FIELD

The following disclosure relates to the field of positioning, or more particularly relates to systems, apparatuses, and methods for enabling accurate orientation information determining of a mobile device.

BACKGROUND

There are numerous automated operations anticipated for industrial applications. A big part of such applications associates to autonomous or semi-autonomous operation of vehicles, referred to as automated guided vehicles (AGVs). AGVs such as e.g. (lifting) trucks are typically installed with a hoisting device which has its own dimensions and maneuverability. It is beneficial that the position of AGVs is obtained with high accuracy as well as in (relatively) real time.

Besides positioning, however, many applications prefer that the orientation of such AGVs is also obtained with high accuracy and low latency, such that certain operations are successfully performed. Examples of such orientation-sensitive applications are loading/unloading of goods to/from mobile automated forklifts or trucks, where the "facing” of the mobile device is used for the flawless loading or unloading of goods.

A mobile device (e.g. user equipment (UE)) orientation is a different topic which is partially independent from UE positioning, in the sense that knowing the position of a UE does not necessarily provide information on the orientation of the UE, and vice versa. The positioning methods available in 3GPP standards (e.g. Downlink Time Difference of Arrival (DL-TDOA), Uplink Time Difference of Arrival (UL- TDOA), Downlink Angle of Departure (DL-AoD), Uplink Angle of Arrival (UL-AoA), Multi-cell Round Trip Time (Multi-RTT)) focus on obtaining the position of the UE with some level of accuracy, yet they do not provide orientation information. As a result, the UE orientation can up to date be estimated via radio access technology (RAT)-independent methods, such as inertia measurements units or other similar sensors. Such solutions, however, are not related to the network operation; in other words, network infrastructure products cannot currently provide a complete solution that includes both positioning and orientation targeted for industrial UEs.

Known approaches may have high complexity algorithms that jointly estimate TO A, AO A, AOD parameters. Such UEs can then autonomously compute their position and/or orientation angle by using estimates of the above metrics for both direct and/or indirect multipath components of the channel impulse response. The algorithms rely on the fact that the UE knows the location of a gNB (gNodeB) and of obstacles and uses the later elements as virtual anchors.

319805 SUMMARY OF SOME EXEMPLARY EMBODIMENTS

However, it is a drawback that such approaches are limited by their complexity and processing latency, high signaling overhead, and an antenna deployment needs to be installed and calibrated with high accuracy to reflect the true orientation.

It is thus, inter alia, an object of the invention to enable a low-latency, low-overhead determining of an orientation.

According to a first exemplary aspect of the present invention, a method is disclosed, the method comprising: obtaining at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein the at least two sample measurements are observed with the at least two antennas, and wherein the at least two antennas have at least one pre-defined distance from one another and are comprised by or connectable to a mobile device; and determining at least orientation information indicative of an orientation of the mobile device with respect to a reference orientation direction, wherein the orientation information is determined based, at least in part, on the obtained at least two sample measurements.

This method may for instance be performed and/or controlled by an apparatus, e.g. enabling a network side. For instance, the apparatus may be or provide a function of a mobile communication network, e.g. a Location Management Function (LMF], and/or a Location Management Component [LMC], The apparatus may for instance be a server, e.g. a positioning server e.g. of the mobile communication network. Alternatively, this method may be performed and/or controlled by more than one apparatus, for instance a server cloud comprising at least two servers. For instance, the method may be performed and/ or controlled by using at least one processor of the apparatus.

According to a further exemplary aspect of the invention, a computer program is disclosed, the computer program when executed by a processor causing an apparatus, for instance a server, to perform and/or control the actions of the method according to the first exemplary aspect.

The computer program may be stored on computer-readable storage medium, in particular a tangible and/or non-transitory medium. The computer readable storage medium could for example be a disk or a memory or the like. The computer program could be stored in the computer readable storage medium in the form of instructions encoding the computer-readable storage medium. The computer readable storage medium may be intended for taking part in the operation of a device, like an internal or external memory, for instance a Read-Only Memory (ROM] or hard disk of a computer, or be intended for distribution of the program, like an optical disc. According to a further exemplary aspect of the invention, an apparatus is disclosed, configured to perform and/or control or comprising respective means for performing and/or controlling the method according to the first exemplary aspect.

The means of the apparatus can be implemented in hardware and/or software. They may comprise for instance at least one processor for executing computer program code for performing the required functions, at least one memory storing the program code, or both. Alternatively, they could comprise for instance circuitry that is designed to implement the required functions, for instance implemented in a chipset or a chip, like an integrated circuit. In general, the means may comprise for instance one or more processing means or processors.

According to a further exemplary aspect of the invention, an apparatus is disclosed, comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause an apparatus, for instance the apparatus, at least to perform and/ or to control the method according to the first exemplary aspect.

The above-disclosed apparatus according to any aspect of the invention may be a module or a component for a device, for example a chip. Alternatively, the disclosed apparatus according to any aspect of the invention may be a device, for instance a server or server cloud. The disclosed apparatus according to any aspect of the invention may comprise the disclosed components, for instance means, processor, memory, or may further comprise one or more additional components.

According to a second exemplary aspect of the present invention, a method is disclosed, the method comprising: gathering at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein each sample measurement of the at least two sample measurements is gathered with a respective antenna of the at least two antennas, and wherein the at least two antennas have at least one pre-defmed distance from one another and that are comprised by or connectable to the apparatus; and requesting a determining of at least orientation information indicative of an orientation of the apparatus with respect to a reference orientation direction; and providing the at least two sample measurements, wherein the determining of the at least orientation information is enabled based, at least in part, on the at least two sample measurements. This method may for instance be performed and/or controlled by an apparatus, e.g. a mobile device, such as an automated guided vehicle (AGV), and/or an Internet-of-Things (IoT) device, and/or a User Equipment (UE). For instance, the method maybe performed and/or controlled by using at least one processor of the apparatus.

According to a further exemplary aspect of the invention, a computer program is disclosed, the computer program when executed by a processor causing an apparatus, for instance a server, to perform and/or control the actions of the method according to the second exemplary aspect.

The computer program may be stored on computer-readable storage medium, in particular a tangible and/or non-transitory medium. The computer readable storage medium could for example be a disk or a memory or the like. The computer program could be stored in the computer readable storage medium in the form of instructions encoding the computer-readable storage medium. The computer readable storage medium may be intended for taking part in the operation of a device, like an internal or external memory, for instance a Read-Only Memory (ROM) or hard disk of a computer, or be intended for distribution of the program, like an optical disc.

According to a further exemplary aspect of the invention, an apparatus is disclosed, configured to perform and/or control or comprising respective means for performing and/or controlling the method according to the second exemplary aspect.

The means of the apparatus can be implemented in hardware and/or software. They may comprise for instance at least one processor for executing computer program code for performing the required functions, at least one memory storing the program code, or both. Alternatively, they could comprise for instance circuitry that is designed to implement the required functions, for instance implemented in a chipset or a chip, like an integrated circuit. In general, the means may comprise for instance one or more processing means or processors.

According to a further exemplary aspect of the invention, an apparatus is disclosed, comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause an apparatus, for instance the apparatus, at least to perform and/or to control the method according to the second exemplary aspect.

The above-disclosed apparatus according to any aspect of the invention may be a module or a component for a device, for example a chip. Alternatively, the disclosed apparatus according to any aspect of the invention may be a device, for instance a server or server cloud. The disclosed apparatus according to any aspect of the invention may comprise the disclosed components, for instance means, processor, memory, or may further comprise one or more additional components. According to a third exemplary aspect of the present invention, a method is disclosed, the method comprising: gathering, by the at least one second apparatus, at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein each sample measurement of the at least two sample measurements is gathered with a respective antenna of the at least two antennas and wherein the at least two antennas have at least one pre-defined distance from one another and that are comprised by or connectable to the at least one second apparatus; and requesting, by the at least one second apparatus, a determining of at least orientation information indicative of an orientation of the at least one second apparatus with respect to a reference orientation direction; providing, by the at least one second apparatus, the at least two sample measurements, wherein the determining of the at least orientation information is enabled based, at least in part, on the at least two sample measurements; obtaining, by the at least one first apparatus, the at least two sample measurements; determining, by the at least one first apparatus, at least orientation information indicative of an orientation of the at least one second apparatus with respect to a reference orientation direction, wherein the at least orientation information is determined based, at least in part, on the obtained at least two sample measurements.

This method may for instance be performed and/or controlled by at least one first apparatus configured to perform and/or control the method according to the first exemplary aspect and by at least one second apparatus configured to perform and/or control the method according to the second exemplary aspect. The at least one first apparatus may for instance be an apparatus according to the first exemplary aspect. The at least one second apparatus may for instance be an apparatus according to the second exemplary aspect.

According to an exemplary embodiment of all exemplary aspects, the respective method(s) according to the first, second and/or third exemplary aspect may be performed and/or controlled at least periodically to enable a tracking of an orientation of the at least one second apparatus. According to an exemplary embodiment of all exemplary aspects, the respective method(s) according to the first, second and/or third exemplary aspect may be part of a location service request, in particular of a 5G core location service, LCS.

According to a further exemplary aspect of the invention, a system is disclosed, comprising: at least one first apparatus according to the first exemplary aspect of the invention as disclosed above, and at least one second apparatus according to the second exemplary aspect of the invention as disclosed above. The respective method(s) according to first, second and/or third exemplary aspects may for instance utilize a modified LTE positioning protocol, LPP.

