Method and apparatus for kinematic state estimation of a user equipment

A network node for kinematic state estimation of a user equipment connected to the wireless communication network of said network node, wherein

• said network node is configured to obtain measurement information, wherein:
• the measurement information is related to a kinematic measurement concerning said user equipment, said kinematic measurement is achieved at a measuring time, and said kinematic measurement belongs to a set of kinematic measurements;
• said network node is further configured to determine whether said measurement information is consistent with a measurement prediction for said user equipment valid for said measuring time based on a kinematic state estimation of said user equipment, said kinematic state estimation being created using kinematic measurements of said set of kinematic measurements;
• and
• said network node is further configured to discard said measurement information if said measurement information is determined not to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining;
• and to update said kinematic state estimation of said user equipment with said measurement information if said measurement information is determined to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining.

A non-transitory computer readable storage medium storing a computer program comprising instructions, which when executed by at least one processor, cause said at least one processor to obtain measurement information, wherein:

• the measurement information is related to a kinematic measurement concerning a user equipment, said kinematic measurement is achieved at a measuring time, and said kinematic measurement belongs to a set of kinematic measurements;
• wherein said instructions, when executed by said at least one processor, further cause said at least one processor to determine whether said measurement information is consistent with a measurement prediction for said user equipment valid for said measuring time based on a kinematic state estimation of said user equipment, said kinematic state estimation being created using kinematic measurements of said set of kinematic measurements;
• wherein said instructions, when executed by said at least one processor, further cause said at least one processor to discard said measurement information if said measurement information is determined not to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining;
• and
• wherein said instructions, when executed by said at least one processor, further cause said at least one processor to update said kinematic state estimation of said user equipment with said measurement information if said measurement information is determined to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining.