Qualcomm Incorporated

Ning Luo

Gengsheng Zhang

Min Wang

Yinghua Yang

Bo Zheng

Yuxiang Peng

Zoltan F Biacs

Han Zhang

Kannan Muthuraman

Mangesh M Chansarkar

William J Morrison

Joseph Czompo

Guttorm Ringstad Opshaug

Ming Sun

Benjamin A Werner

David Tuck

Jean-Michel Rousseau

Alexandros Manolakos

Weimin Duan

Jingchao Bao

Arnold Jason Gum

Wyatt Thomas Riley

Ashutosh Joshi

Dimitri Rubin

Yuhua Hu

Ronald B Blumstein

Ronald Blumstein

Jean-Michel Raymond-Marie Rousseau

Furqan Ahmed

Techniques for global navigation satellite system (GNSS)-based positioning of a mobile device based on antenna phase center compensation are disclosed. The techniques can include determining a phase center profile of a receiver antenna of the mobile device that is placed in a fixed-frame condition and executing an antenna phase center compensation procedure upon detecting placement of the mobile device in a non-fixed frame condition. The antenna phase center compensation procedure can include obtaining attitude information of the mobile device based at least in part on sensor data obtained from one or more sensors of the mobile device, and incorporating the attitude information of the mobile device into the phase center profile of the receiver antenna of the mobile device. A global navigation satellite system-based positioning operation may be executed that includes antenna phase center compensation based at least in part on incorporating the attitude information into the phase center profile.

Mobile real time kinematic (RTK) / precise point positioning (PPP) enhancement with antenna PCO/PCV compensation

An example method of position information authentication for a location application performed by a UE, the method comprising determining by a position engine, a position estimate of the UE and determining by the position engine, a position report message indicating the position estimate. The method also comprises determining by a security module, a digital signature generated using a first private key known to the UE and the position report message. The method further comprises transmitting the position report message associated with the digital signature to a location application executed by the UE or another device, wherein the location application is configured to provide one or more location-based services to the UE using the position estimate responsive to a successful authentication of the position report message using the digital signature generated based on the first private key.

Position report authentication

A method of wireless communication at a UE is disclosed herein. The UE obtains, via an antenna of the UE, a first indication of a first measurement of at least one RF signal at a first time instance. The UE obtains, via the antenna, a second indication of a second measurement of the at least one RF signal at a second time instance. The UE calculates a distance traveled by the UE between the first time instance and the second time instance. The UE calculates a DOA of the at least one RF signal based on the first measurement, the second measurement, and the distance traveled by the UE between the first time instance and the second time instance. The UE outputs a third indication of the calculated DoA of the at least one RF signal.

Virtual multi-antenna for enhanced RF-based PNT

A method, apparatus, and system are disclosed for providing modified orbital assistance data to a mobile station to determine its location using global navigation satellite system (GNSS). In some example embodiments, a method for determining a location of a mobile station using orbital assistance data may include: receiving satellite positioning signals from a plurality of GNSS satellites; receiving orbital assistance data comprising a distance between a location on an antenna which is associated with a first frequency of the satellite positioning signals and a location on the antenna which is associated with a second frequency of the satellite positioning signals; and determining the location of the mobile station based on the orbital assistance data and the satellite positioning signals.

Antenna phase center compensation for orbital assistance data

A method of determining an integer ambiguity search space includes: obtaining, at an apparatus, a code phase measurement of a satellite vehicle signal comprising a pseudorandom noise code and a carrier signal; obtaining, at the apparatus, spatial information corresponding to a wireless terrestrial signal transferred between the apparatus and a terrestrial base station; determining, at the apparatus, a satellite positioning system carrier phase integer ambiguity search space based on the code phase measurement; and constraining a size of the satellite positioning system carrier phase integer ambiguity search space based on the spatial information.

Integer ambiguity search space reduction

In an aspect, a position estimation entity may obtain a first differential round trip time (RTT) measurement based on a first RTT measurement between a user equipment (UE) and a first wireless node and a second RTT measurement between the UE and a second wireless node, may obtain a second differential RTT measurement based on a third RTT measurement between a third wireless node and the first wireless node and a fourth RTT measurement between the third wireless node and the second wireless node, and may determine a positioning estimate of the UE based at least in part on the first differential RTT measurement and the second differential RTT measurement.

Double-differential round trip time measurement

In an aspect, a user equipment (UE) receives a spoofing alert message from either a server or an internet-of-things (IOT) device that indicates whether a spoofed Global Navigation Satellite System (GNSS) condition is present. Based on determining that the spoofing alert message indicates that a spoofed GNSS condition is present, the UE determines, based on the spoofing alert message, a location of a spoofer broadcasting a spoofed GNSS signal, determines, based on the location of the spoofer and a current location of the UE, that the UE is within a receiving area of the spoofed GNSS signal, and determines a position of the UE without using the spoofed GNSS signal.