In the following, exemplary features and exemplary embodiments of all aspects of the present invention will be described in further detail.

The mobile communication network may for instance be cellular network. The mobile communication network may for example be a mobile phone network like a 2G/3G/4G/5G/New Radio (NR) and/or future cellular communication network. The 2G/3G/4G/5G/NR cellular radio communication standards are developed by the 3GPP and presently available under http://www.3gpp.org/.

One or more signals sent by one or more base stations e.g. of the mobile communication network may for instance be observable at one or more certain locations within the area and/or venue. Such one or more signals may for instance be observable and/or receivable by the apparatus e.g. being represented by a mobile device, as disclosed above. Such one or more signals may for instance be observable and/or receivable by the apparatus e.g. located within the area and/or venue. The venue may for instance be a building, shopping mall, office complex, public accessible location (e.g. station, airport, university or the like), to name but a few non-limiting examples. The area may for instance be a public place, urban area, rural area, industrial area, or a combination thereof, to name but a few non-limiting examples.

A respective sample measurement may for instance be a part of a set of sample measurements. A respective set of sample measurements of the at least two set of sample measurements is gathered (e.g. measured) by one of the at least two antennas. Thus, in case two sample measurements are gathered or obtained, the first one is measured by a first antenna of the at least two antennas, and the second set of sample measurements is measured by a second antenna of the at least two antennas. In case the apparatus comprises or is connectable to more than two antennas, the respective antennas comprised by or connectable to the apparatus gathers (e.g. measures) a respective sample measurement.

Thus, one set of sample measurements of the at least two sets of sample measurements corresponds to one antenna respectively antenna panel of the at least two antennas respectively antenna panels that are comprised by (e.g. embedded) or connectable to the mobile device (e.g. apparatus according to the second exemplary aspect). Accordingly, the other set of sample measurements of the at least two sets of sample measurements may correspond to the other antenna respectively antenna panel of the at least two antennas respectively antenna panels. For instance, in case the mobile device comprises or is connectable to more than two antennas or antenna panels, e.g. three antennas or antenna panels, three sets of sample measurements may be gathered or obtained, wherein a respective set of the three sets of sample measurements is measured by one certain antenna respectively antenna panel of the three antennas respectively antenna panels. It will be understood that this principle applies accordingly in case the mobile device comprises or is connectable to a plurality of antennas respectively antenna panels so that a corresponding plurality of sets of sample measurements is obtained or gathered.

A respective sample measurement, or a set of sample measurements is indicative of one or more signals that are observable by an antenna of the at least two antennas. Such a (set of) sample measurement(s) may for instance be a TOA measurement and/or estimation of the one or more signals that are observable. Additionally or alternatively, a respective TOA measurement and/or estimation may be determined based on, at least in part, a respective (e.g. set of) sample measurement(s).

The apparatus according to the second exemplary aspect may for instance gather (e.g. measure) a respective set of sample measurements per antenna respectively antenna panel of the at least two antennas respectively antenna panels. The at least two (e.g. sets of) sample measurements may be gathered (e.g. measured) based on one or more reference signals sent by one or more base stations (e.g. gNBs) of the mobile communication network. Based on the one or more signals that are observable, e.g. a TOA estimation may be determined. Further, to enable the gathering (e.g. measuring), the mobile communication network may provide via one or more respective base stations assistance data enabling the apparatus to gather (e.g. measure) the TOA of the one or more signals sent by the one or more base stations. Further, this may enable e.g. a determining (e.g. computing) of Reference Signal Time Difference (RSTD).

A respective antenna of the at least two antennas may be comprised by an antenna panel. Alternatively, a respective antenna may be such an antenna panel. Multiple Input Multiple Output (MIMO) is one of the main enabling technologies in e.g. 5G or future communications and is enabled by at least two antennas respective antenna panels, wherein the respective at least two antennas may enable one of the multiple inputs and outputs. A large number of antenna elements may increase data throughput and considerable beamforming gains for improving the coverage. A large number of antenna elements may be assembled into multiple antenna panels for the purpose of cost reduction and power saving. Thus, within the meaning of the present invention, at least two antennas may be part of such an antenna panel, or at least one antenna of the at least two antennas is part of a first antenna panel and the at least one other antenna of the at least two antennas is part of a second antenna panel. In the latter case, the apparatus comprises or is connectable to at least two antenna panels.

The at least two antennas (respectively antenna panels) have at least one pre-defined (e.g. spatial) distance d between them. Thus, at least one antenna may be arranged on a first position and at least one other antenna of the at least two antennas may be arranged on a second position e.g. of the mobile device. Since the at least two antennas may be fixed and thus not movable along the respective mobile device, they have a pre-defined distance d between them. The distance may for instance be represented between the center of a respective antenna panel to the other antenna panel, in case of the at least two antennas, as used herein, is represented by a respective antenna panel. Additionally or alternatively, the distance d between the at least two antennas may be determinable (e.g. derivable) in case the antenna (respectively antenna panel) geometry is known. For instance, in case the center of a first antenna and the center of a second antenna of the at least two antennas is known, the predefined distance d may for instance be determined (e.g. calculated). In case the mobile device comprises or is connectable to more than two antennas, a respective pre-defined distance d may be known between possible combination (s) of all antennas comprised by or connectable to the mobile device.

The at least one pre-defined distance and/ or the respective distance that the respective at least two antennas are spaced from one another is at least a distance being equal to larger than an accuracy achievable when a location estimate is determined based, at least in part, on the obtained sample measurements.

The orientation information is indicative of an orientation of the mobile device with respect to a reference orientation direction. Since the at least two antenna may be comprised by (e.g. embedded to or arranged on) and/or connectable to the mobile device, via the at least two sample measurements gathered by the at least two antennas, the orientation of the mobile device can be determined (e.g. derived), as represented by the orientation information. Further, the locations of the one or more network nodes (e.g. base stations of the mobile communication network) may be known, wherein signals sent by the network nodes are observed when the respective sample measurements are gathered (e.g. measured), orientation in relation to a reference orientation direction, e.g. defined by the location of the one or more network nodes) can be determined.

The orientation of the mobile device is represented by the at least orientation information. The at least orientation information may be determined, e.g. as a function of location estimates of the at least two antennas respectively antenna panels. The orientation of the (e.g. target) mobile device may be determined, e.g. derived, based, at least in part, on relative estimated locations of the two antennas respectively antenna panels. In conjunction with the provided distance, denoted by distance d, the determining of the orientation information is enabled. The distance d may be known to the apparatus according to the second exemplary aspect. In addition or in the alternative, the distance d may be reported to the apparatus according to the first exemplary aspect. Further, the distance d may be determined based on an antenna geometry, e.g. comprised by or represented by at least capability information. More details with regard to such capability information are disclosed below.

For instance, the LMF and/or the LMC located at the core network of the mobile communication network, and/ or the LMC, located at the radio access network of the mobile communication network, may obtain (e.g. receive) the at least two sample measurements or sets of sample measurements (e.g. a list of measurements for each antenna respectively antenna panel). Then, the LMF and/or the LMC may determine (e.g. compute) location estimates (e.g. according to soft and/or hard boundary model, to name but a few non-limiting examples) of each antenna respective antenna panel comprised by the mobile device from which the sample measurements are obtained.

For instance, the LMF and/or the LMC may employ approaches of Bayesian inference and formulate a constrained optimization problem to determine (e.g. compute) soft location estimates, to name but one non-limiting example. For instance, such soft location estimates may be associated with (at least some) mean and variance of the represented position.

In a 2D scenario, determining of the at least orientation information may for instance be done as follows: A position of a respective antenna or antenna panel is assumed to be r _έ = (X _j , y _j ). Ideally, the distance d between the antennas respectively antenna panels is d = To determine the at least orientation information, e.g.na constrained optimization problem may be formulated or determined as follows: where r _έ = (X _j ,y _j ) is the mean position estimate of antenna respectively antenna panel i, f is a cost function of choice, and e is an error threshold. The solution of such a constrained optimization problem may represent the orientation of the mobile device.

For instance, the orientation of the mobile device in relation to a (e.g. pre-) defined reference orientation direction, as disclosed above, may be represented by an orientation angle. Such an orientation angle may be determined (e.g. estimated), e.g. by solving a geometrical problem as a function g of the position (estimates) of the at least two antennas respective antenna panels and a correction factor e, e.g. , =

It will be understood that this principle may apply accordingly in case the mobile device comprises or is connectable to a plurality of antennas respectively antenna panels so that a corresponding plurality of (e.g. sets of) sample measurements is obtained or gathered. Then, e.g. combinations between two of the plurality of antennas respectively antenna panels are used to determine the orientation information one by one with a respective plurality of iterations of the respective method(s), so that the at least orientation information may be refined by the performed and/or controlled iteration(s).

In this way, it is enabled that orientation of a respective mobile device is determined at a network side, e.g. by utilizing a geometry of multiple (e.g. at least two) antennas respectively antenna panels. Further, the orientation of the mobile device may be determined e.g. together with the position of the mobile device. As a summary, the mobile device’s orientation is inferred by combining the location of multiple antennas at the mobile device side, located at sufficiently large distance from one another, e.g. together with at least capability information e.g. on the antenna geometry at the mobile device (e.g. distance between antennas in relation to a 2D- or 3D coordinate system).

