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Thematic Window dedicated to “PNT in 5G”- Clarification no. 2 to

Invitation to Tender: AO/1-10516/20/NL/MP/mk (Issue 1.0) NAVISP Element 2

9th October 2020

Potential Tenderers are invited to take note of the following Clarification to the above Call for Proposals:

In the framework of this permanent Open Call for Proposals under NAVISP Element 2, the European Space Agency (ESA) is opening a Thematic Window dedicated to “PNT in 5G”.

Tenderers are hereby invited to submit an Outline Proposal on this topic preferably by January 31st 2021, within the Open Call overall duration.

Further proposals on the topic could still be submitted after that deadline. They may not however benefit from the increased visibility and priority that this Thematic Window will offer.

The scope of the Thematic Window is to support the implementation of pilot projects to demonstrate the contribution that the new 5G technology can do to address the PNT needs of users operating in a 5G environment, being these needs not yet adequately satisfied with the current technologies.

Namely:  Industry 4.0 applications in indoor environments and the related seamless outdoor/indoor scenarios  Complementary PNT solutions for critical applications  Network time and frequency distribution applications

The Tenderers shall justify the interest of their project on the basis of: - the contribution of the project results to the consolidation of the economic viability of the introduction of a PNT related feature/service in the operational 5G networks, or - the contribution of the results to advance the definition of future releases of the standards.

A typical project would take the form of the implementation of a test-bed of 5G infrastructure and/or hybrid GNSS/5G implementing the PNT-related functionalities, the development of the necessary user equipment and a demonstration phase in a pre-operational environment.

All the documentation of the AO10516 remain valid and applicable with the exception of the composition of the consortium, which shall include (one or more) members representing the stakeholders involved in the value-added chain of the application, namely:

- 5G infrastructure developer,

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- telecom operator - provider (current or prospective) of navigation services - developer of PNT user equipment - end-user of the application(s) to be demonstrate either as bidding team members or supporting parties with a letter of interest.

This is in order to render the results of the projects readily applicable in an operational environment.

On October 21st, the Executive organizes a workshop with interested stakeholders in order to raise general awareness about the initiative and clarify any issues potential Tenderers may have. At the workshop, a prominent role is given to presentations from future users of the results of the projects (e.g. logistic operators, telecom operators).

Please find in the Annex further details of the scenarios the Thematic Window intends to address.

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Annex

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Table of content

TABLE OF CONTENT ...... 4 ACRONYMS ...... 5 1. INTRODUCTION...... 6 2. THE EVOLUTION OF PNT IN CELLULAR NETWORKS: GENERAL STATUS AND RELATED ESA ACTIVITIES ...... 6 3. CHALLENGING PNT USER SCENARIOS IN 5G NETWORKS ...... 9 3.1. INDUSTRY 4.0 ...... 10 3.2. COMPLEMENTARY SOLUTIONS FOR PNT IN CRITICAL APPLICATIONS ...... 11 3.3. NETWORK SYNCHRONISATION AND OTHER TIME AND FREQUENCY ASPECTS 12 4. TECHNOLOGIES TO SUPPORT PNT IN 5G NETWORKS ...... 13 4.1. ENHANCED POSITIONING TECHNIQUES ...... 14 4.2. WIDE-BANDWIDTH SIGNALS ...... 14 4.3. MASSIVE MIMO (WITH BEAMFORMING) ...... 14 4.4. OPTIMISED POSITIONING SIGNALS ...... 15 4.5. SENSORS BASED ENHANCEMENTS ...... 15 4.6. VERY DENSE COVERAGE IN SPECIFIC AREAS SUCH AS INDOOR ...... 15 APPENDIX A. 3GPP TS 22.261 5G POSITIONING SERVICE LEVELS ...... 16 APPENDIX B. LIST OF COMPANIES CONTRIBUTING TO 3GPP 5G PNT STUDIES ...... 18

