Methods, systems, and devices for wireless communications are described. In a wireless communications system, one or more user equipments (UEs) may implement distance-limited sidelink-based ranging techniques. An initiating UE may transmit one or more positioning reference signal (PRS) request messages to one or more target UEs via a sidelink channel. In some cases, the initiating UE may receive one or more response messages from at least one target UE that is located within a threshold distance from the initiating UE. In some examples, based on receiving the one or more response messages, the initiating UE may transmit PRSs to each target UE that transmitted a response message.

An embodiment is a method for a terminal to perform an operation in a wireless communication system, the method including the steps of: transmitting a request positioning reference signal (PRS) to anchor nodes (ANs); receiving response PRSes for the request RPS from the ANs; and measuring the location of the terminal by using the request PRS and the response PRSes, wherein the terminal transmits scheduling information related to the request PRS and the response PRSes to the ANs.

According to one embodiment of the present disclosure, provided is a method in which a first device performs sidelink communication. The method may comprise: a step for determining at least one PRS resource for transmitting at least one PRS for sidelink positioning; a step for transmitting, to a second device, the at least one PRS on the basis of the at least one PRS resource; a step for receiving, from the second device, a PSCCH and a PSSCH associated with the PSCCH; a step for determining at least one PSFCH resource for transmitting the PSCCH or at least one PSFCH related to the PSSCH to the second device; and a step for transmitting, to the second device, the at least one PSFCH on the basis of the at least one PSFCH resource.

Disclosed are a method and a device for same, the method comprising the steps of: receiving a VRU path map including joint information; predicting the movement path of a VRU device; and transmitting a first message including information about the movement path of the VRU, wherein: the joint information includes location information about joints, and information about the angle and probability of each of the plurality of VRU paths branched at the joints; the VRU device determines a specific joint from among the joints on the basis of the location of the VRU and a progress direction measured by a sensor, and predicts the movement path of the VRU by correcting the probability of each of the VRU paths on the basis of the difference in angle between the progress angle and the angle of each of the VRU paths branched at the specific joint.

Techniques are discussed herein for transmission of location information by a user equipment (UE) to other UEs. A UE receives Satellite Positioning System (SPS) signals and determines whether the SPS signals are reliable. The UE determines a location estimate to be transmitted to other UEs using the SPS signals if the SPS signals are determined to be reliable and using non-SPS information if the SPS signals are determined to be not reliable. The location information is transmitted to other UEs in a message that includes an indication of the source of information used to generate the location estimate. A UE that receives the message may determine its location estimate based, at least in part, on the indication of the source of information, e.g., by determining whether SPS signals are reliable based, at least in part, on the indication of the source of information received in the message.

Techniques are discussed herein for detecting anomalous signals such as spoofed satellite positioning system (SPS) signals and for the transmission of accurate location estimates between user equipments (UEs) when the SPS signals are not reliable. A UE determines an SPS derived location estimate and determines an associated confidence level. The confidence level is determined based on time or location derived from the SPS signals, e.g., relative to local time or non-SPS information, such as stored previous location estimates, non-SPS sensor information, and location information from other UEs. The UE transmits location information to other UEs that includes a selected location estimate, confidence level, and the source of the location estimate, e.g., where the SPS derived location estimate is selected if the confidence level is high and the non-SPS derived location estimate is selected if the confidence level is low.

Systems, methods, and devices for wireless communication that support mechanisms for determining a joint priority of sidelink and access link (Uu) positioning reference signal (PRS) transmissions in a wireless communication system. A joint priority of a PRS transmission may refer to a priority of the PRS transmission over the entire set of PRS transmissions including sidelink PRS transmissions and Uu PRS transmissions transmitted to a target UE in a sidelink positioning session. In aspects, a joint priority of a sidelink PRS transmission from an anchor UE may be determined with respect to not only other sidelink transmissions, but also with respect to other Uu PRS transmissions from other anchor base stations. Similarly, a joint priority of a Uu PRS transmission from an anchor base station may be determined with respect to not only other Uu transmissions, but also with respect to other sidelink PRS transmissions from other anchor UEs.

Methods, systems, and devices for wireless communication are described. A user equipment (UE) may receive, via first frequency ranges and first time periods, a plurality of sidelink control blocks that each indicate a sidelink positioning reference signal burst pattern for one or more sidelink UEs. The UE may receive, within a second frequency range and during a second time period, a plurality of multiplexed sidelink positioning reference signals from the one or more sidelink UEs in accordance with the sidelink positioning reference signal burst patterns. The UE may determine a position of the UE based at least in part on the receiving of the plurality of multiplexed sidelink positioning reference signals.

Disclosed are techniques for wireless communication. In an aspect, a first UE determines a set of resources for transmission of one or more sidelink PRSs. The first UE transmits a sidelink control message to reserve the set of resources for the transmission of the one or more sidelink PRSs. In another aspect, the second UE may receive the sidelink control message, and may (e.g., transmit and/or receive/measure) the one or more PRSs in accordance with the sidelink control message. In another aspect, a third UE may receive the sidelink control message, and may determine whether a transmission by the third UE on some or all of the set of resources is permitted based on the sidelink control message.

Collaborative local positioning techniques, such as could be used with smart phones, surveying equipment, or other mobile devices, are described. The techniques include independent techniques for distance measurement between devices, the relative positioning of devices, and an absolute orienting of the devices without use of fixed anchor points and through on-will participation of the devices to provide privacy. Distances between devices are determined by use of a sequence of positioning signals, such as a magnetic signal, each of which include an identifier of the transmitting device, the amplitude of the signal as transmitted, and the position of the signal within the sequence. The amplitude of the positioning signal as received can be compared to the amplitude as transmitted to obtain a distance.