The present invention provides a method for performing positioning operations, wherein the method includes the steps of: receiving first positioning information from a first source; receiving second positioning information from a second source; obtaining surrounding environment information of a vehicle from a sensor; and referring to the surrounding environment information to determine a positioning strategy to use at least one of the first positioning information and the second positioning information to obtain a location of the vehicle.

In a location estimation device 5, a location updater 63 acquires an estimated location of each fixed node based on a fixed topology indicating an arrangement relationship among fixed nodes and a temporal self-location of each fixed node. A topology conflict determiner 65 calculates a region determination value indicating a frequency of occurrence of a topology conflict using the estimated location of each fixed node that is estimated based on the fixed topology. A virtual topology producer 66 produces a virtual topology by virtually changing a wireless communication distance between fixed nodes. The virtual topology producer 66 specifies one topology from among a fixed topology and a plurality of virtual topologies based on a region determination value corresponding to the fixed topology and a plurality of region determination values corresponding to the plurality of virtual topologies, and outputs a location of each fixed node that is estimated based on the specified topology as a result of location estimation of each fixed node.

To calibrate a device, a system receives an indication of current weather conditions at a geographic area, obtains, from a database, elevation data for the geographic area, and generating expected measurements of atmospheric pressure at the geographic area using the indication of weather conditions and the elevation data for the geographic area. The system then causes at least one mobile device located in the geographic area and equipped with a barometer to calibrate the barometer using the expected measurements of atmospheric pressure.

To obtain a relative localization between a plurality of mobile devices, a first mobile device observes a second mobile device within a field of view of the first mobile device's camera at time t1, determines a first position of the first mobile device at t1, and receives from the second mobile device a second position of the second mobile device at t1. The first mobile device determines information about the first mobile device's orientation with respect to the second mobile device at t1 based at least in part on the first position and the observation of the second mobile device. The first mobile device identifies two constraints that relate the mobile devices' coordinate systems based at least in part on the second position and the orientation information. The first mobile device's pose relative to the second mobile device may be calculated once at least six constraints are accumulated.

A method and apparatus for supporting a hybrid mode positioning scheme in a wireless communication system is provided. While using a first positioning mode, a user equipment (UE) receives information on a triggering condition for the positioning mode switch from a network, i.e. an evolved serving mobile location center (E-SMLC). The UE determines that the triggering condition is satisfied, and switches the positioning mode from the first positioning mode to a second positioning mode.

A system includes a processor configured to detect a vehicle wireless signal at a first frequency-band. The processor is also configured to choose a second signal at a second frequency-band having a predefined relationship to a requested action. The processor is further configured to connect to the second signal and lower a signal data-transfer rate, responsive to the detection, and use the second signal to perform a time-of-flight based user-proximity detection, to determine if a user is within a vehicle proximity range associated with the requested action.

A first network access node for a wireless communication system obtains a set of first radio service information (RSI) for a set of first position information in a service area. Each first RSI of the set of first RSI comprises a first RSI estimate, a first estimate type indicating how the first RSI estimate was estimated, and a first radio service type defining the first RSI estimate. The first network access node further receives a first control message from a second network access node. Corresponding methods and computer program products are also described.

Embodiments of the present disclosure provide a method, apparatus and computer program product for obstacle detection. A method implemented at a base station includes transmitting a positioning reference signal; receiving a transmission leakage signal and a reflection signal of the positioning reference signal; determining whether there exists an obstacle based on the reflection signal; and determining position information of the obstacle based on the transmission leakage signal and the reflection signal.

In one embodiment, a method includes receiving a sequence of location points and motion data associated with a mobile computing device. The method further includes generating, based on the motion data, a motion-data trace of a path and calculating, for each location point, a distance between the location point and a point on the motion-data trace of the path. The method further includes determining that the distance associated with at least one location point exceeds a threshold distance. The method further includes generating an estimated path traveled by the mobile computing device using (1) the point on the motion-data trace of the path used for calculating the distance associated with each of the at least one location point and (2) the received location point for each of the sequence of location points whose associated distance is at or within the threshold distance.

A velocity estimation device including an acceleration sensor and a yaw rate sensor is provided. The velocity estimation device determines an initial velocity value of a mobile object based on a velocity estimation expression, an integrated value of acceleration detected by the acceleration sensor, and a relative azimuth calculated from detected yaw rates. The velocity estimation device estimates the velocity of the mobile object based on the initial velocity value and the integrated value of acceleration. In the velocity estimation expression, a magnitude of the velocity vector is constrained by the velocity of the mobile object and a time variation of a direction of the velocity vector is constrained by a time variation of the azimuth of the mobile object in the traveling direction.