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Acronyms

3GPP 3rd Generation Partnership Project C-V2X Cellular – Vehicle to Everything EC European Commission eMBB Enhanced Mobile Broadband ESA European Space Agency FCC Federal Communications Commission FOD Foreign Object Debris / Damage FR1 Frequency Range 1 FR2 Frequency Range 2 GNSS Global Navigation Satellite Systems IEEE Institute of Electrical and Electronics Engineers IIOT Industrial Internet of Things IMU Inertial Measurement Unit LTE Long Term Evolution MIMO Multiple Input Multiple Output mMTC Massive Machine Type Communication NAVAC NAVISP Advisory Committee NAVISP Navigation Innovation and Support Programme NR New Radio NTP Network Transport Protocol PNT Positioning, Navigation, and Timing PRS Positioning Reference Signal PTP Precise Time Protocol RAT Radio Access Technology SyncE Synchronized Ethernet UAV Unmanned Aerial Vehicles URLLC Ultra Reliable Low-Latency Communication UTC Universal Time Coordinated

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1. Introduction

The greatest contribution to the introduction of PNT in every day applications has come from the introduction of the GNSS technology. GNSS offers unique features that are difficult, if not impossible for other technologies to match, such as global coverage and service to an unlimited number of users on land, sea, air and space. The level of performance of GNSS is increasing and new services are being added with every generation of the systems, the latest examples being high accuracy and authentication. However, there are still a number of use cases where GNSS alone cannot fulfill all the expectations of the users. It is on those cases where the synergies of GNSS and cellular-based PNT techniques have the greatest potential, even more when considering the advancements to the brought about by the new features of 5G technologies to support PNT services. The objective of this document is to present what those opportunities are.

In the next section (Section 2), the gradual introduction of PNT requirements in the standardization of cellular networks is presented. This leads to the identification of a list of positioning service levels to be supported in the 5G coverage areas. It appears that a few but relevant of those service levels are not yet fulfilled, for example, precise positioning in indoor environments to support Industry 4.0 applications. In Section 3, the focus of the document is open to cover as well other use cases within the cellular network coverage areas where the requirement of PNT are not yet fully resolved. This includes, in addition to the cases identified in Section 2, the case of the provision of a robust back-up to GNSS for critical applications (e.g. autonomous vehicles) and the distribution of precise time and frequency through the different assets of the network including the users. In Section 4, the possibilities offered by the 5G technologies are briefly outlined.

2. The Evolution of PNT in Cellular Networks: General Status and Related ESA Activities

The 5G technology will be the next and newest wireless technology planned to be implemented commercially by telecommunication operators as from 2020. The main innovative features of 5G may be classified into three wider areas: Enhanced Mobile Broadband (eMBB), Ultra Reliable Low-Latency Communication (URLLC) and Massive Machine Type Communication (mMTC). Even before 5G, location-based services were considered a significant feature of the modern cellular networks which allow the users to locate themselves. In the United States, as from 31 December 2005, it became mandatory for network operators to comply with the FCC´s E911 mandate. This requires mobile network operators to locate and to share the position of emergency calls with emergency dispatchers. Cellular network operators were made responsible for positioning wireless terminals with an accuracy of 50m in 80% of all positioning attempts. These accuracy requirements had to be fulfilled and guaranteed no matter what position estimation technology was used, or in which environment the call was being made (i.e., indoor or outdoor).

