A system and a method for collision avoidance within a monitoring zone includes a first transmitter and receiver apparatus disposed on an industrial truck, a second transmitter and receiver apparatus disposed on a movable object, and at least two stationary positioning apparatuses that are set up for transmitting and receiving electromagnetic signals. A position of the movable object within the monitoring zone is determined. It is determined whether a collision risk exists between the industrial truck and the movable object, and safety measures are initiated if such a collision risk exists. The monitoring zone may include at least one separation zone, wherein no collision risk between the industrial truck and the movable object is determined to exist if the object position is located within the separation zone.

Methods for determining a location of an unknown device (UD) from a plurality of known devices (KDs) are provided including receiving, at the UD, periodically broadcasted messages from each of a plurality of KDs. Corresponding arrival time stamp (T.sub.arrival-i-UD) of each periodically broadcasted message from each of the plurality of KDs are recorded. Each of the plurality of KDs are clock synchronized to a common clock source at a master device(MD). A departure time of the periodically broadcasted message from each of the plurality of KDs is known by the UD in master device time units (T.sub.depart-i-md). X, y and z coordinates of a location of each of the KDs is known by the UD. The x, y and z coordinates of an actual location of the UD is calculated using the x, y and z coordinates of each of the KDs, the recorded arrival times (T.sub.arrival-i-UD) of each of the periodically broadcasted messages from each of the plurality of KDs and the known departure times of each of the periodically broadcasted messages (T.sub.depart-i-md) from each of the plurality of KDs.

Methods for determining a location of an unknown device (UD) from a plurality of known devices (KDs) are provided including receiving, at the UD, periodically broadcasted messages from each of a plurality of KDs. Corresponding arrival time stamp (T.sub.arrival-i-UD) of each periodically broadcasted message from each of the plurality of KDs are recorded. Each of the plurality of KDs are clock synchronized to a common clock source at a master device(MD). A departure time of the periodically broadcasted message from each of the plurality of KDs is known by the UD in master device time units (T.sub.depart-i-md). X, y and z coordinates of a location of each of the KDs is known by the UD. The x, y and z coordinates of an actual location of the UD is calculated using the x, y and z coordinates of each of the KDs, the recorded arrival times (T.sub.arrival-i-UD) of each of the periodically broadcasted messages from each of the plurality of KDs and the known departure times of each of the periodically broadcasted messages (T.sub.depart-i-md) from each of the plurality of KDs.

A method, apparatus, and system are provided for facilitating positioning based on signal correlation function characteristic feedback. In an embodiment, the method may involve steps performed by a network node in communication with a wireless communication device (WCD) and a plurality of base stations. The network node receives, from the WCD, location information including position reference signal (PRS) correlation function characteristics of a cross-correlation between a received downlink signal and a transmitted PRS for each base station from the plurality of base stations. The network node determines a position of the WCD using the PRS correlation function characteristics. The WCD may initiate the transmission of the PRS correlation function characteristics on its own, or in response to a request to do so from the network node.

A method, apparatus, and system are provided for facilitating positioning based on signal correlation function characteristic feedback. In an embodiment, the method may involve steps performed by a network node in communication with a wireless communication device (WCD) and a plurality of base stations. The network node receives, from the WCD, location information including position reference signal (PRS) correlation function characteristics of a cross-correlation between a received downlink signal and a transmitted PRS for each base station from the plurality of base stations. The network node determines a position of the WCD using the PRS correlation function characteristics. The WCD may initiate the transmission of the PRS correlation function characteristics on its own, or in response to a request to do so from the network node.

Methods for determining a location of an unknown device (UD) from a plurality of known devices (KDs) are provided including receiving, at the UD, periodically broadcasted messages from each of a plurality of KDs. Corresponding arrival time stamp (T.sub.arrival-i-UD) of each periodically broadcasted message from each of the plurality of KDs are recorded. Each of the plurality of KDs are clock synchronized to a common clock source at a master device (MD). A departure time of the periodically broadcasted message from each of the plurality of KDs is known by the UD in master device time units (T.sub.depart-i-md). X, y and z coordinates of a location of each of the KDs is known by the UD. The x, y and z coordinates of an actual location of the UD is calculated using the x, y and z coordinates of each of the KDs, the recorded arrival times (T.sub.arrival-i-UD) of each of the periodically broadcasted messages from each of the plurality of KDs and the known departure times of each of the periodically broadcasted messages (T.sub.depart-i-md) from each of the plurality of KDs.

Methods for determining a location of an unknown device (UD) from a plurality of known devices (KDs) are provided including receiving, at the UD, periodically broadcasted messages from each of a plurality of KDs. Corresponding arrival time stamp (T.sub.arrival-i-UD) of each periodically broadcasted message from each of the plurality of KDs are recorded. Each of the plurality of KDs are clock synchronized to a common clock source at a master device (MD). A departure time of the periodically broadcasted message from each of the plurality of KDs is known by the UD in master device time units (T.sub.depart-i-md). X, y and z coordinates of a location of each of the KDs is known by the UD. The x, y and z coordinates of an actual location of the UD is calculated using the x, y and z coordinates of each of the KDs, the recorded arrival times (T.sub.arrival-i-UD) of each of the periodically broadcasted messages from each of the plurality of KDs and the known departure times of each of the periodically broadcasted messages (T.sub.depart-i-md) from each of the plurality of KDs.

A method may include the following steps: determining, based on timing measurements between a first digital radio communication device (DRCD) node and at least a second DRCD node, a distance between the first DRCD disposed on a tanker and the second DRCD disposed about a loading/unloading facility; and facilitating, in response to determining a position based on the timing measurements, fluid payload loading/unloading of the tanker at the loading/unloading facility.

A method may include the following steps: determining, based on timing measurements between a first digital radio communication device (DRCD) node and at least a second DRCD node, a distance between the first DRCD disposed on a tanker and the second DRCD disposed about a loading/unloading facility; and facilitating, in response to determining a position based on the timing measurements, fluid payload loading/unloading of the tanker at the loading/unloading facility.

A disclosed method includes receiving a time-of-arrival range filter configuration and a reference signal physical transmission time from a network node at a reference signal physical reception time. The time-of-arrival range filter configuration includes at least one of a time-of-arrival filter status, a time-of-arrival filter distance range, and a time-of-arrival configuration. A time difference between the reference signal physical reception time and the reference signal physical transmission time is determined, and a distance to the network node based on the time difference is calculated. Whether the distance is within the time-of-arrival filter distance range is determined, and the time-of-arrival filter status is determined. Based on the time-of-arrival filter status, actions are performed in accordance with the time-of-arrival configuration applicable for the distance.