JOINT ESTIMATION OF TIME SYNCH ERROR AND POSITION USING TIMING MEASUREMENTS TECHNICAL FIELD The present disclosure relates to wireless communications, and in particular, to determination of errors associated with time synchronization (synch) and determination of position of network nodes and/or wireless devices. BACKGROUND The Third Generation Partnership Project (3GPP) has developed and is developing standards for Fourth Generation (4G) (also referred to as Long Term Evolution (LTE)) and Fifth Generation (5G) (also referred to as New Radio (NR)), and Sixth Generation (6G) wireless communication systems. Such systems provide, among other features, broadband communication between network nodes (NNs), such as base stations, and mobile wireless devices (WD) (i.e., User Equipment (UE)), as well as determination of WD position. Positioning (i.e., determination of WD position/location) has been a topic in LTE standardization since 3GPP Release 9 (Rel-9). The primary objective of 3GPP Rel-9 was initially to fulfill regulatory requirements for emergency call positioning. However, other use cases such as positioning for Industrial Internet of Things (I-IoT) are becoming important. NR support positioning (i.e., determination of WD position). FIG. 1 shows an example architecture, including interfaces, that support positioning, i.e., an example NG Radio Access Network (RAN) positioning architecture. More specifically, a Location Management Function (LMF) is shown. The LMF is a location node in NR, e.g., responsible for positioning estimation using measurements such as timing measurements. Other network nodes of the example architecture may include one or more of a Mobility Management Function (AMF), an Enhanced Mobile Location Centre (E-SMLC), a Secure User Plane for Location (SUPL) Location Platform (SLP), access network nodes (e.g., gNB, ng-eNB), etc. Further the example architecture may further include one or more WDs. There may be interactions (not shown in FIG. 1), between the location node (i.e., LMF) and the gNodeB, gNB, that use NR Positioning Protocol A (NRPPa). While FIG. 1 shows more than one network node such as a gNB and a Next Generation Evolved Node-B (ng-eNB), both may not always be present. Further, when both the gNB and the ng- eNB are present, the Next Generation Control Plane (NG-C) is generally only present for one of them. The transmission reception point (TRP) in a gNB is responsible for the generic capacity of positioning measurements and reference signal transmission. The interactions between the gNB and the WD is supported via the Radio Resource Control (RRC) protocol. Further, the location node interfaces with the WD via the LTE Positioning Protocol (LPP), which is common to NR and LTE. In legacy LTE standards, the following techniques are supported: • Enhanced Cell ID (E-CID): Cell Identification (ID) information to associate a device (e.g., a WD) to a serving area of a serving cell, and then additional information to determine a finer granularity position. • Assisted Global Navigation Satellite System (GNSS): GNSS information retrieved by the device (e.g., a WD), supported by assistance information provided to the device (e.g., a WD) from Evolved Serving Mobile Location Center (E-SMLC). • OTDOA (Observed Time Difference of Arrival): The device (e.g., a WD) estimates the time difference of reference signals from different base stations (i.e., network nodes) and sends to the E-SMLC for multilateration. • UTDOA (Uplink TDOA): The device (e.g., a WD) is requested to transmit a specific waveform that is detected by multiple location measurement units (e.g., an eNB) at known positions. These measurements are forwarded to E- SMLC for multilateration. In 3GPP NR Release 16 (Rel-16), positioning features are specified and include reference signals, measurements, and positioning methods: Reference signals: • A downlink (DL) reference signal, i.e., the NR DL PRS (Positioning Reference Signal), was specified. The main benefit of this signal in relation to the LTE DL PRS is the increased bandwidth, configurable from 24 to 272 resource blocks (RBs), which provides improvement in time of arrival (TOA) accuracy. The NR DL PRS can be configured with a comb factor of 2, 4, 6 or 12. Comb-12 allows for twice as many orthogonal signals as the comb-6 LTE PRS. Beam sweeping is also supported on NR DL PRS in Rel-16. • An uplink (UL) reference signal, based on the NR UL Sounding Reference Signal (SRS) was introduced and called “SRS for positioning”. The Rel. 16 NR SRS for positioning allows a longer signal, up to 12 symbols (compared to 4 symbols in 3GPP Release 15 SRS), and a flexible position in a slot. Only the last six symbols of the slot can be used in Rel. 15 SRS). NR UL SRS also allows for a staggered comb resource element (RE) pattern for improved TOA measurement range and more orthogonal signals based on comb offsets (such as comb 2, 4 and 8) and cyclic shifts. The use of cyclic shifts that are longer than the Orthogonal Frequency Division Multiplexed (OFDM) symbol divided by the comb factor is, however, not supported by Rel. 16, despite that this is the main advantage of comb-staggering at least in indoor scenarios. Power control based on neighbor cell Synchronization Signal Block (SSB)/DL PRS is supported as well as spatial Quasi-CoLocation (QCL) relations towards a Channel State Information Reference Signal (CSI-RS), an SSB, a DL PRS, or another Sounding Reference Signal (SRS). Positioning techniques NR positioning supports the following methods: o Methods already in LTE and enhanced in NR: • Downlink TDOA (DL TDOA); • E-CID; • Radio Access Technology (RAT) independent methods (based on non- 3GPP sensors such as GPS, pressure sensors, Wi- Fi signals, Bluetooth, etc.); and • Uplink (UL) TDOA. o Methods in NR: • Multicell Round Trip Time (RTT): the LMF collects RTT measurement as a basis for multilateration; and • DL angle of departure (AoD) and UL angle of arrival (AoA), where multilateration is done using angle and power (RSRP) measurements. Measurements In NR Rel-6, the following WD measurements are specified: • DL Reference Signal Time Difference (RSTD), e.g., allowing DL TDOA positioning; • Multi cell WD Rx-Tx Time Difference measurement, allowing for multi cell round trip time (RTT) measurements; and • DL PRS Reference Signal Receive Power (RSRP). In NR Rel. 16, the following gNB measurements are specified; • UpLink Relative Time of Arrival (UL-RTOA), useful for UL TDOA positioning; • gNb Rx-Tx time difference, useful for multi cell RTT measurements; • UL SRS-RSRP; and • Angle of Arrival (AoA) and Zenith angle of Arrival (ZoA). Signal configurations In NR 3GPP Rel-16, the DL PRS is configured by each cell separately, and the location server (i.e., LMF) collects all configuration via the NRPPa protocol, before sending an assistance data (AD) message to the WD via the LPP protocol. In the uplink, the SRS signal is configured in RRC by the serving gNodeB, which in turn forwards appropriate SRS configuration parameters to the LMF upon request. Further, Rel-16 NR DL PRS is organized in a 3-level hierarchy: • PRS frequency layer: Gathers PRS resource sets from (potentially) multiple network nodes (e.g., base stations), having common parameters in common. If two resource sets are in the same frequency layer, they: o Operate in the same band with the same subcarrier spacing; o Have the same comb factor; and o Have the same starting PRB and bandwidth. • PRS Resource set: Corresponds to a collection of PRS beams (resources) which are all originating from the same Transmission and reception point (TRP). All resources in the same set have the same comb factor. • PRS resource: Correspond to a beam transmitting the PRS. TDOA measurement model The following assumes there is a UE (i.e., WD) indexed i, with unknown position p _UE,i and unknown clock offset from Base Station (BS) 1 (i.e., such as a first base station), called t _UE,i . It is also assumed that there is a TOA measurement (either uplink or downlink) for NN j, with known position, but unknown clock offset from NN 1 (unless j=1), called t _BS,j . For NN 1 we set t _BS,1 = 0. The measurement model is where c is the speed of light, and e _i,j is a random measurement error. This is equivalent in structure to the TDOA-model, e.g., with NN 1 as a reference node: where, specially, TDOA _i,1 = 0. The only difference is that the unknown UE time offset t _UE,i is cancelled out and replaced by the dummy variable which is treated in the same way as t _UE,i in the TOA-based positioning estimation. All available TOA or TDOA measurements may be used to estimate the position and time offset/dummy variables of all WDs, i.e., WDs i = 1,…,n, and all time offsets for all network nodes (e.g., BSs). If the network has known time synch, then the NN time offsets t _BS,j may be known and each UE independently (which is a commonly used approach) may be solved. Since TOA _i,j is the time of arrival according to the clock of the RX node (which is WD (i.e., UE i) in downlink or network node (i.e., NN j) in uplink), t _UE,i − t _BS,j is the time of departure (TOD) according to the clock of the RX node, which is unknown. This suggests that t _UE,i is the time offset of UE i (i.e., WD i) to the reference BS, and t _BS,j is the time offset of NN j to the reference BS, and that we take the TOD according to the clock of the TX node (which is known) to be zero. That is, existing solutions for Downlink (DL) or Uplink (UL) Time Difference Of Arrival- (TDOA) based positioning require the network nodes (e.g., BSs) transmitting or receiving the Positioning Reference Signals (PRSs) to be synchronized (t_(BS,j)≈0 for all j), or to have a known time synch error. However, in practice, even with typical synchronization methods, the residual time synch error is still at a level that significantly degrades positioning accuracy, i.e., be significantly worse than if the network time synchronization had been ideal, i.e., with no time synch error. In some scenarios a positioning method may become impossible to use if the time synch error is the bottleneck of the system (e.g., communication system) with respect to positioning accuracy. SUMMARY Some embodiments advantageously provide methods, systems, and apparatuses for determining a time synchronization and/or a WD position. In some embodiments, a time synchronization inaccuracy of the network does not affect positioning accuracy. In some other embodiments, the network (e.g., a network node) jointly estimates positions of a group of WDs and/or network node (e.g., BS) specific time synchronization error of the network. In an embodiment, the joint estimation may be performed iteratively. WDs (that have been positioned) and the network nodes (for which time synchronization has already been estimated) may be reused in estimations of position and time synch error of other network nodes and WDs in the network. In another embodiment, the joint estimation may be propagated across the network. In some embodiments, a scheme is fully generalized. A network node may receive PRSs from other network nodes, and WDs may receive PRSs from other WDs, e.g., so that the network may be described with a number of network nodes, each of which may be a network node (e.g., real BS) or a WD (e.g., a real UE). The WD (and/or the network node) may be treated as a node that can transmit and/or receive PRSs from any other network node. In some other embodiments, independent time synchronization of the network nodes in the network does not meet a predetermined synchronization accuracy (e.g., synchronization not being accurate) while still providing a positioning accuracy of the WD that meets a predetermined positioning accuracy (e.g., very high positioning accuracy). In one embodiment, since the time synch error may be estimated with very high accuracy, the result (e.g., the estimated time synch error) may be applied to refine a time synchronization accuracy, independently of positioning. In another embodiment, positioning accuracy may be enhanced due to improved time synchronization accuracy, e.g., approaching similar positioning performance of perfect network synchronization. According to one aspect, a network node configured to communicate with a plurality of radio communication nodes is described. Each of the radio communication nodes is configured to communicate with at least one other radio communication node of the plurality of radio communication nodes. The network node comprises processing circuitry configured to obtain a total quantity of measurements from the plurality of radio communication nodes; determine that a total quantity of unknown parameters associated with the plurality of radio communication nodes is less than or equal to the total quantity of measurements obtained; determine that a quantity of unknown parameters associated with a first radio communication node of the plurality of radio communication nodes is less than or equal to a quantity of obtained measurements associated with the first radio communication node; determine that a quantity of unknown parameters associated with a second radio communication node of the plurality of radio communication nodes is less than or equal to a quantity of obtained measurements associated with the second radio communication node; and jointly determine a time synchronization error and a position associated the first radio communication node; and at least one of a time synchronization error and a position associated the second radio communication node. In some embodiments, the unknown parameters are unknown time synchronization error and position parameters. In some other embodiments, the processing circuitry is further configured to determine that a total number of unknown parameters associated with at least a third radio communication node is less than or equal to a quantity of obtained measurements associated with the at least the third radio communication node. In addition, the step of jointly determining includes determining at least one of a time synchronization error and a position associated the at least the third radio communication node. In some embodiments, the step of jointly determining is based at least on one of an expansion process and a reverse process. In some other embodiments, the step of jointly determining is based on at least one of: at least a downlink (DL) positioning reference signal (PRS) transmitted by one or more radio communication nodes of a first group of radio communication nodes of the plurality of radio communication nodes, upon which one or more radio communication nodes of a second group of the plurality of radio communication nodes, individually reports a received signal time difference (RSTD) indication with respect to a corresponding serving cell PRS; an uplink (UL) PRS transmitted by each radio communication node in the second group of radio communication nodes, where the UL PRS is received by the corresponding radio communication nodes, and each of the corresponding radio communication nodes performs a time of arrival (TOA) measurement for each of the received UL PRSs; reference signal time difference (RSTD) values; and each radio communication node of the second group of radio communication nodes individually reporting one TOA indication relative to a radio communication node internal clock, with respect to the received PRS. In some embodiments, the processing circuitry is further configured to at least one of set up a set of equations, at least an unknown parameter of the set of equations being solvable and solve at least one equation of the set of equations for the time synchronization error and the position associated with the one or both of the first and second radio communication nodes. In some other embodiments, the processing circuitry is further configured to at least one of solve one system of equations including one or more radio communication nodes of the plurality of radio communication nodes and perform iterative estimation by using network partitions including a third group radio communication nodes. In some embodiments, the processing circuitry is further configured to determine a position of at least one radio communication node based at least in part on the at least one radio communication node being an unknown node and a position of the at least one radio communication node being a parameter in one system of equations. In some other embodiments, the network node comprises a location management function, the plurality of radio communication nodes comprises one or both of: one or more base stations; and one or more wireless devices. In some embodiments, the network node further comprises a radio interface in communication with the processing circuitry and configured to transmit signaling based on the jointly determined time synchronization error and position associated with one or both of the first and second radio communication nodes. According to another aspect, a method in a network node configured to communicate with a plurality of radio communication nodes is described. Each of the radio communication nodes is configured to communicate with at least one other radio communication node of the plurality of radio communication nodes. The method comprises: obtaining a total quantity of measurements from the plurality of radio communication nodes; determining that a total quantity of unknown parameters associated with the plurality of radio communication nodes is less than or equal to the total quantity of measurements obtained; determining that a quantity of unknown parameters associated with a first radio communication node of the plurality of radio communication nodes is less than or equal to a quantity of obtained measurements associated with the first radio communication node; determining that a quantity of unknown parameters associated with a second radio communication node of the plurality of radio communication nodes is less than or equal to a quantity of obtained measurements associated with the second radio communication node; and jointly determining a time synchronization error and a position associated the first radio communication node and at least one of a time synchronization error and a position associated the second radio communication node. In some embodiments, the unknown parameters are unknown time synchronization error and position parameters. In some other embodiments, the method further includes determining that a total number of unknown parameters associated with at least a third radio communication node is less than