According to an exemplary embodiment of the first exemplary aspect, the method further comprises: obtaining at least capability information of the mobile device, wherein the at least capability information is indicative of a number of antennas, the number comprising the at least two antennas, and further indicative of a respective distance that the respective at least two antennas are spaced from one another, and/or further indicative of at least one antenna geometry (e.g. 2D or 3D-geometry) of the at least two antennas, wherein the orientation information is determined further based, at least in part, on the at least capability information.

The capability information may for instance be obtained by receiving the at least capability information from a respective mobile device. Alternatively or additionally, the at least capability information may for instance be obtained from another entity that is different from the respective mobile device, and that has obtained the at least capability information of the mobile device prior to providing the capability information enabling the apparatus according to the first exemplary aspect to obtain (e.g. receive) the at least capability information of the mobile device.

Further, the at least capability information may comprise respective distances (distance d) between the at least two antennas respectively antenna panels among combinations of the antennas respective antenna panels of the mobile device e.g. that the mobile device is equipped with.

For instance, in case the mobile device has three antennas al, a2 and a3, then the capability information may for instance be indicative of the distances between every combination of the three antennas. Thus, in the example, the capability information may be indicative of the distances dl (al, a2); d2 (al; a3); and d3 (a2; a3).

The obtaining of the at least capability information may for instance involve conveying from the respective mobile device comprising or being connectable to the at least two antennas the geometry of the at least two antennas (respectively antenna panels) and their respective distance(s) from one another.

The at least two antennas may be comprised by (e.g. embedded into) the mobile device, or the at least two antennas, or a part of them is connectable to the mobile device in a certain way represented by the geometry. For instance, coordinates of the (e.g. center of) the respective antenna(s) of the at least two antennas may be represented by the geometry. The coordinates may be 2D (e.g. X-, Y-coordinate pair), or 3D (e.g. X-, Y-, Z- coordinates), e.g. in case a respective antenna of the at least two antennas is arranged e.g. in different heights along the mobile device, to name but one non-limiting example.

According to an exemplary embodiment of the second exemplary aspect, the method further comprises: providing at least capability information of the mobile device, wherein the at least capability information is indicative of a number of antennas, the number comprising the at least two antennas, and further indicative of a respective distance that the respective antennas are spaced from one another, and/or at least one antenna geometry of the at least two antennas.

The at least capability information may for instance be provided, e.g. by the apparatus according to the second exemplary aspect, to the apparatus according to the first exemplary aspect. In this way, the apparatus according to the first exemplary aspect may obtain (e.g. receive) the at least capability information from the apparatus according to the second exemplary aspect.

According to an exemplary embodiment of all exemplary aspects, the at least one pre-defined distance and/or the respective distance that the respective at least two antennas are spaced from one another is at least a distance being equal to larger than an accuracy achievable when a location estimate is determined based, at least in part, on the obtained sample measurements.

For instance, the distance d between the at least two antennas respectively antenna panels may be suitably large enough to ensure that the accuracy of the orientation of the mobile device is given.

In example embodiment, this may ensure that the at least orientation information can be determined with high enough accuracy e.g. to enable AGVs orientation determining in industrial environments, to name but one non-limiting example. For instance, if the distance d between the at least two antennas respective antenna panels is big enough in relation to achievable accuracy when determining the respective at least two positions of the at least two antennas or antenna panels, the orientation accuracy of the at least orientation information may be considered to be sufficient for such AGV use cases.

According to an exemplary embodiment of the first exemplary aspect, the method further comprises: requesting provision of the at least capability information, wherein the at least capability information are obtained (e.g. received) in response to the requesting.

The requesting of provision of the at least capability information enables that the apparatus (e.g. according to the first exemplary aspect) determining the at least orientation information e.g. knows the pre-defined distance d between the at least two antennas respectively antenna panels. Alternatively or additionally, the at least capability information may comprise the (e.g. antenna) geometry enabling the apparatus (e.g. according to the first exemplary aspect) determining the at least orientation information to determine (e.g. derive or calculate) the respective distance(s) d between the at least two antennas respectively antenna panels comprised by or connectable to the respective mobile device whose orientation is to be determined. By requesting provision of the at least capability information indicative of e.g. the number of antennas respective antenna panels of the mobile device, and the distance(s) between the at least two antennas respective antenna panels, and/ or a (e.g. spatial) geometry of the antennas respective antenna panels, can be provided (e.g. reported) to the apparatus (e.g. according to the first exemplary aspect) determining the at least orientation information.

According to an exemplary embodiment of the second exemplary aspect, the method further comprises: receiving a request for capability information, wherein the at least capability information are provided in response to the request.

Thus, according to the requesting provision of the at least capability information performed and/ or controlled by the apparatus according to the first exemplary aspect, the respective request may be received by the apparatus (e.g. a respective mobile device) according to the second exemplary aspect. In response to the request, the at least capability information may be provided (e.g. sent) to the apparatus (e.g. according to the first exemplary aspect) by the apparatus (e.g. a respective mobile device) according to the second exemplary aspect.

The provision of the at least capability information from the apparatus according to the second exemplary aspect to the apparatus according to the first exemplary aspect may be a one-time request and response message per respective mobile device. The provided at least capability information may be stored, e.g. in a memory (e.g. a database comprised by or connectable to the apparatus according to the first exemplary aspect). The apparatus according to the first exemplary aspect may not store mobile device (e.g. UE) context hence such at least capability information per respective mobile device may not be available a- priori to performing and/ or controlling example embodiments according to all exemplary aspects.

According to an exemplary embodiment of the first exemplary aspect, the determining of the orientation information further comprising: determining at least two location estimates, wherein each location estimate of the at least two location estimates is indicative of a (e.g. relative or absolute and estimated) location of a respective antenna of the at least two antennas, wherein each location estimate of the at least two location estimates is determined based, at least in part, on a respective sample measurement of the at least two sample measurements and based, at least in part, on the at least capability information.

The at least two location estimates may be a respective coordinate pair, e.g. a 2D or 3D coordinate pair. A respective location estimate of the at least two location estimates may be associated with uncertainty, e.g. having an uncertainty area associated with or around a respective estimated location of a respective antenna or antenna panel of the at least two antennas or antenna panels.

The respective location as represented by a respective location estimate may be indicative of a relative or absolute location of the respective antenna or antenna panel of the at least two antennas or antenna panels. Such a relative location may be in relation to one or more other antennas or antenna panels. Additionally or alternatively, such a relative location may be in relation to the mobile device, and/or a predefined or according to pre-defined rules determined reference point of the mobile device, to name but a few non-limiting examples. Such an absolute location of a respective location estimate may be a coordinate pair, e.g. absolute latitude, longitude, and optionally altitude values, or x-, y- and optionally z- coordinates, to name but a few non-limiting examples.

There may be uncertainty associated with an orientation of the respective mobile device and/or uncertainty with the antenna or antenna panel location based on which, at least in part, the orientation of the respective mobile device is determined. In general, the location of a point is provided with some "uncertainty area”, e.g. an uncertainty circle area e.g. centered at the most probable location of a respective antenna or antenna panel. It will be understood that further shapes of such uncertainty areas are possible, e.g. rectangular, triangular, polygonal or other shapes of uncertainty areas, to name but a few non-limiting examples.

For instance, in a two-dimensional (2D) space, the uncertainty on the derived orientation may be measured in degrees, or equivalent metric. To determine the at least orientation information may lead to uncertainty which may for instance correspond to the combination of antenna points that corresponds to the highest inclination to the line between a center points of the uncertainty areas representing potential locations of the respective antenna or antenna panels

The orientation uncertainty (equivalently, the orientation accuracy) may for instance be obtained as a function of a) the positioning accuracy with which the location of the antennas or antenna panels is estimated, which is reflected into the radius r (e.g. positioning accuracy 0.1m may correspond to an uncertainty area of a location of a respective antenna or antenna panel having a radius of r = 0.1m; and/or b) the distance d between the antennas or antenna panels.

It should be noted that not all of the points within such an uncertainty area may be candidates for a respective location of the respective antenna or antenna panel, since the potential locations may be needed to have distance d between them. Then, by considering that the probability distributions of the estimated antenna or antenna panel locations within the uncertainty (e.g. circle) area are known for a given positioning method used, it is achieved that the orientation error that is caused by inaccurate antenna or antenna panel location estimations can be significantly reduced. As a result, for deriving the orientation of the mobile device, the locus of points belonging to the two uncertainty areas may be reduced to those points within the circles which have certain distance from each other (for instance, the pre-defined distance d as represented by at least capability information of the respective mobile device). In order to reduce the uncertainty of the orientation, and without loss of generality, a uniform probability distribution of the true antenna or antenna panel locations across the corresponding uncertainty areas may be given. That is, the apparatus according to the first aspect (e.g. LMF and/ or the LMC) may determine (e.g. estimate) the central or center point of the uncertainty areas per antenna or antenna panel. Yet in reality, the respective antenna or antenna panel location(s) may be located in each point of the corresponding shape of the uncertainty area for a given antenna respectively antenna panel. The probability that the respective antenna or antenna panel location may be at one of all the points of the uncertainty area has equal probability.

That is, determining (e.g. estimating) the orientation information of the mobile device with the use of two, or in particular more than two antennas respectively antenna panels at the respective mobile device may result in a reduction of orientation uncertainty compared to, for instance, a case where the mobile device has one antenna and e.g. inertial sensor data is used.

