A method and device for detecting an illegal unmanned aerial vehicle (UAV) using a radio wave wall are provided. The method includes generating a radio wave wall between a plurality of reconnaissance UAVs that include a first reconnaissance UAV and second reconnaissance UAVs, using one or more wireless signals transmitted and received between the plurality of reconnaissance UAVs, and determining whether an illegal UAV enters the radio wave wall based on radio signal strengths of wireless signals received from the second reconnaissance UAVs.

An inter-vehicle communication and driving assistance device performs wireless communication with other vehicles, and includes an inter-vehicle communication unit including a reception level detection unit, a position information reception unit, and an arithmetic processing unit. The arithmetic processing unit calculates inter-vehicle distances to other vehicles using latitude and longitude information of the other vehicles and the own vehicle, receives a position error radius, and acquires a reception level from the other vehicles. When a difference between the inter-vehicle distances is smaller than position error radius, a vehicle with a larger reception level is determined as a vehicle closer to the own vehicle. When the difference between the inter-vehicle distances is larger than the position error radius, a vehicle with a smaller inter-vehicle distance is determined as a vehicle closer to the own vehicle, and a distance to a leading vehicle is calculated.

Methods, systems, and devices for ranging are described. A multi-phase distributed ranging technique includes transmitting and receiving vehicle information messages during a first time interval, where the vehicle information messages include at least a vehicle identifier and resource information. The multi-phase technique further includes transmitting and receiving ranging signals during a second time interval, and determining times of arrival of received ranging signals. A centralized ranging technique includes receiving resource assignments from an access point, transmitting ranging signals according to the resource assignments, and determining times of arrival of received ranging signals.

A first user equipment includes: an interface configured to send and receive signals wirelessly; and a processor configured to: establish a sidelink connection with a second user equipment; exchange, using the sidelink connection, sidelink information with the second user equipment to at least one of: transmit, via the interface to the second user equipment, first SL PRS-related data (sidelink positioning reference signal related data) including at least one of first SL PRS assistance data or first SL PRS configuration data; or receive, via the interface from the second user equipment, second SL PRS-related data including at least one of second SL PRS assistance data or second SL PRS configuration data; and exchange, via the interface with the second user equipment using the sidelink connection, one or more sidelink positioning reference signals in accordance with at least one of the first SL PRS-related data or the second SL PRS-related data.

A method for localizing a target device (TD) by a user device (UD) includes determining whether the TD is within a range and within a field-of-view (FoV) of the UD based on a UWB channel between the TD and the UD. In response to a determination that the TD is outside the range and not within the FoV, the method includes identifying a first electronic device. The method also includes transmitting, to the first electronic device, a request for localizing the TD using an out-of-band channel. The method further includes receiving, from the first electronic device, location information of the TD on the out-of-band channel. The location information represents a candidate location of the TD in a coordinate system of the first or a second electronic device. Additionally, the method includes identifying a TD location with respect to a coordinate system of the UD based on the candidate location.

A method is provided for correcting a positional probability distribution, at least two mobile systems each ascertaining a positional probability distribution through respective GNSS receivers, at least one mobile system ascertaining a distance to at least one second mobile system, the at least two mobile systems exchanging the ascertained positional probability distribution among themselves through a communication link, and by using the at least two ascertained positional probability distributions and the distance between the at least two mobile systems, an improvement of the positional probability distributions being calculated. Furthermore, a method for providing at least one correction term is provided.

A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.

A system for providing smart road infrastructure for the purpose of vehicle safety and autonomous driving, comprising a plurality of road units, which are located along the borders of each traffic lane and equally spaced from each other, where each road unit includes a read/write passive RF tag; antenna for communicating with a plurality of transceivers, each of which is installed on each vehicle that travels along a traffic lane of said road, in response to signals transmitted from said transceivers; a memory for temporarily storing data regarding each vehicle traveling along said lane. Each car unit comprises a reader for interrogating said tags. The reader includes a first transceiver that is installed on the left front of said vehicle and a second transceiver that is installed on the right front of said vehicle; a processor being in bidirectional data communication with said transceivers and with the vehicle inherent control systems, for processing data received from said tags and calculating speed and location of said vehicle with respect to the borders of said lane and to other neighboring vehicles traveling in said lane and adjacent lanes, to implement vehicle safety operations such as Lane Departure Warning, Forward Collision Warning, Lane Keeping Assist, Lane Centering, Side Collision Warning. Alerting the driver (visually and/or audibly) regarding potential problems and/or taking over control of the vehicle (ADAS 1-5). The system can provide Connected Vehicles with accurate (ubiquitous and instantaneous) location data with lane-level resolution. The proposed smart infrastructure may complement car sensors and/or connected vehicles, so as to implement a combination that yield the most relabel and cost-effective autonomous driving system.

A positioning method and related devices are provided. The method includes: measuring, by a UE, PRSs sent by a plurality of positioning reference devices to obtain a plurality of PRS measurement results; measuring, by the UE, SPRSs sent by the plurality of positioning reference devices to obtain a plurality of SPRS measurement results; performing, by the UE, a positioning operation based on the plurality of PRS measurement results and the plurality of SPRS measurement results, wherein the positioning operation includes: sending the plurality of PRS measurement results and the plurality of SPRS measurement results to a positioning server, so that the positioning server determines a position of the UE based on the plurality of PRS measurement results and the plurality of SPRS measurement results; or determining, by the UE, the position of the UE based on the plurality of PRS measurement results and the plurality of SPRS measurement results.

Embodiments are disclosed for localization of vehicles using beacons. In an embodiment, a method comprises: determining, using at least one processor of a vehicle, that the vehicle has lost external signals (or is receiving degraded external signals) that are used for estimating a position of the vehicle; determining, using the at least one processor, a set of mobile beacons that are available to assist in estimating the position of the vehicle; receiving, using a communication device of the vehicle, broadcast signals from the set of mobile beacons, the broadcast signals including localization data for the set of mobile beacons; selecting, using the at least one processor, a subset of localization data from the set of mobile beacons for assisting in the position estimation of the vehicle; and estimating, using the at least one processor, the position of the vehicle using the subset of localization data.