or equal to a quantity of obtained measurements associated with the at least the third radio communication node. In addition, the step of jointly determining includes determining at least one of a time synchronization error and a position associated the at least the third radio communication node. In some embodiments, the step of jointly determining is based at least on one of an expansion process and a reverse process. In some other embodiments, the step of jointly determining is based on at least one of: at least a downlink (DL) positioning reference signal (PRS) transmitted by one or more radio communication nodes of a first group of radio communication nodes of the plurality of radio communication nodes, upon which one or more radio communication nodes of a second group of the plurality of radio communication nodes, individually reports a received signal time difference (RSTD) indication with respect to a corresponding serving cell PRS; an uplink (UL) PRS transmitted by each radio communication node in the second group of radio communication nodes, where the UL PRS is received by the corresponding radio communication nodes, and each of the corresponding radio communication nodes performs a time of arrival (TOA) measurement for each of the received UL PRSs; reference signal time difference (RSTD) values; and each radio communication node of the second group of radio communication nodes individually reporting one TOA indication relative to a radio communication node internal clock, with respect to the received PRS. In some embodiments, the method further includes at least one of setting up a set of equations, at least an unknown parameter of the set of equations being solvable and solving at least one equation of the set of equations for the time synchronization error and the position associated with the one or both of the first and second radio communication nodes. In some other embodiments, the method further includes at least one of solving one system of equations including one or more radio communication nodes of the plurality of radio communication nodes and performing iterative estimation by using network partitions including a third group radio communication nodes. In some embodiments, the method further includes determining a position of at least one radio communication node based at least in part on the at least one radio communication node being an unknown node and a position of the at least one radio communication node being a parameter in one system of equations. In some other embodiments, the network node comprises a location management function, and the plurality of radio communication nodes comprises one or both of: one or more base stations; and one or more wireless devices. In some embodiments, the method further includes transmitting signaling based on the jointly determined time synchronization error and position associated with one or both of the first and second radio communication nodes. According to an aspect, a first radio communication node of a first group of radio communication nodes of a plurality of radio communication nodes is described. The first radio communication node is configured to communicate with a network node and with at least one other radio communication node in of the plurality of radio communication nodes. The first radio communication node comprises processing circuitry configured to determine a downlink (DL) positioning reference signal (PRS) to transmit to one or more radio communication nodes of a second group of the plurality of radio communication nodes. The transmitted DL PRS triggers the one or more radio communication nodes of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. the RSTD and the TOA indications are usable by the network node to jointly determine a time synchronization error and a position associated the first radio communication node and at least one of a time synchronization error and a position associated a second radio communication node. In some embodiments, the first radio communication node further comprises a radio interface in communication with the processing circuitry and is configured to transmit the DL PRS to trigger the one or more radio communication nodes of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications. In some other embodiments, the radio interface is further configured to receive an uplink (UL) PRS transmitted by the one or more radio communication nodes of the second group, where the UL PRS is received to perform a TOA measurement. In some embodiments, each radio communication node of the first group of radio communication nodes is configured to at least one of transmit the DL PRS to a corresponding radio communication node of the second group and receive the UL PRS to perform the TOA measurement. In some other embodiments, the network node comprises a location management function, the first radio communication node is a base station, and the second radio communication node is one of another base station and a wireless device. According to another aspect, a method in a first radio communication node of a first group of radio communication nodes of a plurality of radio communication nodes is described. The first radio communication node is configured to communicate with a network node and with at least one other radio communication node in of the plurality of radio communication nodes. The method comprises determining a downlink (DL) positioning reference signal (PRS) to transmit to one or more radio communication nodes of a second group of the plurality of radio communication nodes. The transmitted DL PRS triggers the one or more radio communication nodes of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. the RSTD and the TOA indications are usable by the network node to jointly determine a time synchronization error and a position associated the first radio communication node and at least one of a time synchronization error and a position associated a second radio communication node. In some embodiments, the method further includes transmitting the DL PRS to trigger the one or more radio communication nodes of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications. In some other embodiments, the method further includes receiving an uplink (UL) PRS transmitted by the one or more radio communication nodes of the second group, where the UL PRS is received to perform a TOA measurement. In some embodiments, each radio communication node of the first group of radio communication nodes is configured to at least one of transmit the DL PRS to a corresponding radio communication node of the second group and receive the UL PRS to perform the TOA measurement. In some other embodiments, the network node comprises a location management function, the first radio communication node is a base station, and the second radio communication node is one of another base station and a wireless device. According to an aspect, a second radio communication node of a second group of radio communication nodes of a plurality of radio communication nodes is described. The second radio communication node is configured to communicate with at least a first radio communication node of a first group of radio communication nodes of the plurality of radio communication nodes. The first radio communication node is configured to communicate with a network node. The second radio communication node comprises processing circuitry configured to determine, based on a received downlink (DL) positioning reference signal (PRS), a report comprising one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. The RSTD and the TOA indications are usable by the network node to jointly determine a time synchronization error and a position associated the first radio communication node and at least one of a time synchronization error and a position associated the second radio communication node. In some embodiments, the second radio communication node further comprises a radio interface in communication with the processing circuitry and is configured to receive the DL PRS, from the first radio communication node to determine the report. In some other embodiments, the radio interface is further configured to transmit an uplink (UL) PRS to the first radio communication node, where the UL PRS triggers the first radio communication node to perform a TOA measurement. In some embodiments, the radio interface is further configured to transmit the report to one of the network node and the first radio communication node. In some other embodiments, the first network node comprises a location management function, the first radio communication node is one of a base station and a wireless device, and the second radio communication node is another wireless device. According to another aspect, a method in a second radio communication node of a second group of radio communication nodes of a plurality of radio communication nodes is described. The second radio communication node is configured to communicate with at least a first radio communication node of a first group of radio communication nodes of the plurality of radio communication nodes. The first radio communication node is configured to communicate with a network node. The method comprises determining, based on a received downlink (DL) positioning reference signal (PRS), a report comprising one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. The RSTD and the TOA indications are usable by the network node to jointly determine a time synchronization error and a position associated the first radio communication node and at least one of a time synchronization error and a position associated the second radio communication node. In some embodiments, the method further includes receiving the DL PRS, from the first radio communication node to determine the report. In some other embodiments, the method further includes transmitting an uplink (UL) PRS to the first radio communication node, where the UL PRS triggers the first radio communication node to perform a TOA measurement. In some embodiments, the method further includes transmitting the report to one of the network node and the first radio communication node. In some other embodiments, the first network node comprises a location management function, the first radio communication node is one of a base station and a wireless device, and the second radio communication node is another wireless device. BRIEF DESCRIPTION OF THE DRAWINGS A more complete understanding of the present embodiments, and the attendant advantages and features thereof, will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein: FIG. 1 shows an example NG-RAN positioning architecture; FIG. 2 shows a schematic diagram of an example network architecture illustrating a communication system connected via an intermediate network to a host computer according to the principles in the present disclosure; FIG. 3 shows a block diagram of a host computer communicating via a network node with a wireless device over an at least partially wireless connection according to some embodiments of the present disclosure; FIG. 4 shows a flowchart illustrating example methods implemented in a communication system including a host computer, a network node and a wireless device for executing a client application at a wireless device according to some embodiments of the present disclosure; FIG. 5 shows a flowchart illustrating example methods implemented in a communication system including a host computer, a network node and a wireless device for receiving user data at a wireless device according to some embodiments of the present disclosure; FIG. 6 shows a flowchart illustrating example methods implemented in a communication system including a host computer, a network node and a wireless device for receiving user data from the wireless device at a host computer according to some embodiments of the present disclosure; FIG. 7 shows a flowchart illustrating example methods implemented in a communication system including a host computer, a network node and a wireless device for receiving user data at a host computer according to some embodiments of the present disclosure; FIG. 8 shows a flowchart of an example process in a network node according to some embodiments of the present disclosure; FIG. 9 shows a flowchart of an example process in another network node according to some embodiments of the present disclosure; FIG. 10 shows a flowchart of an example process in a wireless device according to some embodiments of the present disclosure; FIG. 11 shows a flowchart of another example process in a network node according to some embodiments of the present disclosure; FIG. 12 shows a flowchart of another example process in another network node according to some embodiments of the present disclosure; FIG. 13 shows a flowchart of another example process in a wireless device according to some embodiments of the present disclosure; and FIG. 14 shows an example system architecture according to some embodiments of the present disclosure. DETAILED DESCRIPTION Before describing in detail example embodiments, it is noted that the embodiments reside primarily in combinations of apparatus components and processing steps related to determining one or more errors associated with time synchronization (synch) and/or one or more positions of network nodes and/or wireless devices. Accordingly, components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. Like numbers refer to like elements throughout the description. As used herein, relational terms, such as “first” and “second,” “top” and “bottom,” and the like, may be used solely to distinguish one entity or element from another entity or element without necessarily requiring or implying any physical or logical relationship or order between such entities or elements. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the concepts described herein. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises,” “comprising,” “includes” and/or “including” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. In embodiments described herein, the joining term, “in communication with” and the like, may be used to indicate electrical or data communication, which may be accomplished by physical contact, induction, electromagnetic radiation, radio signaling, infrared signaling or optical signaling, for example. One having ordinary skill in the art will appreciate that multiple components may interoperate and modifications and variations are possible of achieving the electrical and data communication. In some embodiments described herein, the term “coupled,” “connected,” and the like, may be used herein to indicate a connection, although not necessarily directly, and may include wired and/or wireless connections. The term “network node” (NN) used herein can be any kind of network node comprised in a radio network which may further comprise any of base station (BS), radio base station, base transceiver station (BTS), base station controller (BSC), radio network controller (RNC), g Node B (gNB), evolved Node B (eNB or eNodeB), a Next Generation Evolved Node-B (ng-eNB), Node B, Access and Mobility Management Function (AMF), Location Management Function (LMF), Enhanced Serving Mobile Location Center, Server Location Provider (SLP), location server (LS), multi-standard radio (MSR) radio node such as MSR BS, multi-cell/multicast coordination entity (MCE), integrated access and backhaul (IAB) node, relay node, donor node controlling relay, radio access point (AP), transmission points, transmission nodes, Remote Radio Unit (RRU) Remote Radio Head (RRH), a core network node (e.g., mobile management entity (MME), self-organizing network (SON) node, a coordinating node, positioning node, MDT node, etc.), an external node (e.g., 3rd party node, a node external to the current network), nodes in distributed antenna system (DAS), a spectrum access system (SAS) node, an element management system (EMS), test equipment, etc. In some embodiments, the term radio communication node is used. The radio communication node may comprise a radio, a radio node, radio network node, access network node, a wireless device (WD), etc. In some embodiments, the term “access network node” may refer to a network node which may perform one or more functions (e.g., RAN functions, BS functions, eNB functions, gNB functions, etc.) associated with communication that provides access to one or more networks. For example, an access network node may be a BS, eNB, or gNB that communicates with a WD and is configured to provide access to one or more networks such as a core network (and/or its functions), the internet, etc. Also, in some embodiments the term “radio network node” is used. It can be any kind of a radio network node which may comprise any of base station, radio base station, base transceiver station, base station controller, network controller, RNC, evolved Node B (eNB), Node B, gNB, Multi-cell/multicast Coordination Entity (MCE), IAB node, relay node, access point, radio access point, Remote Radio Unit (RRU) Remote Radio Head (RRH). Further, the term “LMF” may refer to a location server (LS) and/or a location server function generically, e.g., independent of radio access technology. A NN may refer to a TRP/eNB/gNB such as a network entity (i.e., network node) configured to perform positioning measurements and/or transmissions. In some embodiments, the non-limiting terms wireless device (WD) or a user equipment (UE) are used interchangeably. The WD herein can be any type of wireless device capable of communicating with a network node or another WD over radio signals, such as wireless device (WD). The WD may also be a radio communication node or device, target device, device to device (D2D) WD, machine type WD or WD capable of machine to machine communication (M2M), low-cost and/or low- complexity WD, a sensor equipped with WD, Tablet, mobile terminals, smart phone, laptop embedded equipped (LEE), laptop mounted equipment (LME), USB dongles, Customer Premises Equipment (CPE), an Internet of Things (IoT) device, or a Narrowband IoT (NB-IOT) device, etc. In some embodiments, a WD may refer to a network node and may be configured to perform any functions associated with a network node and/or a WD. Similarly, a network node may be configured to perform any functions associated with a WD and/or a network node. Note that although terminology from one particular wireless system, such as, for example, 3GPP LTE and/or New Radio (NR), may be used in this disclosure, this should not be seen as limiting the scope of the disclosure to only the aforementioned system. Other wireless systems, including without limitation Wide Band Code Division Multiple Access (WCDMA), Worldwide Interoperability for Microwave Access (WiMax), Ultra Mobile Broadband (UMB) and Global System for Mobile Communications (GSM), may also benefit from exploiting the ideas covered within this disclosure. In addition, signals such as references signals may refer to downlink and/or uplink reference signals. Further, the term “PRS” (positioning reference signal) may refer to any reference signal used to generate measurements for positioning. UL PRS and DL PRS may refer to different reference signals in different embodiments (e.g., in one embodiment the UL PRS may correspond to the UL SRS in NR; in another embodiment, DL PRS may correspond to the DL PRS in NR), however UL PRS and DL PRS are not limited as such. Note further, that functions described herein as being performed by a wireless device or a network node may be distributed over a plurality of wireless devices and/or network nodes. In other words, it is contemplated that the functions of the network node and wireless device described herein are not limited to performance by a single physical device and, in fact, can be distributed among several physical devices. In some embodiments, the term “jointly” is used and may refer to using one or more nodes/devices, hardware, methods, parameters to obtain/determine a parameter/characteristic. For example, positioning and time synchronization may be performed jointly which may refer to being performed together by one network node/WD or by one NN/WD in conjunction with other NNs/WDs. