A method and system for determining position and/or pose of an object. A robotic device moves throughout an environment and includes a master transceiver tag and, optionally, additional tags. The environment includes a plurality of anchor nodes that are configured to form a network. A master anchor node is in communication with at least a portion of the plurality of anchor nodes and is configured to transmit a ranging message as a UWB signal, receive a ranging message response from each other anchor node in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the other anchor nodes. The master transceiver tag receives the reference grid information and, based upon further calculations, determines a specific position and pose of the robotic device within the environment.

Systems, methods, apparatuses, and computer program products for user equipment (UE)-based positioning non-line of sight (NLOS) error mitigation. For example, some embodiments described herein may provide for use of a blind-learning-type algorithm for channel bias distribution estimation for UE-based positioning. The UE may perform a calculation of a positioning of the UE using NLOS bias distribution received from a network node, as described elsewhere herein.

An apparatus, computer program and method is described comprising: obtaining, at a receiver, during a first phase of operation, one or more first downlink positioning reference samples from each of a plurality of communication nodes of a mobile communication system, wherein the receiver operates in a wide-beam or omnidirectional mode during the first phase of operation; determining first response estimates of channels between the receiver and each of said each communication nodes, based on the positioning reference samples obtained for the respective communication node; selecting, for each communication node, a receiver beam for receiving positioning signals from the respective communication node, based, at least in part, on the respective first channel response estimate; and receiving, at the receiver, in a second phase of operation, one or more second downlink positioning reference samples from each of the plurality of communication nodes using the selected receiver beams.

An apparatus, computer program and method is described comprising: obtaining, at a receiver, during a first phase of operation, one or more first downlink positioning reference samples from each of a plurality of communication nodes of a mobile communication system, wherein the receiver operates in a wide-beam or omnidirectional mode during the first phase of operation; determining first response estimates of channels between the receiver and each of said each communication nodes, based on the positioning reference samples obtained for the respective communication node; selecting, for each communication node, a receiver beam for receiving positioning signals from the respective communication node, based, at least in part, on the respective first channel response estimate; and receiving, at the receiver, in a second phase of operation, one or more second downlink positioning reference samples from each of the plurality of communication nodes using the selected receiver beams.

A method and device for a user equipment, a base station and a service center is disclosed; the UE transmits first information, then receives X1 first signals and transmits a first measurement report; first information is used to determine X1 first antenna port(s); first measurement report includes K1 piece(s) of measurement information, and each of K1 piece(s) of measurement information is for one of X1 first signals; measurement information is used to determine at least the first two of the corresponding set of time length, first antenna port, or first angle; By designing first information and first measurement report, feedback information of beam selection is used to determine generation and transmission of positioning reference signal under the condition of the base station and the UE supporting beamforming, utilizing beamforming has strong directional characteristics to improve the accuracy of UE positioning.

A method and device for a user equipment, a base station and a service center is disclosed; the UE transmits first information, then receives X1 first signals and transmits a first measurement report; first information is used to determine X1 first antenna port(s); first measurement report includes K1 piece(s) of measurement information, and each of K1 piece(s) of measurement information is for one of X1 first signals; measurement information is used to determine at least the first two of the corresponding set of time length, first antenna port, or first angle; By designing first information and first measurement report, feedback information of beam selection is used to determine generation and transmission of positioning reference signal under the condition of the base station and the UE supporting beamforming, utilizing beamforming has strong directional characteristics to improve the accuracy of UE positioning.

Disclosed are techniques for wireless positioning. In an aspect, a user equipment (UE) receives a plurality of downlink positioning reference signals (DL-PRS) transmitted by a corresponding plurality of cells, wherein the plurality of cells is grouped into one or more groups, wherein each of the one or more groups is associated with one or more attributes, and wherein each cell of each of the one or more groups has the same values of the one or more attributes, reports, to a positioning entity, at least one baseline positioning measurement for at least one representative cell of at least one group of the one or more groups based on DL-PRS transmitted by the at least one representative cell, and reports, to the positioning entity, differential positioning measurements for cells of the at least one group based on the at least one baseline positioning measurement.

According to certain embodiments, a wireless device includes an interface and processing circuitry operably coupled to the interface. The interface is configured to receive assistance information from a first node. The assistance information includes data associated with a first reference TP. The first reference TP may be located in a cell having two or more TPs. The processing circuitry is configured to calculate a first reference signal time difference (RSTD) measurement using the data associated with a first reference TP.

Systems and methods are described for determining position of a receiver. The positioning system comprises a transmitter network including transmitters that broadcast positioning signals. The positioning system comprises a remote receiver that acquires and tracks the positioning signals and/or satellite signals. The satellite signals are signals of a satellite-based positioning system. A first mode of the remote receiver uses terminal-based positioning in which the remote receiver computes a position using the positioning signals and/or the satellite signals. The positioning system comprises a server coupled to the remote receiver. A second operating mode of the remote receiver comprises network-based positioning in which the server computes a position of the remote receiver from the positioning signals and/or satellite signals, where the remote receiver receives and transfers to the server the positioning signals and/or satellite signals.

Systems and methods are described for determining position of a receiver. The positioning system comprises a transmitter network including transmitters that broadcast positioning signals. The positioning system comprises a remote receiver that acquires and tracks the positioning signals and/or satellite signals. The satellite signals are signals of a satellite-based positioning system. A first mode of the remote receiver uses terminal-based positioning in which the remote receiver computes a position using the positioning signals and/or the satellite signals. The positioning system comprises a server coupled to the remote receiver. A second operating mode of the remote receiver comprises network-based positioning in which the server computes a position of the remote receiver from the positioning signals and/or satellite signals, where the remote receiver receives and transfers to the server the positioning signals and/or satellite signals.