Certain aspects of the present disclosure provide techniques for improving sidelink positioning via messaging between wireless nodes, e.g., roadside service units (RSUs). A method that may be performed by a user equipment (UE) includes receiving a first positioning reference signal (PRS) from a first wireless node, receiving a second PRS from a second wireless node, receiving, from the first wireless node, an estimate of a first clock error component between the first wireless node and the second wireless node, and estimating a position of the UE, based on the first PRS, the second PRS, and the estimate of the first clock error component.

A system provides a way to determine angle of bearing to a target receiver/transmitter relative to plural beacon stations with rotating directional radiation patterns. The target is “cooperative” in that it transmits a “report” message when the target receives maximum signal strength from a beacon station. Triangulation from multiple beacon transmitter sites can be used to determine the target's position.

Calibrating an anchor point in a positioning system includes, in an example implementation, transmitting a localization signal between a mobile device and the anchor point, determining a first direction between the mobile device and the anchor point in a local coordinate system based on the transmitted localization signal, and determining a second direction between the mobile device and the anchor point in a global coordinate system based on the determined first direction and a stored anchor orientation of the anchor point, the anchor orientation defining the local coordinate system of the anchor point with respect to the global coordinate system. Calibrating the anchor point further includes acquiring a target position of the mobile device, the target position being associated with the transmitted localization signal, determining a third direction between the mobile device and the anchor point in the global coordinate system based on a known anchor position and the target position, and adjusting the stored anchor orientation based on the first direction and a difference between the second and the third direction.

A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.

A method, apparatus and computer readable storage medium are provided for reconfiguring a radio positioning support system. In a method, one or more observation reports are received. Each observation report is associated with a respective radio positioning support device of a radio positioning support system. Each observation report contains an indication for a number of radio positioning support devices and/or for each radio positioning support device from which a radio positioning support signal is observable at a position of said respective radio positioning support device. The method also determines, based on said observation reports, whether a predetermined radio positioning support criterion is met by said radio positioning support system. If it is determined that the predetermined radio positioning support criterion is not met by the radio positioning support system, the method at least partially reconfigures and/or causes at least partially reconfiguration of the radio positioning support system.

A method, apparatus and computer readable storage medium are provided for reconfiguring a radio positioning support system. In a method, one or more observation reports are received. Each observation report is associated with a respective radio positioning support device of a radio positioning support system. Each observation report contains an indication for a number of radio positioning support devices and/or for each radio positioning support device from which a radio positioning support signal is observable at a position of said respective radio positioning support device. The method also determines, based on said observation reports, whether a predetermined radio positioning support criterion is met by said radio positioning support system. If it is determined that the predetermined radio positioning support criterion is not met by the radio positioning support system, the method at least partially reconfigures and/or causes at least partially reconfiguration of the radio positioning support system.

Apparatus and methods are presented for synchronising a slave device signal to a reference timebase, in situations where the slave device lacks knowledge of the propagation delay for signals from the reference device, e.g. if the positions of one or both of the devices are unknown or classified, or the inter-device signal propagation distance is otherwise a-priori unknown. Reference signal propagation delay is determined using an exchange of signals between the devices, with each device using a differencing procedure for eliminating effects of receiver line bias and other hardware delays. In another aspect an exchange of signals between the devices is used to detect a time residual arising from an inaccurate propagation delay estimate. The synchronisation methods can be applied to a plurality of slave devices for providing a synchronised location network. In certain embodiments signals are transmitted wirelessly, while in other embodiments they are transmitted via a fixed line.

A transceiver network comprises first, second, and third transceivers that are configured to transmit signals that are spread over a bandwidth that exceeds the lesser of 125 MHz and 5% of an arithmetic center frequency of the signals. An additional transceiver with at least a partially unknown relative position can be added to the transceiver network. The additional transceiver receives the signals from the first, second, and third transceivers and timestamps the receptions. A position calibration unit is configured to compute the position of the additional transceiver relative to the first, second, and third transceivers based on the reception timestamps and known relative locations of the first, second, and third transceivers. The additional transceiver can be configured to transmit (e.g., in a transmission time slot) an additional signal as part of the transceiver network.

Embodiments of the present disclosure provide a method, apparatus and computer program product for obstacle detection. A method implemented at a base station includes transmitting a positioning reference signal; receiving a transmission leakage signal and a reflection signal of the positioning reference signal; determining whether there exists an obstacle based on the reflection signal; and determining position information of the obstacle based on the transmission leakage signal and the reflection signal.

Disclosed is a method of location identification using a single beacon. The method comprises determining a first distance between a beacon and a first sensor, where the first sensor is embedded in a mobile device. It also includes determining a second distance between the beacon and a second sensor, where the second sensor is embedded in the mobile device. The method also includes defining a vector, where the vector has a magnitude equal to the distance between the first and second sensor, and a direction pointing from the first sensor to the second sensor. The method further includes calculating a plurality of potential locations. The method then determines the actual location.