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Referring again to the drawing figures, in which like elements are referred to by like reference numerals, there is shown in FIG. 2 a schematic diagram of a communication system 10, according to an embodiment, such as a 3GPP-type cellular network that may support standards such as LTE and/or NR (5G), which comprises an access network 12, such as a radio access network, and a core network 14. The access network 12 comprises a plurality of network nodes 16a, 16b, 16c (referred to collectively as network nodes 16), such as NBs, eNBs, gNBs or other types of wireless access points, each defining a corresponding coverage area 18a, 18b, 18c (referred to collectively as coverage areas 18). Each network node 16a, 16b, 16c is connectable to the core network 14 over a wired or wireless connection 20. Each network node 16 such as network node 16a is connectable to any other network node 16 such as network node 16c via connection 100, which may be wired, wireless, or a combination of both. Connection 100 may use any of a communication interface and/or radio interface of each network node 16. A first wireless device (WD) 22a located in coverage area 18a is configured to wirelessly connect to, or be paged by, the corresponding network node 16a. A second WD 22b in coverage area 18b is wirelessly connectable to the corresponding network node 16b. While a plurality of WDs 22a, 22b (collectively referred to as wireless devices 22) are illustrated in this example, the disclosed embodiments are equally applicable to a situation where a sole WD is in the coverage area or where a sole WD is connecting to the corresponding network node 16. Note that although only two WDs 22 and three network nodes 16 are shown for convenience, the communication system may include many more WDs 22 and network nodes 16. Also, it is contemplated that a WD 22 can be in simultaneous communication and/or configured to separately communicate with more than one network node 16 and more than one type of network node 16. For example, a WD 22 can have dual connectivity with a network node 16 that supports LTE and the same or a different network node 16 that supports NR. As an example, WD 22 can be in communication with an eNB for LTE/E-UTRAN and a gNB for NR/NG-RAN. The communication system 10 may itself be connected to a host computer 24, which may be embodied in the hardware and/or software of a standalone server, a cloud-implemented server, a distributed server or as processing resources in a server farm. The host computer 24 may be under the ownership or control of a service provider, or may be operated by the service provider or on behalf of the service provider. The connections 26, 28 between the communication system 10 and the host computer 24 may extend directly from the core network 14 to the host computer 24 or may extend via an optional intermediate network 30. The intermediate network 30 may be one of, or a combination of more than one of, a public, private or hosted network. The intermediate network 30, if any, may be a backbone network or the Internet. In some embodiments, the intermediate network 30 may comprise two or more sub-networks (not shown). The communication system of FIG. 2 as a whole enables connectivity between one of the connected WDs 22a, 22b and the host computer 24. The connectivity may be described as an over-the-top (OTT) connection. The host computer 24 and the connected WDs 22a, 22b are configured to communicate data and/or signaling via the OTT connection, using the access network 12, the core network 14, any intermediate network 30 and possible further infrastructure (not shown) as intermediaries. The OTT connection may be transparent in the sense that at least some of the participating communication devices through which the OTT connection passes are unaware of routing of uplink and downlink communications. For example, a network node 16 may not or need not be informed about the past routing of an incoming downlink communication with data originating from a host computer 24 to be forwarded (e.g., handed over) to a connected WD 22a. Similarly, the network node 16 need not be aware of the future routing of an outgoing uplink communication originating from the WD 22a towards the host computer 24. A network node 16 is configured to include a node determination unit 32 which is configured to perform any of the steps, features, processes, and/or tasks described in the present disclosure, e.g., determine at least one of a time synchronization error and a position associated with the at least one WD and/or cause the network node to transmit a DL PRS. A wireless device 22 is configured to include a WD determination unit 34 which is configured to perform any of the steps, features, processes, and/or tasks described in the present disclosure, e.g., cause the WD to receive at least a DL PRS. Example implementations, in accordance with an embodiment, of the WD 22, network node 16 and host computer 24 discussed in the preceding paragraphs will now be described with reference to FIG. 3. In a communication system 10, a host computer 24 comprises hardware (HW) 38 including a communication interface 40 configured to set up and maintain a wired or wireless connection with an interface of a different communication device of the communication system 10. The host computer 24 further comprises processing circuitry 42, which may have storage and/or processing capabilities. The processing circuitry 42 may include a processor 44 and memory 46. In particular, in addition to or instead of a processor, such as a central processing unit, and memory, the processing circuitry 42 may comprise integrated circuitry for processing and/or control, e.g., one or more processors and/or processor cores and/or FPGAs (Field Programmable Gate Array) and/or ASICs (Application Specific Integrated Circuitry) adapted to execute instructions. The processor 44 may be configured to access (e.g., write to and/or read from) memory 46, which may comprise any kind of volatile and/or nonvolatile memory, e.g., cache and/or buffer memory and/or RAM (Random Access Memory) and/or ROM (Read- Only Memory) and/or optical memory and/or EPROM (Erasable Programmable Read-Only Memory). Processing circuitry 42 may be configured to control any of the methods and/or processes described herein and/or to cause such methods, and/or processes to be performed, e.g., by host computer 24. Processor 44 corresponds to one or more processors 44 for performing host computer 24 functions described herein. The host computer 24 includes memory 46 that is configured to store data, programmatic software code and/or other information described herein. In some embodiments, the software 48 and/or the host application 50 may include instructions that, when executed by the processor 44 and/or processing circuitry 42, causes the processor 44 and/or processing circuitry 42 to perform the processes described herein with respect to host computer 24. The instructions may be software associated with the host computer 24. The software 48 may be executable by the processing circuitry 42. The software 48 includes a host application 50. The host application 50 may be operable to provide a service to a remote user, such as a WD 22 connecting via an OTT connection 52 terminating at the WD 22 and the host computer 24. In providing the service to the remote user, the host application 50 may provide user data which is transmitted using the OTT connection 52. The “user data” may be data and information described herein as implementing the described functionality. In one embodiment, the host computer 24 may be configured for providing control and functionality to a service provider and may be operated by the service provider or on behalf of the service provider. The processing circuitry 42 of the host computer 24 may enable the host computer 24 to observe, monitor, control, transmit to and/or receive from the network node 16 and or the wireless device 22. The processing circuitry 42 of the host computer 24 may include a host unit 54 configured to enable the service provider to perform any of the steps, features, processes, and/or tasks described in the present disclosure, e.g., observe/monitor/ control/transmit to/receive from the network node 16 and or the wireless device 22. The communication system 10 further includes a network node 16 provided in a communication system 10 and including hardware 58 enabling it to communicate with the host computer 24 and with the WD 22. The hardware 58 may include a communication interface 60 for setting up and maintaining a wired or wireless connection with an interface of a different communication device of the communication system 10, as well as a radio interface 62 for setting up and maintaining at least a wireless connection 64 with a WD 22 located in a coverage area 18 served by the network node 16. The radio interface 62 may be formed as or may include, for example, one or more RF transmitters, one or more RF receivers, and/or one or more RF transceivers. The communication interface 60 may be configured to facilitate a connection 66 to the host computer 24. The connection 66 may be direct or it may pass through a core network 14 of the communication system 10 and/or through one or more intermediate networks 30 outside the communication system 10. In the embodiment shown, the hardware 58 of the network node 16 further includes processing circuitry 68. The processing circuitry 68 may include a processor 70 and a memory 72. In particular, in addition to or instead of a processor, such as a central processing unit, and memory, the processing circuitry 68 may comprise integrated circuitry for processing and/or control, e.g., one or more processors and/or processor cores and/or FPGAs (Field Programmable Gate Array) and/or ASICs (Application Specific Integrated Circuitry) adapted to execute instructions. The processor 70 may be configured to access (e.g., write to and/or read from) the memory 72, which may comprise any kind of volatile and/or nonvolatile memory, e.g., cache and/or buffer memory and/or RAM (Random Access Memory) and/or ROM (Read-Only Memory) and/or optical memory and/or EPROM (Erasable Programmable Read-Only Memory). Thus, the network node 16 further has software 74 stored internally in, for example, memory 72, or stored in external memory (e.g., database, storage array, network storage device, etc.) accessible by the network node 16 via an external connection. The software 74 may be executable by the processing circuitry 68. The processing circuitry 68 may be configured to control any of the methods and/or processes described herein and/or to cause such methods, and/or processes to be performed, e.g., by network node 16. Processor 70 corresponds to one or more processors 70 for performing network node 16 functions described herein. The memory 72 is configured to store data, programmatic software code and/or other information described herein. In some embodiments, the software 74 may include instructions that, when executed by the processor 70 and/or processing circuitry 68, causes the processor 70 and/or processing circuitry 68 to perform the processes described herein with respect to network node 16. For example, processing circuitry 68 of the network node 16 may include node determination unit 32 which is configured to perform any of the steps, features, processes, and/or tasks described in the present disclosure, e.g., determine at least one of a time synchronization error and a position associated with the at least one WD and/or cause the network node to transmit a DL PRS. The communication system 10 further includes the WD 22 already referred to. The WD 22 may have hardware 80 that may include a radio interface 82 configured to set up and maintain a wireless connection 64 with a network node 16 serving a coverage area 18 in which the WD 22 is currently located. The radio interface 82 may be formed as or may include, for example, one or more RF transmitters, one or more RF receivers, and/or one or more RF transceivers. The hardware 80 of the WD 22 furth68er includes processing circuitry 84. The processing circuitry 84 may include a processor 86 and memory 88. In particular, in addition to or instead of a processor, such as a central processing unit, and memory, the processing circuitry 84 may comprise integrated circuitry for processing and/or control, e.g., one or more processors and/or processor cores and/or FPGAs (Field Programmable Gate Array) and/or ASICs (Application Specific Integrated Circuitry) adapted to execute instructions. The processor 86 may be configured to access (e.g., write to and/or read from) memory 88, which may comprise any kind of volatile and/or nonvolatile memory, e.g., cache and/or buffer memory and/or RAM (Random Access Memory) and/or ROM (Read-Only Memory) and/or optical memory and/or EPROM (Erasable Programmable Read-Only Memory). Thus, the WD 22 may further comprise software 90, which is stored in, for example, memory 88 at the WD 22, or stored in external memory (e.g., database, storage array, network storage device, etc.) accessible by the WD 22. The software 90 may be executable by the processing circuitry 84. The software 90 may include a client application 92. The client application 92 may be operable to provide a service to a human or non-human user via the WD 22, with the support of the host computer 24. In the host computer 24, an executing host application 50 may communicate with the executing client application 92 via the OTT connection 52 terminating at the WD 22 and the host computer 24. In providing the service to the user, the client application 92 may receive request data from the host application 50 and provide user data in response to the request da84ta. The OTT connection 52 may transfer both the request data and the user data. The client application 92 may interact with the user to generate the user data that it provides. The processing circuitry 84 may be configured to control any of the methods and/or processes described herein and/or to cause such methods, and/or processes to be performed, e.g., by WD 22. The processor 86 corresponds to one or more processors 86 for performing WD 22 functions described herein. The WD 22 includes memory 88 that is configured to store data, programmatic software code and/or other information described herein. In some embodiments, the software 90 and/or the client application 92 may include instructions that, when executed by the processor 86 and/or processing circuitry 84, causes the processor 86 and/or processing circuitry 84 to perform the processes described herein with respect to WD 22. For example, the processing circuitry 84 of the wireless device 22 may include WD determination unit 34 which is configured to perform any of the steps, features, processes, and/or tasks described in the present disclosure, e.g., cause the WD to receive at least a DL PRS. In some embodiments, the inner workings of the network node 16, WD 22, and host computer 24 may be as shown in FIG. 3 and independently, the surrounding network topology may be that of FIG. 2. In FIG. 3, the OTT connection 52 has been drawn abstractly to illustrate the communication between the host computer 24 and the wireless device 22 via the network node 16, without explicit reference to any intermediary devices and the precise routing of messages via these devices. Network infrastructure may determine the routing, which it may be configured to hide from the WD 22 or from the service provider operating the host computer 24, or both. While the OTT connection 52 is active, the network infrastructure may further take decisions by which it dynamically changes the routing (e.g., on the basis of load balancing consideration or reconfiguration of the network). The wireless connection 64 between the WD 22 and the network node 16 is in accordance with the teachings of the embodiments described throughout this disclosure. One or more of the various embodiments improve the performance of OTT services provided to the WD 22 using the OTT connection 52, in which the wireless connection 64 may form the last segment. More precisely, the teachings of some of these embodiments may improve the data rate, latency, and/or power consumption and thereby provide benefits such as reduced user waiting time, relaxed restriction on file size, better responsiveness, extended battery lifetime, etc. In some embodiments, a measurement procedure may be provided for the purpose of monitoring data rate, latency and other factors on which the one or more embodiments improve. There may further be an optional network functionality for reconfiguring the OTT connection 52 between the host computer 24 and WD 22, in response to variations in the measurement results. The measurement procedure and/or the network functionality for reconfiguring the OTT