A method is provided for localizing mobile tags using a system including a plurality of anchors located at known locations, the method including: transmitting a plurality of ultra-wideband (UWB) localization packets using respective anchors of the plurality of anchors, in which each of the plurality of localization packets is transmitted by a respective anchor of the plurality of anchors at a different respective delay time; and transmitting an update UWB packet with either an anchor of the plurality of anchors that does not transmit one of the localization packets, or with a mobile tag, in which the localization packets include no payloads, the update packet includes a payload, and in which successive ones of the plurality of localization packets and the update packet overlap with each other in time. A system for localizing mobile tags is also provided.

A mobile device generates a series of instances of space learning data. The series comprises instances of radio data captured as the device traverses a path through at least a portion of a space. Each instance of radio data describes a radio environment observed by the device at a respective location along the path. The device determines a position estimate based at least on motion of the device determined based on signals generated by motion sensors. The position estimate is associated with a respective instance of radio data. The device receives an message indicating the device is located proximate a particular landmark within the space. The landmark is a location within the space that is associated with a user-provided or sensor-defined landmark description. Responsive to receiving the message, the device updates the series to include an indication that a particular location along the path is proximate the particular landmark.

Provided is a method of automatically combining a farm vehicle with a work machine including confirming a current position of the work machine, moving a farm vehicle into a range having a predetermined radius around the current position, and controlling the farm vehicle, on the basis of a current position and direction of a first coupling unit included in the work machine, so that the first coupling unit and a second coupling unit included in the farm vehicle are coupled to each other.

Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.

Determining, broadcasting and using reference pressure data in a network of transmitters. Particular embodiments described herein include machines that select atmospheric data from weather stations within a transmitter network, use the selected atmospheric data to determine a reference atmospheric value, and transmit the reference atmospheric value from a transmitter to a mobile device for use in estimating an altitude of the mobile device. The atmospheric data may include any of reference pressures form the weather stations, measured temperatures from the weather stations, or reference temperatures from the weather stations. The reference atmospheric value may include a reference pressure value of a reference altitude, or a reference temperature value.

A method of assuring integrity of range measurements and position solutions comprises obtaining range measurement statistics between network nodes, performing a snapshot integrity test for the range measurement statistics, and performing a sequential integrity test using the range measurement statistics. The snapshot integrity test comprises using Gram matrices with a current configuration of the nodes; performing a singular value consistency check using the Gram matrices against a user selected threshold; and detecting and excluding range measurement statistics with instantaneous errors that cause the singular value to exceed the threshold. The sequential integrity test comprises formulating main node and sub-node sets using solution separation; implementing filters for the main node and sub-node sets; performing a consistency check using discriminators and decision thresholds; detecting and excluding range measurement statistics with both instantaneous and time-correlated errors; and computing a protection level for relative positions computed from the main node and sub-node sets.

A social distance determination system includes a first electronic device. The first electronic device is configured to establish a first communication link with a wireless base station, detect the first communication strength of the first communication link, generate a first conversion vector according to the first communication strength, and perform a similarity calculation on the first conversion vector and a second conversion vector to obtain a similarity result.

Systems and methods of collaborative localization for a vehicle are provided. In particular, one or more vehicles that are able to localize themselves with high accuracy may transmit timestamped localization information (i.e. localization packets) to a nearby vehicles which lack high-accuracy localization sensors. Each localization packet may include the location of the transmitting vehicle with respect to a global reference frame. Upon receiving the localization packets, a vehicle may use radiolocation techniques to estimate its location relative to the transmitting vehicle(s). Based on this estimation and the information in the localization packets, the vehicle may then estimate its location with respect to the global reference frame with a high degree of accuracy.

In one aspect, a process for position estimation entails obtaining (a) at least one direct distance estimate corresponding to a distance between one or more intervening devices, (b) at least one direct angle estimate corresponding to a spanning angle formed involving the one or more intervening devices, or both (a) and (b). Based on (a) the at least one direct distance estimate corresponding to the distance between devices including the one or more intervening devices, (b) the at least one direct angle estimate corresponding to the spanning angle formed involving the one or more intervening devices, or both (a) and (b), an indirect distance estimate between a first device and a second device or an indirect angle estimate involving the first device and the second device is determined. The first device and the second device may be out of range with respect to one another for a direct distance measurement.

A system and method established and maintains precision relative position, navigation, and timing (PNT) across a network of at least four mutually connected mobile platforms. In embodiments, a key (e.g., advantaged, absolute positioning capable) node of the network determines its pressure altitude and inertial state relative to its platform reference frame and receives inertial state and pressure altitude data from each neighboring node (in exchange for its own) to estimate the relative position and orientation of each neighbor node in its platform frame. The key node performs ranging to each neighboring node, and the neighboring nodes additionally range between each other and exchange ranging data with the key node. By correcting position and orientation estimates via ranging data, the key node determines and maintains extended relative PNT (e.g., in GPS-denied areas), which relative PNT solution is distributed across all network nodes.