Disclosed are techniques for wireless communication. In an aspect, a base station performs one or more angle-based measurements in a first coordinate system, determines whether to report, to a positioning entity, the one or more angle-based measurements in a local coordinate system (LCS) or a global coordinate system (GCS), and reports the one or more angle-based measurements to the positioning entity in the LCS or the GCS based on the determination. In an aspect, a positioning entity receives, from a base station, one or more angle-based measurements in an LCS of the base station or a GCS, determines whether the one or more angle-based measurements are in the LCS or the GCS, and processes the one or more angle-based measurements based on the determination.

A multi-port antenna and associated systems having extremely wide bandwidth and capable of maintaining directivity as frequency decreases and is made arbitrarily low, allowing DF systems to operate to arbitrarily low frequency regardless of size. Construction may be rugged, lightweight, and low cost, allowing reliable service in harsh environments. The systems allow utilization of both the E and H fields occupying a common area of space. The disclosed DF system takes advantage of knowledge of the as-installed array manifold, uses pattern matching to determine the angle of arrival (AoA) of incoming waves, and enhances sensitivity by using integration on cross-correlation products between the multiple ports to achieve SNR improvement.

A multi-port antenna and associated systems having extremely wide bandwidth and capable of maintaining directivity as frequency decreases and is made arbitrarily low, allowing DF systems to operate to arbitrarily low frequency regardless of size. Construction may be rugged, lightweight, and low cost, allowing reliable service in harsh environments. The systems allow utilization of both the E and H fields occupying a common area of space. The disclosed DF system takes advantage of knowledge of the as-installed array manifold, uses pattern matching to determine the angle of arrival (AoA) of incoming waves, and enhances sensitivity by using integration on cross-correlation products between the multiple ports to achieve SNR improvement.

A multi-port antenna and associated systems having extremely wide bandwidth and capable of maintaining directivity as frequency decreases and is made arbitrarily low, allowing DF systems to operate to arbitrarily low frequency regardless of size. Construction may be rugged, lightweight, and low cost, allowing reliable service in harsh environments. The systems allow utilization of both the E and H fields occupying a common area of space. The disclosed DF system takes advantage of knowledge of the as-installed array manifold, uses pattern matching to determine the angle of arrival (AoA) of incoming waves, and enhances sensitivity by using integration on cross-correlation products between the multiple ports to achieve SNR improvement.

A multi-port antenna and associated systems having extremely wide bandwidth and capable of maintaining directivity as frequency decreases and is made arbitrarily low, allowing DF systems to operate to arbitrarily low frequency regardless of size. Construction may be rugged, lightweight, and low cost, allowing reliable service in harsh environments. The systems allow utilization of both the E and H fields occupying a common area of space. The disclosed DF system takes advantage of knowledge of the as-installed array manifold, uses pattern matching to determine the angle of arrival (AoA) of incoming waves, and enhances sensitivity by using integration on cross-correlation products between the multiple ports to achieve SNR improvement.

To estimate a positional relationship between devices having transmitted and received signals with higher accuracy. A control device includes a control unit that compares reliability parameters that are indexes indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between each of the plurality of communication devices and the other communication device, calculated on the basis of the signals received from the other communication device by the communication device, and performs control for estimating the positional relationship on the basis of a signal transmitted and received between the communication device that has received a signal that is more appropriate as a processing target for estimating the positional relationship and the other communication device.

A wave source location direction estimation apparatus includes: a signal acquisition unit to acquire a reception signal of one or more radio waves from an antenna to receive the one or more radio waves from among a direct wave which is a radio wave from a wave source and one or more multipath waves which are radio waves from the wave source; and a profile calculation unit to calculate an angle profile including directions of incidence of the respective radio waves on the antenna, and reception power levels of the respective radio waves on the basis of the reception signal acquired by the signal acquisition unit. In addition, the wave source location direction estimation apparatus includes a direction estimation unit to estimate a direction in which the wave source is located on the basis of the angle profile calculated by the profile calculation unit.

A wave source location direction estimation apparatus includes: a signal acquisition unit to acquire a reception signal of one or more radio waves from an antenna to receive the one or more radio waves from among a direct wave which is a radio wave from a wave source and one or more multipath waves which are radio waves from the wave source; and a profile calculation unit to calculate an angle profile including directions of incidence of the respective radio waves on the antenna, and reception power levels of the respective radio waves on the basis of the reception signal acquired by the signal acquisition unit. In addition, the wave source location direction estimation apparatus includes a direction estimation unit to estimate a direction in which the wave source is located on the basis of the angle profile calculated by the profile calculation unit.

A robot or other device capable of movement includes a local position module and an RF communication module, the RF communication module being configured to communicate with RF anchor points to conduct one or more of navigation, positioning, exploration, tracking, and mapping. The robot or other device can include a transceiver configured to communicate with fixed location RF anchor points and a relative odometry unit. The robot or other device also can include a localization and navigation system that can conduct bearing measurements, which can be two-way bearing measurements, between the robot and one or more of the RF anchor points and integrates the bearing measurements with odometry measurements to navigate an environment of the RF anchor points.

Systems, methods, and apparatus for processing signals using a sensor arrays are disclosed. In one aspect, an apparatus comprising a sensor array and a computing device is provided. The computing device may comprise one or more processors configured to generate a data matrix based on one or more signals received at each of the plurality of sensor and to determine a covariance matrix based on the data matrix. The one or more processors may also be configured to decompose the covariance matrix into a matrix of eigenvalues and a matrix of eigenvectors and to determine a projected data matrix based on applying the data matrix to the eigenvector matrix. Further, the one or more processors may be configured to determine a denoised projected data matrix based on denoising the projected data matrix and to determine a denoised data matrix based on the denoised projected data matrix.