802.11bd NGV Ranging Status and Types: Authors

November 2020 doc.: IEEE 802.
11-20/1728r3
802.11bd NGV Ranging Status and Types

Date: 2020-11-03
Authors:
Name Affiliations Address Phone email
Stephan Sand, German Aerospace Münchener Straße 20, 0049-8153-28-1464 stephan.sand@dlr.de,
Paul Unterhuber, Center (DLR) 82234 Weßling, 0049-8153-28-2291 paul.unterhuber@dlr.de,
Benjamin Siebler, Germany 0049-8153-28-2870 benjamin.siebler@dlr.de,
Martin Schmidhammer, 0049-8153-28-1539 martin.schmidhammer@dlr.de,
Fabian de Ponte Müller 0049-8153-28-2882 fabian.pontemueller@dlr.de,
Andreas Lehner 0049-8143-28-2804 andreas.lehner@dlr.de
Friedbert Berens FBConsulting Sarl 21, Route de 0049-16097971846 friedbert.berens@me.com
Luxembourg
6633 Wasserbillig
Luxembourg
Sebastian Schiessl u-blox Athens, Greece +30 2155004277 Sebastian.schiessl@u-
blox.com
Ioannis Sarris +30 6976080735 ioannis.sarris@u-blox.com
Bahar Sadeghi Intel Corp. +1-503-803-2471 Bahareh.sadeghi@intel.com
Jonathan Segev
Qinghua Li
Submission Slide 1 Stephan Sand, German Aerospace Center (DLR)
November 2020 doc.: IEEE 802.11-20/1728r3
Abstract
We review contributions on ranging for 802.11bd NGV and summarize the

different ranging types. This leads to straw polls asking:
What preferences does the group have on the different ranging types?

802.11bd NGV Documents Addressing Ranging
• PAR/FRD [1], [2]: “amendment defines procedures for at least one form of
positioning in conjunction with V2X communications”
• UC Doc [3]: UC5 Vehicular Positioning & Location, UC8 Train-to-Train,
UC9 Vehicle-to-Train
• SFD [4]: “11bd supports round-trip-time (RTT) ranging for 10 MHz and 20
MHz bandwidth PPDUs.”
• Draft 0.4: “An NGV PHY shall support the following features:
• Round trip time (RTT) based ranging using 10 and 20 MHz bandwidth
PPDUs”

802.11bd NGV Contributions Addressing Ranging
• Positioning Use Cases for NGV [5]

• NGV Ranging Discussions [6]: FTM, NTB, TB, and passive TB ranging
• Ranging Performance in 11bd [7] : Performance results NTB ranging
• Considerations on Ranging in NGV [8]: Performance results one-way TOF
& RTT ranging, 60 GHz
• On ranging methods for NGV [9]: First comparison one-way TOF, two-way
RTT, FTM EDCA, and NTB ranging
• Ranging Protocol in 11bd [10]: Ranging advertisement & NTB ranging
• Influence of Delay-Close Multi Path Components on FTM-RTT [11]:
Performance results RTT ranging
Ranging One-Way TOF Two-way RTT FTM EDCA NTB [6,7, Passive TB [6] Passive TB
type [8,9] [8,9,11] [6,9,11] 9,10] TOF/RTT/ [6]
FTM EDCA
/NTB
Standard - - 802.11-2016 802.11az - 802.11az 802.11az
Challenges accurate absolute TODs (sub ns high channel 1 request + additional 9-11 frames in 15 frames in
timing at each STA; accuracy) & TX load ACK frame, measurement one TXOP, one TXOP,
TOD (sub ns location included in (≥ 6 frames), 5 frames in reports AP based, based on TB
accuracy) & TX measurement frame 30 ms  100 one TXOP, depending on spatial streams
location included in and/or fixed timing ms position (no 0.6 ms, ranging type UL and DL,
measurement frame for reply ACK parallel ex-  2 ms not OCB
change) position
Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

frames meas. report
Security/ - - - optionally depending on optionally -

Privacy type
11bd strict timing TOD in None, optional: NDPA/NDP depending on adaptation to Only with TB,
Changes synchronization, measurement reduce frames, frame using type OCB adaptation to
TOD in measure- frame, exchange in parallel ranging NGV PPDU OCB
ment frame one TXOP ex-change

Ranging One-Way TOF Two-way RTT FTM EDCA NTB [6,7, Passive two- TB [6] Passive TB
type [8,9] [8,9,11] [6,9,11] 9,10] way RTT/ [6]
FTM EDCA
/NTB
Standard - - 802.11-2016 802.11az - 802.11az 802.11az
change) position
Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

frames meas. report
Security/ -Not feasible - - optionally depending on optionally No

type
OCB requires
Privacy
time sync significant Only
rework
11bd strict timing TOD in None, optional: NDPA/NDP depending on adaptation to with TB,

