An automatic driving navigation method, apparatus, and system, an in-vehicle terminal, and a server are provided. The method includes obtaining, by an in-vehicle terminal, satellite positioning data of a vehicle, receiving a differential positioning correction from a radio base station in a wireless network, and correcting the satellite positioning data using the differential positioning correction to obtain a high-precision location of the vehicle; providing, by the server, a lane level planning driving route to the in-vehicle terminal according to the high-precision location provided by the in-vehicle terminal and with reference to high-precision map information; and controlling, by the in-vehicle terminal according to the obtained high-precision location, the vehicle to automatically drive according to the lane level planning driving route. A satellite differential positioning technology based on wireless network assistance can be used, and round-the-clock and all-road-condition automatic driving navigation is implemented.

Aspects presented herein may enable a network entity (e.g., a location server, an LMF, etc.) to generate and configure virtual anchors and/or virtual positioning reference units (VPRUs) for a UE for UE-based positioning. In one aspect, a network entity receives an indication to perform UE-based positioning for a UE. The network entity configures, for the UE, assistance data that includes a list of virtual anchors and a list of VPRUs for the UE-based positioning. The network entity transmits the assistance data including the list of virtual anchors and the list of VPRUs. The network entity may generate the list of virtual anchors based on a location offset to each physical anchor in a set of physical anchors. The network entity may generate the list of VPRUs based on at least one physical PRU.

Techniques are provided which may be implemented using various methods and/or apparatuses for locating a User Equipment (UE) using one or more proximity devices (PDs) nearby to the UE. One of the provided exemplary techniques includes initiating, by the UE, a request for a location of the UE; sending, by the UE to a location server, a first message comprising a first information for at least one PD in communication with the UE; receiving, by the UE from the location server, a second message comprising a second information for the at least one PD; sending, by the UE to the at least one PD, the second information; receiving, by the UE from the at least one PD, a third information; and obtaining, by the UE, the location of the UE based on the third information.

A method of determining a position of at least one transceiver node comprises, anchor node by anchor node, transmitting respective positioning frames suitable for reception by a transceiver node and by the other anchor nodes. The transceiver node receives the positioning frames transmitted by the anchor nodes and ascertains respective times of reception for each. A solver stage determines the coordinates (x.sub.s, y.sub.s, z.sub.s) of the respective transceiver node and the time t.sub.s of transmission of the first positioning frame by an anchor node of first rank in the positioning sequence by numerically solving a non-linear system of at least five equations.

A notification method includes determining, on the basis of positional information regarding a drone and positional information regarding a plurality of terminals carried by an operator who visually observes and operates the drone and one or more visual observers who visually observe the drone, at least either responsible observation areas, which are areas in which the operator and the one or more visual observers are to visually observe the drone, or responsible observation periods, which are periods for which the operator and the one or more visual observers are to visually observe the drone, and notifying the plurality of terminals of at least either the responsible observation areas or the responsible observation periods.

A method of determining a position of at least one transceiver node comprises, anchor node by anchor node, transmitting respective positioning frames suitable for reception by a transceiver node and by the other anchor nodes. The transceiver node receives the positioning frames transmitted by the anchor nodes and ascertains respective times of reception for each. A solver stage determines the coordinates (x.sub.s, y.sub.s, z.sub.s) of the respective transceiver node and the time t.sub.s of transmission of the first positioning frame by an anchor node of first rank in the positioning sequence by numerically solving a non-linear system of at least five equations.

A method comprising receiving probe data indicative of a set of navigational signal measurements that is matched to a link segment, determining a set of measurement errors such that each measurement error of the set of measurement errors is a difference between a location indicated by the link segment and a location indicated by a navigational signal measurement of the set of navigational signal measurements, determining at least one statistical attribute of the set of measurement errors, and storing an indication of the statistical attribute in map information associated with the link segment is disclosed.

A mobile monitoring device for continual remote monitoring of a condition is provided. The device includes a sensor module for producing sensor module data including inertial navigation data. A first transceiver component receives network manager data including inertial navigation data from a local network manager and may transmit sensor module data to the network manager for remote monitoring by a server. An associator component establishes an association with the local network manager if inertial navigation data of the sensor module and local network manager approximate each other and dissolves the association of the inertial navigation data of the sensor module and local network manager does not approximate each other. An inertial navigation component incrementally estimates a geographical location of the monitoring device using the previously received geographical location data and subsequent sensor module inertial navigation data.

A positional measurement system includes: a mobile robot including a global navigation satellite system (GNSS) signal reception unit that receives GNSS signals and calculates a position of the mobile robot based on the GNSS signals, a GNSS signal precision evaluation unit that evaluates positional measurement precision by the received GNSS signals, and a position control unit that moves the mobile robot to a high-precision reception position, where GNSS signals yielding positional measurement precision higher than a first threshold precision can be received; a relative position detection unit that detects a relative position of a target as to the mobile robot situated at the high-precision reception position; and a target position calculation unit that calculates a position of the target based on the calculated position of the mobile robot based on the GNSS signals received at the high-precision reception position, and the relative position.

Disparate positional data derived from one or more positional determinative resources are fused with peer-to-peer relational data to provide an object with a collaborative positional awareness. An object collects positional determinative information from one or more positional resources so to independently determine its spatial location. That determination is thereafter augmented by peer-to-peer relational information that can be used to enhance positional determination and modify behavioral outcomes.