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In Europe, the 112 emergency service has been updated in a location-enhanced version called E112. Similar to eCall systems for cars, emergency responders receive the position of the person in distress. To support this, in December 2018, the European Commission (EC) adopted new measures requiring all smartphones sold in the EU from 17 March 2022 to have GNSS capability, particularly Galileo capability, so that they can use GNSS to provide caller location information to the emergency services. Unlike the US approach, the EC measures do not enforce network operators to take responsibility for positioning mobile terminals and therefore the regulations did not have such an impact on the standardization efforts led by the 3rd Generation Partnership Project (3GPP) ´s work1. In the US, at the invitation of FCC, the 3GPP organization developed location services for the first time in the 3GPP Rel-4 (location services in legacy technologies – 2G, 3G). A fresh approach for positioning services in 3GPP, also driven by E911 mandate, started in 2009 for 4G. The 4G networks2 supported positioning capabilities similar to 2G and 3G but later developed into a more complex system that today supports both 3GPP technologies and non- 3GPP technologies (e.g., GNSS). During the years, in addition to regulatory use cases (i.e., E911), location-based services started to show potential also for commercial usage. For instance, accurate user location information can enable the mobile applications to offer services and information customized to the current users´ locations, or it could enable various use cases in the context of Industry 4.0. Because cellular positioning solutions based on past cellular technologies like 3G and 4G are not capable of reaching high accuracy even under nearly perfect operational and environmental conditions, 3GPP turned its attention to positioning technologies based on the features of new radio access technology defined for 5G. Features such as wide bandwidth signals, mm-wave and massive Multiple Input Multiple Output antennas (MIMO), etc., are identified as potential major enablers for high accuracy cellular-based positioning in complement to well established technologies such as GNSS. With the aim to leverage 5G as enabler of seamless and ubiquitous added-value positioning, the 5G_HYPOS3 Study Item, part of 3GPP Release 15 for 5G, focused on gathering and harmonisation 5G positioning use cases and related performance targets. This work has been used as main input in the definition of the Requirements for 5G Positioning Service Levels4 adopted by 3GPP in their latest release (3GPP Rel-16). These include very demanding

1 3GPP, created in December 1998, unites seven telecommunications standard development organizations and provides its members with a stable environment to produce the specifications that define mobile wireless technologies. Following a process of parallel releases, 3GPP covers cellular telecommunications technologies, including radio access, core network, and service capabilities.

2 The precursors of 4G networks were upgrades of the 3G networks equipped with 4G Long Term Evolution (LTE) technology.

3 3GPP TR 22.872 Study on Positioning Use Cases (5G_HYPOS).

4 Service requirements are provided in the 3GPP technical specification TS 22.261

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performance targets, characterized by ambitious system requirements for positioning accuracy in many user scenario (see Appendix A). In Table 1, an assessment by ESA experts of the feasibility of achieving those demanding performance targets is presented. A large variety of the use cases can be already fulfilled by the combination or hybridization of existing positioning technologies like GNSS, user sensors and cellular. However, even when combining all technologies, some demanding accuracy targets are not met. This is particularly the case of requirements associated to Industry 4.0, namely 0.3m and 1m in indoor environments.

Evaluation Environments

Outdoor Indoor Positioning Performance Service Levels

Enhanced Sub- Rural Deep urban Indoor positioning urban coverage area

10m (Service Level 1) HA-GNSS + IMU Yes (availability to be 3m (Service Level 2) (availability may be confirmed) Horizontal low)

Acc. 1m (Service Level 3 and 4)

RTK fix solution 0.3m (Service Level 5 and 6) (availability may be low) Vertical Condition: calibrated Condition: calibrated 3m GNSS + barometer Acc. and stable and stable barometer barometer Enhanced Positioning Area represent a service area that is assumed to be provided with additional infrastructure or deploy a particular set of positioning technologies to enhance positioning services. For example, a factory could be equipped to enable tracking of workforce, and assets.

Performance targets Performance targets Performance targets fully Performance targets Performance targets largely met (at least met under certain met (at least 95%) rarely met never met 68%) conditions

Table 1. 5G Positioning Performance Targets and current expected level of compliance (ESA assessment)

To address these requirements, a new push for enhanced location capabilities was introduced in the 3GPP Rel-165. Besides support for high-accuracy GNSS techniques, new 3GPP

