the UE 2306. The host 2302 may initiate the transmission responsive to a request transmitted by the UE 2306. The request may be caused by human interaction with the UE 2306 or by operation of the client application executing on the UE 2306. The transmission may pass via the network node 2304, in accordance with the teachings of the embodiments described throughout this disclosure. Accordingly, in step 2312, the network node 2304 transmits to the UE 2306 the user data that was carried in the transmission that the host 2302 initiated, in accordance with the teachings of the embodiments described throughout this disclosure. In step 2314, the UE 2306 receives the user data carried in the transmission, which may be performed by a client application executed on the UE 2306 associated with the host application executed by the host 2302.

In some examples, the UE 2306 executes a client application which provides user data to the host 2302. The user data may be provided in reaction or response to the data received from the host 2302. Accordingly, in step 2316, the UE 2306 may provide user data, which may be performed by executing the client application. In providing the user data, the client application may further consider user input received from the user via an input/output interface of the UE 2306. Regardless of the specific manner in which the user data was provided, the UE 2306 initiates, in step 2318, transmission of the user data towards the host 2302 via the network node 2304. In step 2320, in accordance with the teachings of the embodiments described throughout this disclosure, the network node 2304 receives user data from the UE 2306 and initiates transmission of the received user data towards the host 2302. In step 2322, the host 2302 receives the user data carried in the transmission initiated by the UE 2306.

One or more of the various embodiments improve the performance of OTT services provided to the UE 2306 using the OTT connection 2350, in which the wireless connection 2370 forms the last segment.

In an example scenario, factory status information may be collected and analyzed by the host 2302. As another example, the host 2302 may process audio and video data which may have been retrieved from a UE for use in creating maps. As another example, the host 2302 may collect and analyze real-time data to assist in controlling vehicle congestion (e.g., controlling traffic lights). As another example, the host 2302 may store surveillance video uploaded by a UE. As another example, the host 2302 may store or control access to media content such as video, audio, VR or AR which it can broadcast, multicast or unicast to UEs. As other examples, the host 2302 may be used for energy pricing, remote control of non-time critical electrical load to balance power generation needs, location services, presentation services (such as compiling diagrams etc. from data collected from remote devices), or any other function of collecting, retrieving, storing, analyzing and/or transmitting data.

In some examples, a measurement procedure may be provided for the purpose of monitoring data rate, latency and other factors on which the one or more embodiments improve. There may further be an optional network functionality for reconfiguring the OTT connection 2350 between the host 2302 and UE 2306, in response to variations in the measurement results. The measurement procedure and/or the network functionality for reconfiguring the OTT connection may be implemented in software and hardware of the host 2302 and/or UE 2306. In some embodiments, sensors (not shown) may be deployed in or in association with other devices through which the OTT connection 2350 passes; the sensors may participate in the measurement procedure by supplying values of the monitored quantities exemplified above, or supplying values of other physical quantities from which software may compute or estimate the monitored quantities. The reconfiguring of the OTT connection 2350 may include message format, retransmission settings, preferred routing etc.; the reconfiguring need not directly alter the operation of the network node 2304. Such procedures and functionalities may be known and practiced in the art. In certain embodiments, measurements may involve proprietary UE signaling that facilitates measurements of throughput, propagation times, latency and the like, by the host 2302. The measurements may be implemented in that software causes messages to be transmitted, in particular empty or ‘dummy’ messages, using the OTT connection 2350 while monitoring propagation times, errors, etc.

Although the computing devices described herein (e.g., UEs, network nodes, hosts) may include the illustrated combination of hardware components, other embodiments may comprise computing devices with different combinations of components. It is to be understood that these computing devices may comprise any suitable combination of hardware and/or software needed to perform the tasks, features, functions and methods disclosed herein. Determining, calculating, obtaining or similar operations described herein may be performed by processing circuitry, which may process information by, for example, converting the obtained information into other information, comparing the obtained information or converted information to information stored in the network node, and/or performing one or more operations based on the obtained information or converted information, and as a result of said processing making a determination. Moreover, while components are depicted as single boxes located within a larger box, or nested within multiple boxes, in practice, computing devices may comprise multiple different physical components that make up a single illustrated component, and functionality may be partitioned between separate components. For example, a communication interface may be configured to include any of the components described herein, and/or the functionality of the components may be partitioned between the processing circuitry and the communication interface. In another example, non-computationally intensive functions of any of such components may be implemented in software or firmware and computationally intensive functions may be implemented in hardware.

In certain embodiments, some or all of the functionality described herein may be provided by processing circuitry executing instructions stored on in memory, which in certain embodiments may be a computer program product in the form of a non-transitory computer- readable storage medium. In alternative embodiments, some or all of the functionality may be provided by the processing circuitry without executing instructions stored on a separate or discrete device-readable storage medium, such as in a hard-wired manner. In any of those particular embodiments, whether executing instructions stored on a non-transitory computer- readable storage medium or not, the processing circuitry can be configured to perform the described functionality. The benefits provided by such functionality are not limited to the processing circuitry alone or to other components of the computing device, but are enjoyed by the computing device as a whole, and/or by end users and a wireless network generally.

Example embodiments of the techniques and apparatus described herein include, but are not limited to, the following enumerated examples: Group A Embodiments A1 . A method performed by a target communication device configured for use in a communication network, the method comprising: receiving positioning assistance information for a candidate reference communication device, wherein the candidate reference communication device is a candidate for the target communication device to select as a reference communication device with which to perform a sidelink positioning measurement, wherein the positioning assistance information for the candidate reference communication device includes: information indicating a state of the candidate reference communication device; and/or information about one or more nodes whose position is known to the candidate reference communication device.

A2. The method of embodiment A1 , wherein the information about the one or more nodes includes one or more identities identifying the one or more nodes whose position is known to the candidate reference communication device.

A3. The method of any of embodiments A1 -A2, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node.

