USRP-Based Single Anchor Positioning: AoA with 5G Uplink Signals, and UWB Ranging

This paper presents a novel testbed designed for 5th-Generation (5G) positioning using Universal Software Radio Peripherals (USRPs). The testbed integrates multiple units: an Operation Unit for test management, a User Unit equipped with an Ettus E312 USRP, and a Station Unit featuring an Ettus N310 USRP equipped with a three-element Uniform Linear Array for Angle of Arrival estimation. Alongside ultra wideband ranging, the testbed estimates the user's position relative to the base station. Signal processing algorithms are executed in a dedicated processing unit. Key challenges addressed include phase misalignment between RX channel pairs due to different Local Oscillators in the Ettus N310, necessitating real-time calibration for precise signal alignment. High sampling rates (up to 61.44 MSps) result in large IQ sample files, managed efficiently using a snapshot technique to optimize storage without compromising testbed positioning capabilities. The testbed synchronizes angular measurements with ranging estimates allowing consistent performance evaluation for real-life cases of dynamic users (e.g. pedestrian). Experimental results demonstrate the testbed's effectiveness in achieving accurate pedestrian user localization.

Angle of Arrival Estimation Using SRS in 5G NR Uplink Scenarios

This paper presents a comprehensive exploration of Angle of Arrival (AoA) estimation techniques in 5G environments, using the Sounding Reference Signal (SRS) in Uplink scenarios both in simulations and with actual measurements. Leveraging 5G capabilities, we investigate AoA algorithms for single-base station positioning. The study includes simulations and practical tests on a developed dedicated testbed featuring a base station equipped with a three-element Uniform Linear Array (ULA), considering Line of Sight conditions in an open environment. The testbed, employing Ettus E312 as the transmitter and Ettus N310 as the receiver, details waveform structures and reception processes. Additionally, our study examines the performance of Angle of Arrival (AoA) estimation algorithms, such as Multiple Signal Classification (MUSIC), Estimation of Signal Parameters via Rotational Invariant Techniques (ESPRIT), and Joint Angle and Delay Estimation (JADE) ESPRIT. A MATLAB ray tracing propagation model of the environment where the measurements are conducted, has been constructed. Simulation results using this model are presented, along with the actual measurements. The obtained results affirm the effectiveness of our implementation.

Location and Map-Assisted Wideband Phase and Time Calibration Between Distributed Antennas

Distributed massive multiple-input multiple-output networks utilize a large number of distributed access points (APs) to serve multiple user equipments (UEs), offering significant potential for both communication and localization. However, these networks require frequent phase and time calibration between distributed antennas due to oscillator phase drifts, crucial for reciprocity-based coherent beamforming and accurate localization. While this calibration is typically performed through bi-directional measurements between antennas, it can be simplified to unidirectional measurement under perfect knowledge of antenna locations. This paper extends a recent phase calibration narrowband line-of-sight (LoS) model to a phase and time calibration wideband orthogonal frequency division multiplexing model, including both LoS and reflection paths and allowing for joint phase and time calibrations. We explore different scenarios, considering whether or not prior knowledge of antenna locations and the map is available. For each case, we introduce a practical maximum likelihood estimator and conduct Cramer-Rao lower bound (CRLB) analyses to benchmark performance. Simulations validate our estimators against the CRLB in these scenarios.

6G RIS-aided Single-LEO Localization with Slow and Fast Doppler Effects

6G networks aim to enable applications like autonomous driving by providing complementary localization services through key technologies such as non-terrestrial networks (NTNs) with low Earth orbit (LEO) satellites and reconfigurable intelligent surfaces (RIS). Prior research in 6G localization using single LEO, multi-LEO, and multi-LEO multi-RIS setups has limitations: single LEO lacks the required accuracy, while multi-LEO/RIS setups demand many visible satellites and RISs, which is not always feasible in practice. This paper explores the novel problem of localization with a single LEO satellite and a single RIS, bridging these research areas. We present a comprehensive signal model accounting for user carrier frequency offset (CFO), clock bias, and fast and slow Doppler effects. Additionally, we derive a low-complexity estimator that achieves theoretical bounds at high signal-to-noise ratios (SNR). Our results demonstrate the feasibility and accuracy of RIS-aided single-LEO localization in 6G networks and highlight potential research directions.

Frugal RIS-aided 3D Localization with CFO under LoS and NLoS Conditions

In this paper, we investigate 3-D localization and frequency synchronization with multiple reconfigurable intelligent surfaces (RISs) in the presence of carrier frequency offset (CFO) for a stationary user equipment (UE). In line with the 6G goals of sustainability and efficiency, we focus on a frugal communication scenario with minimal spatial and spectral resources (i.e., narrowband single-input single-ouput system), considering both the presence and blockage of the line-of-sight (LoS) path between the base station (BS) and the UE. We design a generalized likelihood ratio test (GLRT)-based LoS detector, channel parameter estimation and localization algorithms, with varying complexity. To verify the efficiency of our estimators, we compare the root mean-squared error (RMSE) to the Cram\'er- Rao bound (CRB) of the unknown parameters. We also evaluate the sensitivity of our algorithms to the presence of uncontrolled multi-path components (MPC) and various levels of CFO. Simulation results showcase the effectiveness of the proposed algorithms under minimal hardware and spectral requirements, and a wide range of operating conditions, thereby confirming the viability of RIS-aided frugal localization in 6G scenarios.