According to an exemplary embodiment of the first exemplary aspect, the method further comprises: receiving a request for determining at least orientation information, wherein the at least orientation information is determined in response to receiving the request; and providing the determined at least orientation information.

The request may for instance be received for and/ or by a mobile device requesting the determining of the orientation information. Then, the orientation of the respective mobile device represented by at least orientation information may be determined. In response to the request, the determined at least orientation information may be provided (e.g. output or sent) to the respective mobile device from which the request stems.

According to an exemplary embodiment of all exemplary aspects, a respective sample measurement of the at least two sample measurements is indicative of one or more gathered (e.g. measured) positioning reference signals (PRS) sent by at least one network node (e.g. a base station).

Assistance data may for instance be indicative of enabling the apparatus (e.g. mobile device) to gather (e.g. measure) one or more PRS sent by one or more base stations of the mobile communication network. A respective antenna or antenna panel of the at least two antennas or antenna panels, or the multiple antennas or antenna panels of the respective mobile device gather (e.g. measure) such signals independently to gather the respective sample measurements.

According to an exemplary embodiment of the first exemplary aspect, the method further comprises: obtaining at least historic orientation information indicative of past recorded at least orientation information of the at least two antennas, wherein the at least orientation information is determined further based, at least in part, on the at least historic orientation information. For instance, for motion control applications, e.g. AGVs, the apparatus (e.g. LMF and/or LMC) of the first exemplary aspect may be able to track and predict both the location (position) and orientation, e.g. by memorizing past location estimates (of the mobile device). Such information representing the tracked and/or predicted location and/or orientation of the mobile device may enable learning the behavior of the respective mobile device, such as robots in a factory or AGVs typical movement on specific trajectories, with constant speed etc. The apparatus (e.g. LMF and/or LMC) of the first exemplary aspect may use such information to train a machine learning algorithm such a LSTM (Long Short-Term Memory), and/or enhanced Kalman filter or the like, to name but a few non-limiting examples. Further, such predictive capabilities may be used in case of a failure, e.g. a respective mobile device has not provided (e.g. reported) updated sample measurement(s), not reliable sample measurement(s), or a combination thereof, to name but a few non-limiting examples.

According to an exemplary embodiment of the first exemplary aspect, the apparatus is or is part of a location management function, LMF, located at a core network of the mobile communication network, and/or a location management component, LMC, located at a radio access network of the mobile communication network. For instance, such a LMF and/or LMC may be part of a (e.g. positioning) server of the mobile communication network, to name but one non-limiting example.

Such an apparatus (e.g. a mobile device) according to the second exemplary aspect, as used herein, may for instance be portable (e.g. weigh less than 5, 4, 3, 2, 1 kg, or less), like a mobile phone, personal digital assistance device, computer, laptop computer as a non-limiting examples. The apparatus may for instance comprise or be connectable to a display for displaying information, e.g. a route that is guided/navigated to a user, to name but one non-limiting example. The apparatus may for instance comprise or be connectable to means for outputting sound, e.g. in the form of spoken commands or information. The apparatus may for instance comprise or be connectable to one or more sensors for determining the devices position, such as for instance a GNSS receiver, in the form of a GPS receiver. The apparatus may for instance comprise or be connectable to one or more sensors, e.g. in the form of an accelerometer and/or a gyroscope and/or magnetometer and/or barometer for gathering (e.g. measuring) further information, such as motion sensor data. The barometer may allow for determining the vertical position of the apparatus. The apparatus may for instance comprise or be connectable to a receiver and/or a transmitter (e.g. a transceiver) for receiving and/or sending information. The apparatus may for instance be an AGV, or may be arranged to such an AGV. The AGV may for instance comprise at least two antennas respectively antenna panels, e.g. installed in such a way that they have the pre-defined distance between them. The at least two antennas may for instance be have a distance of 10, 20, 30, 40, 50 cm, or more between them.

The at least two antennas may be arranged on the apparatus in such a way that one or more signals (e.g. sent by one or more base stations of a mobile communication network) are observable. The apparatus may for instance be suitable to drive respectively maneuver at least in part autonomously, e.g. in a venue. As disclosed above, a respective sample measurement may be part of a set of sample measurements.

Thus, one sample measurement or set of sample measurements of the at least two (e.g. sets of) sample measurements corresponds to one antenna respectively antenna panel of the at least two antennas respectively antenna panels that are comprised by (e.g. embedded) or connectable to the apparatus (e.g. a respective mobile device) according to the second exemplary aspect. Accordingly, the other (e.g. set of) sample measurement(s) of the at least two (e.g. sets of) sample measurements corresponds to the other antenna respectively antenna panel of the at least two antennas respectively antenna panels. For instance, in case a mobile device comprises or is connectable to more than two antennas or antenna panels, e.g. three antennas or antenna panels, three sets of sample measurements may be gathered or obtained, wherein a respective set of the three sets of sample measurements is measured by one certain antenna respectively antenna panel of the three antennas respectively antenna panels. It will be understood that this principle applies accordingly in case the mobile device comprises or is connectable to a plurality of antennas respectively antenna panels so that a corresponding plurality of sets of sample measurements is obtained or gathered.

After or together with the requesting the determining of at least orientation information indicative of an orientation of the apparatus according to the second exemplary aspect with respect to a reference orientation direction, as disclosed above, the at least two sample measurements are provided to enable the recipient of the request to determine the at least orientation information of the apparatus.

The at least two (e.g. sets of) sample measurements may be provided (e.g. output) e.g. to be reported to the apparatus according to the first exemplary aspect (e.g. a LMF and/or LMC, e.g. of a positioning server). The respective (e.g. sets of) sample measurements may for instance be provided e.g. by sending it from the apparatus according to the second exemplary aspect (e.g. a respective mobile device e.g. arranged with the at least two antennas and that gathered the at least two sets of sample measurements) to the apparatus (e.g. LMF and/or LMC) according to the first exemplary aspect The respective (e.g. sets of) sample measurements may for instance be provided by sending it directly e.g. to the apparatus (e.g. LMF and/or LMC) according to the first exemplary aspect, or by sending it to an entity that is different from the apparatus (e.g. LMF and/or LMC) according to the first exemplary aspect and which relays the respective (e.g. set of) sample measurements to the apparatus according to the first exemplary aspect.

According to an exemplary embodiment of the second exemplary aspect, the method further comprises: receiving the determined at least orientation information in response to the requesting.

According to an exemplary embodiment of the second exemplary aspect, the method further comprises: determining a reference point (e.g. at least one antenna may represent the reference point) indicative of a common reference that is used as a reference for the at least two antennas, wherein the at least two sample measurements are gathered, at least in part, in relation to the determined reference point. The apparatus (e.g. mobile device] may identify a reference point as a common reference for the at least two antennas or antenna panels. Such a reference point may be one antenna or antenna panel, e.g. a center point of the antenna of antenna panel. Such a reference point may be one of the at least two antennas or antenna panels from which the orientation, and/or optionally, the location of the other antennas or antenna panels may be provided.

According to an exemplary embodiment of the second exemplary aspect, the method further comprises: obtaining assistance data for the gathering of the at least two sample measurements, wherein the assistance data enables, at least in part, downlink reference signal measurements, and wherein the at least two sample measurements are gathered based, at least in part, on the obtained assistance data.

The assistance data may for instance be indicative of enabling the apparatus (e.g. mobile device] to gather (e.g. measure] one or more PRS sent by one or more base stations of the mobile communication network. Each antenna of the at least two antennas, or the multiple antennas gathers (e.g. measures] such signals independently to gather the respective sample measurements.

Based on the one or more signals that are observable, e.g. a TOA estimation may be performed and/or controlled. Further, to enable the gathering (e.g. measuring], the mobile communication network may provide via one or more respective base stations the assistance data enabling the apparatus (e.g. mobile device] according to the second exemplary aspect to gather (e.g. measure] the TOA of the one or more signals sent by the one or more base stations.

According to an exemplary embodiment of the second exemplary aspect, the apparatus is or is part of a mobile device, an AGV, and/or an IoT device.

Such an AGV may for instance be used in industrial environments. For instance, such a LMF and/or LMC may be part of a (e.g. positioning] server of the mobile communication network, to name but one nonlimiting example.

The features and example embodiments of the invention described above may equally pertain to the different aspects according to the present invention.

It is to be understood that the presentation of the invention in this section is merely by way of examples and non-limiting.

Other features of the invention will become apparent from the following detailed description considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the invention, for which reference should be made to the appended claims. It should be further understood that the drawings are not drawn to scale and that they are merely intended to conceptually illustrate the structures and procedures described herein.

BRIEF DESCRIPTION OF THE DRAWINGS

In the figures show:

Fig- 1 a schematic block diagram of a system according to an exemplary aspect; Fig. 2 a flowchart showing an example embodiment of a method according to the first exemplary aspect;

Fig. 3a, b flowcharts showing an example embodiment of a method according to the second exemplary aspect;

Fig. 4 a schematic block diagram of a network setup and involved entities, e.g. as usable by a system according to all exemplary aspects;

Fig. 5 a signaling associated with example embodiments of all exemplary aspects; Fig. 6a a schematic illustration of uncertainty areas of antennas of a mobile device and orientation uncertainty;

Fig. 6b locus of valid combination of candidate antenna or antenna panel locations from which the orientation uncertainty is determined;

Fig. 7 a schematic block diagram of an apparatus configured to perform the method according to the first exemplary aspect; and

Fig. 8 a schematic block diagram of an apparatus configured to perform the method according to the second exemplary aspect.