5 Work on the 3GPP Rel-16 was conducted in the period Q3 2018 to Q1 2020.

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solutions, generically called Radio Access Technology (RAT) - dependent positioning methods, were defined and proposed to be gradually introduced into 5G positioning services. This new work recognised that in many applications, accurate location information is typically achieved through combination of multiple technologies, including: 1) GNSS based solutions, providing accurate location in outdoor scenarios, 2) 5G-based technologies, and 3) sensors (e.g. IMU, atmospheric pressure sensor for vertical positioning, etc.). In the effort done for 5G Rel- 16, 3GPP also identified a wide range of improved 5G-based positioning techniques: angle based solutions – Downlink Angle of Departure (DL-AoD), Uplink Angle of Arrival (UL- AoA), and time based solutions – Downlink Time Difference of Arrival (DL-TDOA), Uplink Time Difference of Arrival (UL-TDOA), and Multi Round Time Trip (Multi RTT), which are now included in the positioning protocol (see 3GPP TS 37.355). All techniques mentioned above are already included in the 5G Release-16, however this does not imply that those techniques are readily available on the operational networks. The standards define the interfaces, protocols and measurements to be performed, not their implementation (in particular the fine tuning of the algorithms), nor their combination into a hybrid solution to maximise performances and ubiquity which is left to the discretion of the network developers and operators. In particular, there are currently no deployments of 5G networks supporting Release 16 specifications (published for first time only in Q2 2020). Field evaluation of 5G positioning is currently reduced to testing areas in indoor and outdoor environments or the subject of dedicated studies6. The work of 3GPP on PNT is planned to continue toward the next release (Rel-17) during the period 2021-2022 on how to exploit the technology of the new radio-access techniques and will focus in particular on enhancing the positioning features to meet the performance targets of the use cases not yet satisfied. In the next section, a summary of those use cases is presented as compiled from the point of view of the ESA experts.

3. Challenging PNT User Scenarios in 5G networks

Three main user scenarios present particular challenges in terms of PNT performance in a 5G scenario: • Industry 4.0 applications in indoor environments and the related seamless outdoor/indoor scenarios • Complementary PNT solutions for critical applications • Network time and frequency distribution Across these scenarios, the aspect of assured PNT is paramount due to the issues of interference, jamming , spoofing or visibility of GNSS. Addressing effectively the issue of assured PNT is an additional challenge to the resilience of 5G itself.

6 Example of studies: The planned NAVISP activity to develop a technological proof-of-concept addressing the hybridization of GNSS with and ad-hoc 5G overlay (https://navisp.esa.int/opportunity/details/72/show). Also the concluded study on GNSS Integration into 5G Networks (GINTO5G) under H2020

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3.1. Industry 4.0

Today, there is a surging demand for precise real time localization and this can be seen across many disruptive applications: connected and automated driving, unmanned aerial vehicles, Industry IoT (IIOT) and other. The IIOT was a major vertical focus area for the current 3GPP set of specifications (Release 16) and will continue to be so for Release 17 where positioning and implicitly time synchronization for IIOT has been identified as a main objective. In manufacturing plants, supervisors and applications need to receive information regarding the positions of specific assets to react to business situations. Positioning therefore is increasingly considered as a utility, with a high level of expectation from all parties involved in an operation. In the context of Industry 4.0, very accurate indoor positioning can be used to track assets and workforce, navigation, real-time monitoring, location-based and time-based events, and data collection of geo-referenced positioning data. Regardless of all benefits brought by interoperable multi-GNSS constellations and betterment of GNSS user technology, this technology has intrinsic limitations in indoor locations where the signals may not be always available. Therefore, 5G would be well positioned to fill this gap and meet industry´s needs representing an advantage with respect to ad-hoc proprietary solutions, that cannot benefit from the economy of scale and increased interoperability of a global standard as 5G. A 5G solution would also enhance seamless navigation from an outdoor to an indoor environment or great benefit to logistic operators or for smart city applications requiring transition from indoor to outdoor environments. Some examples of scenarios requiring demanding positioning performance are given below.

Figure 1. Examples of Industrial IoT applications (source https://www.iiconsortium.org/) Smart Warehousing Many companies are testing the limits of automation and human-machine collaboration applied to warehousing and logistics. An army of Wi-Fi connected robots can locate shelves of products and bring them to workers rather than have employees go to the shelves to hunt for products.

