The present disclosure relates to a station apparatus, including an Ultra-wideband (UWB) module to receive a first UWB signal transmitted by a moving robot, and a control unit to calculate a reception angle of the first UWB signal upon the reception of the first UWB signal, and control the UWB module to transmit a second UWB signal, including a direction value determined based on the reception angle, to the moving robot for return of the moving robot.

A method of estimating the location of a signal source comprises, by a processing unit: determining ΔΔφ.sup.m,n which represents a difference between accumulated phases of signals, S.sub.m and S.sub.n, received by at least one pair of the receivers, determining a first estimate of the location of said signal source based on position data and ΔΔφ.sup.m,n of at least one pair of receivers, said first estimate being associated with an accuracy area, determining data representative of difference in times of arrival of modulation patterns of the signals S.sub.m, S.sub.n, wherein said data comprise an ambiguity, and for said at least one pair of receivers, using at least said data representative of difference in times of arrival of the modulation patterns of the signals, ΔΔφ.sup.m,n, and said accuracy area, to obtain second estimates ê.sub.Src.sup.k of the source location, at least some of them being located within the accuracy area.

A method of estimating the location of a signal source comprises, by a processing unit: determining ΔΔφ.sup.m,n which represents a difference between accumulated phases of signals, S.sub.m and S.sub.n, received by at least one pair of the receivers, determining a first estimate of the location of said signal source based on position data and ΔΔφ.sup.m,n of at least one pair of receivers, said first estimate being associated with an accuracy area, determining data representative of difference in times of arrival of modulation patterns of the signals S.sub.m, S.sub.n, wherein said data comprise an ambiguity, and for said at least one pair of receivers, using at least said data representative of difference in times of arrival of the modulation patterns of the signals, ΔΔφ.sup.m,n, and said accuracy area, to obtain second estimates ê.sub.Src.sup.k of the source location, at least some of them being located within the accuracy area.

In accordance with a first aspect of the present disclosure, a localization device is provided, comprising: an ultra-wideband, UWB, communication unit configured to transmit a localization signal to an external device and to receive a response signal from the external device; an angle of arrival measurement unit configured to measure an angle at which the response signal is received; an orientation sensor configured to sense an orientation of the localization device; and a processing unit configured to determine if an angle at which the localization signal is received by the external device, an orientation of the external device, said orientation of the localization device, and said angle at which the response signal is received meet a predefined relationship. In accordance with a second aspect of the present disclosure, a corresponding method of operating a localization device is conceived.

A method and apparatus for receiving signals from an unknown transmitting source and providing the location of the unknown transmitting source comprising a series of channels for receiving signals radiated by the unknown transmitting sources, generating preprocessed time domain data and generating a SAR image depicting a location of the unknown transmitting source, and a processor for processing the preprocessed time domain data to enhance a pixel value at each pixel location within the SAR image by summing signal data from each channel related to each pixel location to generate an enhanced SAR image.

A moving robot according to an embodiment of the present disclosure includes a traveling unit to move a main body thereof, a communication unit to perform communication with a controller using signals, and a controller to calculate a signal distance between the controller and the main body in response to reception of a first signal from the controller, and controls the traveling unit so that the main body moves while following the controller when the calculated signal distance is within a predetermined range. The control unit calculates a signal distance between the controller and the main body in response to reception of a second signal from the controller while the main body is following the controller, and releases the follow-up travel of the main body when the calculated signal distance is within a predetermined range.

A user equipment (UE) is disclosed. The UE includes a receiver and a processor that receive a radio resource control (RRC) signal including uplink (UL) sounding reference signal (SRS) configuration information. The UE also receives a semi-persistent scheduling (SPS) message to activate transmission of UL SRSs The UE may then transmit UL SRSs in a time and frequency pattern based on at least the UL SRS configuration information. A UE method and an eNode-B are also disclosed.

The present invention relates to a method for positioning of a user equipment operating in a cellular network, the user equipment being configured to ascertain location information of base stations of the cellular network. The method comprises the steps of: obtaining cell specific reference signals from a serving base station and at least one other base station, obtaining from the serving base station a synchronization indication relating to time synchronization among the serving base station and the at least one other base station, determining a time difference of arrival of the reference signals of at least two base stations that are time synchronized, and determining a position of the user equipment based on the location information of the respective base stations and the determined time differences of arrival.

The present invention relates to a method for positioning of a user equipment operating in a cellular network, the user equipment being configured to ascertain location information of base stations of the cellular network. The method comprises the steps of: obtaining cell specific reference signals from a serving base station and at least one other base station, obtaining from the serving base station a synchronization indication relating to time synchronization among the serving base station and the at least one other base station, determining a time difference of arrival of the reference signals of at least two base stations that are time synchronized, and determining a position of the user equipment based on the location information of the respective base stations and the determined time differences of arrival.

The present disclosure relates to a user equipment in a wireless communication system, an electronic device, a method and a storage medium. The user equipment in the wireless communication system according to the present disclosure comprises one or more processing circuits, the processing circuits being configured to execute the following operations: acquiring a downlink signal from an electronic device in the wireless communication system; estimating the angle of arrival (AOA) of the downlink signal, wherein at least the AOA and the position of the electronic device are used for estimating the position of the user equipment. By using the user equipment, electronic device, method and storage medium according to the present disclosure, the AOA of a downlink signal may be estimated when the user equipment is in an idle or initial access state, and the AOA may be used for estimating the position of the user equipment.