Sidelink anchor group for sidelink position estimation

A user equipment (UE), comprising:

• a memory;
• at least one transceiver;
• and
• at least one processor communicatively coupled to the memory and the at least one transceiver, the at least one processor configured to:
• transmit, via the at least one transceiver, to a position estimation entity, a request to schedule an on-demand sidelink positioning reference signal (PRS) position estimation session of the UE;
• receive, via the at least one transceiver, from the position estimation entity, a sidelink PRS response that comprises assistance data associated with a sidelink anchor group for the on-demand sidelink PRS position estimation session;
• transmit, via the at least one transceiver, to the sidelink anchor group, a sidelink PRS trigger to trigger the on-demand sidelink PRS position estimation session in accordance with respective sidelink PRS pre-configurations of the sidelink anchor group, wherein the sidelink PRS trigger comprises an indication of a sidelink zone in which the UE is located;
• and
• perform a sidelink PRS exchange with one or more sidelink anchors of the sidelink anchor group in association with the on-demand sidelink PRS position estimation session.