A vehicle trajectory calculation method is provided. In the vehicle trajectory calculation method, a travel trajectory of a vehicle in a travel route is calculated based on a GPS signal received at predetermined time intervals with a GPS receiver of the vehicle during traveling. When there is an unmeasurable section where the travel trajectory cannot be normally calculated based on the GPS signal, the travel trajectory in the unmeasurable section is calculating by performing an interpolation based on the calculated travel trajectories in sections anterior to and posterior to the unmeasurable section.

We describe a sensor system for measuring relative distance between sensors of the system, the sensor system comprising at least two sensors, wherein each said sensor comprises an RF transceiver coupled to a microprocessor and stored program code for controlling the microprocessor, wherein said stored program code comprises code to: send, using said RF transceiver a group of one or more data bits from the sensor to a second sensor; receive, using said RF transceiver, an acknowledgement of reception of said group of data bits from said second sensor; determine a time difference between said sending and said receiving; compensate said time difference from a processing delay by the microprocessor of said second sensor between the second sensor receiving said group of data bits and sending said acknowledgement, to determine timing data reprinting distance to said second sensor.

We describe a sensor system for measuring relative distance between sensors of the system, the sensor system comprising at least two sensors, wherein each said sensor comprises an RF transceiver coupled to a microprocessor and stored program code for controlling the microprocessor, wherein said stored program code comprises code to: send, using said RF transceiver a group of one or more data bits from the sensor to a second sensor; receive, using said RF transceiver, an acknowledgement of reception of said group of data bits from said second sensor; determine a time difference between said sending and said receiving; compensate said time difference from a processing delay by the microprocessor of said second sensor between the second sensor receiving said group of data bits and sending said acknowledgement, to determine timing data reprinting distance to said second sensor.

The present disclosure involves determining base station (BS) beams for communicating between a UE and the BS. The BS may use sensor data or beam management reporting history to assist with determining one or more appropriate beams. The sensor data may include camera images, radar data, or lidar data, and be used to model the cell environment served by the BS. The BS may obtain reporting data from multiple UEs over time indicating the quality of beams received by the UEs at various locations in the cell environment and model the cell environment based on the reporting data. The BS may associate beams with possible UE locations within the cell environment and use the associations to determine beams for communicating with a UE after determining the UE's location.

The present disclosure involves determining base station (BS) beams for communicating between a UE and the BS. The BS may use sensor data or beam management reporting history to assist with determining one or more appropriate beams. The sensor data may include camera images, radar data, or lidar data, and be used to model the cell environment served by the BS. The BS may obtain reporting data from multiple UEs over time indicating the quality of beams received by the UEs at various locations in the cell environment and model the cell environment based on the reporting data. The BS may associate beams with possible UE locations within the cell environment and use the associations to determine beams for communicating with a UE after determining the UE's location.

This disclosure provides systems, methods and apparatuses for performing ranging operations between wireless devices. In some implementations, wireless devices can exchange ranging packets that include packet extensions containing a plurality of long training fields (LTFs). The wireless devices can use the LTFs in the ranging packets to obtain a plurality of round-trip time (RTT) values based on a single exchange of ranging packets. The wireless devices also can use the LTFs to estimate angle of arrival (AoA) and angle of departure (AoD) information of the exchanged ranging packets.

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.

A system for positioning a vehicle at a charging station. The system comprises: a wireless communication arrangement comprising a first communication device configured to wirelessly communicate with a second communication device by a wireless protocol; a vehicle positioning arrangement comprising a transmitting antenna configured to transmit a detection signal, and a receiving antenna configured to receive the detection signal. The transmission of the detection signal by the transmitting antenna and/or the detection of the detection signal by the receiving antenna is controlled to determine an angle between the transmitting antenna and the receiving antenna, which angle is used to guide the vehicle to a predetermined position at the charging station. The first communication device comprises one of the transmitting antenna and receiving antenna of the vehicle positioning arrangement.

Aspects of the present invention provide systems and methods for distributed signal processing of indoor localization signals wherein statistical algorithms and machine learning are used in place of a fingerprint map. The disclosure relates to calculation of angle and distance based on measurements of an indoor localization signal, followed by energy-efficient distribution of signal processing. Local signal processing is performed using any of multiple eigen structure algorithms or a linear probabilistic inference, before cloud-based signal processing is performed using a nonlinear probabilistic inference and machine learning that's been trained with historical data transmitted by the base stations and time-of-day location patterns. Without having to generate and constantly update an energy-exorbitant fingerprint map, the disclosed system reduces localization error to merely 50 cm with 95% probability without compromising energy-efficiency to rival the accuracy of indoor localization systems that utilize fingerprinting.