A system and method, which utilizes incremental smoothing and mapping (iSAM) algorithm and automatically builds a beacon location map using various sensor and environmental information. The aforesaid iSAM algorithm fuses received signal strength indicator (RSSI) values available from different beacons in the environment and the information provided by the IMU sensor. The aforesaid iSAM algorithm is capable of simultaneously generating beacon and landmark map and localize the mobile computing device in the environment without having any prior information about any beacon locations. To accommodate for noisy sensor data and achieve better convergence for the iSAM algorithm, the system uses a prior beacon location map, which contains location information of some of the BLE beacons located in the environment. These known beacon locations provide cleaner environmental information to the iSAM algorithm and hence improve the overall estimation of beacon locations, which were not available apriori.

A method for determining geo-position of a target by an aircraft includes: receiving navigation data related to the aircraft including aircraft attitude information; receiving multilateration information related to the target including an angle to the target; calculating an axis for a cone fixed to the aircraft, based on the received aircraft attitude information; calculating a central angle for the cone from the received angle to the target; generating two vectors orthogonal to the cone axis; calculating a cone model from the axis, the central angle and the two vectors; and intersecting the cone model with an earth model to obtain a LEP curve, wherein the LEP curve is used to determine the geo position of the target.

Positioning reference signals are transmitted in a downlink direction from base stations (200) of a wireless communication network to a wireless communication device (100) or in an uplink direction from the wireless communication device (100) to base stations (200) of the wireless communication network. According to a frequency hop pattern, a radio interface of the wireless communication device is switched between multiple different frequency ranges. In this way, the wireless communication device (100) can receive the downlink positioning reference signals on multiple different frequencies defined by the frequency hop pattern or send the uplink positioning reference signals on multiple different frequencies defined by the frequency hop pattern.

Positioning reference signals are transmitted in a downlink direction from base stations (200) of a wireless communication network to a wireless communication device (100) or in an uplink direction from the wireless communication device (100) to base stations (200) of the wireless communication network. According to a frequency hop pattern, a radio interface of the wireless communication device is switched between multiple different frequency ranges. In this way, the wireless communication device (100) can receive the downlink positioning reference signals on multiple different frequencies defined by the frequency hop pattern or send the uplink positioning reference signals on multiple different frequencies defined by the frequency hop pattern.

A method and a probe for monitoring fermentation prone agricultural natural products, such as stored hay, straw, fodder, silage grains, seeds, and kernels. The method includes inserting at least one probe in the product to be monitored. The probe can include at least one sensor for monitoring fermentation, a wireless communication unit for communicating measured data from the probe, sending wirelessly the measured data, receiving the measured data by a base station arranged at a distance from the product, determining the location of the probe by a location unit arranged in the base station, and creating a location data of the probe, and enabling visualization of the measured data and the location data.

A method and a probe for monitoring fermentation prone agricultural natural products, such as stored hay, straw, fodder, silage grains, seeds, and kernels. The method includes inserting at least one probe in the product to be monitored. The probe can include at least one sensor for monitoring fermentation, a wireless communication unit for communicating measured data from the probe, sending wirelessly the measured data, receiving the measured data by a base station arranged at a distance from the product, determining the location of the probe by a location unit arranged in the base station, and creating a location data of the probe, and enabling visualization of the measured data and the location data.

Disclosed are examples of systems, apparatus, methods and computer program products for locating unmanned aerial vehicles (UAVs). A region of airspace may be scanned with two scanning apparatuses. Each scanning apparatus may include one or more directional Radio Frequency (RF) antennae. The two scanning apparatuses may have different locations. Radio frequency signals emitted by a UAV can be received at each of the two scanning apparatuses. The received radio frequency signals can be processed to determine a first location of the UAV.

Disclosed are examples of systems, apparatus, methods and computer program products for locating unmanned aerial vehicles (UAVs). A region of airspace may be scanned with two scanning apparatuses. Each scanning apparatus may include one or more directional Radio Frequency (RF) antennae. The two scanning apparatuses may have different locations. Radio frequency signals emitted by a UAV can be received at each of the two scanning apparatuses. The received radio frequency signals can be processed to determine a first location of the UAV.

Disclosed are examples of systems, apparatus, methods and computer program products for locating unmanned aerial vehicles (UAVs). A region of airspace may be scanned with two scanning apparatuses. Each scanning apparatus may include one or more directional Radio Frequency (RF) antennae. The two scanning apparatuses may have different locations. Radio frequency signals emitted by a UAV can be received at each of the two scanning apparatuses. The received radio frequency signals can be processed to determine a first location of the UAV.

Disclosed are examples of systems, apparatus, methods and computer program products for locating unmanned aerial vehicles (UAVs). A region of airspace may be scanned with two scanning apparatuses. Each scanning apparatus may include one or more directional Radio Frequency (RF) antennae. The two scanning apparatuses may have different locations. Radio frequency signals emitted by a UAV can be received at each of the two scanning apparatuses. The received radio frequency signals can be processed to determine a first location of the UAV.