Improving 3D Cellular Positioning Integrity with Bayesian RAIM

Ensuring positioning integrity amid faulty measurements is crucial for safety-critical applications, making receiver autonomous integrity monitoring (RAIM) indispensable. This paper introduces a Bayesian RAIM algorithm with a streamlined architecture for snapshot-type 3D cellular positioning. Unlike traditional frequentist-type RAIM algorithms, it computes the exact posterior probability density function (PDF) of the position vector as a Gaussian mixture (GM) model using efficient message passing along a factor graph. This Bayesian approach retains all crucial information from the measurements, eliminates the need to discard faulty measurements, and results in tighter protection levels (PLs) in 3D space and 1D/2D subspaces that meet target integrity risk (TIR) requirements. Numerical simulations demonstrate that the Bayesian RAIM algorithm significantly outperforms a baseline algorithm, achieving over $50\%$ PL reduction at a comparable computational cost.

Improving Galileo OSNMA Time To First Authenticated Fix

Galileo is the first global navigation satellite system to authenticate their civilian signals through the Open Service Galileo Message Authentication (OSNMA) protocol. However, OSNMA delays the time to obtain a first position and time fix, the so-called Time To First Authentication Fix (TTFAF). Reducing the TTFAF as much as possible is crucial to integrate the technology seamlessly into the current products. In the cases where the receiver already has cryptographic data available, the so-called hot start mode and focus of this article, the currently available implementations achieve an average TTFAF of around 100 seconds in ideal environments. In this work, we dissect the TTFAF process, propose two main optimizations to reduce the TTFAF, and benchmark them in three distinct scenarios (open-sky, soft urban, and hard urban) with recorded real data. Moreover, we evaluate the optimizations using the synthetic scenario from the official OSNMA test vectors. The first block of optimizations centers on extracting as much information as possible from broken sub-frames by processing them at page level and combining redundant data from multiple satellites. The second block of optimizations aims to reconstruct missed navigation data by using fields in the authentication tags belonging to the same sub-frame as the authentication key. Combining both optimizations improves the TTFAF substantially for all considered scenarios. We obtain an average TTFAF of 60.9 and 68.8 seconds for the test vectors and the open-sky scenario, respectively, with a best-case of 44.0 seconds in both. Likewise, the urban scenarios see a drastic reduction of the average TTFAF between the non-optimized and optimized cases, from 127.5 to 87.5 seconds in the soft urban scenario and from 266.1 to 146.1 seconds in the hard urban scenario. These optimizations are available as part of the open-source OSNMAlib library on GitHub.

LEO Satellite and RIS: Two Keys to Seamless Indoor and Outdoor Localization

The contemporary landscape of wireless technology underscores the critical role of precise localization services. Traditional global navigation satellite systems (GNSS)-based solutions, however, fall short when it comes to indoor environments, and existing indoor localization techniques such as electromagnetic fingerprinting methods face challenges of high implementation costs and limited coverage. This article explores an innovative solution that seamlessly blends low Earth orbit (LEO) satellites with reconfigurable intelligent surfaces (RISs), unlocking its potential for realizing uninterrupted indoor and outdoor localization with global coverage. By leveraging the strong signal reception of the LEO satellite signals and capitalizing on the radio environment-reshaping capability of RISs, the integration of these two technologies presents a vision of a future where localization services transcend existing constraints. After a comprehensive review of the distinctive attributes of LEO satellites and RISs, we evaluate the localization error bounds for the proposed collaborative system, showcasing their promising performance on simultaneous indoor and outdoor localization. To conclude, we engage in a discussion on open problems and future research directions for LEO satellite and RIS-enabled localization.

RIS Position and Orientation Estimation via Multi-Carrier Transmissions and Multiple Receivers

Reconfigurable intelligent surfaces (RISs) are considered as an enabling technology for the upcoming sixth generation of wireless systems, exhibiting significant potential for radio localization and sensing. An RIS is usually treated as an anchor point with known position and orientation when deployed to offer user localization. However, it can also be attached to a user to enable its localization in a semi-passive manner. In this paper, we consider a static user equipped with an RIS and study the RIS localization problem (i.e., joint three-dimensional position and orientation estimation), when operating in a system comprising a single-antenna transmitter and multiple synchronized single-antenna receivers with known locations. We present a multi-stage estimator using time-of-arrival and spatial frequency measurements, and derive the Cram\'er-Rao lower bounds for the estimated parameters to validate the estimator's performance. Our simulation results demonstrate the efficiency of the proposed RIS state estimation approach under various system operation parameters.

Fundamental Performance Bounds for Carrier Phase Positioning in Cellular Networks

The carrier phase of cellular signals can be utilized for highly accurate positioning, with the potential for orders-of-magnitude performance improvements compared to standard time-difference-of-arrival positioning. Due to the integer ambiguities, standard performance evaluation tools such as the Cram\'er-Rao bound (CRB) are overly optimistic. In this paper, a new performance bound, called the mixed-integer CRB (MICRB) is introduced that explicitly accounts for this integer ambiguity. While computationally more complex than the standard CRB, the MICRB can accurately predict positioning performance, as verified by numerical simulations.