Method and apparatus for handling positioning of a target device
Embodiments herein relate to a method performed by a target device, for handling positioning of the target device. The target device determines one or more displacements of the target device in relation to a reference position based on measurements performed by at least one location source. The target device sends, to a network node, a report comprising the determined one or more displacements of the target device, and a reference time to which the reference position is associated. Embodiments herein further relate to a method performed by a network node, for handling positioning of the target device. The network node obtains, from the target device, a report comprising the determined one or more displacements of the target device in relation to a reference position, wherein the one or more displacements have been determined based on measurements performed by at least one location source, and a reference time to which the reference position is associated. The network node determines an absolute position of the target device based on the obtained one or more displacements and the reference position associated to the reference time.
1. A method performed by a target device for positioning of the target device, wherein the method comprises:
receiving signaling from a network node of a communication network, the signaling indicating a set of sensors of the target device to be used for estimating a displacement of the target device relative to a reference position;
estimating the displacement based on measurements obtained from the set of sensors; and
sending a report indicating a reference time associated with the reference position, the displacement, and a delta time stamp that is relative to the reference time and associated with a time segment corresponding to the measurements.
2. The method of claim 1 , wherein the set of sensors excludes one or more sensors among a plurality of sensors included in the target device, such that the measurements do not include measurements from the excluded one or more sensors, the plurality of sensors being of different sensor types.
3. The method of claim 1 , wherein the set of sensors comprises at least two sensors of respective sensor types, and wherein estimating the displacement based on the measurements obtained from the set of sensors comprises fusing respective measurements from the at least two sensors.
4. The method of claim 1 , further comprising indicating in the report the set of sensors.
5. The method of claim 1 , further comprising sending the report in response to receiving a request for displacement reporting from the network node.
6. The method of claim 5 , further comprising sending capability information to the network, indicating types of sensors available in the target device for determining displacements of the target device.
7. The method of claim 1 , wherein the target device has a plurality of sensors for use in determining displacements of the target device, the plurality of sensors comprising at least an Inertial Measurement Unit (IMU) sensor and one or more environmental sensors, and wherein the set of sensors comprises at least the IMU sensor.
8. The method of claim 7 , wherein the set of sensors further comprises at least one of the one or more environmental sensors, and wherein the method includes the target device fusing respective measurements from the IMU sensor and the at least one of the environmental sensors, as the measurements obtained from the set of sensors.
9. The method of claim 1 , wherein determining the displacement of the target device relative to the reference position comprises determining displacements at times over successive time segments, based on respective measurements, and determining divisions of the successive time segments dynamically, based on observed changes in the respective measurements.
10. A target device configured for positioning of the target device, the target device comprising:
transceiver circuitry configured for communicating with a network node; and
processing circuitry operatively associated with the transceiver circuitry and configured to:
receive signaling from a network node of a communication network, the signaling indicating a set of sensors of the target device to be used for estimating a displacement of the target device relative to a reference position;
estimate the displacement based on measurements obtained from the set of sensors; and
send a report indicating a reference time associated with the reference position, the displacement, and a delta time stamp that is relative to the reference time and associated with a time segment corresponding to the measurements.
11. The target device of claim 10 , wherein the set of sensors excludes one or more sensors among a plurality of sensors included in the target device, such that the measurements do not include measurements from the excluded one or more sensors, the plurality of sensors being of different sensor types.
12. The target device of claim 10 , wherein the set of sensors comprises at least two sensors of respective sensor types, and wherein, to estimate the displacement based on the measurements obtained from the set of sensors, the processing circuitry is configured to fuse respective measurements from the at least two sensors.
13. The target device of claim 10 , wherein the processing circuitry is configured to indicate the set of sensors in the report.
14. The target device of claim 10 , wherein the processing circuitry is configured to send the report in response to receiving a request for displacement reporting from the network node.
15. The target device of claim 14 , wherein the processing circuitry is configured to send capability information to the network, indicating types of sensors available in the target device for determining displacements of the target device.
16. The target device of claim 10 , wherein the target device has a plurality of sensors for use in determining displacements of the target device, the plurality of sensors comprising at least an Inertial Measurement Unit (IMU) sensor and one or more environmental sensors, and wherein the set of sensors comprises at least the IMU sensor.
17. The target device of claim 16 , wherein the set of sensors further comprises at least one of the one or more environmental sensors, and wherein the method includes the target device fusing respective measurements from the IMU sensor and the at least one of the environmental sensors, as the measurements obtained from the set of sensors.
18. The target device of claim 10 , wherein the processing circuitry is configured to determine the displacement of the target device relative to the reference position by determining displacements at times over successive time segments, based on respective measurements, and determining divisions of the successive time segments dynamically, based on observed changes in the respective measurements.