Asset Tracking and Tracing

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The goal is to manage handheld power tools in manufacturing and maintenance environments. The tools will be able to determine its precise location and use and, therefore, will be able to determine the work needed to complete a task. In addition, if a tool recognizes that it is being misused, it will promptly power done to avoid accident or injury. Another important area of application is Foreign Object Debris / Damage (FOD). This is a matter of major concern for aeronautical industry, but not just. Tools and objects left unintentionally inside the product being manufactured or in the wrong location inside the factory are the cause of many problems for the industry. A challenge in this scenario is to identify the location of the asset with an accuracy better than 30 cm, and ideally down to 5 cm. Currently, the accuracy is approximately 1 m.

Workforce Tracking for Safety Worker safety is a primary concern in industries around the world. According to the International Labour Organization, 2.3 million people worldwide die annually as a result of occupational illnesses and accidents at work. Factory environment often entails hazardous materials that can be dangerous for health and well-being of the employees. The ability to digitally navigate through the entire factory and analyse real-time data and statistics about all the facilities can help identify safety hazards and prevent potential damage before it occurs. The effectiveness and success of this initiative will depend on the accuracy of the solution used to identify the precise location of the worker.

3.2. Complementary Solutions for PNT in Critical Applications

GNSS is the best solution for high accuracy positioning in many applications in particular in outdoor environments. As applications become more widespread, and safety-critical, having alternative PNT technologies to fall back to when GNSS is unavailable (e.g. due to jamming, spoofing, visibility) become a must. Given the economic benefits of Positioning, Navigation and Timing and the reliance of many critical applications on GNSS, complementary 5G positioning technologies may also provide additional capabilities and opportunities to augment GNSS for both indoor and outdoor scenarios. Enabling positioning in these scenarios requires new signals and new infrastructure that could be exploited to expand the range of techniques available. With its larger bandwidths at higher frequencies of the 5G signals and more dense deployment of the networks, complementary 5G positioning holds the promise to expand ubiquitous PNT capabilities to GNSS-denied environments such as deep urban canyons. Critical applications that could benefit from 5G- based positioning technologies include autonomous vehicles, first responders and health related applications and tracking of medical/dangerous goods and monitoring of critical infrastructure among others.

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Figure 2. A robust back-up to GNSS would be an enabler for the introduction of drone operations in regulated airspace (image source https://www.dronedefinition.com/)

3.3. Network Synchronisation and Other Time and Frequency Aspects

The most accurate and ubiquitous time transfer is currently realised through GNSS, and allows time dissemination and traceability to a reference time scale (e.g. UTC). Given high-quality frequency reference, a GNSS-based time source can keep time error with less than 30 ns error to UTC. GNSS is already used moderately but its further adoption is limited by price of equipment, limited coverage indoor and in urban canyons, holdover limitations, vulnerabilities against interference and spoofing and signal blockage (difficult environments like urban and indoors). Traditional network solutions such as Network Time Protocol (NTP) and Precise Time Protocol (IEEE 1588v2 PTP) for timing distribution in data networks and Synchronised Ethernet (SyncE) for frequency reference at physical layer over terrestrial wire or wireless media are far more resilient to jamming and signal blockage. These media (and protocols) are far more secure (due to multiple layers of security), yet are limited in terms of maximum accuracy versus distance to reference due to inherent latency and asymmetry in the packet- based networks. The use cases where precise time-synchronization is to be provided include:

• Wireless networks: timing signals are absolutely essential for synchronization of the communication protocols of the mobile networks infrastructure. Stringent requirements below 100ns have been considered, which mandates base station air interfaces to be aligned within 65 ns (relative synchronization). For the potential provision of meter-level positioning services

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based only on 5G base stations, the relative timing synchronization accuracy required for base- stations involved in the positioning provision would be below 10ns.

• Cellular Vehicle-to-Everything (C-V2X), as part of terrestrial wireless network 5G features, is a radio technology designed to allow for vehicle to vehicle and vehicle to infrastructure direct communications. 3GPP considers GNSS a primary time and frequency synchronisation source of V2X communication. Synchronisation requirements for C-V2X point out to accuracy below ~400ns synchronisation when GNSS is available and below ~800 ns when GNSS is not available. In addition, 0.1ppm frequency stability in a 0.5ms measurement interval is considered.