A4. The method of embodiment A3, wherein the information indicating the position of the node is relative positioning information indicating the position of the node relative to a position of the candidate reference communication device.

A5. The method of embodiment A4, wherein the relative positioning information indicating the position of the node indicates a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device.

A6. The method of any of embodiments A1 -A5, wherein the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device relative to a position of the candidate reference communication device.

A7. The method of any of embodiments A1 -A6, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a state of the node.

A8. The method of embodiment A7, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node.

A9. The method of embodiment A8, wherein the information characterizing physical movement of the node includes information indicating a velocity of the node, an acceleration of the node, an angular velocity of the node, or any combination thereof.

A10. The method of any of embodiments A8-A9, wherein the information characterizing physical movement of the node includes information indicating a traveling path of the node.

A11 . The method of any of embodiments A7-A10, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary.

A12. The method of any of embodiments A7-A11 , wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node.

A13. The method of embodiment A12, wherein the state of the battery of the node includes a remaining battery life of the battery and/or whether the battery is charging.

A14. The method of any of embodiments A1 -A13, wherein the positioning assistance information for the candidate reference communication device further includes information indicating a type of the candidate reference communication device from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

A15. The method of any of embodiments A1 -A14, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating: sidelink positioning measurement capabilities of the node; and/or sidelink reference signal transmission capabilities of the node.

A16. The method of any of embodiments A1 -A15, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a serving cell of the node.

A17. The method of any of embodiments A1 -A16, wherein the one or more nodes includes one or more communication devices whose position is known to the candidate reference communication device.

A18. The method of any of embodiments A1 -A17, wherein the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device.

A19. The method of any of embodiments A1 -A18, wherein the information about the one or more nodes is sorted according to one or more sorting criterions, wherein the one or more sorting criterions include one or more of: a geographical distance of the one or more nodes from the candidate reference communication device; an orientation of the one or more nodes relative to the candidate reference communication device; and a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device.

A20. The method of any of embodiments A1 -A19, wherein the one or more nodes are one or more nodes whose position is known to the candidate reference communication device and that are in proximity of the candidate reference communication device according to a proximity criterion.

A21 . The method of any of embodiments A1 -A20, wherein the information about the one or more nodes includes, for each of the one or more nodes, information about one or more other nodes whose position is known to the node.

A22. Reserved.

A23. The method of any of embodiments A1 -A22, wherein the positioning assistance information is received as part of, or is triggered by, a proximity services direct discovery procedure.

A24. The method of any of embodiments A1 -A22, wherein the positioning assistance information is received as part of, or is triggered by, a sidelink direct communication procedure.

A25. The method of any of embodiments A1 -A24, further comprising receiving an update to at least some of the positioning assistance information. A26. The method of embodiment A25, wherein the update is received responsive to requesting the update.

A27. The method of embodiment A25, wherein the update is received periodically.

A28. The method of embodiment A25, wherein the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non- updateable set of one or more information elements that are not updateable, wherein the update is an update to one or more information elements in the non-updateable set.

A29. The method of any of embodiments A1 -A28, wherein the positioning assistance information is received from the candidate reference communication device over a sidelink between the target communication device and the candidate reference communication device.

A30. The method of any of embodiments A1 -A28, wherein the positioning assistance information is received from a network node in the communication network.

A31 . The method of embodiment A30, wherein the network node implements a location management function, LMF.

A32. The method of any of embodiments A1 -A31 , wherein the positioning assistance information for the candidate reference communication device is received as part of receiving positioning assistance information for each of multiple candidate reference communication devices, wherein the positioning assistance information for each candidate reference communication device includes: information indicating a state of the candidate reference communication device; and/or information about one or more nodes whose position is known to the candidate reference communication device.

A33. The method of embodiment A32, further comprising using the positioning assistance information received for each of the multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which to perform a sidelink positioning measurement.

A34. The method of embodiment A33, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device.

A35. The method of embodiment A33, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device.

A36. The method of embodiment A33, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the received positioning assistance information, wherein a candidate reference communication device meets the selection criteria if: the received positioning assistance information indicates a relative position between the candidate reference communication device and a node; and a relative position between that node and the target communication device is known.

A37. The method of embodiment A33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information has a physical movement and/or physical orientation most similar to that of the target communication device.

A38. The method of embodiment A33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information.

A39. The method of embodiment A33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node, wherein using the positioning assistance information received for each of the multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information.

A40. The method of any of embodiments A33-A39, further comprising performing a sidelink positioning measurement with each of the one or more selected reference communication devices.

A41 . The method of any of embodiments A1 -A40, performing sidelink positioning with assistance from the received positioning assistance information.

A42. The method of any of embodiments A1 -A41 , wherein the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device.

A43. The method of embodiment A42, wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof.

A44. The method of any of embodiments A42-A43, wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a traveling path of the candidate reference communication device.

A45. The method of any of embodiments A42-A44, wherein the information indicating the state of the candidate reference communication device includes information indicating whether or not the candidate reference communication device is stationary. A46. The method of any of embodiments A42-A45, wherein the information indicating the state of the candidate reference communication device includes information indicating a state of a battery of the candidate reference communication device.

A47. The method of embodiment A47, wherein the state of the battery of the candidate reference communication device includes a remaining battery life of the battery and/or whether the battery is charging.

AA1 . A method performed by a candidate reference communication device, the method comprising: transmitting positioning assistance information for the candidate reference communication device, wherein the positioning assistance information is to assist a target communication device with sidelink positioning, wherein the positioning assistance information includes: information indicating a state of the candidate reference communication device; and/or information about one or more nodes whose position is known to the candidate reference communication device.

AA2. The method of embodiment AA1 , wherein the information about the one or more nodes includes one or more identities identifying the one or more nodes whose position is known to the candidate reference communication device.

AA3. The method of any of embodiments AA1-AA2, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node.

