Improving sidelink positioning via messaging between wireless nodes

1. A method for wireless communications performed by a user equipment (UE), comprising:

receiving a first positioning reference signal (PRS) from a first wireless node;

receiving a second PRS from a second wireless node;

receiving, from the first wireless node, an estimate of a first clock error component between the first wireless node and the second wireless node, wherein the estimate of the first clock error component is received via an intelligent transportation system (ITS) message; and

estimating a position of the UE based on the first PRS, the second PRS, and the estimate of the first clock error component.

2. The method of claim 1 , wherein estimating the position of the UE comprises:

measuring a first time difference of arrival (TDOA) of the first PRS;

measuring a second TDOA of the second PRS;

estimating a second clock error component between the UE and the first wireless node, based on the estimate of the first clock error component;

determining a first distance from the first wireless node based on the first TDOA and the second clock error component;

estimating a third clock error component between the UE and the second wireless node, based on the estimate of the first clock error component;

determining a second distance from the second wireless node based on the second TDOA and the third clock error component; and

determining the position of the UE based on the first distance, the second distance, a position of the first wireless node, and a position of the second wireless node.

3. The method of claim 1 , further comprising:

sending a trigger to the first wireless node to request transmission of the estimate of the first clock error component, wherein receiving, from the first wireless node, the estimate of the first clock error component between the first wireless node and the second wireless node is in accordance with the trigger.

4. The method of claim 1 , wherein at least one of the first wireless node or the second wireless node comprises a roadside service unit (RSU).

5. The method of claim 1 , further comprising:

receiving multiple PRSs from multiple wireless nodes; and

receiving, from a master wireless node of the multiple wireless nodes, estimates of a first clock error component between each node pair of the multiple wireless nodes, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

6. The method of claim 1 , further comprising:

receiving multiple PRSs from multiple wireless nodes; and

receiving, from a wireless node of each node pair of the multiple wireless nodes, an estimate of a first clock error component between each node pair, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

7. An apparatus for wireless communications performed by a user equipment (UE), comprising:

memory,

a transceiver; and

at least one processor communicatively coupled to the memory and the transceiver, the at least one processor configured to:

receive a first positioning reference signal (PRS) from a first wireless node;

receive a second PRS from a second wireless node;

receive, from the first wireless node, an estimate of a first clock error component between the first wireless node and the second wireless node, wherein the estimate of the first clock error component is received via an intelligent transportation system (ITS) message; and

estimate a position of the apparatus, based on the first PRS, the second PRS, and the estimate of the first clock error component.

8. The apparatus of claim 7 , wherein the at least one processor is further configured to:

measure a first time difference of arrival (TDOA) of the first PRS;

measure a second TDOA of the second PRS;

estimate a second clock error component between the UE and the first wireless node, based on the estimate of the first clock error component;

determine a first distance from the first wireless node based on the first TDOA and the second clock error component;

estimate a third clock error component between the UE and the second wireless node, based on the estimate of the first clock error component;

determine a second distance from the second wireless node based on the second TDOA and the third clock error component; and

determine the position of the UE based on the first distance, the second distance, a position of the first wireless node, and a position of the second wireless node.

9. The apparatus of claim 7 , wherein the at least one processor is further configured to:

trigger the first wireless node to transmit the estimate of the first clock error component; and

receive, from the first wireless node, the estimate of the first clock error component between the first wireless node and the second wireless node in accordance with the trigger.

10. The apparatus of claim 7 , wherein at least one of the first wireless node or the second wireless node comprises a roadside service unit (RSU).

11. The apparatus of claim 7 , wherein the at least one processor is further configured to:

receive multiple PRSs from multiple wireless nodes; and

receive, from a master wireless node of the multiple wireless nodes, estimates of a first clock error component between each node pair of the multiple wireless nodes, wherein the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

12. The apparatus of claim 7 , wherein the at least one processor is further configured to:

receive multiple PRSs from multiple wireless nodes; and

receive, from a wireless node of each node pair of the multiple wireless nodes, an estimate of a first clock error component between each node pair, wherein the estimate of the position of the UE is based on the multiple PRSs and the estimates of the first clock error component between each node pair.

