Disclosed is an approach to enable radio map download for Global Navigation Satellite System (GNSS)-denied areas. In particular, processor(s) (e.g., of positioning server(s)) could identify GNSS-denied area(s) in an initial radio map, the GNSS-denied area(s) being (i) one or more areas in which at least one GNSS signal is or was unavailable and (ii) a subset of a plurality of areas represented by the initial radio map. Subsequently, the processor(s) could generate a partial radio map representing radio data only for the GNSS-denied area(s) identified in the initial radio map, and could then transmit the partial radio map to a mobile device for storage at the mobile device. In this way, the mobile device could optimize resource usage and perform radio-based position estimations at least in the GNSS-denied area(s) that were identified.

A method for ascertaining output data of a global navigation satellite system (GNSS) locating device based on GNSS satellite signals in a vehicle, includes a) receiving surroundings data from the surroundings of the vehicle, b) generating a surroundings model to describe the surroundings of the vehicle using the surroundings data received in step a), c) receiving GNSS satellite signals from GNSS satellites using a GNSS receiver, and d) ascertaining output data of the GNSS locating device from the GNSS satellite signals received in step a). The surroundings model generated in step b) is used to compensate for anomalies caused by the surroundings of the propagation of the GNSS satellite signals from the GNSS satellites to the GNSS receiver.

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.

In a general aspect, a set of observed frequency-domain channel responses is filtered to remove noise or distortions that are not related to changes in the physical environment. In some aspects, for each frequency-domain channel response, a time-domain channel response is generated based on the frequency-domain channel response; and a filtered time-domain channel response is generated based on a constraint applied to the time-domain channel response. Additionally, a reconstructed frequency-domain channel response is generated based on the filtered time-domain channel response. An error signal is also generated, and a determination is made as to whether the error signal satisfies a criterion. The error signal can be indicative of a difference between the frequency-domain channel response and the reconstructed frequency-domain channel response. In response to each of the error signals satisfying the criterion, motion of an object in a space is detected based on the set of frequency-domain channel responses.

A measuring robot (1) measures radio waves using a radio wave measuring unit (11) at a measurement point. A self-propelled route control unit (14) controls, in a case that reliability of communication using the radio wave at the measurement point is determined to be low based on one or more of a measurement result by the radio wave measuring unit (11) and information on an obstacle detected by a terrain/obstacle/position detection sensor unit (12), a radio wave measuring unit (11) to measure the radio wave more precisely compared to the measurement of the electromagnetic wave in a case that the reliability of the communication using the radio wave is determined to be high.

Techniques are provided for time-domain processing of DL-PRS signals under certain conditions in which time-domain processing has a computational advantage over frequency-domain processing. Because of this, embodiments can provide positioning at a lower computational cost than positioning provided by traditional techniques utilizing only frequency-domain processing. This reduced computational cost can improve the battery life of mobile devices, ultimately resulting in a better user experience.

A wireless communication system includes a control station and a plurality of second wireless communication apparatuses. The control station includes a management table that holds sending permission information indicating whether or not to transmit a packet for requesting to send an orientation estimation auxiliary signal. The plurality of second wireless communication apparatuses each refer to the management table, transmit the packet to a first wireless communication apparatus in response to the sending permission information, and perform orientation estimation using the orientation estimation auxiliary signal transmitted from the first wireless communication apparatus.

Methods and systems include localization of a vehicle localize precisely and in near real-time. As described, localization of a vehicle using a Global Navigation Satellite System (GNSS) can comprise receiving a signal from each of a plurality of satellites of a GNSS constellation and receiving input from one or more sensors of the vehicle. The input from the sensors can indicate current physical surroundings of the vehicle. A model of the current physical surrounding of the vehicle can be generated based on the input from the one or more sensors of the vehicle. One or more multipath signals received from the plurality of satellites can be mitigated based on the model and the vehicle can be localized using the received signals from the plurality of satellites of the GNSS constellation and based on the mitigation of the one or more multipath signals.

An interference source hunting method of hunting for an interference source of electromagnetic waves while moving between multiple measurement points, includes the steps of acquiring strength information of electromagnetic waves, estimating a distance from the measurement point to the location of the interference source, based on the strength information, calculating a first presence probability that the interference source is present at each position, based on whether a distance from the measurement point to the position is within the distance, updating second presence probabilities acquired in hunting in the past, based on the first presence probabilities, determining a position obtained by moving, by a predetermined distance, the measurement point toward a position with the second presence probability higher than the second presence probability at the measurement point, as a new measurement point, and determining, in a case where a size of an area in which each of the second presence probabilities is greater than or equal to a predetermined value is less than a predetermined value, that the location of the interference source is within the area.

Disclosed are a positioning method in a wireless communication system, and a device for supporting same.