• Factories of the Future: in factory automation, typical cycle times are 10ms while motion control applications (printing machines, etc.) requires cycle times of less than 1ms with a jitter of less than 1µs. For motion control, a time synchronisation accuracy of 100 ns is required while a switch latency time of 40 ns is expected.

• Smart Green Energy Networks: Robust and reliable precise time and frequency synchronization are critical to enable the operation of smart energy networks allowing to integrate in an optimum way the energy generated and consumed in the different nodes of the network. Continuous monitoring of events and precise synchronization of the nodes allows to balance the load across the network. Precise timing of the measurement of amplitude and phase of electrical power signals allows to detect faults in the network.

For these use cases there is the need to develop high performance and robust time-transfer and time dissemination techniques making the best of GNSS, 5G system and/or local timing and frequency units.

4. Technologies to Support PNT in 5G networks

The 5G New Radio (NR) is the global standard for unified, more capable 5G wireless air interface. With location awareness becoming an essential feature of many new markets, positioning is consequently considered as an integral part of the system design of upcoming 5G mobile networks. 5G NR enables positioning performance by exploiting breakthrough inventions in mobile communications: high bandwidths for precise timing, new frequency bands at mm-wave, massive MIMO for accurate angle-of-arrival estimation, and new architectural options that support positioning. Improved levels of accuracy, robustness and latency, not possible today, can soon be achieved

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.

Figure 3. Key enablers for 5G positioning

4.1. Enhanced Positioning Techniques During Rel-16, 3GPP identified a wide range of improved 5G-based positioning techniques: angle based solutions – Downlink Angle of Departure (DL-AoD), Uplink Angle of Arrival (UL-AoA), and time based solutions – Downlink Time Difference of Arrival (DL-TDOA), Uplink Time Difference of Arrival (UL-TDOA), and Multi Round Time Trip (Multi RTT), which are now included in the positioning protocol (see TS 37.355).

4.2. Wide-Bandwidth Signals

Two different frequency ranges are available for the 5G technology and the different ranges have been designated FR1 - frequency range 1 (recently extended from bands below 6 GHz to bands below 7.125 GHz) and FR2 - frequency range 2 (bands between 24.25 – 52.6 GHz). The 5G NR supports signal bandwidths up to 100 MHz for carrier frequencies below 7.125 GHz GHz, and up to 400 MHz for frequencies in the FR2. More precisely, 50, 100, 200, 400 MHz in bandwidth. Wideband signals present a superior robustness against multipath, the main source of error in urban and indoor settings, due to the short pulses transmitted over a wide signals. This feature is very interesting for attempting high precision ranging. The opportunity here is to understand what bandwidth works best for ranging in different environments and applications.

4.3. Massive MIMO (with beamforming)

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Massive MIMO – which is an extension of MIMO – expands beyond the legacy systems by adding a much higher number of antennas on the base station. This has become an important technology because the latest 3GPP specifications support beamforming and higher frequencies allow massive yet compact MIMO antennas. The use of massive MIMO and mmWave systems are attracting interest from the localization community. The “massive” number of antennas helps focus energy in certain direction which can lead to better ranging when put in the context of positioning services. Large scale antenna system offers high angular resolution too and therefore enable precise measurements of the angle of arrival (A0A) and the angle of departure (AoD).

4.4. Optimised Positioning Signals

Downlink-based positioning is supported by providing an optimised reference signal called the Positioning Reference Signal (PRS). Compared with 4G, the PRS has a more regular structure and a much larger bandwidth, which allows for a more precise correlation and time of arrival (ToA) estimation. Uplink-based positioning is based on Release 15 Sounding Reference Signals (SRSs) with Release 16 extensions. Based on the received SRSs, the base stations can measure and report (to the location server) the arrival time, the received power and the angle of arrival from which the position of the user can be estimated. The opportunity here is to select signal power and - both on downlink and uplink – to improve range estimation.