DETAILED DESCRIPTION OF SOME EXEMPLARY EMBODIMENTS

The following description serves to deepen the understanding of the present invention and shall be understood to complement and be read together with the description as provided in the above summary section of this specification.

Fig. 1 is an example of a schematic high-level block diagram of a system that is configured to perform and/or control the method according to the first exemplary aspect. The system 100 comprises a positioning server 110 enabling or comprising a LMF and/or a LMC of a mobile communication network. The positioning server may be connectable to or comprise a database 150, e.g. for storing and retrieving information, such as capability information, sample measurements, orientation information, or the like, to name but a few non-limiting examples.

The system 100 further comprises a plurality of base stations, at present gNBs 120-1 to 120-6 which signals are observable by the mobile device 130. The base stations 120-1 to 120-6 are part of the mobile communication network. The base stations may provide assistance data for enabling the mobile device 130 to gather PRS that can be measured, at least in part, to gather the respective sample measurements. The base stations are located at or within an (e.g. geographic) area 160.

The mobile device 130 comprises at least two antennas e.g. that are a part of antenna panel 140. The mobile device is an AGV. One antenna is arranged on a front of the AGV, and the other antenna is arranged on the back, as shown in the respective enlarged views of the AGV. The AGV is located in the area 170, in which the signals of the base stations 120-1 to 120-6 are observable, e.g. for determining orientation information indicative of an orientation of the at least two antennas (of the antenna panel 140) respectively of the mobile device 130 in relation to a reference direction. Area 170 may be a part of area 160. Thus, the orientation may be a relative orientation, for instance in relation to a pre-defined reference direction. The reference direction may for instance be a north/south bound direction, or the like, as indicated in Fig.l by the illustrated compass. The antenna panel 140 comprises a plurality of antennas that are shown in a detailed view below the mobile device 130. The antenna panel comprises the plurality of antennas that are arranged in a grid, representing a 2D-geometry of the antenna panel. Such a 2D antenna geometry may for instance be represented, at least in part, by capability information associated with the respective mobile device 130.

To enable communication between the mobile device 130, one or more of the base stations 120-1 to 120- 6, and/or the positioning server 110, and/or further entities not shown in Fig. 1, the mobile communication network comprising the positioning server 110 and the base stations 120-1 to 120-6 of the system 100 may be used. The mobile communication network may be a cellular (e.g. according to 3G/4G/5G/New Radio or future communication standard) network. Additionally or alternatively, a non- cellular communication network, such as a satellite-based communication network or the Internet may also be utilized to enable communication, to name but a few non-limiting examples. The communication may be wireless as is illustrated in Fig. 1 by the arrows pointing between the base stations 120-1 to 120-6 and the mobile device 130. In Fig. 1, the arrows point towards the mobile device 130 to illustrate that the signals of the base stations 120-1 to 120-6 are observable by the mobile device 130. It will be understood that information may be sent from the mobile device to or via the base stations 120-1 to 120-6 as well. Further communication is illustrated by the arrows pointing between the base stations 120-1 to 120-6 and the positioning server 110.

Example embodiments enabling a method according to the first, second and/or third exemplary aspect may utilize the architecture shown by the system 100 of Fig. 1. The method enables a multi-panel (thus, comprising at least two antennas) mobile devices (e.g. UE) e.g.

In this way, low-latency, low-overhead method for determining at least orientation information of a mobile device is achieved. The at least orientation information may be determined at the network-side, e.g. LMF and/or LMC. In particular, since the at least orientation information may be determined at the network side, assistance, e.g. by providing the at least capability information by a respective mobile device (e.g. UE) may be given. This may result in modified signaling with specification impact, and may be applied e.g. as modifications to the existing LPP, e.g. as specified in 3GPP Technical Specification 38.305.

Fig. 2 is a flowchart 200 showing an example embodiment of a method according to the first exemplary aspect of the present invention. This flowchart 200 may for instance be performed by a LMF and/or LMC e.g. of a positioning server 110 of Fig. 1.

In an optional first step 201, a request for determining of at least orientation information is received. With such a request, a respective mobile device may intend to have its orientation determined, e.g. together with a request to have its current location estimated.

In a second step 202, at least two sample measurements are obtained, e.g. by receiving the at least two sample measurements from a respective mobile device (e.g. mobile device 130 of Fig. 1, e.g. performing and/or controlling flowchart 300a of Fig. 3a, and optionally flowchart 300b of Fig. 3b).

In an optional third step 203, a provision of at least capability information is requested, e.g. from a LMF and/or LMC (e.g. LMF and/or LMC 110 of Fig. 1, e.g. performing and/or controlling flowchart 200 of Fig.

2).

In an optional fourth step 204, at least capability information are obtained (e.g. received), e.g. from a respective mobile device to which the request was sent in optional step 203.

In a fifth step 205-1, the at least orientation information is determined. For determining of at least the orientation information indicative of an orientation of the mobile device (e.g. mobile device 130 of Fig. 1), one or more of the steps 205-2, and/or 205-3 maybe performed and/or controlled. For instance, in a step 205-2, at least two location estimates of the locations of the antennas or antenna panels of the respective mobile device are determined. In a step 205-3, at least historic information may be obtained (e.g. received from another entity, or retrieved from a memory (e.g. database 150 of Fig. 1) in which such at least historic information may be stored a-priori). Here, the steps 205-1, 205-2, and 205-3 are grouped together as a fifth step 205 since one or more of them maybe performed and/or controlled to determine the at least orientation information.

In an optional sixth step 206, after the at least orientation information is determined, the determined at least orientation information may be provided (e.g. sent), e.g. to the respective mobile device from which in the optional first step 201 a corresponding request for determining of the at least orientation information was received. It will be understood that at least some of the steps 201 to 206 may for instance be performed and/or controlled by different entities of the 5G-core network For instance, some steps may be performed and/or controlled by LMF and/or LMC (e.g. LMF and/or LMC 110 of Fig. 1), e.g. together with AMF, to name but one non-limiting example.

Fig. 3a is a flowchart 300a showing an example embodiment of a method according to the second exemplary aspect of the present invention. This flowchart 300a may for instance be performed by a mobile device 130 of Fig. 1.

In an optional first step 301, obtaining of assistance data, e.g. from one or more base stations (e.g. base stations 120-1 to 120-6 of Fig. 1), to enable the mobile device performing and/or controlling the flowchart 300a to gather the at least two sample measurements in a third step 303.

In an optional second step 302, a reference point, e.g. at least one of the at least two antenna comprised by or connectable to the mobile device is determined, e.g. to enable that the respective sample measurements (see step 303) may be gathered in relation to a same reference point enabling more comparable sample measurements.

In an optional fourth step 304, a determining of at least orientation information is requested, e.g. from a LMF and/or LMC (e.g. LMF and/or LMC 110 of Fig. 1, e.g. performing flowchart200 of Fig. 2). In response, the LMF and/or LMC may provide the determined at least orientation information, in a fifth step 305.

Thus, the mobile device may receive the determined at least orientation information.

Fig. 3b is a flowchart 300b showing an example embodiment of a method according to the second exemplary aspect of the present invention, which may be performed and/or controlled in addition to the flowchart 300a of the Fig. 3a. This flowchart 300b may for instance be performed by a mobile device 130 of Fig. 1.

In an optional sixth step 306, a request for at least capability information is received, e.g. from a LMF and/or LMC (e.g. LMF and/or LMC 110 of Fig. 1). Also, see request 502 of Fig. 5. For instance, in response to receiving such a request in a step 306, in a seventh step 307, the mobile device may provide the at least capability information to the requestor (e.g. the LMF and/or LMC 110 of Fig. 1) of the at least capability information.

For instance, steps 306 and 307 may be performed and/or controlled as one-time process. Thus, for further determining of at least orientation information indicative of the orientation of the respective mobile device, the at least capability information may not be required to be provided since e.g. the LMF and/or LMC may have stored the at least capability information in a memory, e.g. database 150 of Fig. 1. Flowcharts 200 of Fig. 2, 300a of Fig. 3a and 300b of Fig. 3b may be performed and/or controlled together for example embodiments of a method according to the third exemplary aspect. For instance, the steps of gathering, by the at least one second apparatus, at least two sample measurements corresponds to step 303 of flowchart 300a of Fig. 3a, requesting, by the at least one second apparatus, a determining of at least orientation information corresponds to step 304 of flowchart 300a of Fig. 3a, and providing, by the at least one second apparatus, the at least two sample measurements corresponds to step 305 of flowchart 300a of Fig. 3a. The steps of obtaining, by the at least one first apparatus, of the at least two sample measurements corresponds to step 202 of flowchart 200 of Fig. 2, and the step of determining, by the at least one first apparatus, of the at least orientation information indicative of an orientation of the at least one second apparatus with respect to a reference orientation direction corresponds to step 205 of flowchart 200 of Fig. 2.

In this way, one or more mobile devices (e.g. mobile device 130 of Fig. 1) performing and/or controlling flowchart 300a of Fig. 3a, and optionally flowchart 300b of Fig. 3b, and at least LMF and/or LMC (e.g. LMF and/or LMC 110 of Fig. 1) performing and/or controlling flowchart 200 of Fig. 2 may perform and/or control the method according to the third exemplary aspect together (e.g. at least partially jointly).