connection 52 may be implemented in the software 48 of the host computer 24 or in the software 90 of the WD 22, or both. In embodiments, sensors (not shown) may be deployed in or in association with communication devices through which the OTT connection 52 passes; the sensors may participate in the measurement procedure by supplying values of the monitored quantities exemplified above, or supplying values of other physical quantities from which software 48, 90 may compute or estimate the monitored quantities. The reconfiguring of the OTT connection 52 may include message format, retransmission settings, preferred routing etc.; the reconfiguring need not affect the network node 16, and it may be unknown or imperceptible to the network node 16. Some such procedures and functionalities may be known and practiced in the art. In certain embodiments, measurements may involve proprietary WD signaling facilitating the host computer’s 24 measurements of throughput, propagation times, latency and the like. In some embodiments, the measurements may be implemented in that the software 48, 90 causes messages to be transmitted, in particular empty or ‘dummy’ messages, using the OTT connection 52 while it monitors propagation times, errors, etc. Thus, in some embodiments, the host computer 24 includes processing circuitry 42 configured to provide user data and a communication interface 40 that is configured to forward the user data to a cellular network for transmission to the WD 22. In some embodiments, the cellular network also includes the network node 16 with a radio interface 62. In some embodiments, the network node 16 is configured to, and/or the network node’s 16 processing circuitry 68 is configured to perform the functions and/or methods described herein for preparing/initiating/maintaining/supporting/ending a transmission to the WD 22, and/or preparing/terminating/maintaining/supporting/ending in receipt of a transmission from the WD 22. In some embodiments, the host computer 24 includes processing circuitry 42 and a communication interface 40 that is configured to a communication interface 40 configured to receive user data originating from a transmission from a WD 22 to a network node 16. In some embodiments, the WD 22 is configured to, and/or comprises a radio interface 82 and/or processing circuitry 84 configured to perform the functions and/or methods described herein for preparing/initiating/maintaining/supporting/ending a transmission to the network node 16, and/or preparing/terminating/maintaining/supporting/ending in receipt of a transmission from the network node 16. Although FIGS. 2 and 3 show various “units” such as node determination unit 32, and WD determination unit 34 as being within a respective processor, it is contemplated that these units may be implemented such that a portion of the unit is stored in a corresponding memory within the processing circuitry. In other words, the units may be implemented in hardware or in a combination of hardware and software within the processing circuitry. In some embodiments, the network node 16 is a radio communication node. The radio communication node may comprise any of the components of network node 16. Similarly, in some embodiments, the WD 22 is a radio communication node. Further, the radio communication node may comprise any of the components of the WD 22. FIG. 4 is a flowchart illustrating an example method implemented in a communication system, such as, for example, the communication system of FIGS. 2 and 3, in accordance with one embodiment. The communication system may include a host computer 24, a network node 16 and a WD 22, which may be those described with reference to FIG. 3. In a first step of the method, the host computer 24 provides user data (Block S100). In an optional substep of the first step, the host computer 24 provides the user data by executing a host application, such as, for example, the host application 50 (Block S102). In a second step, the host computer 24 initiates a transmission carrying the user data to the WD 22 (Block S104). In an optional third step, the network node 16 transmits to the WD 22 the user data which was carried in the transmission that the host computer 24 initiated, in accordance with the teachings of the embodiments described throughout this disclosure (Block S106). In an optional fourth step, the WD 22 executes a client application, such as, for example, the client application 92, associated with the host application 50 executed by the host computer 24 (Block S108). FIG. 5 is a flowchart illustrating an example method implemented in a communication system, such as, for example, the communication system of FIG. 2, in accordance with one embodiment. The communication system may include a host computer 24, a network node 16 and a WD 22, which may be those described with reference to FIGS. 2 and 3. In a first step of the method, the host computer 24 provides user data (Block S110). In an optional substep (not shown) the host computer 24 provides the user data by executing a host application, such as, for example, the host application 50. In a second step, the host computer 24 initiates a transmission carrying the user data to the WD 22 (Block S112). The transmission may pass via the network node 16, in accordance with the teachings of the embodiments described throughout this disclosure. In an optional third step, the WD 22 receives the user data carried in the transmission (Block S114). FIG. 6 is a flowchart illustrating an example method implemented in a communication system, such as, for example, the communication system of FIG. 2, in accordance with one embodiment. The communication system may include a host computer 24, a network node 16 and a WD 22, which may be those described with reference to FIGS. 2 and 3. In an optional first step of the method, the WD 22 receives input data provided by the host computer 24 (Block S116). In an optional substep of the first step, the WD 22 executes the client application 92, which provides the user data in reaction to the received input data provided by the host computer 24 (Block S118). Additionally or alternatively, in an optional second step, the WD 22 provides user data (Block S120). In an optional substep of the second step, the WD provides the user data by executing a client application, such as, for example, client application 92 (Block S122). In providing the user data, the executed client application 92 may further consider user input received from the user. Regardless of the specific manner in which the user data was provided, the WD 22 may initiate, in an optional third substep, transmission of the user data to the host computer 24 (Block S124). In a fourth step of the method, the host computer 24 receives the user data transmitted from the WD 22, in accordance with the teachings of the embodiments described throughout this disclosure (Block S126). FIG. 7 is a flowchart illustrating an example method implemented in a communication system, such as, for example, the communication system of FIG. 2, in accordance with one embodiment. The communication system may include a host computer 24, a network node 16 and a WD 22, which may be those described with reference to FIGS. 2 and 3. In an optional first step of the method, in accordance with the teachings of the embodiments described throughout this disclosure, the network node 16 receives user data from the WD 22 (Block S128). In an optional second step, the network node 16 initiates transmission of the received user data to the host computer 24 (Block S130). In a third step, the host computer 24 receives the user data carried in the transmission initiated by the network node 16 (Block S132). FIG. 8 is a flowchart of an example process (i.e., method) in a network node 16 (e.g., a first network node 16a). One or more blocks described herein may be performed by one or more elements of network node 16 such as by one or more of processing circuitry 68 (including the node determining unit 32), processor 70, radio interface 62 and/or communication interface 60. Network node 16 such as via processing circuitry 68 and/or processor 70 and/or radio interface 62 and/or communication interface 60 is configured to determine (Block S134), using the at least second network node 16b, at least one of a time synchronization error associated with the at least second network node 16b and a position associated with the at least one WD 22. In some embodiments, the processing circuitry 68 is further configured to estimate at least one network node time offset associated with the at least second network node 16b and a WD time offset associated with the at least one WD 22. In some other embodiments, determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on a plurality of parameters being one of equal and less than a total quantity of measurements obtained by the first network node 16a from each WD 22 at each network node of the plurality of network nodes 16. In an embodiment, determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based at least on one of an expansion process and a reverse process. In another embodiment, determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on at least one of: at least a downlink, DL, positioning reference signal, PRS, transmitted by a group of network nodes of the plurality of network nodes 16, upon which each WD, in a group of WDs 22, individually report a received signal time difference, RSTD, with respect to a corresponding serving cell PRS; an uplink, UL, PRS transmitted by each WD in the group of WDs 22, the UL PRS being received by the corresponding network nodes 16, each of the corresponding network nodes 16 performing a time of arrival, TOA, measurement for each of the received UL PRSs; reference signal time difference, RSTD, values; and each WD 22 of the group of WD 22 individually reporting one TOA relative to a WD internal clock, with respect to the received PRS. In some embodiments, the processing circuitry 68 is further configured to at least one of: set up a set of equations, at least an unknown parameter of the set of equations being solvable; and solve at least one equation of the set of equations for the time synchronization error and the position associated with the at least one WD 22. In some other embodiments, the processing circuitry 68 is further configured to at least one of: solve one system of equations including each network node of the plurality of network nodes 16 and each WD of the at least one WD 22; and perform iterative estimation by using network partitions including a group of at least one of network nodes 16 and WDs 22. In one embodiment, the processing circuitry 68 is further configured to at least one of: determine the position of the at least second network node 16b based at least in part on the at least second network node 16b being an unknown node and the position of the second network node 16b being a parameter in one system of equations. In another embodiment, the first network node 16a comprises a location management function, and the second network node 16b is one of an evolve Node B, eNB, and a g Node B, gNB. FIG. 9 is a flowchart of an example process (i.e., method) in another network node 16 (e.g., a second network node 16b) according to some embodiments of the present disclosure. One or more blocks described herein may be performed by one or more elements of network node 16 such as by one or more of processing circuitry 68 (including the node determining unit 32), processor 70, radio interface 62 and/or communication interface 60. Network node 16 such as via processing circuitry 68 and/or processor 70 and/or radio interface 62 and/or communication interface 60 is configured to transmit (Block S136) at least a downlink, DL, positioning reference signal, PRS, to the at least one WD 22. The transmitted at least DL PRS triggers the at least one WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS. The RSTD and the TOA are usable by the first network node 16a to determine at least one of a time synchronization error associated with the second network node 16b and a position associated with the at least one WD 22. In some embodiments, any one of the second network node 16b, the radio interface 62, the communication interface 60, and the processing circuitry 68 is further configured to: receive an uplink, UL, PRS transmitted by the at least one WD 22, the UL PRS being received to perform a TOA measurement; and perform the TOA measurement. In some other embodiments, the second network node 16a is part of a group of network nodes 16, each network node of the group of network nodes 16 being configured to at least one of transmit the at least DL PRS to a corresponding WD of a group of WDs 22 and receive the UL PRS to perform the TOA measurement. In one embodiment, the first network node 16a comprises a location management function, and the second network node 16b is one of an evolve Node B, eNB, and a g Node B, gNB. FIG. 10 is a flowchart of an example process (i.e., method) in a WD 22 according to some embodiments of the present. One or more blocks described herein may be performed by one or more elements of wireless device 22 such as by one or more of processing circuitry 84 (including the WD determining unit 34), processor 86, radio interface 82 and/or communication interface 60. Wireless device 22 such as via processing circuitry 84 and/or processor 86 and/or radio interface 82 is configured to receive (Block S138) at least a downlink, DL, positioning reference signal, PRS, from the second network node. The received at least DL PRS triggers the WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS. The RSTD and the TOA are usable by the first network node 16a to determine at least one of a time synchronization error associated with the second network node 16b and a position associated with the WD 22. In some embodiments, the method further includes transmitting an uplink, UL, PRS to the second network node 16b. The UL PRS triggers the second network node 16b to perform a TOA measurement. In some other embodiments, the first network node 16a comprises a location management function, and the second network node 16b is one of an evolve Node B, eNB, and a g Node B, gNB. FIG. 11 is a flowchart of an example process (i.e., method) in a network node 16 (e.g., a first network node 16a). One or more blocks described herein may be performed by one or more elements of network node 16 such as by one or more of processing circuitry 68 (including the node determining unit 32), processor 70, radio interface 62 and/or communication interface 60. Network node 16 such as via processing circuitry 68 and/or processor 70 and/or radio interface 62 and/or communication interface 60 is configured to obtain (Block S140) a total quantity of measurements from the plurality of radio communication nodes 110; determine (Block S142) that a total quantity of unknown parameters associated with the plurality of radio communication nodes 110 is less than or equal to the total quantity of measurements obtained; determine (Block S144) that a quantity of unknown parameters associated with a first radio communication node 110a of the plurality of radio communication nodes 110 is less than or equal to a quantity of obtained measurements associated with the first radio communication node 110a; determining (Block S146) that a quantity of unknown parameters associated with a second radio communication node 110b of the plurality of radio communication nodes 110 is less than or equal to a quantity of obtained measurements associated with the second radio communication node 110b; and jointly determine (Block S148) a time synchronization error and a position associated the first radio communication node 110a and at least one of a time synchronization error and a position associated the second radio communication node 110b. In some embodiments, the unknown parameters are unknown time synchronization error and position parameters. In some other embodiments, the method further includes determining that a total number of unknown parameters associated with at least a third radio communication node 110c is less than or equal to a quantity of obtained measurements associated with the at least the third radio communication node 110c. In addition, the step of jointly determining includes determining at least one of a time synchronization error and a position associated the at least the third radio communication node 110c. In some embodiments, the step of jointly determining is based at least on one of an expansion process and a reverse process. In some other embodiments, the step of jointly determining is based on at least one of: at least a downlink (DL) positioning reference signal (PRS) transmitted by one or more radio communication nodes 110 of a first group of radio communication nodes 110 of the plurality of radio communication nodes 110, upon which one or more radio communication nodes 110 of a second group of the plurality of radio communication nodes 110, individually reports a received signal time difference (RSTD) indication with respect to a corresponding serving cell PRS; an uplink (UL) PRS transmitted by each radio communication node in the second group of radio communication nodes 110, where the UL PRS is received by the corresponding radio communication nodes 110, and each of the corresponding radio communication nodes 110 performs a time of arrival (TOA) measurement for each of the received UL PRSs; reference signal time difference (RSTD) values; and each radio communication node of the second group of radio communication nodes 110 individually reporting one TOA indication relative to a radio communication node internal clock, with respect to the received PRS. In some embodiments, the method further includes at least one of setting up a set of equations, at least an unknown parameter of the set of equations being solvable and solving at least one equation of the set of equations for the time synchronization error and the position associated with the one or both of the first and second radio communication nodes 110a, 110b . In some other embodiments, the method further includes at least one of solving one system of equations including one or more radio communication nodes 110 of the plurality of radio communication nodes 110 and performing iterative estimation by using network partitions including a third group radio communication nodes 110. In some embodiments, the method further includes determining a position of at least one radio communication node