Detecting spoofed global navigation satellite system (GNSS) signals

Systems and techniques are provided for determining positioning. For example, the systems and techniques can include obtaining an inertial height measurement, wherein the inertial height measurement is obtained based on a determination that one or more positioning signals are unavailable. A height constraint can be generated using the inertial height measurement, wherein the height constraint is generated based at least in part on a transition matrix. One or more positioning measurements can be determined based on using the height constraint as a real-time kinematic (RTK) positioning input.

Kinematic positioning with inertial constraints

A mobile device supports carrier phase based positioning using positioning signals received from positioning signals from a plurality of satellites in a satellite positioning system (SPS). In the presence of a discontinuous carrier phase, e.g., if a cycle slip is detected, the mobile device is configured to generate a continuous carrier phase using the device history of the mobile device. The mobile device, for example, may track the carrier phase of positioning signals and determine a position estimate for the mobile device at a first time. If a cycle clip of the carrier phase is detected at a second time, the mobile device resolves the integer ambiguity in the carrier phase at the second time based on the carrier phase and position estimate for the mobile device from the first time.

Methods and apparatus for carrier phase continuity in satellite positioning system signals

Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to determine location relative to a roadside unit (RSU) or other nearby point of reference. Vehicles within a pre-designated range or within broadcast distance or otherwise geographically proximate to a roadside unit, through the use of broadcast or other messages sent by the vehicles and/or the RSU may share carrier GNSS phase measurement data, wherein the shared GNSS carrier phase measurement data may be utilized to control and coordinate vehicle movements, velocity and/or position by the RSU and/or to determine location of each vehicle relative to the RSU and/or to other vehicles or determine the absolute location of each vehicle. An RSU may coordinate vehicle access to an intersection, manage vehicle speeds and coordinate or control vehicle actions such as slowing, stopping, and changing lanes or sending a vehicle to a particular location.

Method and apparatus to determine relative location using GNSS carrier phase

Aspects presented herein may enable a UE to identify whether images captured by the camera(s) of the UE are spoofed (e.g., are real images or false/manipulated/virtual images, etc.). In one aspect, a UE obtains a set of images associated with a vision-aided positioning session, where the set of images is captured using at least one first camera. The UE detects that at least one spoofing feature is present in the set of images during the vision-aided positioning session. The UE stores or outputs an indication of the at least one spoofing feature based on the at least one spoofing feature being present in the set of images. The UE performs the camera-aided positioning session based on at least one non-spoofing feature, where the at least one non-spoofing feature is different from the at least one spoofing feature.

Anti-spoofing in camera-aided location and perception

Aspects presented herein may improve the performance and accuracy of RF-based positioning. Aspects presented herein may enable a device to use RF Doppler measurements to detect and mitigate multipath effects in RF-based positioning. The RF-based positioning may include satellite navigation, terrestrial positioning system, and/or indoor positioning. In one aspect, a UE receives, via a receiver, signals from one or more entities. The UE determines whether each received signal is a multipath signal based on a Doppler shift measurement. The UE de-weights or excludes one or more signals of the received signals in estimating a position of the UE based on whether the respective received signal is determined to be a multipath signal.

Using doppler for multipath detection and mitigation in RF-based positioning

Described are methods, systems, and devices for correcting ionospheric error. In some aspects, a mobile device equipped with a Global Navigation Satellite System (GNSS) receiver is configured to determine a positioning measurement of a GNSS signal. The mobile device is further configured to receive augmentation data from an augmentation system. When the mobile device is unable to obtain newer augmentation data, the mobile device can instead obtain augmentation data associated with historical Total Electron Content (TEC) values. In such instances, the augmentation data will have been generated to represent ionospheric delay during a time period that ended before the augmentation data is obtained. Based on the augmentation data associated with historical TEC values and a pierce point of the received GNSS signal, an ionospheric error in the positioning measurement of the GNSS signal can be determined and corrected.

Ionosphere grid history and compression for GNSS positioning

A multipath condition detection method includes: determining a first signal quality value corresponding to a first wireless signal, of a first frequency and from a signal source, received by a receiver of a mobile device; determining a second signal quality value corresponding to a second wireless signal, of a second frequency that is different from the first frequency, received by the receiver; and determining whether at least one difference value, corresponding to the first signal quality value and the second signal quality value, is indicative of the mobile device being in a multipath condition with respect to the signal source.

Radio frequency multipath detection

Techniques are provided for utilizing reference signals transmitted by network stations to determine the orientation of a wireless node. An example method for determining an orientation of a user equipment includes determining a first location associated with the user equipment, determining a second location associated with a first wireless node, receiving, with the user equipment, a radio frequency signal transmitted from the first wireless node, determining two measurements based at least in part on the first location, the second location, and angle of arrival information associated with the radio frequency signal, determining a gravity vector based on inertial measurements obtained with the user equipment, and computing the orientation of the user equipment based at least in part on the gravity vector and the two measurements.

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Cupertino, CA, United States of America

Ning Luo