Fig. 4 shows a schematic block diagram 400 of a network setup and involved entities, e.g. as usable by a system according to all exemplary aspects. For instance, the method(s) according to the first, second and/or third exemplary aspect may be based, at least in part, on how one or more modifications to the LPP can be applied to enable the respective method(s).

In Fig. 4, a location service request e.g. from a 5G core location service (LCS 490) entities to Access and Mobility Function (AMF 480) and LMF and/or LMC 410 may be modified to comprise respectively include at least orientation information. This may imply that a respective request for obtaining (e.g. receive in response to a request for determining at least orientation information) at least determined orientation information may not be needed to come as a separate network request but rather as amendment of a known location request, since typically the consumer of the orientation information is the consumer of the positioning information as well, e.g. consumer of a respective mobile device.

The LMF and/or LMC 510 (e.g. corresponding to 110 of Fig. 1, and/or 410 of Fig. 4) may request and obtain at least capability information from a (e.g. target) mobile device 530, e.g. a UE (e.g. corresponding to 130 of Fig. 1, and/or 430 of Fig. 4) with respect to enable determining at least orientation information. This request may particularly refer to the number of available antennas (e.g. antennas 440-1 and 440-2 at the mobile device 430 of Fig. 4), which may be placed at or be embedded at a sufficiently high distance from one another at the mobile device. This request may further involve the distance d (see also Fig. 6a and 6b) between the antennas. In case of more than two antennas, all distances between antennas, and/or antenna geometry may be reported, via the at least capability information. In principle, requesting and provision of the at least capability information may be an one-time action, thus one-time request and corresponding response message per mobile device 430, since the network in the general case does not store mobile device context hence it does not have such information a-priori. The mobile device 430 may identify a reference point as the common reference for the antennas. This reference point can be one antenna which is identified as the main antenna from which e.g. orientation, and optionally location of the other antenna(s) are provided.

Further, LMF and/or LMC 410 may provide assistance data to the mobile device 430 e.g. for performing downlink (DL) reference signal measurements. For instance, LMF and/or LMC 410 provide the information as of where the positioning reference signals (PRS) should be measured.

It is noted that the respective method(s) according to the first, second and/or third exemplary aspect are not positioning-specific method(s), in the sense that the respective method(s) may work with any mobile device-assisted DL positioning method, such as DL-TDoA, DL-AoD, to name but a few non-limiting examples.

The mobile device 430 may for instance gather (e.g. measure) the multiple (e.g. at least two) antennas 440-1 and 440-2 to independently measure PRS sent by the base stations 420-1, 420-2 and 420-3 which signals are observable at the location of the mobile device 430. The mobile device 430 may report the multiple set of measurement report (as sample measurements) e.g. to LMF and/or LMC 410. That is, if the mobile device 430 is equipped with two antennas 440-1 and 440-2, it will repeat the process of measuring and reporting for each of the two antennas440-l and 440-2, signifying to the LMF and/or LMC 410 which antenna (e.g. as reported in a following step) the reported (e.g. provided) measurement sets correspond to.

The LMF and/or LMC 410 may for instance obtain (e.g. receive) the position of the multiple antennas independently. However, since the LMF and/or LMC 410 may be aware that such multiple antennas (e.g. antennas 440-1 and 440-2) may correspond to the same mobile device (e.g. mobile device 430), the LMF and/or LMC 410 may determine the orientation of the respective mobile device e.g. via an established process of a standard (e.g. 3GPP Technical Specification 38.305) which utilizes the (e.g. estimated) location of the multiple antennas in addition to their distance. Although the orientation (e.g. 2D and/or 3D orientation) of the respective mobile device can be inferred with the use of the antenna locations, the distance between the mobile device antennas is utilized as well so as to increase the orientation accuracy.

In a Fig. 5, a signaling associated with example embodiments of all exemplary aspects is shown.

5G-core (5GC) entities may request via a "Location Service Request” comprising e.g. "Indication of Orientation information” to the AMF, which may send the request to the LMF 510 (e.g. corresponding to LMF and/or LMC 110 of Fig. 1). One or more NG-RAN procedures may take place between the NG-RAN and the LMF 510. For instance, in addition to the procedure as proposed in the 3GPP standard Technical Specification 38.305, the LMF 510 may request provision of at least capability information from the UE 530 (e.g. corresponding to the mobile device 130 of Fig. 1). For instance, Request of UE capabilities including number of antennas and antenna geometry may be requested (see request 502, and also step 202 of Fig. 2) by the LMF 510. The UE 530 may do UE geometry-specific measurements, e.g. by retrieving such at least capability information from a memory, and by gathering (e.g. measuring) at least two sample measurements with the UE’s at least two antennas or antenna panels, and provide the at least capability information to the LMF 510 (see "UE geometry-specific measurement report”, see provision 503, and also step 203 of Fig. 2). This measurement report may comprised or be accompanied by the at least two sample measurements gathered by the UE 530. Based on the received report of provision 503, the LMF 510 may determine at least orientation information, e.g. by estimating of UE position and orientation (e.g. together). Correspondingly, "Location and orientation Service Response” may take place and in response, "Location and orientation Service Response” may be provided to 5GC Entities. The signaling is based, at least in part, on LPP, in particular with the modification of request 502, report 503 and determining of at least orientation information, e.g. as part of a location-based service (location estimation of the UE 530)..

In this way, it is enabled a signaling framework e.g. between a positioning or location server (e.g. LMF and/or LMC) and one or more mobile devices (e.g. (target) UEs), e.g. for deriving the orientation of a mobile device. This can be done together with the positioning. The framework may relate to a scenario in which the mobile device(s) is (are) equipped with multiple antennas or antenna panels, e.g. placed at mobile device parts well separated from one another. The antenna geometry within or of the mobile device is assumed to be known by the respective mobile device. Thus, the respective mobile device is enabled to report (e.g. provide) such information as at least capability information to the network, e.g.

LMF and/or LMC. Based on providing such antenna geometry comprised or represented by, at least in part, at least capability information from the respective mobile device to the network, the network may then initiate a separate positioning process for each of the UE antennas. Then, as a second step, the network can derive the orientation of the respective mobile device (e.g. UE), e.g. by properly combining the locations of the multiple antennas of the respective mobile device and the reported antenna geometry. The use of multiple antennas of the mobile device with known geometry for determining (e.g. estimating) the orientation of the mobile device respectively the multiple antennas comprised by or connectable to the respective mobile device may result in higher orientation accuracy.

In the following embodiment, an implementation example embodiment of (a) respective method(s) according to the first, second, and/or third exemplary aspects is disclosed. In this example embodiment, the respective mobile device is equipped with two antennas that are embedded in the mobile device. It will be understood that correspondingly, also mobile devices with more than two antennas or antenna elements are supported. The implementation may for instance be done on part of a LMF and/or a LMC of a network (e.g. as a 5G network core function). The orientation of a respective target mobile device may be determined, e.g. as a function of antenna location estimates. The orientation of the target mobile device may be determined, e.g. derived based, at least in part, on relative estimated locations of the two antennas, in conjunction with the provided distance, denoted by d. The LMF and/ or the LMC may receive at least two sample measurements (e.g. a list of measurements for each antenna respectively antenna panel]. Then, it may determine (e.g. compute] position estimates (e.g. according to soft and/or hard boundary model] of each antenna respective antenna panel comprised by the target mobile device. For instance, the LMF and/or the LMC may employ approaches of Bayesian inference and formulate a constrained optimization problem to compute soft position respectively location estimates, to name but one non-limiting example. For instance, such soft position estimates may be associated with (at least some] mean and variance of the position.

There may be uncertainty associated with an orientation of the mobile device and/or uncertainty with the antenna location. Typically, the location of a point is provided with some "uncertainty area”, e.g. uncertainty circle area e.g. centered at the most probable location, as illustrated in Fig. 6a and 6b.

Fig. 6a shows a schematic illustration of uncertainty areas of antennas of a mobile device and orientation uncertainty. Fig. 6b shows locus of valid combination of candidate antenna or antenna panel locations from which the orientation uncertainty is determined.

In a two-dimensional space the uncertainty on the derived orientation may be measured in degrees, or equivalent metric, e.g. in relation to a reference orientation direction. The actual orientation of the mobile device is illustrated as the lines RO in Fig. 6a and 6b. As shown in Fig. 6a, the use of the method according to the first, second and/or third exemplary aspect may lead to an orientation uncertainty (see "uncertainty circle area” exemplary illustrating this] which may for instance correspond to the combination of antenna points that corresponds to the highest inclination to the line between the center points of the respective uncertainty areas. This corresponds to the double dotted and dashed line in Fig.

6a.

That is, the LMF and/or the LMC determine (e.g. estimate] the central point of the uncertainty circle areas 640-1, 640-2 per each antenna, yet in reality the antenna location may be located in a certain (not yet known] point of the corresponding circle representing the uncertainty area 640-1, 640-2 for a given antenna respectively antenna panel. The probability that the respective antenna location may be at one of the points within the respective uncertainty area 640-1, 640-2 may have equal probability.

This is e.g. illustrated in Fig. 6b in the form of grid areas, such that each "pixel” - marked with hatched rectangles having a center point in uncertainty area 640-1 (left hand side] - may represent an equally probable area as regards actual antenna locations. Such respective hatched areas in uncertainty area 640-2 (right hand side) may represent valid combinations of antenna locations, for instance, combination of points that have a distance d from a respective "pixel” in uncertainty area 640-1. As can be seen from Fig. 6b, most candidate points yield an orientation angle which is smaller than the (e.g. maximum) orientation uncertainty angle (e.g. as highlighted in Fig. 6a).

