The angle of departure (AOD) of directed beams, e.g., beamformed beams, transmitted by one or more base stations, such as a gNB, and the angle of arrival (AOA) of the directed beams received by a UE may be used to improve positioning accuracy by identifying Line Of Sight (LOS) beams and multi-path beams. The differential AOA (DAOA) of a directed beam pair may compared to the differential AOD (DAOD) of the directed beam pair. Matching DAOA and DAOD may be used as an indication that the directed beams in the beam pair are LOS with the UE, whereas a mis-match indicates one or both of the directed beams are multi-path. The location of the UE may be estimated using the measurement information, e.g., AOA, RTT, RSTD, etc., obtained from LOS directed beams.

A method for autonomous vehicle localization. The method may include receiving, by an autonomous vehicle, millimeter-wave signals from at least two 5G transmission points. Bearing measurements may be calculated relative to each of the 5G transmission points based on the signals. A vehicle velocity may be determined by observing characteristics of the signals. Sensory data, including the bearing measurements and the vehicle velocity, may then be fused to localize the autonomous vehicle. A corresponding system and computer program product are also disclosed and claimed herein.

A method for a device for determining the location of a mobile transmitting device using a two phase time difference of arrival method and to a system using such a device are presented. There is a first radio node for calculating a location of a third radio node, for receiving, from the third radio node, a first ranging signal and for calculating, based on the first ranging signal, a first ranging parameter. The first radio node receives, from a second radio node, a second ranging signal, transmits to the second radio node a third ranging signal, calculates a phase offset between the first and second radio nodes based on the second and third ranging signals, and calculates a distance between the first and third radio nodes based on the phase offset between the first and second radio nodes based on the first ranging parameter.

A method for a device for determining the location of a mobile transmitting device using a two phase time difference of arrival method and to a system using such a device are presented. There is a first radio node for calculating a location of a third radio node, for receiving, from the third radio node, a first ranging signal and for calculating, based on the first ranging signal, a first ranging parameter. The first radio node receives, from a second radio node, a second ranging signal, transmits to the second radio node a third ranging signal, calculates a phase offset between the first and second radio nodes based on the second and third ranging signals, and calculates a distance between the first and third radio nodes based on the phase offset between the first and second radio nodes based on the first ranging parameter.

An external client requests the location of a UE using control plane signaling. The UE sends downlink location measurements, such as Reference Signal Time Differences, for a plurality of base stations (BSs) to a serving BS at a layer 1 or layer 2 protocol level and at first periodic intervals. The UE and the plurality of BSs send additional location measurements, such as receive time-transmission time differences, to the serving BS at second periodic intervals, which are longer than the first periodic intervals. The serving BS uses the additional location measurements and downlink location measurements to determine timing information, such as Real Time Differences, for the plurality of BSs. The serving BS determines the location of the UE using the downlink location measurements and the timing information at the first periodic intervals and sends the location to the external client using user plane signaling to reduce delay.

A positioning and tracking system is disclosed. The positioning and tracking system includes positioning sensors disposed in a space, wherein the positioning sensors are all movable and all have functions of sensing distance, angle and time, and the positioning sensors communicate with each other to sense relative distances, relative angles and relative times between every two positioning sensors of the positioning sensors. when at least one of the positioning sensors moves in the space, the positioning sensors re-communicate with each other to instantly update the relative distances, the relative angles and the relative times between every two positioning sensors of the positioning sensors.

Multivariate position estimation can be performed to provide a position estimate of a moving object. The multivariate position estimation approach can employ multiple types of information including time of arrival (or time difference of arrival), angle of arrival, Doppler, and/or prior location information in an iterative process to calculate a location estimate that is highly accurate. In particular, the multivariate position estimation approach can employ the statistical quality of each of these types of information to quickly arrive at a highly accurate position estimate within a 3D coordinate system. The multivariate position estimation approach can be implemented in environments where a single receiver is available as well as in environments where multiple receivers exist.

It is provided a method for determining a location of a mobile device. The method comprises the steps of: obtaining a first maximum distance between a first anchor point and the mobile device; generating a first circular geometrical object having a radius based on the first maximum distance; generating a first polytope encompassing the first circular geometric object, wherein all angles of the first polytope are right angles; obtaining a second maximum distance between a second anchor point and the mobile device; generating a second circular geometrical object having radius based on the second maximum distance; generating a second polytope encompassing the second circular geometric object, wherein all angles of the second polytope are right angles; finding a mobile device region as an overlap between the first polytope and the second polytope; and determining that the mobile device is located within the mobile device region.

It is provided a method for determining a location of a mobile device. The method comprises the steps of: obtaining a first maximum distance between a first anchor point and the mobile device; generating a first circular geometrical object having a radius based on the first maximum distance; generating a first polytope encompassing the first circular geometric object, wherein all angles of the first polytope are right angles; obtaining a second maximum distance between a second anchor point and the mobile device; generating a second circular geometrical object having radius based on the second maximum distance; generating a second polytope encompassing the second circular geometric object, wherein all angles of the second polytope are right angles; finding a mobile device region as an overlap between the first polytope and the second polytope; and determining that the mobile device is located within the mobile device region.

Methods and apparatus for determining a generating a user interface based upon a location and an orientation of a smart device supported by an Agent in a structure. The interface may include as built features of the structure. A location of the Agent may be determined via wireless communications and a direction of interest based upon a directional sensor.