A method for computing a correction to a compass heading for a portable device worn or carried by a user is described. The method involves determining a heading for the device based on a compass reading, collecting data from one or more sensors, determining if the device is indoors or outdoors based on the collected data, and correcting the heading based on the determination of whether the device is indoors or outdoors.

The invention relates to a method for determining an adjusted position (63, 64) of a mobile entity in an area (90) of a mobile communications network based on a reference position (61, 62) of the mobile entity in the area (90), the area being divided into different pixels (91). The method comprises determining the reference position (61, 62) of the mobile entity in the area (90), determining, for each pixel (91) of the area (90), a predicted signal level of a radio frequency field of the mobile communications network for the mobile entity, determining, for each pixel (91) of the area (90), a mobile traffic density indicating an expected density of the mobile traffic of the mobile communications network in the area, and determining, for the area (90), a probability matrix (200) of the area based on the reference position (61, 62), the predicted signal level and the mobile traffic density, the probability matrix indicating a likelihood that the mobile entity is located in the corresponding pixel of the area. The method further comprises selecting one of the pixels for the mobile entity based on the probability matrix (200), the selected pixel corresponding to the adjusted position (63, 64) of the mobile entity in the area.

A method in a network node and a network is provided to determine line of sight, LOS, base stations for a user equipment (UE) is provided. A request is provided to at least one of the UE and a plurality of base stations to measure and report LOS detection measurements, wherein the plurality of base stations includes base stations of a serving cell of the UE. The LOS detection measurements are received from the at least one of the UE and the plurality of base stations. LOS base stations for the UE are determined based on the LOS detection measurements. An indication of the LOS base stations is transmitted to the UE.

A method, apparatus and computer program is described comprising: obtaining reference signals received at a plurality of nodes of a communication system from a user device; generating signal signature matrices based on real and imaginary components of the obtained reference signals; and generating a first three-dimensional position estimate for the user device by applying signals based on the generated signal signature matrices to an input of a model.

According to one embodiment, an electronic apparatus includes: processing circuitry configured to generate information regarding distances among a plurality of candidate positions of a plurality of wireless devices based on first information indicating the plurality of candidate positions, and determine a first candidate position from the plurality of candidate positions based on the information regarding the distances among the plurality of candidate positions to acquire identification information of a wireless device which is located on the first candidate position among the plurality of wireless devices.

A method of localizing a mobile body (MB) in a known environment, includes the following steps: a) defining an occupancy grid (G) modeling the environment; b) defining a set of position grids (Π) each position grid being associated to a heading of the mobile body; c) receiving a time series of measurements (z.sub.1, z.sub.2, . . . ) from a distance sensor carried by the mobile body; and d) upon receiving a measurement of the time series, updating the pose probabilities of the position grids as a function of present values of the occupancy probabilities and of the received measurement; wherein step d) is carried out by applying an inverse sensor model to the received measurement, while considering the distance sensor co-located with a detected obstacle and by applying Bayesian fusion to update the pose probabilities of the position grids.

This specification relates to estimation of a location of a mobile device using one or more locator devices. This specification describes an apparatus comprising: means for receiving, from one or more locator devices, each locator device comprising an antenna array, information indicative of a bearing from the antenna array of each of the one or more locator devices to a mobile device; means for determining parameters of a Kent distribution for each of the one or more locator devices based on the received information and predetermined characteristics of the antenna array; and means for determining an estimated position of the mobile device by performing an optimisation process on an objective function that is dependent on the Kent distribution parameters for each of the one or more locator devices.

A computer-implemented method performed in a computerized system incorporating a central processing unit, a localization signal receiver, a plurality of sensors, separate and distinct from the localization signal receiver, and a memory, the computer-implemented method involving: using the central processing unit to initialize a plurality of particles based on an information on a map graph; using the central processing unit to repeatedly execute a particle filter loop, wherein the particle filter loop includes: using the central processing unit to perform a motion update of the plurality of particles; using the central processing unit to perform a measurement update of the plurality of particles; and using the central processing unit to perform a resampling of the plurality of particles based on particle importance weights and the map graph information. The location of the computerized system is subsequently determined based on the plurality of particles.

Apparatus, systems and methods for determining a geo-location are provided. The apparatus comprises a receiver, a sensor, a processor, and a transmitter. The receiver is configured to receive a first geo-location. The sensor is configured to determine a change in a pose of the apparatus. The processor is operatively coupled to memory, the receiver, and the sensor. The processor is configured to determine a second geo-location based on the first geo-location and the sensor utilizing a neural network. The first transmitter is configured to output the second geo-location of the apparatus.

Coordinated radio fine time measurement is provided via sending, from a client device, a ranging request to a first radio; receiving a first response sent at a first time from the first radio over a first channel; receiving a second response sent at the first time from a second radio over a second channel; and calculating, based on times of flight for the first response and the second response, a location of the client device relative to the first radio and to the second radio. Coordinated radio fine time measurement is also proved via in response to receiving, at an Access Point (AP), a ranging request from a client device and determining to respond using multiple channels: sending, both at a first time, a first response from a first radio over a first channel a second response from a second radio over a different channel.