13. An apparatus for wireless communications performed by a user equipment (UE), comprising:

means for receiving a first positioning reference signal (PRS) from a first wireless node;

means for receiving a second PRS from a second wireless node;

means for receiving, from the first wireless node, an estimate of a first clock error component between the first wireless node and the second wireless node, wherein the estimate of the first clock error component is received via an intelligent transportation system (ITS) message; and

means for estimating a position of the UE based on the first PRS, the second PRS, and the estimate of the first clock error component.

14. The apparatus of claim 13 , wherein the means for estimating the position of the UE comprises:

means for measuring a first time difference of arrival (TDOA) of the first PRS;

measuring a second TDOA of the second PRS;

means for estimating a second clock error component between the UE and the first wireless node, based on the estimate of the first clock error component;

means for determining a first distance from the first wireless node based on the first TDOA and the second clock error component;

means for estimating a third clock error component between the UE and the second wireless node, based on the estimate of the first clock error component;

means for determining a second distance from the second wireless node based on the second TDOA and the third clock error component; and

means for determining the position of the UE based on the first distance, the second distance, a position of the first wireless node, and a position of the second wireless node.

15. The apparatus of claim 13 , further comprising:

means for sending a trigger to the first wireless node to request transmission of the estimate of the first clock error component, wherein receiving, from the first wireless node, the estimate of the first clock error component between the first wireless node and the second wireless node is in accordance with the trigger.

16. The apparatus of claim 13 , wherein at least one of the first wireless node or the second wireless node comprises a roadside service unit (RSU).

17. The apparatus of claim 13 , further comprising:

means for receiving multiple PRSs from multiple wireless nodes; and

means for receiving, from a master wireless node of the multiple wireless nodes, estimates of a first clock error component between each node pair of the multiple wireless nodes, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

18. The apparatus of claim 13 , further comprising:

means for receiving multiple PRSs from multiple wireless nodes; and

means for receiving, from a wireless node of each node pair of the multiple wireless nodes, an estimate of a first clock error component between each node pair, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

19. A non-transitory computer readable medium having instructions stored thereon which when executed by one or more processors in a user equipment (UE), causes an apparatus to perform a method, the method comprising:

receiving a first positioning reference signal (PRS) from a first wireless node;

receiving a second PRS from a second wireless node;

receiving, from the first wireless node, an estimate of a first clock error component between the first wireless node and the second wireless node, wherein the estimate of the first clock error component is received via an intelligent transportation system (ITS) message; and

estimating a position of the UE based on the first PRS, the second PRS, and the estimate of the first clock error component.

20. The non-transitory computer readable medium of claim 19 , wherein estimating the position of the UE comprises:

measuring a first time difference of arrival (TDOA) of the first PRS; measuring a second TDOA of the second PRS;

estimating a second clock error component between the UE and the first wireless node, based on the estimate of the first clock error component;

determining a first distance from the first wireless node based on the first TDOA and the second clock error component;

estimating a third clock error component between the UE and the second wireless node, based on the estimate of the first clock error component;

determining a second distance from the second wireless node based on the second TDOA and the third clock error component; and

determining the position of the UE based on the first distance, the second distance, a position of the first wireless node, and a position of the second wireless node.

21. The non-transitory computer readable medium of claim 19 , wherein the method further comprises:

sending a trigger to the first wireless node to request transmission of the estimate of the first clock error component, wherein receiving, from the first wireless node, the estimate of the first clock error component between the first wireless node and the second wireless node is in accordance with the trigger.

22. The non-transitory computer readable medium of claim 19 , wherein at least one of the first wireless node or the second wireless node comprises a roadside service unit (RSU).

23. The non-transitory computer readable medium of claim 19 , wherein the method further comprises:

receiving multiple PRSs from multiple wireless nodes; and

receiving, from a master wireless node of the multiple wireless nodes, estimates of a first clock error component between each node pair of the multiple wireless nodes, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.

24. The non-transitory computer readable medium of claim 19 , wherein the method further comprises:

receiving multiple PRSs from multiple wireless nodes; and

receiving, from a wireless node of each node pair of the multiple wireless nodes, an estimate of a first clock error component between each node pair, wherein estimating the position of the UE is further based on the multiple PRSs and the estimates of the first clock error component between each node pair.