Techniques are provided for radio frequency (RF) sensing using a single wireless device. An example method for determining a distance to an object with radio frequency sensing includes transmitting a radio frequency signal with a transmit channel on a wireless device, receiving a leakage signal with a receive channel on the wireless device at a first time, such that the leakage signal is based on the radio frequency signal, receiving a reflected signal with the receive channel on the wireless device at a second time, such that the reflected signal is based on the radio frequency signal reflecting from the object, and determining the distance to the object based at least in part on a difference between the first time and the second time.

A method in a measuring station is described. The method includes determining a plurality of Time of Flights (TOFs) corresponding to plurality of beacons and determining an overall circular error probability ellipse (CEP) based at least in part upon a plurality of times of departure and a corresponding plurality of measuring station positions for each TOF. The method further includes determining at least one individual CEP of a plurality of individual CEPs if at least one of a predetermined time has elapsed and the measuring station has travelled a predetermined distance and determining a merged CEP, where the merged CEP includes the plurality of individual CEPs. Further, the merged CEP is determined to be a better CEP if the merged CEP is more consistent with the plurality of individual CEPs than with the overall CEP. The better CEP is usable to determine a location of a wireless device.

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 participation request message to peripheral anchor nodes (ANs); receiving participation response messages from candidate ANs among the peripheral ANs; selecting final ANs to be used for measuring the location of the terminal from among the candidate ANs; and measuring the location of the terminal using the final ANs.

The positions of multiple user equipments (UEs) are jointly determined by a location server using positioning measurements from a comment set of positioning reference signals (PRS), which may include downlink (DL) PRS, uplink (UL) PRS, sidelink (SL) PRS, or a combination thereof. The common set of PRS may be selected by the location server, e.g., based on a rough estimate of position of the UEs determined by the location server, a recommendation from the UEs, or a position report from the UEs. Once selected by the location server, an indication of the common set of PRS is sent to the UEs. The common set of PRS, alternatively, may be selected by one or more UEs, e.g., by a controlling UE or consensus, and one or more UEs provide an indication of the common set of PRS to the location server.

A method for receiving device position determination includes receiving beamformed position reference signals (BF-PRSs) on a plurality of communications beams from at least two transmitting devices in accordance with a BF-PRS configuration, making at least one observed time difference of arrival (OTDOA) measurement in accordance with the BF-PRSs on the plurality of communications beams, and transmitting OTDOA feedback including the at least one OTDOA measurement.

A responder user equipment (UE) in separate ranging sessions may determine whether there is a collision between the ranging signals assigned to broadcast in the separate ranging sessions. A collision in the ranging signals is detected when the ranging signals have the same frequencies and broadcast times, e.g., the broadcast time of one ranging signal is within a predetermined amount of time for the other ranging signal. When a collision in the ranging signals is detected, the responder UE sends a message to the initiator UE indicating the possibility of a collision. Available times for broadcasting the ranging signals may be determined, e.g., by the responder UE or the initiator UE. The initiator UE may initiate a new ranging session based on the available times for broadcasting the ranging signal or may proceed with the ranging session with the possibility that the responder UE will not participate.

A method includes: receiving a ranging signal from the transmitter comprising a set of multiplexed sub-signals, each multiplexed sub-signal characterized by a frequency in a set of frequencies; calculating a time-based time-of-arrival estimate based on the series of time-domain samples of the ranging signal; calculating a time-based uncertainty of the time-based time-of-arrival; for each sub-signal pair in a subset of multiplexed sub-signals of the set of multiplexed sub-signals, extracting a phase difference of the sub-signal pair; calculating a phase-based time-of-arrival estimate based on the phase difference of each sub-signal pair in the subset of multiplexed sub-signals; calculating a phase-based uncertainty of the phase-based time-of-arrival estimate; and calculating a hybrid time-of-arrival estimate as a weighted combination of the time-based time-of-arrival estimate, the phase-based time-of-arrival estimate, based on the time-based uncertainty and the phase-based uncertainty.

Disclosed is a method for a terminal for receiving a positioning reference signal (PRS) in a wireless communication system. Particularly, the method includes: receiving first information related to a PRS resource group including a plurality of PRS resources, and second information related to a repetition count for the PRS resource group; and receiving a PRS on the plurality of PRS resources based on the first information and second information, wherein the PRS resource group may be allocated repeatedly as many times as the repetition count within a certain period.

This disclosure provides systems, methods and apparatuses for wireless communication that may allow a user equipment (UE) to determine its relative position and distances to other UEs more accurately than standard vehicle-to-everything (V2X) communications allow. In some implementations, a UE (or other wireless communication device) participating in a positioning operation may transmit and receive positioning signals on an unlicensed radio band, and may transmit and receive non-positioning signals on a V2X channel (or on another suitable channel) of a radio access network (RAN). The positioning signals may include positioning reference signals (PRSs) associated with observed time difference of arrival (OTDOA) positioning operations, ranging signals associated with round-trip time (RTT) positioning operations, or other suitable signals from which the position of the UE can be determined.

Methods and systems for identifying device positions include measuring radio signal strength information between devices. Inertial information is measured for the devices. The radio signal strength information and the inertial information are fused to determine relative locations between the devices. The relative locations are oriented to a fixed anchor node. Elevation is estimated for the plurality of devices using pressure sensor information.