AA4. The method of embodiment AA3, wherein the information indicating the position of the node is relative positioning information indicating the position of the node relative to a position of the candidate reference communication device.

AA5. The method of embodiment AA4, wherein the relative positioning information indicating the position of the node indicates a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device.

AA6. The method of any of embodiments AA1-AA5, wherein the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device relative to a position of the candidate reference communication device.

AA7. The method of any of embodiments AA1-AA6, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a state of the node.

AA8. The method of embodiment AA7, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node.

AA9. The method of embodiment AA8, wherein the information characterizing physical movement of the node includes information indicating a velocity of the node, an acceleration of the node, an angular velocity of the node, or any combination thereof.

AA10. The method of any of embodiments AA8-AA9, wherein the information characterizing physical movement of the node includes information indicating a traveling path of the node.

AA11 . The method of any of embodiments AA7-AA10, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary.

AA12. The method of any of embodiments AA7-AA11 , wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node.

AA13. The method of embodiment AA12, wherein the state of the battery of the node includes a remaining battery life of the battery and/or whether the battery is charging.

AA14. The method of any of embodiments AA1-AA13, wherein the positioning assistance information for the candidate reference communication device further includes information indicating a type of the candidate reference communication device from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

AA15. The method of any of embodiments AA1-AA14, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating: sidelink positioning measurement capabilities of the node; and/or sidelink reference signal transmission capabilities of the node.

AA16. The method of any of embodiments AA1 -AA15, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a serving cell of the node.

AA17. The method of any of embodiments AA1-AA16, wherein the one or more nodes includes one or more communication devices whose position is known to the candidate reference communication device.

AA18. The method of any of embodiments AA1-AA17, wherein the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device.

AA19. The method of any of embodiments AA1 -AA18, wherein the information about the one or more nodes is sorted according to one or more sorting criterions, wherein the one or more sorting criterions include one or more of: a geographical distance of the one or more nodes from the candidate reference communication device; an orientation of the one or more nodes relative to the candidate reference communication device; and a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device.

AA20. The method of any of embodiments AA1-AA19, wherein the one or more nodes are one or more nodes whose position is known to the candidate reference communication device and that are in proximity of the candidate reference communication device according to a proximity criterion.

AA21 . The method of any of embodiments AA1-AA20, wherein the information about the one or more nodes includes, for each of the one or more nodes, information about one or more other nodes whose position is known to the node.

AA22. Reserved.

AA23. The method of any of embodiments AA1-AA22, wherein the positioning assistance information is transmitted as part of, or is triggered by, a proximity services direct discovery procedure.

AA24. The method of any of embodiments AA1-AA22, wherein the positioning assistance information is transmitted as part of, or is triggered by, a sidelink direct communication procedure.

AA25. The method of any of embodiments AA1-AA24, further comprising transmitting an update to at least some of the positioning assistance information.

AA26. The method of embodiment AA25, wherein the update is transmitted responsive to receiving a request for the update.

AA27. The method of embodiment AA25, wherein the update is transmitted periodically.

AA28. The method of embodiment AA25, wherein the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non- updateable set of one or more information elements that are not updateable, wherein the update is an update to one or more information elements in the non-updateable set.

AA29. The method of any of embodiments AA1-AA28, wherein the positioning assistance information is transmitted over a sidelink between the target communication device and the candidate reference communication device.

AA30. The method of any of embodiments AA1-AA29, further comprising performing a sidelink positioning measurement with the target communication device.

AA31 . The method of any of embodiments AA1 -AA30, wherein the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device.

AA32. The method of embodiment AA31 , wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof. AA33. The method of any of embodiments AA31 -AA32, wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a traveling path of the candidate reference communication device.

AA34. The method of any of embodiments AA31 -AA33, wherein the information indicating the state of the candidate reference communication device includes information indicating whether or not the candidate reference communication device is stationary.

AA35. The method of any of embodiments AA31 -AA34, wherein the information indicating the state of the candidate reference communication device includes information indicating a state of a battery of the candidate reference communication device.

AA36. The method of embodiment AA35, wherein the state of the battery of the candidate reference communication device includes a remaining battery life of the battery and/or whether the battery is charging.

AA. The method of any of the previous embodiments, further comprising: providing user data; and forwarding the user data to a host computer via the transmission to a base station.

Group B Embodiments

B1 . A method performed by a network node in a communication network, the method comprising: obtaining positioning assistance information for a candidate reference communication device, wherein the positioning assistance information is to assist with positioning of a target communication device, wherein the candidate reference communication device is a candidate for selection as a reference communication device with which the target communication device is to perform a sidelink positioning measurement, wherein the positioning assistance information for the candidate reference communication device includes: information indicating a state of the candidate reference communication device; and/or information about one or more nodes whose position is known to the network node.

B2. The method of embodiment B1 , wherein the information about the one or more nodes includes one or more identities identifying the one or more nodes whose position is known to the candidate reference communication device.

B3. The method of any of embodiments B1 -B2, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a position of the node.

B4. The method of embodiment B3, wherein the information indicating the position of the node is relative positioning information indicating the position of the node relative to a position of the candidate reference communication device.

B5. The method of embodiment B4, wherein the relative positioning information indicating the position of the node indicates a distance of the node, a direction of the node, a velocity of the node, an acceleration of the node, an orientation of the node, or any combination thereof, as measured by the candidate reference communication device.

B6. The method of any of embodiments B1 -B5, wherein the one or more nodes includes one or more nodes whose position is known to the candidate reference communication device relative to a position of the candidate reference communication device.

B7. The method of any of embodiments B1 -B6, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a state of the node.

B8. The method of embodiment B7, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node.

B9. The method of embodiment B8, wherein the information characterizing physical movement of the node includes information indicating a velocity of the node, an acceleration of the node, an angular velocity of the node, or any combination thereof.