Ranging One-Way TOF Two-way RTT FTM EDCA NTB [6,7, Passive TB [6] Passive TB
type [8,9] [8,9,11] [6,9,11] 9,10] FTM EDCA [6]
/NTB
Standard - - 802.11-2016 802.11az - 802.11az 802.11az

change) position
Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

frames meas. report
Security/ -Not feasible - Feasibility - optionally depending on optionally

OCB requires No
Privacy type
time sync not tested significant Only
rework
11bd strict timing TOD in None, optional: NDPA/NDP depending on adaptation to with TB,

Ranging FTM EDCA NTB [6,7,
type [6,9,11] 9,10]
Standard •
Highly dynamic V2X 802.11-2016 802.11az • Highly dynamic V2X
Challenges environment: latency critical high channel 1 request + environment: latency critical
• High channel load: load ACK frame, • High channel load:
DCC may delay next TXOP (≥ 6 frames), 5 frames in DCC may delay next TXOP by
30 ms  100 one TXOP,
by 1 second [12] ms position (no 0.6 ms, 1 second [12]
• FTM EDCA: parallel ex-  2 ms  NTB measurement
3 separate frames with ACKs change) position exchange including LMRs in
 FTM measurement one TXOP only 0.6 ms
Transmitted ≥6 6-7
exchange including LMRs  Low latency
frames
several seconds
Security/  High latency - optionally
• Support for authentication,
Privacy
integrity check, and privacy of
11bd None, optional: NDPA/NDP ranging message
Changes reduce frames, frame using
parallel ranging NGV PPDU
ex-change

Passive Ranging
11az defines passive TB ranging:

• Relative range (TDOA) of
arbitrary number of
passive STAs (PSTAs)
• No additional measurement
exchanges needed
• In addition to LMR reports
two RSTA broadcast passive
TB ranging measurement
report frames
 Scalability
Passive Ranging Proposal
Passive NTB ranging:

• Relative range (TDOA) of
NDP Announcement
arbitrary number of
passive STAs (PSTAs)
• No additional measurement
exchanges needed
• In addition to LMR reports
two report frames e.g.
• LCI or
• R/ISTA broadcast passive ranging measurement
 Scalability
REVmd D5.0 P.3 Differential Distance Computation using

Fine Timing Measurement frames (informative)
• STAs listening to FTM frame exchange:
 purely receiver design, no protocol
change required

11bd Differential Distance Computation using FTM

frames and NTB Measurement Exchange (informative)
• STAs listening to FTM & NTB frame
exchange: LMR I/RSTA specified
change required
• Relative location benefit:
Collision avoidance
• Absolute location: Higher layer
 Update P.3 for NTB if necessary, add
note e.g. subclause 4.3.17a on capability


• STAs listening to FTM & NTB frame
change required
• Relative location benefit: NDP Announcement SIFS
• Absolute location: Higher layer SIFS
 Update P.3 for NTB if necessary, add

note e.g. subclause 4.3.17a on capability


• STAs listening to FTM & NTB frame NDP Announcement SIFS
 purely receiver design, no protocol SIFS
change required
• Relative location benefit: SIFS
• Absolute location: Higher layer
R2I LMR
 Update P.3 for NTB if necessary, add SIFS
note e.g. subclause 4.3.17a on capability I2R LMR

Multi-channel 11az Ranging [13]
Leveraging higher layer (1609/ITS-G5) multi-channel operation

• Capability discovery handled via higher layer mechanisms through 11bd
• Flexible and low-overhead application of 11az in 11bd and OCB mode
• Ranging can occur through multi-channel operation
• inside 5.9 GHz ITS band:
 NTB ranging (NGV NDP/NDPA and LMR frames)
 802.11 security using 11az pre-association security negotiation (PASN)
• outside 5.9 GHz ITS band
 Enables use of higher BW channels for higher accuracy ranging where applicable
 Use of 11az PHY security and different 11az ranging options possible
• Minimal changes/spec work required in 11bd
Mandatory vs. Optional Ranging Types
• Optional ranging types

• Need for advertisement and negotiation
• Higher flexibility for different applications
• Mandatory ranging type(s)

• All NGV devices possible I/RSTA
• No need for advertisement and negotiation
 E.g. NTB ranging advertisement unnecessary
• Mandatory capture of accurate TOA/TOD of frames
 E.g. FTM EDCA Ranging FTM Request unnecessary
 Faster ranging and positioning

Conclusions
• 11bd NGV ranging: Two out of five ranging types plus passive methods
• One-way TOF: time synchronization and fast time stamp
• Two-way RTT: fast time stamp and fixed timing for ACK (processing time)
• FTM EDCA: easily adapted for 11bd, 3 separate frames + ACK  high latency
• NTB: define additional frames, one TXOP measurement exchange and reporting  low latency
• Passive NTB(/FTM EDCA): In addition to LMR reports two LCI reports  scalability
• TB and passive TB: Significant changes to work OCB
• Multi-channel 11az ranging: 11bd STAs negotiate 11az ranging outside 5.9 GHz band
• Mandatory vs. optional ranging type(s):
• Flexibility
• Reduced channel use
• Faster ranging and positioning

