According to an example embodiment, there is provided a base station apparatus configured to store an initial planned location of the apparatus, to receive first messages from a master base station, each first message comprising a first timestamp indicating a transmission time of the first message, and to transmit second messages, each second message comprising a second timestamp indicating a transmission time of the second message and a location estimate of the apparatus, to receive second messages from peer apparatuses, and to receive third messages from the master base station, and configured to to determine a location of the apparatus by performing an iterative process, wherein each iteration comprises determining an updated location estimate of the apparatus based on a received first message, received at least one second message and a received third message, and determining a quality criterion of the updated location estimate of the apparatus.

According to an example embodiment, there is provided a base station apparatus configured to store an initial planned location of the apparatus, to receive first messages from a master base station, each first message comprising a first timestamp indicating a transmission time of the first message, and to transmit second messages, each second message comprising a second timestamp indicating a transmission time of the second message and a location estimate of the apparatus, to receive second messages from peer apparatuses, and to receive third messages from the master base station, and configured to to determine a location of the apparatus by performing an iterative process, wherein each iteration comprises determining an updated location estimate of the apparatus based on a received first message, received at least one second message and a received third message, and determining a quality criterion of the updated location estimate of the apparatus.

A safety sensing system implements a method for a person in an industrial environment comprises providing a personnel locator device (10) for location on a person and a reference system comprising a plurality of nodes (20) located at predetermined locations in the industrial environment (100). Radio ranging signals are transmitted between the nodes (20) and the personnel locator device (10) and measurements of times of flight of the radio ranging signals are derived. The location of the personnel locator device (10) is calculated based on the measurements of the times of flight of the radio ranging signals and reference information representing the predetermined locations of the nodes (10). It is determined if the calculated location of the personnel locator device (10) is within one or more danger zones in the industrial environment (100) and a warning signal is output in response thereto.

A method for use in a wireless transmit/receive unit (WTRU) configured to communicate through a zero energy (ZE) interface in accordance with an embodiment disclosed herein is provided. The method includes the WTRU receiving, a first positioning reference signal (PRS) resource with parameters characterizing the first PRS and determining the suitability of the first PRS resource for use by the WTRU. The method also includes measuring the phase difference of arrival (PDOA) for available frequency pairs and generating a range estimate based on the PDOA measurement. Further, the method includes the WTRU evaluating a reliability of the PDOA measurement and an accuracy of the range estimate and, on a condition that a sufficient accuracy has been achieved, reporting the range estimate.

Systems, methods, and software can provide high-accuracy position estimation for mobile user equipment (UE) configured for use within a service area covered by a plurality of radio units, e.g., O-RUs, with known position including coordinates. A channel estimate can be derived for a channel between a given UE and each of a plurality of radio units based on a sounding reference signal (SRS) received from the UE and used to select a subset of the radio units. The shortest delay can be calculated for the given UE to each O-RU in the subset, forming a set of uplink-time-difference-of-arrival (UL-TDOA) measurements; position of the given UE in the service area can be estimated based on the UL-TDOA measurements. The O-RU synchronization error can be estimated for each O-RU in the subset using estimated positions of the given UE and corresponding UL-TDOA measurements.

Aspects of the subject disclosure may include, for example, utilizing a Radio Frequency (RF) fingerprint model for a demarcated area associated with a plurality of anchors. A machine learning process is applied to an RF training set that includes RF characteristics for a plurality of messages and locations determined for one or more mobile devices within the demarcated area. The plurality of messages are wirelessly transmitted as part of radio measurement locating processes to determine the mobile device locations. A first location for the first mobile device can be determined based on the RF fingerprint model according to particular RF characteristics of first messages being received by or received from the first mobile device. Other embodiments are disclosed.

There is described an upstream device for translating clock domain for non-synchronized sensors comprising a communication component, a memory component, and a processor. The communication component detects a report received from a sensor that includes a beacon receive time in a sensor clock domain and a current report transmit time in the sensor clock domain. The memory component provides a previous report receive time in the aggregator clock domain and a previous report transmit time in the sensor clock domain. The processor identifies a current report receive time in an aggregator clock domain based on the report detected by the communication component. The processor also determines a beacon receive time in the aggregator clock domain based, at least in part, on the beacon receive time in the sensor clock domain, the current report transmit time, the current report receive time, the previous report receive time, the previous report transmit time.

Techniques are provided for passive positioning of user equipment (UE). An example method for passive positioning of a user equipment includes receiving a first positioning reference signal from a first station at a first time, receiving a second positioning reference signal from a second station at a second time, receiving a turnaround time value associated with the first positioning reference signal and the second positioning reference signal, and a distance value based on a location of the first station and a location of the second station, and determining a time difference of arrival based at least in part on the turnaround time value, the distance value, the first time, and the second time.

Techniques are provided for passive positioning of user equipment (UE). An example method for passive positioning of a user equipment includes receiving a first positioning reference signal from a first station at a first time, receiving a second positioning reference signal from a second station at a second time, receiving a turnaround time value associated with the first positioning reference signal and the second positioning reference signal, and a distance value based on a location of the first station and a location of the second station, and determining a time difference of arrival based at least in part on the turnaround time value, the distance value, the first time, and the second time.

Aspects of the subject disclosure may include, for example, receiving, from a first antenna and a second antenna of a mobile device, a first wireless signal transmitted by a first anchor of a pair of anchors, receiving, from the first antenna and the second antenna, a second wireless signal that is transmitted by a second anchor of the pair of anchors based upon the second anchor detecting the first wireless signal, determining time difference of arrival information based on the receiving the first wireless signal and the second wireless signal, determining angle of arrival information based on the receiving the first wireless signal and the second wireless signal, and estimating a location of the mobile device based on the time difference of arrival information and the angle of arrival information. Other embodiments are disclosed.