Method, mobile device, computer program product, and apparatus for optimizing sensor reporting are described. A mobile device can measure radio frequency (RF) signal characteristics while receiving data from one or more mobile device sensors. The mobile device may determine its relative displacement between RF signal measurements. The mobile device can send a representation of the RF signal characteristics and the displacement data to one or more servers. The representation displacement data may include one or more reliability characteristics and/or a displacement reliability rating. A server can obtain the displacement data and RF signal characteristics to determine positioning of wireless transmitters in an environment and build a positioning database.

Systems and methods for determining a location of a mobile computing device requesting emergency services are provided. A mobile computing device may receive an indication of a request for emergency services from a user of the mobile computing device. The mobile computing device may receive a first wireless signal from a first device. The wireless signal may include an indication of a first geographic position associated with the first device. The mobile computing device may determine a location associated with the mobile computing device based on the indication of the first geographic position associated with the first device, and may send the determined location to a provider of emergency services.

A harvester travels along a route within a field and selectively harvests edible crowns ready for harvesting. As the harvester travels along the route, a position of the harvester and/or the edible crowns may be determined using an encoder, imaging device(s), and/or navigational system(s). For example, image(s) captured by the imaging device(s) may be used to determine a location of the edible crowns and/or global positioning satellite (GPS) coordinates may indicate a location of the harvester within the field. These locations may be used for instructing harvesting components to harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that harvest the edible crowns. Knowing the location of the edible crowns and/or the harvester therefore allows for the accurate placement of the end effectors for harvesting the edible crowns.

A harvester travels along a route within a field and selectively harvests edible crowns ready for harvesting. As the harvester travels along the route, a position of the harvester and/or the edible crowns may be determined using an encoder, imaging device(s), and/or navigational system(s). For example, image(s) captured by the imaging device(s) may be used to determine a location of the edible crowns and/or global positioning satellite (GPS) coordinates may indicate a location of the harvester within the field. These locations may be used for instructing harvesting components to harvest the edible crowns. For example, the harvester may include robotic arms having end effectors that harvest the edible crowns. Knowing the location of the edible crowns and/or the harvester therefore allows for the accurate placement of the end effectors for harvesting the edible crowns.

A GPS receiving apparatus according to the present invention includes: a GPS radio wave receiving unit that receives GPS radio waves; a walking state determination unit that determines a walking state of a wearer continuously for a predetermined interval; a storage unit that stores walking information determined by way of the walking state determination unit; a determination unit that determines whether being a state in which GPS radio waves can be received, based on a series of the walking states stored in the storage unit; and a control unit that causes reception of GPS radio waves to be carried out by way of the GPS radio wave receiving unit, in a case of being determined by way of the determination unit as being a state in which GPS radio waves can be received.

A GPS receiving apparatus according to the present invention includes: a GPS radio wave receiving unit that receives GPS radio waves; a walking state determination unit that determines a walking state of a wearer continuously for a predetermined interval; a storage unit that stores walking information determined by way of the walking state determination unit; a determination unit that determines whether being a state in which GPS radio waves can be received, based on a series of the walking states stored in the storage unit; and a control unit that causes reception of GPS radio waves to be carried out by way of the GPS radio wave receiving unit, in a case of being determined by way of the determination unit as being a state in which GPS radio waves can be received.

Improvements in Global Navigation Satellite System (GNSS) spoofing detection of a vehicle are disclosed utilizing bearing and/or range measurements acquired independently from GNSS technology. Bearing and/or range measurements are determined from a GNSS-calculated position. Additionally, bearing and/or range measurements are acquired from an independent sensor, such as a Radio Detection and Ranging (radar) and a terrain database. The differences between the GNSS-based bearing and/or range and the bearing and/or range determined from the independent sensor, along with any applicable sources of error or uncertainty (including the post-hoc residuals from the GNSS-calculated position), are input into an analytical algorithm (e.g., RAIM) to determine whether GNSS spoofing is present with respect to the calculated GNSS position. If spoofing is detected, an alternative position determining system can be used in lieu of GNSS technology, and alerts can be sent notifying appropriate entities of the spoofing result.

A position estimation unit (2) comprising a first transceiver device (3) and a processing unit (10) that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x.sub.1, x.sub.2, x.sub.3, x.sub.4, x.sub.5, x.sub.6) sent pair-wise between two transceivers among the first transceiver device (3) and at least two other transceiver devices (7, 8, 9); calculate possible positions for the transceiver devices (3, 7, 8, 9), which results in possible positions for each transceiver device (3, 7, 8, 9); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices (3, 7, 8, 9) in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit (10) is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices (3, 7, 8, 9) between the consecutive MDS calculations is obtained.

A positioning system including a satellite signal receiver 20 that receives satellite signals from a plurality of positioning satellites; a plurality of indoor pseudo satellite stations that transmit pseudo satellite signals; and a pseudo station control device that selects the positioning satellites to be allocated to the plurality of pseudo satellite stations based on the received satellite signals, allocates a PRN code corresponding to each of the selected positioning satellites to each of the plurality of pseudo satellite stations one by one, determines a delay time of the PRN code allocated to the plurality of pseudo satellite stations, and transmits a plurality of pseudo satellite signals generated using the PRN code corresponding to each of the plurality of pseudo satellite stations and the delay time to each of the plurality of pseudo satellite stations.

A method for estimating the pressure measurement bias of a barometric sensor in a wireless terminal. A location engine using the method generates an enhanced estimate of the measurement bias. The location engine generates the enhanced estimate based in part on relatively coarse estimates of the elevation of the wireless terminal. Each coarse estimate of elevation is often generated from noisy measurements, such as measurements of signals transmitted by Global Positioning System (GPS) satellites, and has an associated uncertainty. The location engine accounts for the uncertainty in these estimates of elevation by applying an optimal estimation technique, such as Kalman filtering, and by compensating for environment-related effects. Compensating Includes filtering across a plurality of lateral locations and imposing a lower bound of bias uncertainty at the lateral locations. Once the location engine generates the enhanced estimate of measurement bias, it can generate improved estimates of elevation of the wireless terminal.