based at least in part on the at least one radio communication node being an unknown node and a position of the at least one radio communication node being a parameter in one system of equations. In some other embodiments, the network node 16 comprises a location management function, the plurality of radio communication nodes 110 comprises one or both of: one or more base stations; and one or more wireless devices 22. In some embodiments, the method further includes transmitting signaling based on the jointly determined time synchronization error and position associated with one or both of the first and second radio communication nodes 110a, 110b. FIG. 12 is a flowchart of an example process (i.e., method) in first radio communication node 110a (e.g., another network node 16) according to some embodiments of the present disclosure. One or more blocks described herein may be performed by one or more elements of first radio communication node 110a (e.g., network node 16) such as by one or more of processing circuitry 68 (including the node determining unit 32), processor 70, radio interface 62 and/or communication interface 60. First radio communication node 110a (e.g., network node 16) such as via processing circuitry 68 and/or processor 70 and/or radio interface 62 and/or communication interface 60 is configured to determine (Block S150) a downlink (DL) positioning reference signal (PRS) to transmit to one or more radio communication nodes 110 of a second group of the plurality of radio communication nodes 110. The transmitted DL PRS triggers the one or more radio communication nodes 110 of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. the RSTD and the TOA indications are usable by the network node 16 to jointly determine a time synchronization error and a position associated the first radio communication node 110a and at least one of a time synchronization error and a position associated a second radio communication node 110b. In some embodiments, the method further includes transmitting the DL PRS to trigger the one or more radio communication nodes 110 of the second group to report one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications. In some other embodiments, the method further includes receiving an uplink (UL) PRS transmitted by the one or more radio communication nodes 110 of the second group, where the UL PRS is received to perform a TOA measurement. In some embodiments, each radio communication node of the first group of radio communication nodes 110 is configured to at least one of transmit the DL PRS to a corresponding radio communication node of the second group and receive the UL PRS to perform the TOA measurement. In some other embodiments, the network node 16 comprises a location management function, the first radio communication node 110a is a base station, and the second radio communication node 110b is one of another base station and a wireless device 22. FIG. 13 is a flowchart of an example process (i.e., method) in a second radio communication node 110b (e.g., a WD 22) according to some embodiments of the present. One or more blocks described herein may be performed by one or more elements of second radio communication node 110b (e.g., of wireless device 22) such as by one or more of processing circuitry 84 (including the WD determining unit 34), processor 86, radio interface 82 and/or communication interface 60. The second radio communication node 110b (e.g., of wireless device 22) such as via processing circuitry 84 and/or processor 86 and/or radio interface 82 is configured to determine (Block S152), based on a received downlink (DL) positioning reference signal (PRS), a report comprising one or more received signal time difference (RSTD) indications or one or more time of arrival (TOA) indications relative to a radio communication node internal clock with respect to the DL PRS. The RSTD and the TOA indications are usable by the network node 16 to jointly determine a time synchronization error and a position associated the first radio communication node 110a and at least one of a time synchronization error and a position associated the second radio communication node 110b. In some embodiments, the method further includes receiving the DL PRS, from the first radio communication node 110a to determine the report. In some other embodiments, the method further includes transmitting an uplink (UL) PRS to the first radio communication node 110a, where the UL PRS triggers the first radio communication node 110a to perform a TOA measurement. In some embodiments, the method further includes transmitting the report to one of the network node 16 and the first radio communication node 110a. In some other embodiments, the network node 16 comprises a location management function, the first radio communication node 110a is one of a base station and a wireless device 22, and the second radio communication node is another wireless device 22. Having described the general process flow of arrangements of the disclosure and having provided examples of hardware and software arrangements for implementing the processes and functions of the disclosure, the sections below provide details and examples of arrangements for determining a time synchronization and/or a WD position. Some embodiments provide a network node 16 (NN) which may comprise a Location Management Function (LMF). In some embodiments, the term network node 16 may refer to an LMF and/or a base station (BS). A base station (BS) may refer to one or more base stations (e.g., a first base station (BS1), a second base station (BS2), a third base station (BS3), a base station k (BSk), etc.). That is, although the term base station may be used herein, the term base station may be used in the more general sense and refer to network node 16 as described in the present disclosure. In other words, a NN 16 can be a more general network node and is not limited solely to a node whose main purpose is to communicate with a WD 22. Similarly, a PRS may refer to one or more PRS (e.g., a first PRS (PRS1), a second PRS (PRS2), a third PRS (PRS3), a PRS k (PRSk)). Further, the term UE may refer to WD 22 as described in the present disclosure. In addition, the term network may refer to communication system 10 and/or any of its components such as network node as described in the present disclosure. The term jointly may refer to one or more network nodes 16 and/or one or more WDs 22 performing one or more tasks, steps, features, processes as described in the present disclosure. In some other embodiments, if the NN time offsets are unknown, all timing measurements from all WDs 22 are gathered to a central network node, which jointly estimates the WD positions p_(WD,i), NN time offsets t_(NN,j), and WD offsets (which is t_(WD,i) in the TOA case or δ_i in a TDOA case). The network (e.g., network node 16) jointly estimates the positions of a group of WDs 22 together with the NN-specific time synchronization error of the network. In some embodiments, the total number of unknowns, represented by the set of WD- specific positions (x,y) or (x,y,z), WD-specific clock offsets t_WD (for TOA measurements) and/or dummy variables δ (for RSTD measurements), and NN- specific time synchronization errors (t_NN) is equal or less than the total number of measurements obtained by the network from all WDs 22 at all NNs 16. In some other embodiments, a system of equations is described. An arrangement of (e.g., a condition of a well-posedness of) the system of equations is used. In an embodiment, two process for improving a chance of well-posedness may be used: an expansion process such as an “expansion strategy” and a reverse process such as a “reverse strategy.” Put differently, it may be sufficient to have a Jacobian matrix for a measurement residual vector be well-conditioned at an initial point (such as under the reverse process) and/or at subsequent steps of a gradient descent and/or similar solver. In one embodiment, the network (e.g., network node 16) transmits DL PRSs such as from a set of NNs 16, upon which each WD 22, in a group of WDs 22, individually report its Received Signal Time Differences (RSTD) with respect to its received serving cell PRS. In another embodiment, each WD 22 in the group transmits an UL PRS to the network, which is received by multiple NNs 16. Each of these NNs 16 perform a TOA measurement for each of the received UL PRSs originating from the different WDs 22. The network may then form RSTD values, representing the time difference between pairs of NNs 16, for a received PRS. In yet another embodiment, the network transmits DL PRSs from a set of NNs 16, upon which each WD 22, in a group of WDs 22, individually report its TOA relative to its internal clock, with respect to its received PRSs. In each of the embodiments the WD-reported RSTDs (such as in the DL case) and/or measured TOAs (such as in the UL case or DL case) are communicated to a central point (e.g., a network node 16) in the network for further processing. The further processing may include 1) setting up a set of equations which is solvable in the unknowns (is well-posed), and 2) solving these for the position of all WDs 22 and the time synch error of all NNs 16 (e.g., BS), except one, which is the assigned reference node with time synch error equal to zero. In another embodiment, measurement batches are performed which are not restricted to UL and DL measurements between WDs 22 and NNs. WD-to-WD (sidelink) and/or NN-to-NN measurements may be performed as well. The timing measurements may be done in both directions (round-trip time, RTT). In some examples, a dichotomy NNs vs WDs (e.g., “BSs vs. UEs”) becomes secondary, instead anchor nodes (with known position) and unknown nodes (unknown position) are used. In yet another embodiment, relative positioning is performed/determined where all node positions are unknown. A reference node is assigned (and a reference position and reference time offset, e.g., all zeros, are assigned). In a nonlimiting example, all positions and time offsets relative to this reference node are solved, e.g., if the system of equations is solvable (e.g., in least-squares sense). In another nonlimiting example, the processes described in the present disclosure may be usable in any network including a large network, where only a subset of the NN signals is received by a subset of WDs 22. In other words, distant nodes may not hear (i.e., communicate with) each other. It may not be possible to form a single large group of NNs/WDs that include all NNs 16 and all WDs 22 and for which all WDs 22 receive all NNs 16. However, a measurement batch may form a connected set of timing equations which is solvable in terms of the unknowns. In such situations, whether the set of equations are connected may be determined (e.g., by analyzing the Laplacian of the measurement graph), and if not connected, the measurement batch may be divided into connected subgroups and each group individually solved for. This situation may be resolved at least using the following processes: 1. Solving one single system of equations including all NNs 16 and all WD 22, provided the number of equations is at least as large as the number of unknowns. 2. Iterative estimation, by which the network (e.g., the full network) is first subdivided into smaller sub-parts, each including a subset of NNs 16 and/or WD 22. By solving one or more such parts individually, the NNs 16 and WD 22 of solved parts can then be merged with other NNs/WDs into a larger group that can be solved. In process (2), a position that has already been estimated for a given WD 22 may then be used to allow for a lower number of NNs 16 and/or WD 22 in another estimation, which may allow the estimation to be made despite the initial conditions for solvability were not sufficient for this part. In other words, each WD 22 may be useful also for other estimations other than its own estimated position. Similarly, a BS, for which the time synchronization error has already been calculated, may be useful in a joint estimation/determination, e.g., to reduce the required number of NNs 16 with unknown time offset. In a nonlimiting example, time offsets for different nodes are generally not known in an absolute manner but may be known relative to some other time offsets. For example, the difference of the time offset between some network nodes 16 (e.g., between BS 1 and BS 2) may be known, while at the same time, the difference between the time offsets of other network nodes 16 (e.g., BS 4 and BS 5) is known, but it is not known how the time offsets of a network node 16 (e.g., BS 1) and another network node 16 (e.g., BS 2) relates to the time offsets of network nodes 16 (e.g., BS 4 and BS 5). In some embodiments, a positioning entity (e.g., LMF) configures the NN 16 to perform positioning measurements on WD 22 that are in no need to be positioned, to aid joint detection. In some embodiments, the positioning entity (e.g., LMF) configures WD 22 that are in no need to be positioned, to perform positioning measurements to aid joint detection. Iterative estimation In process (1), all NNs 16 and all WD 22 in the network were included in a single joint estimation covering all NNs 16 and all WD 22 of the network. However, process (1) is not limited as such (i.e., not all NNs 16 and WD 22 need to be included) In another embodiment, such as in process (2), there may be several sequential steps of the joint estimation of position and time offsets: In a first step, the network is subdivided into K parts, Pi (i=1…K), where each part has Mi NNs and Ni WDs and where the conditions for jointly estimating position and time offsets in a single step are fulfilled, (e.g., according to the equations of a TDOA measurement model, and/or framework and problem formulation). It may not possible to fully cover all NNs 16 and all WD 22 in the network with the union of all these K parts – each part would yield positions and time offsets for the NNs 16 and WD 22 contained/included therein. However, when considering the union of all these, there would still be NNs 16 and/or WD 22 in the network that would fall outside the union. An acquired knowledge of time offsets and WD 22 positions of first step may be used, e.g., in a second step, where extended parts of the network are identified. In other words, combinations of NNs 16 and WD 22 for which the equation conditions are fulfilled (e.g., now using the already-estimated time offsets and WD 22 positions as “knowns” rather than “unknowns” in the system of equations). NN time offsets and WD 22 positions which are not estimated (i.e., not possible to estimate) in the first step may be estimated in the second step. If, in the first step, a core set of M NNs and N WDs have been jointly estimated (e.g., so that the position of all N WDs are known and all NN time offsets are known), then for any additional NN 16 (that can be received by at least one WD 22 of the Core set), the time offset may also be estimated and may therefore be included in the set of known NNs 16 for further estimations. Similarly, for a WD 22 that is not part of the Core set, the additional NNs 16 may be used to allow for positioning determinations, e.g., using the estimated time offset in the positioning estimation. The set of NNs 16 and WD 22, for which the time offsets and positions have been estimated, may therefore be stepwise enlarged and include all NNs 16 and all WD 22 of the network after a plurality of iterations. NNs 16 (e.g., base stations) with unknown position When additional base stations are installed, e.g., to provide enhanced coverage and/or positioning accuracy, the precise position of these are normally assumed to be known. In some cases, this requires an independent method of accurately determining the position of the BS. The position of the NN 16 may be estimated (e.g., instead of independently determining the position of an additional BS, in addition to, etc.), by treating the NN 16 as an unknown node in the described framework and introducing the position of the NN 16 as an unknown in the system of equations. When the total number of unknowns is as least as high as the number of equations, the joint estimation scheme may then yield the position of the BS. A number (e.g., a limited number) of NNs 16 may be determined using independently determined positions, i.e., used as the basis for estimating time offsets and positions of WD 22 and other NNs 16. The network can then be extended with automatic calibration of the time offset and without a need for explicitly determining the position of additional NNs 16 If there are no anchor WD 22 (with known position) and no NN-to-NN (e.g., BS-to-BS) communication, then all unknown NNs 16 measure on unknown WD 22. Such situations can be handled by solving for the unknown WD 22 and the anchor NN time offsets first, before solving for the unknown NNs 16 in an extended solution step (e.g., such as in step 4 in section “Conceptual strategy for a well-posed set of equations”). It is possible to solve also for the unknown NNs 16 directly (e.g., as in section “Well-posedness through selection of initial positions”), provided that an initial guess (e.g., sufficiently good ) for the NN positions is available and that the Jacobian matrix for the measurement residuals is well-conditioned. Framework and problem formulation In some embodiments, it is assumed that there are nodes (or network nodes) of two types, WDs 22 such as user equipment (UEs) and network nodes such as base stations (BSs). Each node is also assigned to a category X, depending on which variables (positions, timing offsets) are unknown or known a priori. It is further assumed that there are n _X nodes of category X. The position of node i ∈ {1,2, … , n _X of category X ^& is denoted. Different node categories are summarized in Table 1. Table 1. Node categories. The offset variable for UEs are t (for TOA measurements) or δ (for DL TDOA measurements). It is noted that references to “UE” may refer to WD, and references to “BS” may refer to NN. A DL TOA measurement between a NN j with category X (TX node), and a WD i with category Y (RX node), is denoted TOA _Y,i,X,l and has the following measurement model The time offset variables t _Y,i , t _X,l are defined relative to a reference node of choice, for which the time offset is zero. Consequently, a corresponding UL TOA measurement has the following measurement model For the DL TDOA model, we let each WD i of category Y choose a NN 16 as a TDOA reference, with category R(Y,i) and