In particular, the maximum orientation uncertainty would correspond to one of the hatched areas in Fig. 6b in uncertainty area 640-2, specifically the hatched area shown at the top of the left uncertainty circle area 640-1 and the corresponding hatched area on the bottom of the right uncertainty circle area 640-2. Given the uniform probability distribution assumption, the maximum orientation uncertainty angle would occur with a relatively small probability. For instance, if the top hatched "pixel” in the left uncertainty circle area 640-1 occurs with a probability of approx. 4 %, and the probability of the bottom part of the hatched arc in the right uncertainty circle area 640-2 is approx. 20 %, then the combination of those two areas yield an overall probability of < 1 %. If the additional area combinations (e.g. the anti-diametric area of the top "pixel” in the left uncertainty circle area 640-1 and the corresponding dot at the top of the hatched arc having a distance of d (see right uncertainty circle area 640-2 of Fig. 6b), that would lead to a probability of maximum orientation uncertainty which does not exceed ~ 6 %.

If this is combined with other point combinations leading to smaller orientation deviation from the actual value, as is for instance the bottom "pixel” of the left uncertainty area 640-1 and the corresponding arc in the right uncertainty area 640-2 in Fig. 6b, the overall orientation uncertainty with example embodiments according to all exemplary aspects is relatively small (see above).

Fig. 7 is a schematic block diagram of an apparatus 700 according to an exemplary aspect of the present invention, which may for instance represent the LMF and/or LMC (e.g. part of the positioning server) 110 of Fig. 1.

Apparatus 700 comprises a processor 710, working memory 720, program memory 730, data memory 740, communication interface(s) 750, and an optional user interface 760.

Apparatus 700 may for instance be configured to perform and/or control or comprise respective means (at least one of 710 to 760) for performing and/or controlling the method according to the first exemplary aspect. Apparatus 700 may as well constitute an apparatus comprising at least one processor (710) and at least one memory (720) including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause an apparatus, e.g. apparatus 700 at least to perform and/or control the method according to the first exemplary aspect.

Processor 710 may for instance comprise a sample measurement obtainer 711 as a functional and/or structural unit. Sample measurement obtainer 711 may for instance be configured to obtain (e.g. receive or retrieve from a memory, e.g. data memory 740) one or more sample measurements or sets of sample measurements (see step 201 of Fig. 2).

Processor 710 may for instance comprise an optional capability information obtainer 712 as a functional and/or structural unit. Capability information obtainer 712 may for instance be configured to obtain (e.g. receive or retrieve from a memory, e.g. data memory 740) capability information (see step 203 of Fig. 2).

Processor 710 may for instance comprise an orientation information determiner 713 as a functional and/or structural unit. Orientation information determiner 713 may for instance be configured to determine orientation information, e.g. based, at least in part, on sample measurements (see step 205 of Fig. 2).

Processor 710 may for instance further control the memories 720 to 740, the communication interface(s) 750, and the optional user interface 760.

Processor 710 may for instance execute computer program code stored in program memory 730, which may for instance represent a computer readable storage medium comprising program code that, when executed by processor 710, causes the processor 710 to perform the method according to the first exemplary aspect.

Processor 710 (and also any other processor mentioned in this specification) may be a processor of any suitable type. Processor 710 may comprise but is not limited to one or more microprocessor(s), one or more processor(s) with accompanying one or more digital signal processor(s), one or more processor(s) without accompanying digital signal processor(s), one or more special-purpose computer chips, one or more field-programmable gate array(s) (FPGA(s)), one or more controller(s), one or more application- specific integrated circuit(s) (ASIC(s)), or one or more computer(s). The relevant structure/hardware has been programmed in such a way to carry out the described function. Processor 710 may for instance be an application processor that runs an operating system.

Program memory 730 may also be included into processor 710. This memory may for instance be fixedly connected to processor 710, or be at least partially removable from processor 710, for instance in the form of a memory card or stick. Program memory 730 may for instance be non-volatile memory. It may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM and EEPROM memory (or a part thereof) or a hard disc (or a part thereof), to name but a few examples. Program memory 730 may also comprise an operating system for processor 710. Program memory 730 may also comprise a firmware for apparatus 700.

Apparatus 700 comprises a working memory 720, for instance in the form of a volatile memory. It may for instance be a Random Access Memory (RAM) or Dynamic RAM (DRAM), to give but a few non-limiting examples. It may for instance be used by processor 710 when executing an operating system and/or computer program.

Data memory 740 may for instance be a non-volatile memory. It may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM and EEPROM memory (or a part thereof) or a hard disc (or a part thereof), to name but a few examples. Data memory 740 may for instance store information, such as capability information, sample measurements, orientation information, or the like, to name but a few nonlimiting examples.

Communication interface(s) 750 enable apparatus 700 to communicate with other entities, e.g. of system 100 of Fig. 1. The communication interface(s) 750 may for instance comprise a wireless interface, e.g. a cellular radio communication interface and/or a WLAN interface and/or wire-bound interface, e.g. an IP- based interface, for instance to communicate with entities via the Internet. Communication interface(s) may enable apparatus 700 to communicate with other entities e.g. not shown in Fig. 1.

User interface 760 is optional and may comprise a display for displaying information to a user and/or an input device (e.g. a keyboard, keypad, touchpad, mouse, and/or control device for maneuvering the apparatus in case it is an AGV, etc.) for receiving information from a user.

Some or all of the components of the apparatus 700 may for instance be connected via a bus. Some or all of the components of the apparatus 700 may for instance be combined into one or more modules.

Fig. 8 is a schematic block diagram of an apparatus 800 according to an exemplary aspect of the present invention, which may for instance represent the mobile device 130 of Fig. 1.

Apparatus 800 comprises a processor 810, working memory 820, program memory 830, data memory 840, communication interface(s) 850, an optional user interface 860 and at least two antennas 870. The at least two antennas may be part of an antenna panel. Also, at least two of such antenna panels may be comprised by or connectable to the apparatus 800.

Apparatus 800 may for instance be configured to perform and/or control or comprise respective means (at least one of 810 to 870) for performing and/or controlling the method according to the second exemplary aspect Apparatus 800 may as well constitute an apparatus comprising at least one processor (810) and at least one memory (820) including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause an apparatus, e.g. apparatus 800 at least to perform and/or control the method according to the second exemplary aspect Processor 810 may for instance comprise an optional assistance data obtainer 811 as a functional and/or structural unit. Assistance data obtainer 811 may for instance be configured to obtain (e.g. receive or retrieve from a memory, e.g. data memory 840) assistance data (see step 310 of Fig. 3a).

Processor 810 may for instance comprise an optional reference point determiner 812 as a functional and/or structural unit. Reference point determiner 812 may for instance be configured to determine a reference point, e.g. representing a (e.g. relative) position of an antenna 870 (see step 302 of Fig. 3a).

Processor 810 may for instance comprise a sample measurement gatherer 813 as a functional and/or structural unit. Sample measurement gatherer 813 may for instance be configured to gather sample measurements or sets of sample measurements (see step 303 of Fig. 3a).

Processor 810 may for instance comprise an optional orientation information requestor 814 as a functional and/or structural unit. Orientation information requestor 814 may for instance be configured to request a determining of orientation information (see step 304 of Fig. 3a).

Processor 810 may for instance further control the memories 820 to 840, the communication interface(s) 850, the optional user interface 860 and the antennas 870.

Processor 810 may for instance execute computer program code stored in program memory 830, which may for instance represent a computer readable storage medium comprising program code that, when executed by processor 810, causes the processor 810 to perform the method according to the second exemplary aspect.

Processor 810 (and also any other processor mentioned in this specification) may be a processor of any suitable type. Processor 810 may comprise but is not limited to one or more microprocessor(s), one or more processor(s) with accompanying one or more digital signal processor(s), one or more processor(s) without accompanying digital signal processor(s), one or more special-purpose computer chips, one or more field-programmable gate array(s) (FPGA(s)), one or more controller(s), one or more application- specific integrated circuit(s) (ASIC(s)), or one or more computer(s). The relevant structure/hardware has been programmed in such a way to carry out the described function. Processor 810 may for instance be an application processor that runs an operating system.

Program memory 830 may also be included into processor 810. This memory may for instance be fixedly connected to processor 810, or be at least partially removable from processor 810, for instance in the form of a memory card or stick. Program memory 830 may for instance be non-volatile memory. It may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM and EEPROM memory (or a part thereof) or a hard disc (or a part thereof), to name but a few examples. Program memory 830 may also comprise an operating system for processor 810. Program memory 830 may also comprise a firmware for apparatus 800.

Apparatus 800 comprises a working memory 820, for instance in the form of a volatile memory. It may for instance be a Random Access Memory (RAM) or Dynamic RAM (DRAM), to give but a few non-limiting examples. It may for instance be used by processor 810 when executing an operating system and/or computer program.

Data memory 840 may for instance be a non-volatile memory. It may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM and EEPROM memory (or a part thereof) or a hard disc (or a part thereof), to name but a few examples. Data memory 840 may for instance store information, such as capability information, sample measurements, orientation information, or the like, to name but a few nonlimiting examples.