References
[1] Project Authorization Request (PAR) [8] Considerations on Ranging in NGV

11-18-0861r9 11-19-0788r3
[2] TGbd Functional Requirements Document [9] On ranging methods for NGV
(FRD) 11-19-0495r3 11-19-1892r0
[3] TGbd Use Case Document [10] Ranging Protocol in 11bd
11-19-1342r1 11-19-2011r0
[4] TGbd Spec Framework Document (SFD) [11] Influence of Delay-close Multi Path
11-19-11-19-0497r7 Components on FTM-RTT
[5] Location use cases for NGV 11-19-1929r1
11-18-1221r0 [12] ETSI EN 302 571 V2.1.1 (2017-02), ITS;
[6] NGV ranging discussion Radiocommunications equipment operating in
11-18-1250r0 the 5 855 MHz to 5 925 MHz frequency band
[7] Ranging Performance in 11bd [13] Ranging in 11bd 11-20/1761r2
11-19-0859r0
SP #1
Do you agree to add in the SFD

“11bd supports distance measurement using NTB ranging for 10 MHz and
20 MHz bandwidth PPDUs in the 5.9 GHz band. This feature is optional.“
Yes/No/Abstain/No Vote: 21/0/5/26
Motion passe by unanimous consent

Yes/No/Abstain/No Vote: ///

SP #2
Do you agree to add to the SFD an update of 11bd D1.0 at the end of subclause
4.3.17a
“11bd supports hyperbolic positioning using differential time of arrival for 10
MHz and 20 MHz bandwidth PPDUs in the 5.9 GHz band. This feature is
optional.”
“NGV STAs may support differential distance computation as detailed in
Annex P.3.”
Yes/No/Abstain:

SP #3
Do you agree to add to the SFD an update of 11bd D1.0

“11bd supports negotiation of ranging features using higher layer
mechanisms.”
“NGV STAs operating OCB may support negotiation of ranging features
using higher layer mechanisms.”
Yes/No/Abstain:

802.11bd NGV Ranging Status and Types: Authors

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November 2020 doc.: IEEE 802.

802.11bd NGV Ranging Status and Types

We review contributions on ranging for 802.11bd NGV and summarize the

Submission Slide 2 Stephan Sand, German Aerospace Center (DLR)

802.11bd NGV Documents Addressing Ranging

Submission Slide 3 Stephan Sand, German Aerospace Center (DLR)

802.11bd NGV Contributions Addressing Ranging

• Positioning Use Cases for NGV [5]

Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

Security/ - - - optionally depending on optionally -

Submission Slide 5 Stephan Sand, German Aerospace Center (DLR)

Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

Security/ -Not feasible - - optionally depending on optionally No

Submission Slide 6 Stephan Sand, German Aerospace Center (DLR)

Standard - - 802.11-2016 802.11az - 802.11az 802.11az

Transmitted 1 2 ≥6 6-7 1-2 add. 9-11 ≥ 15

Security/ -Not feasible - Feasibility - optionally depending on optionally

Submission Slide 7 Stephan Sand, German Aerospace Center (DLR)

Submission Slide 8 Stephan Sand, German Aerospace Center (DLR)

11az defines passive TB ranging:

Passive Ranging Proposal

Passive NTB ranging:

REVmd D5.0 P.3 Differential Distance Computation using

Submission Slide 11 Stephan Sand, German Aerospace Center (DLR)

11bd Differential Distance Computation using FTM

Submission Slide 12 Stephan Sand, German Aerospace Center (DLR)

11bd Differential Distance Computation using FTM

 Update P.3 for NTB if necessary, add

Submission Slide 13 Stephan Sand, German Aerospace Center (DLR)

11bd Differential Distance Computation using FTM

Submission Slide 14 Stephan Sand, German Aerospace Center (DLR)

Multi-channel 11az Ranging [13]

Leveraging higher layer (1609/ITS-G5) multi-channel operation

Mandatory vs. Optional Ranging Types

• Optional ranging types

• Mandatory ranging type(s)

 Faster ranging and positioning

Submission Slide 17 Stephan Sand, German Aerospace Center (DLR)

[1] Project Authorization Request (PAR) [8] Considerations on Ranging in NGV

Do you agree to add in the SFD

Yes/No/Abstain/No Vote: 21/0/5/26

Motion passe by unanimous consent

Submission Slide 19 Stephan Sand, German Aerospace Center (DLR)

Submission Slide 20 Stephan Sand, German Aerospace Center (DLR)

Do you agree to add to the SFD an update of 11bd D1.0

Submission Slide 21 Stephan Sand, German Aerospace Center (DLR)

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