In a method for determining a 3D directional vector between a sending device and a receiving device, the receiving device comprises at least two antenna arrays that each comprise a plurality of linearly arranged antenna elements that are aligned to different orientations. The method comprises receiving, with the antenna arrays, a signal sent from the sending device, sampling, based on the received signal, outputs of each antenna element of each antenna array at a plurality of time instants, determining, for each antenna array, a Propagator Direct Data Acquisition, PDDA, pseudo-spectrum by performing a 1-dimensional PDDA, 1D-PDDA, based on the sampled outputs of the respective antenna array and on a plurality of steering vectors associated with the respective antenna array, determining a maximum of each PDDA pseudo-spectrum, determining an angular quantity (Ψ) for each antenna array based on the respective maximum of the PDDA pseudo-spectrum, and determining the 3D directional vector based on the angular quantities (Ψ) of each antenna array and on the orientations of the antenna arrays.

There is provided a communication device that is to be disposed on an exterior of a mobile object, the communication device comprising a first antenna configured to transmit a signal for estimating a distance between the first antenna and other communication device in conformity with a first communication standard, wherein directivity of the signal transmitted by the first antenna is formed in such a manner that null related to the directivity is oriented to a height direction of the mobile object.

There is provided a communication device that is to be disposed on an exterior of a mobile object, the communication device comprising a first antenna configured to transmit a signal for estimating a distance between the first antenna and other communication device in conformity with a first communication standard, wherein directivity of the signal transmitted by the first antenna is formed in such a manner that null related to the directivity is oriented to a height direction of the mobile object.

Disclosed herein are related to a system and a method for determining an Angle of Approach (AoA) of a device. A first device may receive a report from a second device having a plurality of ultra-wideband (UWB) devices. The report may include a plurality of values comprising an elevation component and an azimuth component of the AoA from the first device. At least some of the plurality of values may be obtained according to measurements between the plurality of UWB devices of the second devices and the at least one UWB device of the first device. The first device may determine an AoA from the second device, using the plurality of values from the report received from the second device.

Disclosed herein are related to a system and a method for determining an Angle of Approach (AoA) of a device. A first device may receive a report from a second device having a plurality of ultra-wideband (UWB) devices. The report may include a plurality of values comprising an elevation component and an azimuth component of the AoA from the first device. At least some of the plurality of values may be obtained according to measurements between the plurality of UWB devices of the second devices and the at least one UWB device of the first device. The first device may determine an AoA from the second device, using the plurality of values from the report received from the second device.

The present invention relates to a blind area tracking method and apparatus for a directional antenna and a motion tracking system. The method includes: acquiring a position and a velocity of a tracking target relative to the directional antenna; determining, according to the position and the velocity, whether the tracking target is located in a tracking blind area of the directional antenna; and driving, in a preset blind area guidance mode and when the tracking target is located in the tracking blind area, the directional antenna to rotate. The method may help switch to a corresponding blind area guidance mode when an unmanned aerial vehicle enters a tracking blind area, to implement all-the-way tracking of a tracking target without temporarily losing the tracking target within the tracking blind area. In this way, a better tracking effect is ensured.

The present invention relates to a blind area tracking method and apparatus for a directional antenna and a motion tracking system. The method includes: acquiring a position and a velocity of a tracking target relative to the directional antenna; determining, according to the position and the velocity, whether the tracking target is located in a tracking blind area of the directional antenna; and driving, in a preset blind area guidance mode and when the tracking target is located in the tracking blind area, the directional antenna to rotate. The method may help switch to a corresponding blind area guidance mode when an unmanned aerial vehicle enters a tracking blind area, to implement all-the-way tracking of a tracking target without temporarily losing the tracking target within the tracking blind area. In this way, a better tracking effect is ensured.

The disclosure provides a method and a device for positioning in wireless communication. A first node transmits Q1 first-type radio signal(s) and transmits first information; wherein the Q1 first-type radio signal(s) is(are) transmitted by Q1 spatial parameter group(s) respectively; the first information includes a first Identifier (ID) and Q1 piece(s) of channel information, and the first information is used for indicating Q1 geographic position(s); the Q1 piece(s) of channel information is(are) based on a channel measurement(s) performed by a target node for the Q1 spatial parameter group(s) respectively, and the target node is identified by the first ID; and the Q1 spatial parameter group(s) cover(s) the Q1 geographic position(s) respectively. The disclosure can improve the precision of positioning and meanwhile keep a good compatibility with existing systems.

Determining a location of a user equipment includes transmitting, by one or more processors from a network node, a first beam having a first frequency range in a first area and a second beam having a second frequency range in a second area. The first area is larger than and encompasses the second area. A request for determining the location of the user equipment is received. The one or more processors may then cause the second beam to sweep within the first area, receive a second signal from the user equipment indicating when the second beam is swept over the location of the user equipment and data related to signal measurements of the second beam at the user equipment, and determine the location of the user equipment based on a pointing direction of the second beam relative to a position of the node of the network and the received data.

Various example embodiments relate to positioning of a target node. A positioning report may comprise positioning assistance measurements from the target node and at least one anchor node, wherein the positioning assistance measurements are associated with angular differences between a pair of uplink and/or downlink transmission and/or reception beam directions. Apparatuses, methods, and computer pro-grams are disclosed.