index J(Y, i) ∈ {1,2, … , n _X . This NN 16 need not be the reference node with respect to the time offset variables (i.e., the node with zero time offset), since all WD 22 possibly do not have a timing measurement from this node, let alone at every measurement batch. The DL TDOA measurement model is From definition, TDOA _{Y,i,0(Y,i),1(Y,i)} = 0. Note that the measurement model for TDOA _{Y,i,0(Y,i),1(Y,i)} should anyways be included in the set of equations to solve, otherwise the performance deteriorates unnecessarily. A round-trip time (RTT) measurement between a NN j with category X and a WD i with category Y is basically the sum of a DL TOA and an UL TOA measurement between these two nodes, plus the RX-TX time difference at the non- initiating node. In the RTT measurement model, the time offsets are cancelled but we are left with an RX-TX time difference term from the non-initiating node (here the NN j): It is assumed that the RX-TX time difference measurement (and possibly an UL TOA measurement) is supplied whenever there is an RTT measurement, which can be included in the system of equations to resolve the time offset/dummy variables: Here, TX _X,j is the transmission time of node 3, 4. We also divide the knowns into three categories depending on how much they vary over time and need to be updated. This has bearing for the iterative applications, where variables which were previously unknown is estimated and then seen as a known in a later batch of measurements. The categories and the included variables are summarized in Table 2. Table 2. Variable types and included variables. For a certain set of nodes with assigned categories detailed in Table 1, with an associated set of T(D)OA measurements, in a single batch or several batches, whether or not the resulting set of equations is solvable for all unknowns (positions and timing/dummy variables) may be determined. Specifically, a subset of nodes (as large as possible) can be selected, (e.g., so that the resulting set of equations are solvable). The equation system may be solvable while still being ill-posed, i.e., that the resulting linearization around the solution, or the Jacobian matrix for the residual vector is ill- conditioned. A set of equations which is well-posed, i.e., not too sensitive to measurement errors, may be determined/found. The next subsection details an example procedure/process for ensuring well-posedness for a small set of anchor NNs 16 and unknown WD 22. Obtaining well-posedness for DL/UL networks with anchor NNs 16 and unknown WD 22 In some embodiments, it is assumed there is a total of n_NN anchor NNs 16, a total of n_WD unknown WD 22, and that TOA or RSTD (i.e., TDOA) measurements have been gathered for a subset of all n_NN n_WD links (that is in a single network direction, UL or DL, so there are not any RTT measurements). A question then may be: which of these NNs 16 and WD 22 should be included in a joint estimation so that the system of equations is well-posed? To answer this question, the smallest groups of nodes are looked into (i.e., determined) which may be used/required for well- posedness. The intention is then to expand around such group, to find a well-posed set of equations which is as large as possible. The following immediate observations can be made: i) each anchor NN 16 gives 1 unknown, ii) each unknown WD 22 gives 4 unknowns (3 if the WD height is known), iii) one of the nodes is assigned as a reference node with a timing offset of zero, and iv) a group of N WDs, M NNs 16 with 1 TOA/TDOA measurement for each link has a system of NM equations to solve (e.g., in a least squares-sense). From these observations it may be determined/seen that, to avoid an underdetermined set of equations (i.e., an infinite number of solutions), this group of N WDs and M NNs with 1 TOA/TDOA for each link is determined to (e.g., must), if all WD heights are unknown, satisfy: NM ≥ 4N +M − 1 We draw the following conditions for the inequality to hold: • N must be strictly larger than 1. • M must be strictly larger than 4. • If N = 2, then M must be larger than or equal to 7. • If N = 3, then M must be larger than or equal to 11/2 (i.e., strictly larger than 5). • If N = 4, then M must be larger than or equal to 5. Three types of minimum size groups are hereby identified, where (N,M) is either (2,7), (3,6) or (4,5). If 2D positioning is selected/used (where all the WD heights are assumed known), then the group of N WDs and M NNs with 1 TOA/TDOA for each link must instead satisfy: NM ≥ 3N +M − 1 The following conditions are drawn for this inequality to hold: • N must be strictly larger than 1. • M must be strictly larger than 3. • If N = 2, then M must be larger than or equal to 5. • If N = 3, then M must be larger than or equal to 4. Two types of minimum size groups are hereby identified, where (N,M) is either (2,5), or (3,4). The second type of criterion for well-posedness is that of triangularization singularities. If there are TOA/TDOA measurements from M distinct anchors to N unknown nodes, then no subset of M-1 anchors can form a line in 3D-space; they need to at least form a plane. If some subset of M-1 anchors do form a line, then the system of equations may not be solvable for the unknown nodes, regardless of the actual unknown node positions. These criteria are detailed in sections described below, in terms of certain condition numbers and residuals on the known NN positions. In addition, the included N unknown nodes in this minimal group should have distinct positions. If the positions are the same for any pair of these unknown nodes, then some of the equations become obsolete in determining all unknowns; it would be like decreasing N by 1, thereby having an underdetermined system of equations. The problem here is that the unknown node positions are unknown, so there is no direct way to determine this. Section “Ensuring that unknown node positions are unique” deals with this problem. When a group of M anchor NNs and N unknown WD 22 is found, which passes the tests for well-posedness, expanding around the group may be performed. One possibility is to: a) include all anchors outside the group with at least one timing measurement to some node in the group, and b) include all unknown nodes collecting TOA/TDOA measurements from at least 4 anchors (or 3 if the unknown node has known height) within the group. The following is iterated: a) and b) until the group stops growing. At step b), the anchors do not form a line in 3D space is ensured (sections “Ensuring that known node positions don’t align to a line in 3D space: rank condition” and “Ensuring that known node positions don’t align to a line in 3D space: PCA condition”). In some embodiments, the ensuring may be a necessary condition for the unknown position to be solvable. If the unknown node has known height, the process described in “Ensuring that unknown node positions are unique” may be utilized/performed to ensure that the horizontal anchor positions are unique. Conceptual strategy for a well-posed set of equations (i.e., expansion process) A conceptual strategy is ready to be formulated for choosing a set of equations for joint estimation so that there is a low risk of ill-posedness. It is assumed that all nodes included in the measurement batch have unknown time offsets relative to each other. 1. Search step. Define the set of node types T = {aBS, uBS, zBS, aUE, uUE, zUE as listed in Table 1. Also define the set S of links (Y, i, X, j) from node of type . ∈ T, index i ∈ {1,2, … , n _Y to node of type 3 ∈ T, index i ∈ {1,2, … , n _X , for which there is at least one timing measurement. Find a well-posed subgroup of N unknown nodes (uBS, zBS, uWD or zWD), and M anchor nodes (aWD or aBS), which forms a system of equations indicated to be well-posed for the included unknowns. Such well- posed subgroups may be (but are not limited to): a. There are no unknown nodes in the core subgroup (i.e., N = 0), and the M>1 anchor nodes, together with the associated anchor-to-anchor links in S, forms a connected graph. b. All links between anchors and unknown nodes in the subgroup associates with at least one timing measurement in one direction (TOA/TDOA). This amounts to NM links. All N unknown nodes have unknown height, and (N,M) is either (2,7), (3,6) or (4,5). The M known anchor positions satisfy the threshold in section “Ensuring that no M-1 size subset forms a line in 3D space”. The N unknown positions are indicated to be distinct from each other (section “Ensuring that unknown node positions are unique”). c. All links between anchors and unknown nodes in the subgroup associates with at least one timing measurement in one direction (TOA/TDOA). This amounts to NM links. All N unknown nodes have known height, and (N,M) is either (2,5) or (3,4). The N unknown positions are indicated to be distinct from each other (section b). d. All links between anchors and unknown nodes in the subgroup associates with at least one RTT measurement. It is assumed that appropriate measurements are available over the RTT links (RXTX time difference and UL TOA) such that the timing offsets/dummy variables can be resolved. There is one unknown node (N=1) with unknown height, and there are three anchors (M=3) whose known positions satisfy the threshold in section “Ensuring that known node positions don’t align to a line in 3D space: rank condition” or “Ensuring that known node positions don’t align to a line in 3D space: PCA condition” (positions do not align to a line). e. All links between anchors and unknown nodes in the subgroup associates with at least one RTT measurement. It is assumed that appropriate measurements are available over the RTT links (RXTX time difference and UL TOA) such that the timing offsets/dummy variables can be resolved. There is one unknown node (N=1) with known height. f. There are two unknown nodes (N=2) and 5 anchors (M=5). All links between anchors and unknown nodes in the subgroup associates with at least one timing measurement in one direction (TOA/TDOA). There is an RTT measurement between the two unknown nodes, including appropriate measurements (RXTX, TOA) to resolve the offset/dummy variables. All N unknown nodes have unknown height. All M anchor positions satisfy the threshold in section “Ensuring that no M-1 size subset forms a line in 3D space.” 2. Expansion step. Repeat a) and b) until the well-posed subgroup stops growing: a. For all anchor nodes not in the well-posed subgroup, check if there is a link in S to any node in the subgroup. If this holds, include the anchor node to the subgroup. This adds one unknown (the offset of the anchor), but also at least one timing equation. b. For all unknown nodes not in the well-posed subgroup, check if any of the conditions i.-iv. hold. If so, add the unknown node to the well- posed subgroup. i. The unknown node has known height, and there are at least 2 anchor nodes in the core subgroup with two-directional measurements (RTT) to the unknown node. ii. The unknown node has unknown height, and here are at least 3 anchor nodes with two-directional measurements (RTT) to the unknown node, whose positions satisfy the threshold of sections “Ensuring that known node positions don’t align to a line in 3D space: rank condition” and/or “Ensuring that known node positions don’t align to a line in 3D space: PCA condition” (positions do not align to a line). iii. The unknown node has known height, and there are at least 3 anchor nodes with one-directional measurements (UL/DL TOA/TDOA) to the unknown node. iv. The unknown node has unknown height, and there are at least 4 anchor nodes with one-directional measurements (UL/DL TOA/TDOA) to the unknown node, whose positions satisfy the threshold of sections “Ensuring that known node positions don’t align to a line in 3D space: rank condition” and/or “Ensuring that known node positions don’t align to a line in 3D space: PCA condition”. 3. Solution step. Assign one node for which the timing offset appears in the set of equations to be the reference node. Set the timing offset of the reference node to zero (by definition). Solve for all unknowns, e.g., with an iterative algorithm using some initial guess of the unknowns. 4. Extended solution step. Start from a well-posed subgroup consisting of all nodes included in step 3, but with all non-anchors re-labeled as anchor nodes (see case 3 in step 1) with known positions as returned from step 3, and do one of the following: a. Expand according to step 2. If the well-posed subgroup did grow, undo the “anchor node re-labeling” and then run step 3 again (possibly using the previous estimates returned from step 3 as initial guesses for the relevant unknowns). b. For all unknown nodes not in the well-posed subgroup, check if any of the conditions 2.b.i.-iv. hold. If so, solve for the unknowns of the unknown node individually, using every anchor measurement from the well-posed subgroup. Although this scheme aims to mitigate the risk of an ill-posed set of equations as much as possible, it does not guarantee well-posedness. The thresholds on the known anchor positions which are tested in the search step and expansion step only avoid situations where we get ill-posedness for all possible positions of the unknown nodes. However, ill-posedness may still be obtained for certain cases if the unknown nodes have unfortunate positions in relation to the anchors. One such example is if all anchors are placed along a common plane, and one unknown node (with unknown height) happens to be in the same plane. If the purpose for the “extended solution step”, i.e., step 4 seems unclear, one can think of the following situation. Let’s say that there are no anchor WD 22 in the network, i.e., all WD 22 are unknown WD 22, and that only DL and UL measurements are available (i.e., no sidelink or BS-to-BS timing measurements). This implies that all unknown NNs 16 only draw measurements from unknown WD 22 (unknown positions). Hence, all unknown NNs 16 will be outside the “well-posed subgroup” when we reach step 3. However, these unknown NNs 16 has a chance to be included in the estimation at step 4. Ensuring that known node positions don’t align to a line in 3D space: rank condition In some embodiments, it is assumed that there is a node with unknown position which collects timing measurements from M ≥ 3 anchor nodes indexed 4 = 1,2, … , M (with known time offsets/dummy variables, or unknown time offsets/dummy variables to be estimated jointly), each with label 3(4) (see Table 1) and known position . To solve for the unknown position (3 unknowns), and maybe also the time-offset/dummy-variable if the timing measurements are one- directional (implying that M ≥ 4), the set of anchor positions need to at least form a plane in 3D space. Also, if all anchor nodes are placed along (e.g., almost along) a line in 3D space, the estimation becomes ill-conditioned. This can be formulated as a threshold on a generalized condition number. Form a matrix A ∈ ℝ ^{3× M-1} from M-1 anchor position vectors p _X(i),j subtracted by the M’th anchor position being left out. The ordering of the anchor nodes is arbitrary so the M’th anchor can be any of the M anchors. Inspired by the conditional number cond(A) which is the maximum singular value divided by the minimum singular value, a generalized conditional number may be taken, cond2(A), which is the maximum singular value of A divided by the second smallest singular value of A. If M ≥ 4 we require the following: where c is some constant (e.g., c = 1e7). This serves as a criterion for both A being at least rank 2 (i.e., the anchor positions does not form a line) and simultaneously as a criterion for the solution being well-conditioned. Equivalently, if M ≥ 4 we may form the following 4 times M matrix and impose the same type of criterion i.e., cond2 (B) ≤ c. For the special case M = 3 we threshold instead the regular condition number, i.e., cond(A) ≤ c or cond(B) ≤ c. Ensuring that known node positions don’t align to a line in 3D space: PCA condition We can also state the deployment criterion of the previous section (that the anchor positions should not be on a common line in 3D space) in terms of the residuals from a Principal Component Analysis (PCA). For each of the anchor positions _, we form the following principal component line of points where is the average anchor position and is the maximizing eigenvector of , where Then, the residuals that satisfy a threshold for some constant c > 0: And, if this is fulfilled, the anchor positions do not form a line in 3D space. Ensuring that no M-1 size subset forms a line in 3D space If there are M anchors with known 3D positions and unknown time offsets, each with a single T(D)OA measurement to each of N nodes with unknown positions and time offsets, all subsets of M-1 anchor positions may not align to a line in 3D space. This means that a threshold can be tested for each of the subsets. If all thresholds are satisfied, no M-1 size subset of anchor positions form a line in 3D space. Alternatively, some robust PCA scheme (RPCA) can be used which is insensitive to outliers, to find a line of points and ensures that the second largest residual is above some constant c > 0. This could be beneficial if M is large. Ensuring that unknown node positions are unique There may be two unknown nodes with labels X and Y. If some RTT measurement between them is available, the following criterion may be imposed on the delay (e.g., distance) for some positive constant C: To indicate that two unknown/mobile nodes are not too close to each other when there is no RTT measurement to rely on, some extra indication of distance may be used/needed, e.g., drawn from the available timing measurements or some extra signal power measurements. Both of the unknown nodes are assumed to have collected measurements from nodes i = 1,2, … , M with labels Z(i), or conversely, that the nodes labeled Z(i) have collected measurements from the two unknown nodes. The criterion will take the form of the size of a certain vector = = _{_} which depends on the differences of the appropriate measurements. If this vector satisfies: for some positive constant C, then the two unknown nodes have unique positions. Here, the vector norm ‖∙‖ can be any (semi-)norm of choice, i.e., the Euclidean 2-norm, the infinity norm, etc. Some alternatives for threshold validations are: • Threshold on the TDOA residuals, where u _i is the TDOA measurement between node X and Y at node Z(i). • Threshold on the timing differences, where u _i is the TDOA measurement of node Z(i) and some reference node Z(4) at node X, minus the corresponding TDOA measurement at node Y. Note that u _j = 0 by definition. • Threshold on the signal power, where u _i is any power measurement (RSRP, first peak power, or SNR) on the link between node X and Z(i) (either UL or DL), minus the corresponding power measurement between node Y and Z(i). If one of the above criteria of choice is satisfied, the two unknown nodes have unique positions. Well-posedness through selection of initial positions (i.e., reverse process) When trying to solve the set of equations using some solver, at some point, an initial guess may be performed for the unknowns since the set of equations are nonlinear. The selection of an initial guess can be intertwined with the well-posedness indication in a way that does not involve expansion around a well-posed subgroup as in section “Conceptual strategy for a well-posed set of equations.” Full rank of the geometric dilution of precision (GDOP) matrix, Fischer information matrix (FIM) or the Jacobian matrix around the initial guess (both of which depends on initial positions of the unknown nodes, but not on the offset/dummy variables) may be ensured. More generally, some threshold on the condition number of said matrix may be determined/used/required. The strategy is summarized in the following steps: 0. Given a measurement batch, with timing measurements between a set of nodes, remove anchor nodes which draw measurements from less than 2 nodes. Then remove unknown nodes, for which the unknowns are not solvable (i.e., if the node has 4 unknowns and TDOA measurements from less than 4 anchors remaining in the batch). Divide the set of measurement equations into connected groups (so that the directed measurement graph for each group, where nodes are vertices and measurements are edges, are connected graphs). Discard all groups which are under-determined (i.e., where the number of unknowns exceeds the number of timing equations). Perform steps 1-4 on each remaining group individually. 1. Select or find an initial guess for the unknown node positions. One option is to take the horizontal positions equal to the positions of the strongest anchor node or serving cell, and letting the vertical position be somewhere below the strongest anchor/serving cell position. This may work well for a large set of equations, but there is a risk of rank deficiency due to many unknown nodes starting at the same place. Another option is to put the horizontal position in a small area around the strongest anchor/serving cell according to some rule or randomization, so that all initial positions are (slightly) different. If there are previous (rough) estimates of unknown node positions, they can be used for initialization. Also, if the network is already reasonably well synchronized (e.g., from previous joint estimations), the unknown positions (and possibly time-offsets) can be initialized from an individual estimation (disregarding the network time offsets or using previous estimates as knowns).

2. For all unknown nodes with measurements to/from a subset of anchors, check that the associated GDOP/Jacobian matrix is well-conditioned as in section “GDOP/Jacobian validation of individual unknown nodes.” If the initial position of this unknown node cannot be tweaked to get a well- conditioned GDOP/Jacobian matrix (which e.g. would be the case if we attempt 3D estimation and the anchors form a line, see section “Ensuring that known node positions don’t align to a line in 3D space: rank condition, remove it from the set of equations” and/or “Ensuring that known node positions don’t align to a line in 3D space: PCA condition.” If the measurement graph for the group of nodes becomes disconnected when removing nodes, then perform steps 3-4 for all connected subgroups which are not under-determined. 3. Ensure that the GDOP/Jacobian matrix for the remaining set of timing equations, with associated initial positions of the unknown nodes, is well-conditioned (see section “Joint GDOP/Jacobian validation for all unknowns”). If the initial positions cannot be tweaked to get a well- conditioned GDOP/Jacobian matrix, the algorithm is broken, and the set of equations deemed as non-solvable. 4. Find an initial guess for the unknown node offset/dummy variables (see section “Finding an initial guess for the offset/dummy variables”). Assign a reference node with time offset equal to zero. Solve the set of equations as in step 3 of section “Conceptual strategy for a well-posed set of equations.” GDOP/Jacobian validation of individual unknown nodes Let the unknown node be assigned to the initial guess position assumed there are timing measurements from M (at least 4) anchor nodes p _X(i),j ∈ From the unit vectors: and the GDOP matrix has full rank. In practice, the GDOP matrix may be well-conditioned, i.e., cond(G) ≤ c, for some constant c > 0. If the unknown node has known height, the equations look the same except that all included vectors are 2D. Then, there are at least 3 anchor nodes that may be required. If the included timing measurements are two-directional (or RTT measurements), the GDOP matrix is: Alternatively, there may be two-directional/RTT measurements from at least 3 anchor nodes (2 if the unknown node has known height), for which cond(E) ≤ c, for some constant c > 0. Instead of the GDOP matrix, we may condition on the Jacobian matrix J for the (weighted) measurement residual vector (which is the same as G, or E in the RTT case, if all residual weights are 1). If each measurement k is associated with a weight w _k > 0, then column k of J is the same as column k of G (TOA) or E (RTT), multiplied by w _k . Then, cond(J) ≤ c, for some constant c > 0. Joint GDOP/Jacobian validation for all unknowns Assume we have a set of T timing equations and > ≤ T unknowns (unknown positions and offsets/dummy variables) stacked in a vector , associated with an initial guess A GDOP matrix may be formed and cond(G θ ⁰ ( )) ≤ c for some c > 0 may be established. Essentially, each column j ofG(θ ⁰ ) is the derivative of the measurement residual vector at θ ⁰ with respect to the j’th element of e. Since G(θ ⁰ ) does not depend on the offset/dummy variables, the initial guesses for the offset/dummy variables may be assumed undefined. To be precise, the GDOP matrix G(θ ⁰ ) is formed as follows. • Stack all measurement residuals (or the estimated measurements) at θ ⁰ in a vector For example, if measurement 4 is a TOA, then the estimated measurement is “the distance between the anchor/initial positions of the two nodes”, plus the time offset/dummy variable of the receiving node, minus the time offset/dummy variable of the transmitting node. • The (i, j)’th element of G(θ ⁰ )s the derivative of the 4’th element of O with respect to the i’th element of e. Since the time offsets/dummy variables are linear terms in the estimated measurement, G(θ ⁰ ) does not depend on any initial guess for the offsets/dummy variables. Instead of the GDOP matrix, the Jacobian matrix J may be conditioned for the (weighted) joint residual vector, which is formed from G equivalently as in section “GDOP/Jacobian validation of individual unknown nodes.” Finding an initial guess for the offset/dummy variables As in section “Joint GDOP/Jacobian validation for all unknowns,” it is assumed that there is a set of T timing equations and U ≤ T unknowns (unknown positions and offsets/dummy variables) stacked in a vecto associated with an initial guess We also let be a vector of stacked measurement residuals. It is also assumed that there is an initial guess available for all unknown node positions and form the vecto where all offsets/dummy variables are set to zero. Le be a vector of stacked measurement residuals fo The vector of initial timing measurements/dummy variables t ₀ can then be found by solving a linear matrix equation: Where ^ is the T-column “reduced”, directed incidence matrix (reduced in the sense that the row which would correspond to the reference node in the full incidence matrix is removed). This matrix is guaranteed to have full rank if the directed measurement graph (where nodes are vertices and measurements are edges) is a connected graph. Utilizing WD 22 that are otherwise not being positioned to aid joint detection In some embodiments, WD 22 that are anyway being positioned are used for joint detection. In some embodiments, however, additional WD 22 that are otherwise not being positioned are also utilized to aid joint detection. For an LMF based system, this amounts to WD 22 for which the LMF has not received a positioning request. In some embodiments, the positioning entity (e.g., the LMF) decides to add additional WD 22 to aid joint detection based on, e.g.: o The number and distribution of WD 22 being positioned in the network; o The likelihood of achieving a well-posed set of equations; o The efficiency compared to the case of perfect synchronization as in section “Ensuring that known node positions don’t align to a line in 3D space: rank condition”; In some embodiments, the positioning entity (e.g., the LMF) decides to add additional WD 22 to aid joint detection in some parts of the network (e.g., in certain cells) based on, e.g.: o The number and distribution of WD 22 being positioned in the network; o The likelihood of achieving a well-posed set of equations; o The efficiency compared to the case of perfect synchronization as in section “FIM-based criterion on the positioning performance”; In some embodiments, the LMF performs the following actions in order to add additional WD 22 to aid in joint detection: o The LMF requests gNBs to report WD 22 available for positioning, indicating, e.g.: ■ ID of available WD 22; ■ Serving cell of available WD 22; ■ SRS configuration details for available WD 22; o The LMF requests the gNB to configure a WD 22 with an SRS; o The LMF requests gNBs to perform RTOA measurements for additional WD 22; In some embodiments, the LMF performs the following actions in order to add additional WD 22 to aid in joint detection: o The LMF requests gNBs to report WD 22 available for positioning, indicating, e.g.: ■ ID of available WD 22; ■ Serving cell of available WD 22; ■ SRS configuration details for available WD 22; o The LMF requests the additional WD 22 to perform RSTD measurements; Note that there is no need to report the position of additional WD 22. They are intended to be used internally by the LMF to aid joint detection. Example system embodiment based on UL TDOA • The LMF maintains a time offset variable for each TRP. o At system startup the time offset variables are set to zero. • The LMF works in a periodic fashion with period T. • During each time period T, the LMF stores all received RTOA measurements. • After each time period T: o The LMF performs joint detection based on the RTOA measurements received during the time period T. o The LMF updates the time offset variables based on the output from the joint detection algorithm. o The LMF reports WD positions based on the output from the joint detection algorithm. In some embodiments, the LMF also performs single WD positioning and reports WD positions in-between the periodic joint-detection. When performing single WD positioning, the LMF may utilize the stored TRP time-offsets from the last joint detection performed. Performing single WD positioning in this way rather than waiting for the next joint detection instance, may improve positioning latency. Note that while joint-detection is performed as described above the LMF also performs normal tasks needed for UL TDOA positioning such as: • Receiving requests to position a WD. • Requesting gNBs to configure WD 22 with an UL SRS. • Requesting gNBs to perform RTOA measurements based on UL SRSs. Note that while the periodic joint detection is running, new WD 22 are configured for positioning while positioning of other WD 22 is ended. In some embodiments: • The LMF evaluates a quality measure for the measurement batch based on, e.g.: o The number and distribution of WD 22 being positioned in the network. o The likelihood of achieving a well-posed set of equations. o The efficiency compared to the case of perfect synchronization as in section “FIM-based criterion on the positioning performance.” • If the quality measure is below a threshold, the LMF initiates positioning of additional WD 22 independently of the reception of any positioning request. o The LMF requests gNBs to report WD 22 available for positioning, indicating e.g.: ■ ID of available WD 22. ■ Serving cell of available WD 22. ■ SRS configuration details for available WD 22. o In some embodiments, the LMF requests the gNB to configure a WD 22 with an SRS. o The LMF requests gNBs to perform RTOA measurements for additional WD 22. Note that there is no need to report the position of additional WD 22. They are intended to be used internally by the LMF to aid joint detection. Example system embodiment based on DL TDOA • The LMF maintains a time offset variable for each TRP. o At system startup, the time offset variables are set to zero. • The LMF works in a periodic fashion with period T. • During each time period T, the LMF stores all received RSTD measurements. • After each time period T: o The LMF performs joint detection based on the RSTD measurements received during the time period T. o The LMF updates the time offset variables based on the output from the joint detection algorithm. o The LMF reports WD positions based on the output from the joint detection algorithm. In some embodiments, the LMF also performs single WD positioning and reports WD positions in-between the periodic joint-detection. When performing single WD positioning, the LMF utilize the stored TRP time-offsets from the last joint detection performed. Performing single WD positioning in this way rather than waiting for the next joint detection instance, can improve positioning latency. Note that while joint-detection is performed as described above the LMF also performs normal tasks needed for UL TDOA positioning such as: • Receiving requests to position a WD. • Requesting gNBs to transmit DL PRSs. • Requesting WD 22 to perform and report RSTD measurements based on DL PRSs. Note that while the periodic joint detection is running new WD 22 are configured for positioning while positioning of other WD 22 is ended. In some embodiments: • The LMF evaluates the likelihood of achieving a well posed set of equations based on e.g.: o The number and distribution of WD 22 being positioned in the network. • If the likelihood of achieving a well posed set of equations is below a threshold, the LMF initiates positioning of additional WD 22 independently of the reception of any positioning request. o The LMF requests gNBs to report WD 22 available for positioning, indicating e.g.: ■ ID of available WD 22. ■ Serving cell of available WD 22. ■ SRS configuration details for available WD 22. o The LMF requests the additional WD 22 to perform RSTD measurements. Note that there is no need to report the position of additional WD 22. They are intended to be used internally by the LMF to aid joint detection. FIM-based criterion on the positioning performance In some embodiments, it is assumed there is a large and sufficiently dense measurement batch of UL- or DL timing measurements (e.g., dense in the sense that there are many measurements relative to the number of nodes) and assumed that there are Gaussian measurement errors. The optimal positioning performance for such batch (characterized by the inverse of the FIM) approaches the optimal positioning performance for the individual unknown nodes under the assumption of perfectly synchronized anchors. This observation may be utilized to attain a criterion for how close to the perfect sync performance it is wanted, which may trigger a backoff strategy for the LMF to request more measurements. Further, it may be assumed that the timing measurement error (i.e., here, given in distance units e.g., meters, i.e., time multiplied by the speed of light) between anchor i and unknown node j is distributed as . Weights may be assigned for each timing measurement residual (e.g., used in the weighted least squares minimization criterion): Let S _j be the set of anchors for which timing measurements to unknown node j are provided. The FIM for the unknown node j position and offset, assuming that all anchors in S _^ are perfectly synchronized, is: where e _i,j are unit vectors from the variable unknown node position ^ _^ to the anchor position p _i : Let l _^ be the set of unknown nodes for which timing measurements to anchor i are provided. In contrast, the FIM for the unknown node j position and offset in the joint estimation case is: From this reasoning, the LMF may request measurements from additional unknown nodes (which we are not interested in per se), which are connected to a certain anchor i or some other anchor in proximity, for which there is some unknown node j of interest, which do not satisfy the following efficiency threshold: where 0 < t < 1 is the user-defined, required efficiency. FIG. 14 shows an example system architecture comprising a NN 16a (e.g., LMF), other NNs 16 (e.g., NNs 16b, 16c, 16d, 16e, 16f such as base stations (BSs)) , and WDs 22a, 22b, 22c. In this non limiting example, one or more of NNs 16b, 16c, 16d, 16e, 16f and WDs 22a, 22b, 22c may be referred to as radio communication nodes 110. The network may (e.g., the network node 16a may be configured to) jointly estimate the positions of a group of WD 22 together with the BS-specific time synchronization error of the network, which is shown in FIG. 14 for the case of 2D (x,y) positioning jointly using one or more NNs 16 (e.g., NNs 16b, 16c, 16d, 16e, 16f and WDs 22 (e.g., WDs 22a, 22b, 22c). In some embodiments, the jointly estimation may be based on a condition, where the condition may be true as long as the total number of unknowns, represented by the set of WD-specific positions (x,y) or (x,y,z) and BS-specific time synchronization errors (T) is equal or less than the total number of measurements obtained by the network from all WD 22 at all NNs 16. In one embodiment, the network transmits DL PRSs from a set of NNs 16, upon which each WD 22, in a group of WD 22, individually report its Received Signal Time Difference (RSTD) with respect to its received PRSs. In another embodiment, each WD 22 in the group transmits an UL PRS to the network, which is received by multiple NNs 16. Each of these NNs 16 perform a TOA measurement for each of the