Communication interface(s) 850 enable apparatus 800 to communicate with other entities, e.g. of system 100 of Fig. 1. The communication interface(s) 850 may for instance comprise a wireless interface, e.g. a cellular radio communication interface and/or a WLAN interface and/or wire-bound interface, e.g. an IP- based interface, for instance to communicate with entities via the Internet. Communication interface(s) may enable apparatus 800 to communicate with other entities e.g. not shown in Fig. 1.

User interface 860 is optional and may comprise a display for displaying information to a user and/or an input device (e.g. a keyboard, keypad, touchpad, mouse, and/or control device for maneuvering the apparatus in case it is an AGV, etc.) for receiving information from a user.

Some or all of the components of the apparatus 800 may for instance be connected via a bus. Some or all of the components of the apparatus 800 may for instance be combined into one or more modules.

The following embodiments shall also be considered to be disclosed:

Embodiment 1:

A first method performed and/or controlled by at least one apparatus, the method comprising: obtaining at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein the at least two sample measurements are observed with the at least two antennas, and wherein the at least two antennas have at least one pre-defined distance from one another and are comprised by or connectable to a mobile device; and determining at least orientation information indicative of an orientation of the mobile device with respect to a reference orientation direction, wherein the orientation information is determined based, at least in part, on the obtained at least two sample measurements. Embodiment 2:

The method according to embodiment 1, further comprising: obtaining at least capability information of the mobile device, wherein the at least capability information is indicative of a number of antennas, the number comprising the at least two antennas, and further indicative of a respective distance that the respective at least two antennas are spaced from one another, and/or further indicative of at least one antenna geometry of the at least two antennas, wherein the orientation information is determined further based, at least in part, on the at least capability information.

Embodiment 3:

The method according to any of the preceding embodiments, further comprising: requesting provision of the at least capability information, wherein the at least capability information are obtained in response to the requesting.

Embodiment 4:

The method according to any of the preceding embodiments, further comprising: determining at least two location estimates, wherein each location estimate of the at least two location estimates is indicative of a location of a respective antenna of the at least two antennas, wherein each location estimate of the at least two location estimates is determined based, at least in part, on a respective sample measurement of the at least two sample measurements and based, at least in part, on the at least capability information.

Embodiment 5:

The method according to any of the preceding embodiments, further comprising: receiving a request for determining at least orientation information, wherein the at least orientation information is determined in response to receiving the request; and providing the determined at least orientation information.

Embodiment 6:

The method according to any of the preceding embodiments, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more gathered positioning reference signals sent by at least one network node.

Embodiment 7:

The method according to any of the preceding embodiments, further comprising: obtaining at least historic orientation information indicative of past recorded orientation information of the at least two antennas, wherein the at least orientation information is determined further based, at least in part, on the at least historic orientation information.

Embodiments:

The method according to any of the preceding embodiments, wherein the apparatus is or is part of a location management function, LMF, located at a core network of the mobile communication network, and/or a location management component, LMC, located at a radio access network of the mobile communication network.

Embodiment 9:

A second method performed and/or controlled by at least one apparatus, the method comprising: gathering at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein each sample measurement of the at least two sample measurements is gathered with a respective antenna of the at least two antennas, and wherein the at least two antennas have at least one pre-defmed distance from one another and that are comprised by or connectable to the apparatus; and requesting a determining of at least orientation information indicative of an orientation of the apparatus with respect to a reference orientation direction; and providing the at least two sample measurements, wherein the determining of the at least orientation information is enabled based, at least in part, on the at least two sample measurements.

Embodiment 10:

The method according to embodiment 9, further comprising: providing at least capability information of the mobile device, wherein the at least capability information is indicative of a number of antennas, the number comprising the at least two antennas, and further indicative of a respective distance that the respective antennas are spaced from one another, and/or at least one antenna geometry of the at least two antennas.

Embodiment 11:

The method according to embodiment 9 or embodiment 10, further comprising: receiving a request for at least capability information, wherein the at least capability information are provided in response to the request.

Embodiment 12:

The method according to any of the embodiments 9 to 11, further comprising: receiving the determined at least orientation information in response to the requesting. Embodiment 13:

The method according to any of the embodiments 9 to 12, further comprising: determining a reference point indicative of a common reference that is used as a reference for the at least two antennas, wherein the at least two sample measurements are gathered, at least in part, in relation to the determined reference point.

Embodiment 14:

The method according to any of the embodiments 9 to 13, further comprising: obtaining assistance data for the gathering of the at least two sample measurements, wherein the assistance data enables, at least in part, downlink reference signal measurements, and wherein the at least two sample measurements are gathered based, at least in part, on the obtained assistance data.

Embodiment 15:

The method according to any of the embodiments 9 to 14, wherein the apparatus is or is part of a mobile device, an automated guided vehicle, AGV, and/or an Internet-of-Things, IoT device.

Embodiment 16:

An apparatus configured to perform and/or control or comprising respective means for performing and/or controlling the method of any of the embodiments 1 to 8.

Embodiment 17:

An apparatus configured to perform and/or control or comprising respective means for performing and/or controlling the method of any of the embodiments 9 to 15.

Embodiment 18:

A tangible computer-readable medium storing computer program code, the computer program code when executed by a processor causing an apparatus to perform and/or control: obtaining at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein the at least two sample measurements are observed with the at least two antennas, and wherein the at least two antennas have at least one pre-defined distance from one another and are comprised by or connectable to a mobile device; and determining at least orientation information indicative of an orientation of the mobile device with respect to a reference orientation direction, wherein the orientation information is determined based, at least in part, on the obtained at least two sample measurements.

Embodiment 19: A tangible computer-readable medium storing computer program code, the computer program code when executed by a processor causing an apparatus to perform and/or control: gathering at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein each sample measurement of the at least two sample measurements is gathered with a respective antenna of the at least two antennas, and wherein the at least two antennas have at least one pre-defmed distance from one another and that are comprised by or connectable to the apparatus; and requesting a determining of at least orientation information indicative of an orientation of the apparatus with respect to a reference orientation direction; and providing the at least two sample measurements, wherein the determining of the at least orientation information is enabled based, at least in part, on the at least two sample measurements.

Embodiment 20:

A tangible computer-readable medium storing computer program code, the computer program code when executed by a processor causing an apparatus to perform and/or control: gathering, by the at least one second apparatus, at least two sample measurements, wherein a respective sample measurement of the at least two sample measurements is indicative of one or more signals that are observable by an antenna, wherein each sample measurement of the at least two sample measurements is gathered with a respective antenna of the at least two antennas and wherein the at least two antennas have at least one pre-defined distance from one another and that are comprised by or connectable to the at least one second apparatus; and requesting, by the at least one second apparatus, a determining of at least orientation information indicative of an orientation of the at least one second apparatus with respect to a reference orientation direction; providing, by the at least one second apparatus, the at least two sample measurements, wherein the determining of the at least orientation information is enabled based, at least in part, on the at least two sample measurements; obtaining, by the at least one first apparatus, the at least two sample measurements; determining, by the at least one first apparatus, at least orientation information indicative of an orientation of the at least one second apparatus with respect to a reference orientation direction, wherein the at least orientation information is determined based, at least in part, on the obtained at least two sample measurements.

In the present specification, any presented connection in the described embodiments is to be understood in a way that the involved components are operationally coupled. Thus, the connections can be direct or indirect with any number or combination of intervening elements, and there may be merely a functional relationship between the components. Moreover, any of the methods, processes and actions described or illustrated herein may be implemented using executable instructions in a general-purpose or special-purpose processor and stored on a computer-readable storage medium (e.g., disk, memory, or the like) to be executed by such a processor. References to a ‘computer-readable storage medium’ should be understood to encompass specialized circuits such as FPGAs, ASICs, signal processing devices, and other devices.

The expression "A and/or B” is considered to comprise any one of the following three scenarios: (i) A, (ii) B, (iii) A and B. Furthermore, the article "a” is not to be understood as "one”, i.e. use of the expression "an element” does not preclude that also further elements are present. The term "comprising” is to be understood in an open sense, i.e. in a way that an object that "comprises an element A” may also comprise further elements in addition to element A.

It will be understood that all presented embodiments are exemplary, and that any feature presented for a particular example embodiment may be used with any aspect of the invention on its own or in combination with any feature presented for the same or another particular example embodiment and/or in combination with any other feature not mentioned. In particular, the example embodiments presented in this specification shall also be understood to be disclosed in all possible combinations with each other, as far as it is technically reasonable and the example embodiments are not alternatives with respect to each other. It will further be understood that any feature presented for an example embodiment in a particular category (method/apparatus/computer program/system) may also be used in a corresponding manner in an example embodiment of any other category. It should also be understood that presence of a feature in the presented example embodiments shall not necessarily mean that this feature forms an essential feature of the invention and cannot be omitted or substituted.

The statement of a feature comprises at least one of the subsequently enumerated features is not mandatory in the way that the feature comprises all subsequently enumerated features, or at least one feature of the plurality of the subsequently enumerated features. Also, a selection of the enumerated features in any combination or a selection of one of the enumerated features is possible. The specific combination of all subsequently enumerated features may as well be considered. Also, a plurality of one of the enumerated features may be possible.

The sequence of all method steps presented above is not mandatory, also alternative sequences may be possible. Nevertheless, the specific sequence of method steps exemplarily shown in the figures shall be considered as one possible sequence of method steps for the respective embodiment described by the respective figure. The invention has been described above by means of example embodiments. It should be noted that there are alternative ways and variations which are obvious to a skilled person in the art and can be implemented without deviating from the scope of the appended claims.