A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.

A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.

The present disclosure provides a communication device for wireless communication systems and a communication method for the communication device. The communication device includes: one or more processors, configured to determine information of a reference geographical location used for the communication device, and generate, based on the information of the reference geographical location and a current absolute geographical location of the communication device, information of a relative geographical location of the communication device with respect to the reference geographical location; and a communication unit, configured to transmit the information of the relative geographical location to a predetermined communication object.

Methods and systems for wireless communication are provided. In one example, a method comprises: receiving, by a mobile device, a radio beam, the radio beam being a directional beam that propagates along an angle of departure with respect to an antenna that transmits the radio beam; identifying, by the mobile device, at least one of: the radio beam or a base station that operates the antenna; determining, by the mobile device, a position of the mobile device based on identifying at least one of the radio beam or the antenna of the base station; and outputting, by the mobile device, the position of the mobile device.

A node for determining the position of a device, wherein the node is configured to transmitting a Response Request Message, RRM, to the device, start at least one counter at the transmission of the RRM from a physical or data link layer of multiple abstraction layers being adapted to perform different tasks in the node, receive a Response Message, RM, from the device as a response to the RRM, stop the at least one counter at the reception of the RM, wherein the node further is adapted to record a counter result at the reception of RM in the physical or data link layer for each of at least three omni-directional antenna elements in the node using the at least one counter, determine the distance between the node and the device based on the recorded counter results, record an arrival angle, for the reception of the RM at each of the at least three omni-directional antenna elements, and determine the position of the device based on the determined distance and the recorded arrival angles.

A node for determining the position of a device, wherein the node is configured to transmitting a Response Request Message, RRM, to the device, start at least one counter at the transmission of the RRM from a physical or data link layer of multiple abstraction layers being adapted to perform different tasks in the node, receive a Response Message, RM, from the device as a response to the RRM, stop the at least one counter at the reception of the RM, wherein the node further is adapted to record a counter result at the reception of RM in the physical or data link layer for each of at least three omni-directional antenna elements in the node using the at least one counter, determine the distance between the node and the device based on the recorded counter results, record an arrival angle, for the reception of the RM at each of the at least three omni-directional antenna elements, and determine the position of the device based on the determined distance and the recorded arrival angles.

A technique for locating a radio device within a region covered by a radio access network, RAN is described. The RAN includes a plurality of transmission and reception points, TRPs. As to a method aspect of the technique, reports indicative of measurements performed by the radio device based on radio beams transmitted from different TRPs of the RAN are received. Each of the radio beams correspond to a radio propagation direction from the respective TRP. The radio device is located based on a combination of the radio propagation directions corresponding to radio beams transmitted from at least two of the TRPs of the RAN.

A method of direction finding (DF) positioning based on a simplified antenna platform format in a wireless communication network is proposed. A receiver receives antenna platform format information of a transmitter having multiple antenna elements. The antenna platform format information comprises an antenna platform format indicator, antenna platform position and orientation information, a number of antenna elements, and switching delay, phase center, and polarization information for each antenna element. The receiver receives a plurality of direction finding sounding signals transmitted from the transmitter via the multiple antenna elements. The receiver performs a DF algorithm based on the plurality of DF sounding signals and the antenna platform format information and thereby estimating a DF solution. Finally, the receiver determines its own location information based on the estimated DF solution.

Systems, methods, and apparatus receive a signal from a first wireless device through a first antenna, of a plurality of antennas, the signal including a first segment and a second segment. Responsive to detecting a change in the signal from the first segment to the second segment, embodiments traverse the plurality of antennas to receive the second segment through each of the plurality of antennas. Embodiments determine a plurality of phase samples, each associated with the second segment received through one of the plurality of antennas. Embodiment then use the plurality of phase samples to calculate direction data associated with the first wireless device.

Measures, including methods, systems, and non-transitory computer-readable storage media, for processing data for an augmented reality environment. An augmented reality user device receives at least one signal from a radio frequency beacon at at least one radio frequency receiver of the augmented reality user device. A spatial resolution operation is performed in relation to the at least one received signal to determine a location of the radio frequency beacon. A virtual object is rendered in an augmented reality environment on the augmented reality user device at least on the basis of the determined location.