Systems and method for location determination in a distributed system are disclosed. In one aspect, the distributed system operates at frequencies where obstacles and distance may preclude direct connection between a system node and a remote mobile device. The system may determine the location of the remote mobile device using an intermediate device and thus be a location system. Specifically, a position of the intermediate device relative to the system node is calculated and a position of the remote mobile device relative to the intermediate device is calculated. The two positions may be combined to determine a position of the remote mobile device relative to the system node. Once the location of the remote mobile device is known relative to the system node, a variety of location services become available.

Systems, methods, and apparatus for detecting UAVs in an RF environment are disclosed. An apparatus is constructed and configured for network communication with at least one camera. The at least one camera captures images of the RF environment and transmits video data to the apparatus. The apparatus receives RF data and generates FFT data based on the RF data, identifies at least one signal based on a first derivative and a second derivative of the FFT data, measures a direction from which the at least one signal is transmitted, analyzes the video data. The apparatus then identifies at least one UAV to which the at least one signal is related based on the analyzed video data, the RF data, and the direction from which the at least one signal is transmitted, and controls the at least one camera based on the analyzed video data.

A method for determining a position of a stationary object in an underground environment, wherein the underground environment includes infrastructure for positioning of moving objects, the method including: broadcasting, by a transmitter arranged on the stationary object, a signal; detecting, by a receiver provided in a first moving object, the presence of the stationary object by receiving the signal; determining a position of the first moving object at a time at which the stationary object was detected; recording a position of the stationary object based on the determined position of the first moving object together with a time stamp indicating the time at which the stationary object was detected; and assigning a position to the stationary object based on the recorded position. A corresponding system is also disclosed.

An apparatus includes an antenna and a transceiver. The transceiver transmits a first signal via the antenna, the first signal including a unique identification of the apparatus and a request for receive information about the first signal at a receiver. The transceiver receives from the receiver a second signal via the antenna, the second signal including first information about a direction of arrival (DoA) of the first signal at the receiver and second information indicative of a location of the receiver.

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.

Disclosed are a positioning method, a gateway, and a positioning device. The positioning method comprises: receiving, by means of a Bluetooth gateway, a data packet sent by a terminal device and comprising target position information, and position information of a Bluetooth node closest to the terminal device; determining the closest Bluetooth node according to the position information of the closest Bluetooth node; receiving, by the closest Bluetooth node, a data packet sent by the terminal device and comprising CTE information; obtaining current position information of the terminal device according to the CTE information; and when the current position information of the terminal device is inconsistent with the target position information, obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device.

A system is disclosed. The system may include a receiver or transmitter node. The receiver or transmitter node may include a communications interface with an antenna element and a controller. The controller may include one or more processors and have information of own node velocity and own node orientation relative to a common reference frame. The receiver or transmitter node may be time synchronized to apply Doppler corrections to signals, the Doppler corrections associated with the receiver or transmitter node's own motions relative to the common reference frame, the Doppler corrections applied using Doppler null steering along Null directions. The receiver node is configured to determine a bearing angle based on the signals based on Doppler null steering; and to determine a range based on two-way time-of-flight based ranging signals.

An Agent supportable device for determining a direction of an item of interest. The Agent supportable device includes an antenna configured to communicate with the reference transceiver associated with the item of interest. A receiver in the Agent supportable device is in logical communication with the antenna. A transmitter is also in logical communication with the antenna. A digital storage contains software executable upon demand via a processor in logical communication with the digital storage. The processor is operative via execution of the software to cause the apparatus to display a user interface on a visual display that includes an arrow indicating a direction of the item of interest in relation to the apparatus and a distance between the apparatus and the item of interest.

An angle processing method includes: sending an angle measurement capability request message to a second terminal; receiving a response message carrying angle measurement capability information of the second terminal fed back by the second terminal.

Methods and apparatus are disclosed for determining a confidence ellipse (CEP) that encompasses possible locations of one or more target devices, which is a condition that may exist when a wireless device (WD) is initially travelling on an effectively straight path. The method includes calculating the deviation from the straight line path for the WD. If it is determined that the path is effectively a straight line, the calculation of the sum of squared residuals (SSRs) is extended so as to encompass two possible minima. A grid is then derived comprising all ground plane points, where the SSR values are (i) less than a boundary value and (ii) include the SSRs corresponding to the two possible minima. The grid is converted into a polygon, which is further converted into an ellipse displayed as the CEP. The CEP encompasses two possible locations of a target device.