In a geographic area with limited satellite coverage, multiple signal sources are statically disposed along a path through the geographic area. To automatically determine geographic positions of the signal sources, signal data collected by a receiver moving along the path is received, where the signal data indicates changes, over a period of time, in strength of respective signals emitted by the signal sources. Indications of a first position of the receiver at a first time prior to entering the geographic area and a second position of the receiver at a second time subsequent to leaving the geographic area are received, and positions for the signal sources are determined using the received signal data and the received indications of the positions and the times. The determined positions for the signal sources are used to geoposition a device moving along the path.

Systems and methods for determining a physical location of a first Radio Frequency Identification (“RFID”) tag. The methods involve: analyzing timestamped tag read information acquired during multiple tag reads to determine a first physical location for the first RFID tag read by the mobile reader while moving through a facility; identifying second RFID tags from a plurality of RFID tags read by the mobile reader that are located in proximity to the first RFID tag and that are coupled to objects similar to an object to which the first RFID tag is coupled; selecting an RFID tag from the second RFID tags that has a first location confidence value associated therewith which is greater than second location confidence values associated with other RFID tags of the second RFID tags; and modifying the first physical location based on a second physical location of the RFID tag selected from the second RFID tags.

An apparatus for determining a position of a user device, UE, in a wireless communication system, the wireless communication system comprising one or more of moving transmission reception points, TRPs, wherein the apparatus is configured to: initiate one or more procedures to perform one or more measurements between the UE and the moving TRP, and to obtain one or more measurement results; and receive at least one message from the moving TRP comprising a position information of the moving TRP; wherein the apparatus is capable to estimate the position of the UE using the measurement result and the position of the moving TRP.

A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.

One embodiment is a method including: receiving signals of at least 4 paths from the Tx UE; measuring a ToA, an AoA, an AoD of each of the signals of 4 paths, determining each distance between the Rx UE and each scatter of each 4 paths, each distance between the Rx UE and the Tx UE and a driving direction of the Tx UE, based on the ToA, AoA and AoD; determining a position of the Tx UE based on results of measurement and results of the determination, wherein an assumption that each of x-axis distance and y-axis distance between the Tx UE and Rx UE based on the AoA, AoD and the driving direction of the Tx UE are identical in signal path 1 and signal path p (p=2, 3, 4) is used for determination of the position.

A method for determining the position of a decoy using at least one receiver, the method includes a step for detecting a decoy attack, a step for correcting the clock bias delivered by the receiver based on an estimated drift (D.sub.j) of the clock of the receiver. The method comprises a step for differential measurements using at least three corrected clock biases (CB.sub.jcorr(t″), CB.sub.kcorr(t″), CB.sub.lcorr(t″)) and a localization step for determining the position of the decoy.

Provided are a system and method for generating phase-coherent signaling via invocation of a respective phase synchronization calibration factor among wireless communications nodes. The calibration factor substantially and simultaneously removes an effect of multipath interference and propagation phase shift as between the nodes, thus allowing a direct correlation of phase with respect thereto in a subsequent phase-based ranging regime.

Methods and systems are disclosed for estimating locations of devices operating on a network (such as a wireless network) in a premises. Signal strength measurements of signals sent by the devices may be used to estimate locations of the devices within the premises as well as to estimate anchor points where signals are received from the devices. The devices may be shown on a map of the premises. The anchor points may be shown on a map of the premises. A method may be implemented iteratively to estimate the device locations as well as the locations of the anchor points. Estimated locations of devices and/or anchor points may be used to estimate a location of a device misplaced or lost in the premises.

A system and method for determining a position or a movable device is disclosed. The present system utilizes a movable device equipped with a locator device that has an antenna array such that it may determine the angle of arrival of a plurality of incoming beacon signals. In certain embodiments, the movable device is also able to measure its distance travelled. By knowing its distance moved and the angle of arrival from each beacon, the locator device is able to calculate its position as well as the position of each beacon. This procedure may be executed at regular intervals so that the movable device accurately determines its position.

In a method for calculating a location of a traffic incident a processor receives a first alarm message. The alarm message has a device identification, an event time stamp indicating detection of an incident, and a first distance vector. The processor calculates first isodistance information from the first distance vector and receives a second alarm message that has the device identification, the event time stamp, and a second distance vector. The processor calculates a second isodistance information for the second alarm message, and calculates a location of the incident based on the first isodistance information and the second isodistance information.