B10. The method of any of embodiments B8-B9, wherein the information characterizing physical movement of the node includes information indicating a traveling path of the node.

B11 . The method of any of embodiments B7-B10, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary. B12. The method of any of embodiments B7-B11 , wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node.

B13. The method of embodiment B12, wherein the state of the battery of the node includes a remaining battery life of the battery and/or whether the battery is charging.

B14. The method of any of embodiments B1 -B13, wherein the positioning assistance information for the candidate reference communication device further includes information indicating a type of the candidate reference communication device from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

B15. The method of any of embodiments B1 -B14, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating: sidelink positioning measurement capabilities of the node; and/or sidelink reference signal transmission capabilities of the node.

B16. The method of any of embodiments B1 -B15, wherein the information about the one or more nodes includes, for each of the one or more nodes, information indicating a serving cell of the node.

B17. The method of any of embodiments B1 -B16, wherein the one or more nodes includes one or more communication devices whose position is known to the candidate reference communication device.

B18. The method of any of embodiments B1 -B17, wherein the one or more nodes includes one or more transmission reception points, TRPs, whose position is known to the candidate reference communication device.

B19. The method of any of embodiments B1 -B18, wherein the information about the one or more nodes is sorted according to one or more sorting criterions, wherein the one or more sorting criterions include one or more of: a geographical distance of the one or more nodes from the candidate reference communication device; an orientation of the one or more nodes relative to the candidate reference communication device; and a signal strength or quality associated with the one or more nodes as measured by the candidate reference communication device.

B20. The method of any of embodiments B1 -B19, wherein the one or more nodes are one or more nodes whose position is known to the candidate reference communication device and that are in proximity of the candidate reference communication device according to a proximity criterion.

B21 . The method of any of embodiments B1 -B20, wherein the information about the one or more nodes includes, for each of the one or more nodes, information about one or more other nodes whose position is known to the node.

B22. Reserved.

B23. The method of any of embodiments B1 -B22, wherein the positioning assistance information is obtained as part of, or is triggered by, a proximity services direct discovery procedure.

B24. Reserved.

B25. The method of any of embodiments B1 -B24, further comprising obtaining an update to at least some of the positioning assistance information.

B26. The method of embodiment B25, wherein the update is obtained responsive to requesting the update.

B27. The method of embodiment B25, wherein the update is obtained periodically.

B28. The method of embodiment B25, wherein the positioning assistance information includes an updateable set of one or more information elements that are updateable and a non- updateable set of one or more information elements that are not updateable, wherein the update is an update to one or more information elements in the non-updateable set.

B29. The method of any of embodiments B1 -B28, wherein the positioning assistance information is received from the candidate reference communication device.

B30. The method of any of embodiments A1 -A28, wherein the positioning assistance information is received from a network node in the communication network.

B31. The method of any of embodiments B1 -B28, wherein obtaining the positioning assistance information comprises generating the positioning assistance information.

B32. The method of any of embodiments B1 -B31 , wherein the positioning assistance information is obtained as part of obtaining positioning assistance information for each of multiple candidate reference communication devices, wherein the positioning assistance information for each candidate reference communication device includes: information indicating a state of the candidate reference communication device; and/or information about one or more nodes whose position is known to the candidate reference communication device.

B33. The method of embodiment B32, further comprising using the positioning assistance information obtained for each of multiple candidate reference communication devices to select, from among the multiple candidate reference communication devices, one or more candidate reference communication devices as one or more reference communication devices with which the target communication device is to perform a sidelink positioning measurement.

B34. The method of embodiment B33, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device.

B35. The method of embodiment B33, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information, know the position of at least one node whose position is also known to the target communication device.

B36. The method of embodiment B33, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises selecting one or more candidate reference communication devices that meet selection criteria according to the obtained positioning assistance information, wherein a candidate reference communication device meets the selection criteria if: the positioning assistance information obtained for the candidate reference communication device indicates a relative position between the candidate reference communication device and a node; and a relative position between that node and the target communication device is known.

B37. The method of embodiment B33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information characterizing physical movement of the node and/or information characterizing physical orientation of the node, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that, according to the received positioning assistance information has a physical movement and/or physical orientation most similar to that of the target communication device.

B38. The method of embodiment B33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating whether or not the node is stationary, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that is stationary according to the received positioning assistance information.

B39. The method of embodiment B33, wherein, for at least one of the one or more nodes, the information indicating the state of the node includes information indicating a state of a battery of the node, wherein using the positioning assistance information obtained for each of multiple candidate reference communication devices to select one or more candidate reference communication devices comprises preferentially selecting one or more candidate reference communication devices that have at least a minimum battery life remaining according to the received positioning assistance information.

B40. The method of any of embodiments B33-B39, further comprising transmitting signaling to the target communication device commanding or recommending the target communication device to perform a sidelink positioning measurement with each of the one or more selected candidate reference communication devices. B41 . The method of any of embodiments B1 -B40, further comprising transmitting the obtained positioning assistance information to the target communication device.

B42. The method of any of embodiments B1 -B41 , wherein the information indicating the state of the candidate reference communication device includes information characterizing physical movement of the candidate reference communication device and/or information characterizing physical orientation of the candidate reference communication device.

B43. The method of embodiment B42, wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a velocity of the candidate reference communication device, an acceleration of the candidate reference communication device, an angular velocity of the candidate reference communication device, or any combination thereof.

B44. The method of any of embodiments B42-B43, wherein the information characterizing physical movement of the candidate reference communication device includes information indicating a traveling path of the candidate reference communication device.

B45. The method of any of embodiments B42-B44, wherein the information indicating the state of the candidate reference communication device includes information indicating whether or not the candidate reference communication device is stationary.

B46. The method of any of embodiments B42-B45, wherein the information indicating the state of the candidate reference communication device includes information indicating a state of a battery of the candidate reference communication device.

