Methods, apparatus and systems for wireless tracking with graph-based particle filtering are described. A described wireless monitoring system comprises a transmitter transmitting a series of probe signals, a receiver, and a processor. The receiver is configured for: receiving the series of probe signals modulated by the wireless multipath channel and an object moving in a venue, and obtaining a time series of channel information (TSCI) of the wireless multipath channel from the series of probe signals. The processor is configured for: monitoring a motion of the object relative to a map based on the TSCI, determining an incremental distance travelled by the object in an incremental time period based on the TSCI, and computing a next location of the object at a next time in the map based on at least one of: a current location of the object at a current time, the incremental distance, and a direction of the motion during the incremental time period.

A method for providing motion information of a UE in a wireless communication system. The method comprises initiating, in a first network node, of a first Doppler shift measurement concerning the UE. In the first network node, a transfer of requests for second Doppler shift measurement concerning the UE is initiated to second network nodes. Data representing the first Doppler shift measurement is obtained in the first network node. Data representing the second Doppler shift measurements is obtained in the first network node. An estimated motion, in more than one dimension, of the UE is determined in dependence of at least the obtained data representing the first Doppler shift measurement and the obtained data representing the second Doppler shift measurements. A method for assisting by the second network node, as well as network nodes performing the methods are also disclosed.

The present invention discloses a system and a method for detecting, localizing and categorizing radio frequency (RF) emitting sources. In operation presence of one or more RF sources are determined. Further, movement in the detected one or more RF sources is detected based on at least presence of spread power in spatial harmonics and visibility phase measurement. The frequencies of the radio waves at which the movement of one or more RF sources is detected are identified. A localization antenna subsystem is tuned to the identified frequencies one at a time to localize and identify the RF sources. Furthermore, the RF source is classified as an airborne source or ground-based source using radio interferometry imaging. Finally, on determination that the moving RF source is airborne, the interferometric images are further processed to confirm the type of airborne source.

A safety system and a method for localizing at least one object having a control and evaluation unit have at least one radio location system. The radio location system has at least three arranged radio stations. Position data of the object can be determined by means of the radio location system and can be transmitted to the control and evaluation unit. At least three radio transponders are arranged at the object, each arranged spaced apart from one another and the three radio transponders form different points on a plane and unambiguously define the plane in space. The control and evaluation unit is configured to compare the position data of the radio transponders and to form checked position data of the object. The control and evaluation unit is configured to form orientation data of the object from the position data of the radio transponders.

Disclosed are techniques for wireless communication. In an aspect, a user equipment (UE) receives one or more positioning reference signals from a first transmission-reception point (TRP) involved in a positioning session with the UE, detects whether or not there is a positioning bias event associated with the first TRP based on one or more parameters related to the one or more positioning reference signals, the positioning bias event affecting an accuracy of a location estimate of the UE, and transmits, in response to the detection that there is a positioning bias event, a report of the positioning bias event to a network node. Upon receiving the report, the network node performs one or more corrective actions to address the positioning bias event.

An electronically aligned wideband tracking modulator system is described. The wide band tracking modulator system comprises a waveguide coupled to an antenna. The wide band tracking modulator system also comprises waveguide tuning circuitry configured to convert RF energy from a waveguide of the wideband tracking modulator system into an RF signal that can be processed by the waveguide tuning circuitry. The waveguide tuning circuitry is also configured to shift a phase of the RF signal. The waveguide tuning circuitry is further configured to convert the phase-shifted RF signal into phase-shifted RF energy and return the phase-shifted RF energy to the waveguide to electrically align the wideband tracking modulator system.

A method includes: receiving one or more positioning signals; determining that a UE is line-of-sight to fewer than a threshold number of positioning signal sources; determining a first position estimate hypothesis for the UE using a first position estimating process and one or more first measurements of the positioning signal(s); determining a second position estimate hypothesis for the UE using a second position estimating process and one or more second measurements of the positioning signal(s), wherein the second position estimating process uses a second parameter value of a parameter and the parameter is absent from the first position estimating process or has a first parameter value that is different from the second parameter value; and reporting a reported position estimate based on the first position estimate hypothesis or the second position estimate hypothesis in response to the UE being line-of-sight to fewer than the threshold number of positioning signal sources.

An apparatus, method and computer program are disclosed. The apparatus may include circuitry configured for receiving from a target device, at a first time instance, a set of first measurement data associated with each of a plurality of base stations and determining a first position of the target device based on the received first sets of measurement data. The circuitry may also receive from the target device, at each of one or more subsequent time instances, a second set of measurement data associated with one, or each of a smaller number, of the base stations and determining, at each of the one or more subsequent time instances, a respective position of the target device based on the position determined at a previous time instance and the second set of measurement data.

Disclosed are a method and a device for same, the method comprising the steps of: receiving a VRU path map including joint information; predicting the movement path of a VRU device; and transmitting a first message including information about the movement path of the VRU, wherein: the joint information includes location information about joints, and information about the angle and probability of each of the plurality of VRU paths branched at the joints; the VRU device determines a specific joint from among the joints on the basis of the location of the VRU and a progress direction measured by a sensor, and predicts the movement path of the VRU by correcting the probability of each of the VRU paths on the basis of the difference in angle between the progress angle and the angle of each of the VRU paths branched at the specific joint.

A measurement arrangement has a first satellite-based measurement facility, which works on the basis of signals of a first global satellite positioning system, for generating a first measured value, which indicates a location or a speed of the first measurement facility, and a measured value-based first accuracy value indicating the accuracy of the first measured value. A second satellite-based measurement facility is present, which works on the basis of signals of a second, different global satellite positioning system and serves for generating a second measured value, which indicates the location or the speed of the second measurement facility, and a second measured value-based accuracy value, which indicates the accuracy of the second measured value. The first and second satellite-based measurement facilities are connected to an evaluation facility, which carries out a plausibility check using the measured values and generates an error signal if the plausibility check delivers an implausible result.