Sharing of user equipment states

A method for sharing user equipment state estimates between nodes in a wireless communication network, wherein a user equipment is included as part of an airborne drone, the method comprising:

• receiving user equipment kinematic state estimate information and user equipment type state estimate information from a sending network node as a response to an indication of a need for sharing user equipment state estimates;
• said user equipment kinematic state estimate information comprising a latest kinematic state update time, mode state vector estimates, mode covariance matrices and mode probabilities valid for said latest kinematic state update time for at least one user equipment kinematic mode;
• said user equipment type state estimate information comprising a latest type state update time and type state probability estimate valid for said latest type state update time;
• and
• propagating a user equipment kinematic state estimate and a user equipment type state estimate to a present time based on said user equipment kinematic state estimate information and said user equipment type state estimate information, respectively;
• wherein the receiving user equipment kinematic state estimate information and propagating the user equipment kinematic state estimate is to a present time and said received user equipment kinematic state estimate information further comprises tracking coordinate system parameters or performing a user equipment kinematic state estimation, based on said mode state vector estimates, said mode covariance matrices, and said mode probabilities, propagated to a present time based on said latest kinematic state update time in which the received user equipment kinematic state estimate information further comprises tracking coordinate system parameters.

A network node configured for sharing user equipment state estimates within a wireless communication network, wherein a user equipment is included as part of an airborne drone, the network node comprising:

• a processor;
• and
• a memory comprising a computer program which, when executed by the processor, causes the network node to:
• initiate transmission of obtained user equipment kinematic state estimate information and obtained user equipment type state estimate information to a receiving network node as a response to an obtained indication of a need for sharing user equipment state estimates;
• said obtained user equipment kinematic state estimate information comprising a latest kinematic state update time, mode state vector estimates, mode covariance matrices and mode probabilities valid for said latest kinematic state update time for at least one user equipment kinematic mode;
• and
• said obtained user equipment type state estimate information comprising a latest type state update time and type state probability estimate valid for said latest type state update time;
• wherein the obtained user equipment kinematic state estimate information further comprises tracking coordinate system parameters or perform a user equipment kinematic state estimation, given said mode state vector estimates, said mode covariance matrices, and said mode probabilities, in which said user equipment kinematic state estimate information further comprises tracking coordinate system parameters.

A network node configured for sharing user equipment state estimates within a wireless communication network, wherein a user equipment is included as part of an airborne drone, the network node comprising:

• a processor;
• and
• a memory comprising a computer program which, when executed by the processor, causes the network node to:
• receive user equipment kinematic state estimate information and user equipment type state estimate information from a sending network node as a response to an indication of a need for sharing user equipment state estimates;
• said user equipment kinematic state estimate information comprising a latest kinematic state update time, mode state vector estimates, mode covariance matrices and mode probabilities valid for said latest kinematic state update time for at least one user equipment kinematic mode;
• said user equipment type state estimate information comprising a latest type state update time and type state probability estimate valid for said latest type state update time;
• and
• propagate a user equipment kinematic state estimate and a user equipment type state estimate to a present time based on said user equipment kinematic state estimate information and said user equipment type state estimate information, respectively;
• wherein the received user equipment kinematic state estimate information and propagating of the user equipment kinematic state estimate is to a present time and said received user equipment kinematic state estimate information further comprises tracking coordinate system parameters or perform a user equipment kinematic state estimation, based on said mode state vector estimates, said mode covariance matrices, and said mode probabilities, propagated to a present time based on said latest kinematic state update time in which the received user equipment kinematic state estimate information further comprises tracking coordinate system parameters.