B47. The method of embodiment B47, wherein the state of the battery of the candidate reference communication device includes a remaining battery life of the battery and/or whether the battery is charging.

BB. The method of any of the previous embodiments, further comprising: obtaining user data; and forwarding the user data to a host computer or a communication device.

Group C Embodiments

C1 . A communication device configured to perform any of the steps of any of the Group A embodiments. C2. A communication device comprising processing circuitry configured to perform any of the steps of any of the Group A embodiments.

C3. A communication device comprising: communication circuitry; and processing circuitry configured to perform any of the steps of any of the Group A embodiments.

C4. A communication device comprising: processing circuitry configured to perform any of the steps of any of the Group A embodiments; and power supply circuitry configured to supply power to the communication device.

C5. A communication device comprising: processing circuitry and memory, the memory containing instructions executable by the processing circuitry whereby the communication device is configured to perform any of the steps of any of the Group A embodiments.

C6. The communication device of any of embodiments C1 -C5, wherein the communication device is a wireless communication device.

C7. A user equipment (UE) comprising: an antenna configured to send and receive wireless signals; radio front-end circuitry connected to the antenna and to processing circuitry, and configured to condition signals communicated between the antenna and the processing circuitry; the processing circuitry being configured to perform any of the steps of any of the Group A embodiments; an input interface connected to the processing circuitry and configured to allow input of information into the UE to be processed by the processing circuitry; an output interface connected to the processing circuitry and configured to output information from the UE that has been processed by the processing circuitry; and a battery connected to the processing circuitry and configured to supply power to the

UE.

C8. A computer program comprising instructions which, when executed by at least one processor of a communication device, causes the communication device to carry out the steps of any of the Group A embodiments.

C9. A carrier containing the computer program of embodiment C7, wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer readable storage medium.

C10. A network node configured to perform any of the steps of any of the Group B embodiments.

C11 . A network node comprising processing circuitry configured to perform any of the steps of any of the Group B embodiments.

C12. A network node comprising: communication circuitry; and processing circuitry configured to perform any of the steps of any of the Group B embodiments.

C13. A network node comprising: processing circuitry configured to perform any of the steps of any of the Group B embodiments; power supply circuitry configured to supply power to the network node.

C14. A network node comprising: processing circuitry and memory, the memory containing instructions executable by the processing circuitry whereby the network node is configured to perform any of the steps of any of the Group B embodiments.

C15. The network node of any of embodiments C10-C14, wherein the network node is a base station.

C16. A computer program comprising instructions which, when executed by at least one processor of a network node, causes the network node to carry out the steps of any of the Group B embodiments.

C17. The computer program of embodiment C16, wherein the network node is a base station.

C18. A carrier containing the computer program of any of embodiments C16-C17, wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer readable storage medium.

D1 . A communication system including a host computer comprising: processing circuitry configured to provide user data; and a communication interface configured to forward the user data to a cellular network for transmission to a user equipment (UE), wherein the cellular network comprises a base station having a radio interface and processing circuitry, the base station’s processing circuitry configured to perform any of the steps of any of the Group B embodiments.

D2. The communication system of the previous embodiment further including the base station.

D3. The communication system of the previous 2 embodiments, further including the UE, wherein the UE is configured to communicate with the base station.

D4. The communication system of the previous 3 embodiments, wherein: the processing circuitry of the host computer is configured to execute a host application, thereby providing the user data; and the UE comprises processing circuitry configured to execute a client application associated with the host application.

D5. A method implemented in a communication system including a host computer, a base station and a user equipment (UE), the method comprising: at the host computer, providing user data; and at the host computer, initiating a transmission carrying the user data to the UE via a cellular network comprising the base station, wherein the base station performs any of the steps of any of the Group B embodiments.

D6. The method of the previous embodiment, further comprising, at the base station, transmitting the user data.

D7. The method of the previous 2 embodiments, wherein the user data is provided at the host computer by executing a host application, the method further comprising, at the UE, executing a client application associated with the host application. D8. A user equipment (UE) configured to communicate with a base station, the UE comprising a radio interface and processing circuitry configured to perform any of the previous 3 embodiments.

D9. A communication system including a host computer comprising: processing circuitry configured to provide user data; and a communication interface configured to forward user data to a cellular network for transmission to a user equipment (UE), wherein the UE comprises a radio interface and processing circuitry, the UE’s components configured to perform any of the steps of any of the Group A embodiments.

D10. The communication system of the previous embodiment, wherein the cellular network further includes a base station configured to communicate with the UE.

D11 . The communication system of the previous 2 embodiments, wherein: the processing circuitry of the host computer is configured to execute a host application, thereby providing the user data; and the UE’s processing circuitry is configured to execute a client application associated with the host application.

D12. A method implemented in a communication system including a host computer, a base station and a user equipment (UE), the method comprising: at the host computer, providing user data; and at the host computer, initiating a transmission carrying the user data to the UE via a cellular network comprising the base station, wherein the UE performs any of the steps of any of the Group A embodiments.

D13. The method of the previous embodiment, further comprising at the UE, receiving the user data from the base station.

D14. A communication system including a host computer comprising: communication interface configured to receive user data originating from a transmission from a user equipment (UE) to a base station, wherein the UE comprises a radio interface and processing circuitry, the UE’s processing circuitry configured to perform any of the steps of any of the Group A embodiments.

D15. The communication system of the previous embodiment, further including the UE.

D16. The communication system of the previous 2 embodiments, further including the base station, wherein the base station comprises a radio interface configured to communicate with the UE and a communication interface configured to forward to the host computer the user data carried by a transmission from the UE to the base station.

D17. The communication system of the previous 3 embodiments, wherein: the processing circuitry of the host computer is configured to execute a host application; and the UE’s processing circuitry is configured to execute a client application associated with the host application, thereby providing the user data.

