According to certain embodiments, a method for use in a network node comprises: obtaining range information for a wireless device in communication with the network node; obtaining direction information for the wireless device; and estimating a movement of the wireless device based on the range information, the direction information, and an interactive multiple modeling (IMM) filter. The IMM filter comprises a three-dimensional (3D) constant velocity model, a 3D constant acceleration model, and a 3D constant position model.

An Ultra Wide Band (UWB) ranging method, a UWB ranging device, and a non-transitory storage medium thereof are provided. The UWB ranging method includes: filtering, in response to determining a first time of flight for UWB ranging, the first time of flight based on a low-pass filter to obtain a filtered first time of flight; and performing the UWB ranging based on the filtered first time of flight.

A system for locating and tracking an object is provided. The system includes a measuring device configured to determine a property of a paving-related material, a locating device configured to determine a location of the measuring device, a tracking system configured to store tracking information associated with the measuring device and one or more properties determined by the measuring device, and a communications system configured to transfer, to a remote device, the location of the measuring device and the tracking information associated with the measuring device.

A multi-layer packaging material can include a layer of material with an outer surface and an inner surface. The layer of material formable into a package. An electronic circuit can be fixedly attached to the layer of material. The electronic circuit can include a clock, a processor in logical communication with the clock, a radio receiver, a transmitter, and a digital storage. The digital storage can include software executable upon demand. The software can be operative with the processor to cause the electronic circuit to receive and store radio signals from multiple reference points.

A mobile transceiver for asset tracking having route monitoring and method of operation are provided. In one aspect, the method comprises: determining a location of the mobile transceiver using the satellite receiver; determining whether the determined location deviates from a planned route; and sending an alert to an asset tracking service when the determined location deviates from the planned route.

A system for tracking at least one object configured to be transported by at least one vehicle may include at least one computer system. The at least one computer system may be configured to determine at least one location of the at least one vehicle and determine at least one location of the at least one object. The at least one computer system may be further configured to determine at least one location of at least one geofence adjacent the at least one vehicle based on the at least one location of the at least one vehicle. Also, the at least one computer system may be configured to determine whether the at least one object is located within the at least one geofence to determine whether a load of the at least one vehicle includes the at least one object.

Implementations disclosed describe techniques and systems for efficient determination and tracking of trajectories of objects in an environment of a wireless device. The disclosed techniques include, among other things, determining multiple sets of sensing values that characterize one or more radio signals received, during a respective sensing event, from an object in an environment of the wireless device. Multiple likelihood vectors may be obtained using the sensing values and characterizing a likelihood that the object is at a certain distance from the wireless device. A likelihood tensor may be generated, based on the likelihood vectors, that characterizes a likelihood that the object is moving along one of a set of trajectories. The likelihood tensor may be used to determine an estimate of the trajectory of the object.

A method of determining the position of a moving unmanned aerial vehicle (UAV) is provided. The method comprises obtaining, for each of three or more base stations, one or more measurements of a carrier frequency offset (CFO) for one or more signals sent between a moving UAV and the respective base station. The method further comprises inputting the CFO measurements into a model to determine a position of the UAV, in which inputs to the model do not include range measurements of the UAV with respect to the three or more base stations.

Embodiments include methods for determining a movement state of a user equipment (UE) operating in a radio access network (RAN). Such methods include performing positioning measurements on signals received from a plurality of transmission points (TPs) in the RAN, including first measurements of Doppler shift of signals from a first TP, second measurements of Doppler shift of signals from a second TP that is spatially separated from the first TP, and third measurements of signals from a third TP. The third TP can be the same as the first or second TP, or spatially separated from both. Such methods include determining a UE movement state based on the positioning measurements and an interacting multiple-model (IMM) that includes a first almost-constant velocity model, a second maneuver velocity model, and a Doppler shift bias state common to the first and second models. Other embodiments include complementary methods for a RAN node.

Described herein are techniques for determining motion characteristics of trains traveling along a train track. In some embodiments, a processor may determine an estimated position of a train using an observed position obtained using one or more UWB antennas and an observed position obtained using one or more GNSS receivers. In some embodiments, a processor may access information specifying a geometry of a train track and determining the position of a train along the train track using an observed position determined using one or more UWB antennas and/or GNSS receiver(s) and the information specifying the geometry of the train track. In some embodiments, a processor may determine estimated positions of a train using the geometry of the train track and at least one observation of the train obtained using one or more positioning devices and select the position of the train from among the estimated positions.