A method comprising: wirelessly receiving, at a first device, at least one data packet from each second device of a plurality of second devices arranged at predetermined locations of a target; detecting an angle of arrival of each at least one data packet wirelessly received of at least a pair of second devices; calculating at least one angle difference between the angles of arrival associated with the pair of second devices, or between the angles of arrival associated with each of the pair of second devices and a predetermined direction; and determining whether the target is at a predetermined distance range from the first device by estimating the distance based on the at least one angle difference, and a predetermined distance between the predetermined locations; or checking whether each of the at least one angle difference is within a predetermined angle range for the predetermined locations of the pair of second devices. Also, a method for making such determination based on angles of departure.

A method comprising: wirelessly receiving, at a first device, at least one data packet from each second device of a plurality of second devices arranged at predetermined locations of a target; detecting an angle of arrival of each at least one data packet wirelessly received of at least a pair of second devices; calculating at least one angle difference between the angles of arrival associated with the pair of second devices, or between the angles of arrival associated with each of the pair of second devices and a predetermined direction; and determining whether the target is at a predetermined distance range from the first device by estimating the distance based on the at least one angle difference, and a predetermined distance between the predetermined locations; or checking whether each of the at least one angle difference is within a predetermined angle range for the predetermined locations of the pair of second devices. Also, a method for making such determination based on angles of departure.

Techniques are provided for enabling user equipment (UE) positioning based on base station side angle estimation in millimeter wave (mmW) bands. An example method for determining positioning information with a mobile device includes receiving positioning assistance data including beam pattern information for a plurality of reference signals associated with at least two sub-bands, receiving at least one of the plurality of reference signals within a sub-band, and determining an angle of departure value for at least one of the plurality of reference signals based at least in part on the positioning assistance data for the sub-band.

Techniques are provided for enabling user equipment (UE) positioning based on base station side angle estimation in millimeter wave (mmW) bands. An example method for determining positioning information with a mobile device includes receiving positioning assistance data including beam pattern information for a plurality of reference signals associated with at least two sub-bands, receiving at least one of the plurality of reference signals within a sub-band, and determining an angle of departure value for at least one of the plurality of reference signals based at least in part on the positioning assistance data for the sub-band.

Disclosed is a method of determining a position of a target node in accordance with radio signals transmitted and received between the target node and one or more reference nodes. According to the method, values of different positioning-related parameters are acquired, the positioning-related parameters being estimated from the radio signals. An error of a positioning value of the target node, the positioning value being calculated based on a value of each of different positioning-related parameters, is determined based on at least either the positioning value or a previously determined position of the target node. A weight of each of the different positioning-related parameters is determined, based on the error. The position of the target node is determined in accordance with a positioning value calculated based on the weight and on the value of each of the different positioning-related measurement parameters.

Disclosed is a method of determining a position of a target node in accordance with radio signals transmitted and received between the target node and one or more reference nodes. According to the method, values of different positioning-related parameters are acquired, the positioning-related parameters being estimated from the radio signals. An error of a positioning value of the target node, the positioning value being calculated based on a value of each of different positioning-related parameters, is determined based on at least either the positioning value or a previously determined position of the target node. A weight of each of the different positioning-related parameters is determined, based on the error. The position of the target node is determined in accordance with a positioning value calculated based on the weight and on the value of each of the different positioning-related measurement parameters.

A communication device includes: an acquisition unit that acquires first position information indicating a first position of the communication device and first position error information indicating an error of the first position; a reception unit that receives second position information indicating a second position of a communication device and second position error information indicating an error of the second position acquired by the communication device; a first calculation unit that calculates a first arrival direction and a first arrival direction error based on one or more pieces of information out of the first position information and so on; a second calculation unit that calculates a second arrival direction; and a judgment unit that makes the second calculation unit revise the second arrival direction based on the first arrival direction when the first arrival direction error is smaller than a first threshold value.

An electronic device is provided that includes a foldable housing. The foldable housing includes a hinge module, a first housing, and a second housing. The first housing is connected to the hinge module and includes a first surface facing a first direction, a second surface facing a second direction opposite to the first direction, and a first antenna supporting a first frequency band. The second housing is connected to the hinge module and includes a third surface facing a third direction, a fourth surface facing a fourth direction opposite to the third direction, and a second antenna supporting the first frequency band, and is folded with the first housing with respect to the hinge module. In the electronic device, in a folded state in which the first surface faces the third surface, the first antenna and the second antenna may be arranged to be spaced apart from each other by half a wavelength corresponding to the first frequency band, and in an unfolded state in which the first direction and the third direction are the same direction, the first antenna and the second antenna may be arranged to be spaced apart from each other by an error range or more, wherein the error range corresponds to the first frequency band.

An electronic device is provided that includes a foldable housing. The foldable housing includes a hinge module, a first housing, and a second housing. The first housing is connected to the hinge module and includes a first surface facing a first direction, a second surface facing a second direction opposite to the first direction, and a first antenna supporting a first frequency band. The second housing is connected to the hinge module and includes a third surface facing a third direction, a fourth surface facing a fourth direction opposite to the third direction, and a second antenna supporting the first frequency band, and is folded with the first housing with respect to the hinge module. In the electronic device, in a folded state in which the first surface faces the third surface, the first antenna and the second antenna may be arranged to be spaced apart from each other by half a wavelength corresponding to the first frequency band, and in an unfolded state in which the first direction and the third direction are the same direction, the first antenna and the second antenna may be arranged to be spaced apart from each other by an error range or more, wherein the error range corresponds to the first frequency band.

A positional relationship between devices that have transmitted and received signals is more accurately estimated.

A control device comprising a control section configured to perform control of estimating a positional relationship between a communication device and another communication device based on a signal transmitted and received between the communication device including at least three or more antennas, and the another communication device including at least one or more antennas, wherein the control section performs the control of estimating the positional relationship by excluding a contradictory temporary result among temporary results of the positional relationship estimated based on the signal received by the communication device from the another communication device.