D18. The communication system of the previous 4 embodiments, wherein: the processing circuitry of the host computer is configured to execute a host application, thereby providing request data; and the UE’s processing circuitry is configured to execute a client application associated with the host application, thereby providing the user data in response to the request data.

D19. A method implemented in a communication system including a host computer, a base station and a user equipment (UE), the method comprising: at the host computer, receiving user data transmitted to the base station from the UE, wherein the UE performs any of the steps of any of the Group A embodiments.

D20. The method of the previous embodiment, further comprising, at the UE, providing the user data to the base station.

D21 . The method of the previous 2 embodiments, further comprising: at the UE, executing a client application, thereby providing the user data to be transmitted; and at the host computer, executing a host application associated with the client application.

D22. The method of the previous 3 embodiments, further comprising: at the UE, executing a client application; and at the UE, receiving input data to the client application, the input data being provided at the host computer by executing a host application associated with the client application, wherein the user data to be transmitted is provided by the client application in response to the input data.

D23. A communication system including a host computer comprising a communication interface configured to receive user data originating from a transmission from a user equipment (UE) to a base station, wherein the base station comprises a radio interface and processing circuitry, the base station’s processing circuitry configured to perform any of the steps of any of the Group B embodiments.

D24. The communication system of the previous embodiment further including the base station.

D25. The communication system of the previous 2 embodiments, further including the UE, wherein the UE is configured to communicate with the base station.

D26. The communication system of the previous 3 embodiments, wherein: the processing circuitry of the host computer is configured to execute a host application; the UE is configured to execute a client application associated with the host application, thereby providing the user data to be received by the host computer.

D27. A method implemented in a communication system including a host computer, a base station and a user equipment (UE), the method comprising: at the host computer, receiving, from the base station, user data originating from a transmission which the base station has received from the UE, wherein the UE performs any of the steps of any of the Group A embodiments.

D28. The method of the previous embodiment, further comprising at the base station, receiving the user data from the UE.

D29. The method of the previous 2 embodiments, further comprising at the base station, initiating a transmission of the received user data to the host computer.

REFERENCES

1. RP-213561 New SID on Study on expanded and improved NR positioning, 3GPP TSG

RAN Meeting #94e 2. TS 23.303 Proximity-based services, 3GPP

Claims

1 . A method performed by a target communication device (12T) configured for use in a communication network (10), the method comprising: receiving (1300) positioning assistance information (16) for a candidate reference communication device (12C), wherein the candidate reference communication device (12C) is a candidate for the target communication device (12T) to select as a reference communication device (12R) with which to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and performing sidelink positioning with assistance from the received positioning assistance information (16).

2. The method of claim 1 , wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information characterizing physical movement of the candidate reference communication device (12C) and/or information characterizing physical orientation of the candidate reference communication device (12C).

3. The method of claim 2, wherein the information characterizing physical movement of the candidate reference communication device (12C) includes: information indicating a velocity of the candidate reference communication device (12C), an acceleration of the candidate reference communication device (12C), an angular velocity of the candidate reference communication device (12C), or any combination thereof; and/or information indicating a traveling path of the candidate reference communication device (12C).

4. The method of any of claims 1 -3, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information indicating whether or not the candidate reference communication device (12C) is stationary.

5. The method of any of claims 1 -4, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information indicating a state of a battery of the candidate reference communication device (12C).

6. The method of any of claims 1 -5, wherein the positioning assistance information (16) for the candidate reference communication device (12C) further includes information indicating a type of the candidate reference communication device (12C) from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

7. The method of any of claims 1 -6, wherein the information (16N) about the one or more nodes (18) includes, for each of the one or more nodes (18), information indicating a position of the node (18), information (16S) indicating a state of the node (18), and/or information indicating a serving cell of the node (18).

8. The method of claim 7, wherein, for at least one of the one or more nodes (18): the information indicating the position of the node (18) is relative positioning information indicating the position of the node (18) relative to a position of the candidate reference communication device (12C); and/or the information (16S) indicating the state of the node (18) includes information characterizing physical movement of the node (18) and/or information characterizing physical orientation of the node (18).

9. The method of any of claims 7-8, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information indicating a state of a battery of the node (18).

10. The method of any of claims 1 -9, wherein the one or more nodes (18) are one or more nodes (18) whose position is known to the candidate reference communication device (12C) and that are in proximity of the candidate reference communication device (12C) according to a proximity criterion.

11 . The method of any of claims 1-10, wherein the positioning assistance information (16) is received as part of, or is triggered by, a proximity services direct discovery procedure or a sidelink direct communication procedure.

12. The method of any of claims 1-11 , wherein the positioning assistance information (16) for the candidate reference communication device (12C) is received as part of receiving positioning assistance information (16) for each of multiple candidate reference communication devices (12C), wherein the positioning assistance information (16) for each candidate reference communication device (12C) includes information (16S) indicating a state of the candidate reference communication device (12C) and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C), and wherein the method further comprises: using the positioning assistance information (16) received for each of the multiple candidate reference communication devices (12C) to select, from among the multiple candidate reference communication devices (12C), one or more candidate reference communication devices (12C) as one or more reference communication devices (12R) with which to perform a sidelink positioning measurement; and performing a sidelink positioning measurement with each of the one or more selected reference communication devices (12R).

13. The method of claim 12, wherein using the positioning assistance information (16) received for each of the multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises selecting, or preferentially selecting, one or more candidate reference communication devices (12C) that, according to the received positioning assistance information (16), know the position of at least one node (18) whose position is also known to the target communication device (12T);

14. The method of claim 12, wherein using the positioning assistance information (16) received for each of the multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises selecting one or more candidate reference communication devices (12C) that meet selection criteria according to the received positioning assistance information (16), wherein a candidate reference communication device (12C) meets the selection criteria if: the received positioning assistance information (16) indicates a relative position between the candidate reference communication device (12C) and a node (18); and a relative position between that node (18) and the target communication device (12T) is known.