received UL PRSs originating from the different WD 22. In both embodiments, the WD-reported RSTDs (DL case) or measured TOAs (UL case) are communicated to a central point in the network for further processing. The further processing consists in setting up a set of equations and solving these for the position of all WD 22 and the time synch error of all NNs 16, except one, which is the reference BS. The present disclosure is not limited to a type of network (i.e., may also work for a large network), where only a subset of the NN signals is received by a subset of WD 22. In some embodiments, it may not be possible to form groups of NNs/WDs that include all NNs 16 and all WD 22. A position that has already been estimated for a given WD 22 may then be used to allow for a lower number of NNs 16 and/or WD 22 in another estimation, which may allow the estimation to be made despite the initial conditions were not enough for this. This means that each WD 22 may be useful also for other estimations other than estimating its own position. Similarly, a BS, for which the time synchronization error has already been calculated, can be useful (i.e., may be used) in a joint estimation, e.g., to reduce the required number of NNs 16. In some embodiments, joint synchronization and positioning is performed (e.g., by NNs 16, WDs 22), which may be used to: (A) synchronize multiple nodes (e.g., NNs 16 and/or WDs 22) using the positioning framework; and/or (B) achieve accurate positioning with nodes with bad synchronization by jointly estimating over a larger set of NNs 16 and WDs 22. In some other embodiments, time synchronization may be used (e.g., be very essential) for some types of positioning methods, which may very costly/difficult to achieve (e.g., using conventional technology). In some embodiments, positioning and time synch is performed (e.g., jointly performed), which could mean that independent high accuracy time synch is not needed. For example, a combination of network nodes 16 and WD 22 (e.g., together) can be used for such joint positioning and time synch estimation. In some other embodiments, WDs may be synchronized based on a combination of UL and DL signals. The following is a nonlimiting list of example embodiments: Embodiment A1. A first network node 16 configured to communicate with at least a second network node 16 of a plurality of network nodes 16, the at least second network node 16 being configured to communicate with at least one wireless device, WD, the first network node 16 configured to, and/or comprising a radio interface and/or a communication interface and/or processing circuitry configured to: determine, using the at least second network node 16, at least one of a time synchronization error associated with the at least second network node 16 and a position associated with the at least one WD. Embodiment A2. The first network node 16 of Embodiment A1, wherein the processing circuitry is further configured to: estimate at least one network node time offset associated with the at least second network node 16 and a WD 22 time offset associated with the at least one WD. Embodiment A3. The first network node 16 of Embodiment A2, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on a plurality of parameters being one of equal and less than a total quantity of measurements obtained by the first network node 16 from each WD 22 at each network node 16 of the plurality of network nodes 16. Embodiment A4. The first network node 16 of any one of Embodiments A1-A3, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based at least on one of an expansion process and a reverse process. Embodiment A5. The first network node 16 of any one of Embodiments A1-A4, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on at least one of: at least a downlink, DL, positioning reference signal, PRS, transmitted by a group of network nodes 16 of the plurality of network nodes 16, upon which each WD 22, in a group of WD 22, individually report a received signal time difference, RSTD, with respect to a corresponding serving cell PRS; an uplink, UL, PRS transmitted by each WD 22 in the group of WD 22, the UL PRS being received by the corresponding network nodes 16, each of the corresponding network nodes 16 performing a time of arrival, TOA, measurement for each of the received UL PRSs; reference signal time difference, RSTD, values; and each WD 22 of the group of WD 22 individually reporting one TOA relative to a WD internal clock, with respect to the received PRS. Embodiment A6. The first network node 16 of any one of Embodiments A1-A5, wherein the processing circuitry is further configured to at least one of: set up a set of equations, at least an unknown parameter of the set of equations being solvable; and solve at least one equation of the set of equations for the time synchronization error and the position associated with the at least one WD. Embodiment A7. The first network node 16 of any one of Embodiments A1-A6, wherein the processing circuitry is further configured to at least one of: solve one system of equations including each network node 16 of the plurality of network nodes 16 and each WD 22 of the at least one WD 22; and perform iterative estimation by using network partitions including a group of at least one of network nodes 16 and WD 22. Embodiment A8. The first network node 16 of any one of Embodiments A1-A7, wherein the processing circuitry is further configured to at least one of: determine the position of the at least second network node 16 based at least in part on the at least second network node 16 being an unknown node and the position of the second network node 16 being a parameter in one system of equations. Embodiment A9. The first network node 16 of any one of Embodiments A1-A8, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. Embodiment B1. A method implemented in a first network node 16 configured to communicate with at least a second network node 16 of a plurality of network nodes 16, the at least second network node 16 being configured to communicate with at least one wireless device, WD, the method comprising: determining, using the at least second network node 16, at least one of a time synchronization error associated with the at least second network node 16 and a position associated with the at least one WD. Embodiment B2. The method of Embodiment B1, wherein the processing circuitry is further configured to: estimating at least one network node time offset associated with the at least second network node 16 and a WD time offset associated with the at least one WD. Embodiment B3. The method of Embodiment B2, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on a plurality of parameters being one of equal and less than a total quantity of measurements obtained by the first network node 16 from each WD 22 at each network node 16 of the plurality of network nodes 16. Embodiment B4. The method of any one of Embodiments B1-B3, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based at least on one of an expansion process and a reverse process. Embodiment B5. The method of any one of Embodiments B1-B4, wherein determining at least one of the time synchronization error and the position associated with the at least one WD 22 is based on at least one of: at least a downlink, DL, positioning reference signal, PRS, transmitted by a group of network nodes 16 of the plurality of network nodes 16, upon which each WD 22, in a group of WD 22, individually report a received signal time difference, RSTD, with respect to a corresponding serving cell PRS; an uplink, UL, PRS transmitted by each WD 22 in the group of WD 22, the UL PRS being received by the corresponding network nodes 16, each of the corresponding network nodes 16 performing a time of arrival, TOA, measurement for each of the received UL PRSs; reference signal time difference, RSTD, values; and each WD 22 of the group of WD 22 individually reporting one TOA relative to a WD internal clock, with respect to the received PRS. Embodiment B6. The method of any one of Embodiments B1-B5, wherein processing circuitry is further configured to at least one of: setting up a set of equations, at least an unknown parameter of the set of equations being solvable; and solving at least one equation of the set of equations for the time synchronization error and the position associated with the at least one WD. Embodiment B7. The method of any one of Embodiments B1-B6, wherein processing circuitry is further configured to at least one of: solving one system of equations including each network node 16 of the plurality of network nodes 16 and each WD 22 of the at least one WD; and performing iterative estimation by using network partitions including a group of at least one of network nodes 16 and WD 22. Embodiment B8. The method of any one of Embodiments B1-B7, wherein processing circuitry is further configured to at least one of: determining the position of the at least second network node 16 based at least in part on the at least second network node 16 being an unknown node and the position of the second network node 16 being a parameter in one system of equations. Embodiment B9. The method of any one of Embodiments B1-B8, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. Embodiment C1. A second network node 16 configured to communicate with a first network node 16 and at least one wireless device, WD, the second network node 16 being configured to, and/or comprising a radio interface and/or a communication interface and/or processing circuitry configured to: transmit at least a downlink, DL, positioning reference signal, PRS, to the at least one WD, the transmitted at least DL PRS triggering the at least one WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS, the RSTD and the TOA being usable by the first network node 16 to determine at least one of a time synchronization error associated with the second network node 16 and a position associated with the at least one WD. Embodiment C2. The second network node 16 of Embodiment C1, wherein any one of the second network node 16, the radio interface, the communication interface, and the processing circuitry is further configured to: receive an uplink, UL, PRS transmitted by the at least one WD, the UL PRS being received to perform a TOA measurement; and perform the TOA measurement. Embodiment C3. The second network node 16 of Embodiment C2, wherein the second network node 16 is part of a group of network nodes 16, each network node 16 of the group of network nodes 16 being configured to at least one of transmit the at least DL PRS to a corresponding WD 22 of a group of WD 22 and receive the UL PRS to perform the TOA measurement. Embodiment C4. The second network node 16 of any one of Embodiments C1-C3, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. Embodiment D1. A method implemented in a second network node 16 configured to communicate with a first network node 16 and at least one wireless device, WD, the second network node 16 being configured to, and/or comprising a radio interface and/or a communication interface and/or processing circuitry configured to: transmitting at least a downlink, DL, positioning reference signal, PRS, to the at least one WD, the transmitted at least DL PRS triggering the at least one WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS, the RSTD and the TOA being usable by the first network node 16 to determine at least one of a time synchronization error associated with the second network node 16 and a position associated with the at least one WD. Embodiment D2. The method of Embodiment D1, wherein the method further includes: receiving an uplink, UL, PRS transmitted by the at least one WD, the UL PRS being received to perform a TOA measurement; and performing the TOA measurement. Embodiment D3. The method of Embodiment D2, wherein the second network node 16 is part of a group of network nodes 16, each network node 16 of the group of network nodes 16 being configured to at least one of transmit the at least DL PRS to a corresponding WD 22 of a group of WD 22 and receive the UL PRS to perform the TOA measurement. Embodiment D4. The method of any one of Embodiments D1-D3, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. Embodiment E1. A wireless device, WD, configured to communicate with a second network node 16, the second network node 16 being configured to communicate with a first network node 16, the WD 22 configured to, and/or comprising a radio interface and/or a processing circuitry configured to: receive at least a downlink, DL, positioning reference signal, PRS, from the second network node 16, the received at least DL PRS triggering the WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS, the RSTD and the TOA being usable by the first network node 16 to determine at least one of a time synchronization error associated with the second network node 16 and a position associated with the WD. Embodiment E2. The WD 22 of Embodiment E1, wherein any one of the WD, the radio interface, and the processing circuitry is further configured to: transmit an uplink, UL, PRS to the second network node 16, the UL PRS triggering the second network node 16 to perform a TOA measurement. Embodiment E3. The WD 22 of any one of Embodiments E1 and E2, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. Embodiment F1. A method implemented in a wireless device, WD, configured to communicate with a second network node 16, the second network node 16 being configured to communicate with a first network node 16, the method further comprising: receiving at least a downlink, DL, positioning reference signal, PRS, from the second network node 16, the received at least DL PRS triggering the WD 22 to report at least one of a received signal time difference, RSTD, and one a time of arrival, TOA, relative to a WD internal clock with respect to the at least one DL PRS, the RSTD and the TOA being usable by the first network node 16 to determine at least one of a time synchronization error associated with the second network node 16 and a position associated with the WD. Embodiment F2. The WD 22 of Embodiment F1, wherein the method further includes: transmitting an uplink, UL, PRS to the second network node 16, the UL PRS triggering the second network node 16 to perform a TOA measurement. Embodiment F3. The WD 22 of any one of Embodiments F1-F2, wherein the first network node 16 comprises a location management function, and the second network node 16 is one of an evolve Node B, eNB, and a g Node B, gNB. As will be appreciated by one of skill in the art, the concepts described herein may be embodied as a method, data processing system, computer program product and/or computer storage media storing an executable computer program. Accordingly, the concepts described herein may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects all generally referred to herein as a “circuit” or “module.” Any process, step, action and/or functionality described herein may be performed by, and/or associated to, a corresponding module, which may be implemented in software and/or firmware and/or hardware. Furthermore, the disclosure may take the form of a computer program product on a tangible computer usable storage medium having computer program code embodied in the medium that can be executed by a computer. Any suitable tangible computer readable medium may be utilized including hard disks, CD-ROMs, electronic storage devices, optical storage devices, or magnetic storage devices. Some embodiments are described herein with reference to flowchart illustrations and/or block diagrams of methods, systems and computer program products. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer (to thereby create a special purpose computer), special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer program instructions may also be stored in a computer readable memory or storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. It is to be understood that the functions/acts noted in the blocks may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Although some of the diagrams include arrows on communication paths to show a primary direction of communication, it is to be understood that communication may occur in the opposite direction to the depicted arrows. Computer program code for carrying out operations of the concepts described herein may be written in an object oriented programming language such as Python, Java® or C++. However, the computer program code for carrying out operations of the disclosure may also be written in conventional procedural programming languages, such as the "C" programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer. In the latter scenario, the remote computer may be connected to the user's computer through a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). Many different embodiments have been disclosed herein, in connection with the above description and the drawings. It will be understood that it would be unduly repetitious and obfuscating to literally describe and illustrate every combination and subcombination of these embodiments. Accordingly, all embodiments can be combined in any way and/or combination, and the present specification, including the drawings, shall be construed to constitute a complete written description of all combinations and subcombinations of the embodiments described herein, and of the manner and process of making and using them, and shall support claims to any such combination or subcombination. Abbreviations that may be used in the preceding description include: BS Base station DL Downlink FIM Fischer information matrix GDOP Geometric dilution of precision LMF Location management function LS Location server PCA Principal component analysis PRS Positioning reference signal RPCA Robust principal component analysis RSRP Reference signal received power RSTD Reference signal time-difference RTT Round-trip time SNR Signal-to-noise ratio SRS Sounding Reference Signal TDOA Time-difference of arrival TOA Time of arrival TOD Time of departure UE User equipment UL Uplink It will be appreciated by persons skilled in the art that the embodiments described herein are not limited to what has been particularly shown and described herein above. In addition, unless mention was made above to the contrary, it should be noted that all of the accompanying drawings are not to scale. A variety of modifications and variations are possible in light of the above teachings without departing from the scope of the following claims.