4.5. Sensors Based Enhancements

There is currently a range of applications that requires accurate 3D positioning not only outdoors but also indoors. A range of positioning methods, both in downlink and uplink – see 3GPP TS 38.3057 Stage 2 functional specification of User Equipment (UE) positioning in NG- RAN , can be used separately or in combination with sensors e.g., barometer to meet the accuracy requirements for vertical location i.e., floor-level accuracy.

4.6. Very Dense Coverage in Specific Areas Such as Indoor

Many of the technologies supporting 5G are optimised for very high-throughput in very small cells, typical of dense urban environment or indoor. A very dense 5G coverage may contribute to improve the geometry of the positioning infrastructure and more importantly, will increases the likelihood of Line-of-Sight coverage, hence the ranging accuracy, which will be less likely impacted by Non-Line-of-Sight biases.

7 3GPP TS 38.305 Stage 2 functional specification of User Equipment (UE) positioning in NG-RAN

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Appendix A. 3GPP TS 22.261 5G Positioning Service Levels

Accuracy Coverage, environment of use and user velocity (95 % confidence

level) Positioning Positioning service service latency availability 5G enhanced positioning service area9 5G positioning

service area8 Outdoor and Indoor tunnels Positioning service level service Positioning Horizontal Accuracy Vertical Accuracy Indoor - up to 30 km/h 1 10 m 3 m 95 % 1 s NA Indoor - up to 30 km/h Outdoor (rural and urban) up to 250 km/h

Outdoor (dense Outdoor (rural and urban) up to 60 km/h urban) up to 500 2 3 m 3 m 99 % 1 s Indoor - up to 30 km/h km/h for trains and Along roads up to up to 250 km/h for 250 km/h and other vehicles along railways up to 500 km/h

Outdoor (dense urban) up to 60 Outdoor (rural and km/h urban) up to 500 3 1 m 2 m 99 % 1 s km/h for trains and Indoor - up to 30 km/h Along roads up to up to 250 km/h for 250 km/h and other vehicles along railways up to 500 km/h

4 1 m 2 m 99,9 % 15 ms NA NA Indoor - up to 30 km/h

Outdoor (dense Outdoor (rural) up 5 0,3 m 2 m 99 % 1 s urban) up to 60 Indoor - up to 30 km/h to 250 km/h km/h

8 A service area, indoor or outdoor, where positioning services would solely rely on infrastructures and positioning technologies that can be assumed to be present anywhere where 5G is present (e.g. a country-wide operator- supplied 5G network, GNSS, position/motion sensors).

9 A subset of the 5G positioning service area, assumed to be provided with additional infrastructure or deploy a particular set of positioning technologies to enhance positioning services. The enhanced positioning service area represents for example a factory plant, a dense urban area, etc.

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Along roads and along railways up to 250 km/h

Outdoor (dense Indoor - up to 30 6 0,3 m 2 m 99,9 % 10 ms NA urban) up to 60 km/h km/h

Indoor and outdoor (rural, urban, dense urban) up to 30 km/h

7 0,2 m 0,2 m 99 % 1 s Relative positioning is between two users within 10 m of each other or between one user and 5G positioning nodes within 10 m of each other’s (note 3)

Table 2. Performance requirements for Horizontal and Vertical positioning service levels developed in 3GPP SA1 working group as part of NR Release 16.

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Appendix B. List of Companies Contributing to 3GPP 5G PNT Studies

The following companies have been identified so far as participants to the positioning related discussions in 3GPP. The list includes a number of very significant market owners. With a view to better focus the Call, the Executive intends to invite them to participate to the workshop planned in the topic.

Mobile Network Operators 1. AT&T 2. Telefonica 3. Deutsche Telekom Network Equipment Vendors 1. Ericsson 2. Nokia 3. Huawei 4. Samsung 5. ZTE 6. Futurwei Chips vendors 1. Qualcomm 2. Intel 3. MediaTek 4. Apple 5. U-blox 6. Polaris Wireless Research Institutes 1. CATT 2. Fraunhofer IIS 3. TNO