15. The method of claim 12, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information characterizing physical movement of the node (18) and/or information characterizing physical orientation of the node (18), wherein using the positioning assistance information (16) received for each of the multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises preferentially selecting one or more candidate reference communication devices (12C) that, according to the received positioning assistance information (16) has a physical movement and/or physical orientation most similar to that of the target communication device (12T).

16. The method of claim 12, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information indicating whether or not the node (18) is stationary, wherein using the positioning assistance information (16) received for each of the multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises preferentially selecting one or more candidate reference communication devices (12C) that: is stationary according to the received positioning assistance information (16); and/or have at least a minimum battery life remaining according to the received positioning assistance information (16).

17. A method performed by a candidate reference communication device (12C), the method comprising: transmitting (1400) positioning assistance information (16) for the candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist a target communication device (12T) with sidelink positioning, wherein the positioning assistance information (16) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C).

18. The method of claim 17, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information characterizing physical movement of the candidate reference communication device (12C) and/or information characterizing physical orientation of the candidate reference communication device (12C).

19. The method of claim 18, wherein the information characterizing physical movement of the candidate reference communication device (12C) includes: information indicating a velocity of the candidate reference communication device (12C), an acceleration of the candidate reference communication device (12C), an angular velocity of the candidate reference communication device (12C), or any combination thereof; and/or information indicating a traveling path of the candidate reference communication device (12C).

20. The method of any of claims 17-19, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information indicating whether or not the candidate reference communication device (12C) is stationary.

21 . The method of any of claims 17-20, wherein the information indicating the state of the candidate reference communication device (12C) includes information indicating a state of a battery of the candidate reference communication device (12C).

22. The method of any of claims 17-21 , wherein the information (16N) about the one or more nodes (18) includes, for each of the one or more nodes (18), information indicating a position of the node (18), information (16S) indicating a state of the node (18), and/or information indicating a serving cell of the node (18).

23. The method of claim 22, wherein, for at least one of the one or more nodes (18): the information indicating the position of the node (18) is relative positioning information indicating the position of the node (18) relative to a position of the candidate reference communication device (12C); and/or the information (16S) indicating the state of the node (18) includes information characterizing physical movement of the node (18) and/or information characterizing physical orientation of the node (18).

24. The method of any of claims 22-23, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information indicating a state of a battery of the node (18).

25. The method of any of claims 22-24, wherein the positioning assistance information (16) for the candidate reference communication device (12C) further includes information indicating a type of the candidate reference communication device (12C) from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

26. The method of any of claims 17-25, wherein the one or more nodes (18) are one or more nodes (18) whose position is known to the candidate reference communication device (12C) and that are in proximity of the candidate reference communication device (12C) according to a proximity criterion.

27. The method of any of claims 17-26, wherein the positioning assistance information (16) is received as part of, or is triggered by, a proximity services direct discovery procedure or a sidelink direct communication procedure.

28. A method performed by a network node (14) in a communication network (10), the method comprising: obtaining (1500) positioning assistance information (16) for a candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist with positioning of a target communication device (12T), wherein the candidate reference communication device (12C) is a candidate for selection as a reference communication device (12R) with which the target communication device (12T) is to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and transmitting (1540), to the target communication device (12T), the obtained positioning assistance information (16) and/or (1530) signaling that commands or recommends the target communication device (12T) to perform a sidelink positioning measurement with each of one or more candidate reference communication devices (12C) selected by the network node (14) based on the obtained positioning assistance information (16).

29. The method of claim 28, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information characterizing physical movement of the candidate reference communication device (12C) and/or information characterizing physical orientation of the candidate reference communication device (12C).

30. The method of claim 29, wherein the information characterizing physical movement of the candidate reference communication device (12C) includes: information indicating a velocity of the candidate reference communication device (12C), an acceleration of the candidate reference communication device (12C), an angular velocity of the candidate reference communication device (12C), or any combination thereof; and/or information indicating a traveling path of the candidate reference communication device (12C).

31 . The method of any of claims 28-30, wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information indicating whether or not the candidate reference communication device (12C) is stationary.

32. The method of any of claims 28-31 , wherein the information (16S) indicating the state of the candidate reference communication device (12C) includes information indicating a state of a battery of the candidate reference communication device (12C).

33. The method of any of claims 28-32, wherein the information (16N) about the one or more nodes (18) includes, for each of the one or more nodes (18), information indicating a position of the node (18), information (16S) indicating a state of the node (18), and/or information indicating a serving cell of the node (18).

34. The method of claim 33, wherein, for at least one of the one or more nodes (18): the information indicating the position of the node (18) is relative positioning information indicating the position of the node (18) relative to a position of the candidate reference communication device (12C); and/or the information (16S) indicating the state of the node (18) includes information characterizing physical movement of the node (18) and/or information characterizing physical orientation of the node (18).

35 The method of any of claims 33-34, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information indicating a state of a battery of the node (18).

36. The method of any of claims 33-35, wherein the positioning assistance information (16) for the candidate reference communication device (12C) further includes information indicating a type of the candidate reference communication device (12C) from among multiple possible types, wherein the multiple possible types include a pedestrian type, a vehicle type, and a unmanned aerial vehicle type.

37. The method of any of claims 28-36, wherein the one or more nodes (18) are one or more nodes (18) whose position is known to the candidate reference communication device (12C) and that are in proximity of the candidate reference communication device (12C) according to a proximity criterion.

38. The method of any of claims 28-37, wherein the positioning assistance information (16) is received as part of, or is triggered by, a proximity services direct discovery procedure or a sidelink direct communication procedure.

39. The method of any of claims 28-38, wherein the positioning assistance information (16) is obtained as part of obtaining positioning assistance information (16) for each of multiple candidate reference communication devices (12C), wherein the positioning assistance information (16) for each candidate reference communication device (12C) includes information (16S) indicating a state of the candidate reference communication device (12C) and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C), and wherein the method further comprises using the positioning assistance information (16) obtained for each of multiple candidate reference communication devices (12C) to select, from among the multiple candidate reference communication devices (12C), one or more candidate reference communication devices (12C) as one or more reference communication devices (12R) with which the target communication device (12T) is to perform a sidelink positioning measurement.

40. The method of claim 39, wherein using the positioning assistance information (16) obtained for each of multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises selecting, or preferentially selecting, one or more candidate reference communication devices (12C) that, according to the received positioning assistance information (16), know the position of at least one node (18) whose position is also known to the target communication device (12T).

41 . The method of claim 39, wherein using the positioning assistance information (16) obtained for each of multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises selecting one or more candidate reference communication devices (12C) that meet selection criteria according to the obtained positioning assistance information (16), wherein a candidate reference communication device (12C) meets the selection criteria if: the positioning assistance information (16) obtained for the candidate reference communication device (12C) indicates a relative position between the candidate reference communication device (12C) and a node (18); and a relative position between that node (18) and the target communication device (12T) is known.

42. The method of claim 39, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information characterizing physical movement of the node (18) and/or information characterizing physical orientation of the node (18), wherein using the positioning assistance information (16) obtained for each of multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises preferentially selecting one or more candidate reference communication devices (12C) that, according to the received positioning assistance information (16) has a physical movement and/or physical orientation most similar to that of the target communication device (12T).

43. The method of claim 39, wherein, for at least one of the one or more nodes (18), the information (16S) indicating the state of the node (18) includes information indicating whether or not the node (18) is stationary, wherein using the positioning assistance information (16) obtained for each of multiple candidate reference communication devices (12C) to select one or more candidate reference communication devices (12C) comprises preferentially selecting one or more candidate reference communication devices (12C) that: is stationary according to the received positioning assistance information (16); and/or have at least a minimum battery life remaining according to the received positioning assistance information (16).

44. A target communication device (12T) configured for use in a communication network (10), the target communication device (12T) configured to: receive positioning assistance information (16) for a candidate reference communication device (12C), wherein the candidate reference communication device (12C) is a candidate for the target communication device (12T) to select as a reference communication device (12R) with which to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and perform sidelink positioning with assistance from the received positioning assistance information (16).

45. The target communication device (12T) of claim 44, configured to perform the method of any of claims 2-16.

46. A candidate reference communication device (12C), the candidate reference communication device (12C) configured to: transmit positioning assistance information (16) for the candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist a target communication device (12T) with sidelink positioning, wherein the positioning assistance information (16) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C).

47. The candidate reference communication device (12C) of claim 46, configured to perform the method of any of claims 18-27.

48. A network node (14) configured for use in a communication network (10), the network node (14) configured to: obtain positioning assistance information (16) for a candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist with positioning of a target communication device (12T), wherein the candidate reference communication device (12C) is a candidate for selection as a reference communication device (12R) with which the target communication device (12T) is to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and transmit, to the target communication device (12T), the obtained positioning assistance information (16) and/or signaling that commands or recommends the target communication device (12T) to perform a sidelink positioning measurement with each of one or more candidate reference communication devices (12C) selected by the network node (14) based on the obtained positioning assistance information (16).

49. The network node (14) of claim 48, configured to perform the method of any of claims 29- 43.

50. A computer program comprising instructions which, when executed by at least one processor of a communication device, causes the communication device to perform the method of any of claims 1 -27.

51 . A computer program comprising instructions which, when executed by at least one processor of a network node (14), causes the network node (14) to perform the method of any of claims 28-43.

52. A carrier containing the computer program of any of claims 50-51 , wherein the carrier is one of an electronic signal, optical signal, radio signal, or computer readable storage medium.

53. A target communication device (12T) configured for use in a communication network (10), the target communication device (12T) comprising: communication circuitry (1620); and processing circuitry (1610) configured to: receive positioning assistance information (16) for a candidate reference communication device (12C), wherein the candidate reference communication device (12C) is a candidate for the target communication device (12T) to select as a reference communication device (12R) with which to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and perform sidelink positioning with assistance from the received positioning assistance information (16).

54. The target communication device (12T) of claim 53, the processing circuitry (1610) configured to perform the method of any of claims 2-16.

55. A candidate reference communication device (12C), the candidate reference communication device (12C) comprising: communication circuitry (1620); and processing circuitry (1610) configured to transmit positioning assistance information (16) for the candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist a target communication device (12T) with sidelink positioning, wherein the positioning assistance information (16) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C).

56. The candidate reference communication device (12C) of claim 55, the processing circuitry (1610) configured to configured to perform the method of any of claims 18-27.

57. A network node (14) configured for use in a communication network (10), the network node (14) comprising: communication circuitry (1720); and processing circuitry (1710) configured to: obtain positioning assistance information (16) for a candidate reference communication device (12C), wherein the positioning assistance information (16) is to assist with positioning of a target communication device (12T), wherein the candidate reference communication device (12C) is a candidate for selection as a reference communication device (12R) with which the target communication device (12T) is to perform a sidelink positioning measurement, wherein the positioning assistance information (16) for the candidate reference communication device (12C) includes: information (16S) indicating a state of the candidate reference communication device (12C); and/or information (16N) about one or more nodes (18) whose position is known to the candidate reference communication device (12C); and transmit, to the target communication device (12T), the obtained positioning assistance information (16) and/or signaling that commands or recommends the target communication device (12T) to perform a sidelink positioning measurement with each of one or more candidate reference communication devices (12C) selected by the network node (14) based on the obtained positioning assistance information (16).

58. The network node (14) of claim 57, the processing circuitry (1710) configured to configured to perform the method of any of claims 29-43.