There is provided a method for positioning of user equipment. The method for positioning of user equipment, includes: receiving, by the user equipment, a signal from an external antenna, the signal being radiated in a cyclic pattern; measuring, by the user equipment, strength of the received signal, characterizing, by the user equipment, the measured strength to form a signal pattern over a time period; and determining a position of the user equipment based on the signal pattern.

There is provided a method for positioning of user equipment. The method for positioning of user equipment, includes: receiving, by the user equipment, a signal from an external antenna, the signal being radiated in a cyclic pattern; measuring, by the user equipment, strength of the received signal, characterizing, by the user equipment, the measured strength to form a signal pattern over a time period; and determining a position of the user equipment based on the signal pattern.

There is provided a method for positioning of user equipment. The method for positioning of user equipment, includes: receiving, by the user equipment, a signal from an external antenna, the signal being radiated in a cyclic pattern; measuring, by the user equipment, strength of the received signal, characterizing, by the user equipment, the measured strength to form a signal pattern over a time period; and determining a position of the user equipment based on the signal pattern.

Using a phase interferometry method which utilizes both amplitude and phase allows the determination and estimation of multipath signals. To determine the location of an object, a signal that contains sufficient information to allow determination of both amplitude and phase, like a packet that includes a sinewave portion, is provided from a master device. A slave device measures the phase and amplitude of the received packet and returns this information to the master device. The slave device returns a packet to the master that contains a similar sinewave portion to allow the master device to determine the phase and amplitude of the received signals. Based on the two sets of amplitude and phase of the RF signals, the master device utilizes a fast Fourier transform or techniques like multiple signal classification to determine the indicated distance for each path and thus more accurately determines a location of the slave device.

Using a phase interferometry method which utilizes both amplitude and phase allows the determination and estimation of multipath signals. To determine the location of an object, a signal that contains sufficient information to allow determination of both amplitude and phase, like a packet that includes a sinewave portion, is provided from a master device. A slave device measures the phase and amplitude of the received packet and returns this information to the master device. The slave device returns a packet to the master that contains a similar sinewave portion to allow the master device to determine the phase and amplitude of the received signals. Based on the two sets of amplitude and phase of the RF signals, the master device utilizes a fast Fourier transform or techniques like multiple signal classification to determine the indicated distance for each path and thus more accurately determines a location of the slave device.

A method of estimating a relative position of a first robot with respect to a second robot at a current timestamp, wherein a first ultra-wideband (UWB) tag is installed on the first robot, the first UWB tag being a rotating tag configured to move in a circular path about a centre of rotation on the first robot, wherein a second UWB tag is installed on the second robot, the method comprising: receiving an estimate of the relative position of the first robot with respect to the second robot calculated at an earlier timestamp; obtaining rotating tag offset values of the first UWB tag with respect to the first robot at the earlier timestamp and at the current timestamp; obtaining a velocity value of the first robot at the earlier timestamp; obtaining a velocity value of the second robot at the earlier timestamp; obtaining distance values between the first UWB tag and the second UWB tag at the earlier timestamp and at the current timestamp; and calculating the relative position of the first robot with respect to the second robot at the current timestamp according to: the estimate of the relative position calculated at the earlier timestamp, the rotating tag offset values of the first UWB tag with respect to the first robot at the earlier timestamp and at the current timestamp, the velocity values of the first robot at the earlier timestamp, the velocity values of the second robot at the earlier timestamp, and the distance values between the first UWB tag and the second UWB tag at the earlier timestamp and at the current timestamp.

A method of estimating a relative position of a first robot with respect to a second robot at a current timestamp, wherein a first ultra-wideband (UWB) tag is installed on the first robot, the first UWB tag being a rotating tag configured to move in a circular path about a centre of rotation on the first robot, wherein a second UWB tag is installed on the second robot, the method comprising: receiving an estimate of the relative position of the first robot with respect to the second robot calculated at an earlier timestamp; obtaining rotating tag offset values of the first UWB tag with respect to the first robot at the earlier timestamp and at the current timestamp; obtaining a velocity value of the first robot at the earlier timestamp; obtaining a velocity value of the second robot at the earlier timestamp; obtaining distance values between the first UWB tag and the second UWB tag at the earlier timestamp and at the current timestamp; and calculating the relative position of the first robot with respect to the second robot at the current timestamp according to: the estimate of the relative position calculated at the earlier timestamp, the rotating tag offset values of the first UWB tag with respect to the first robot at the earlier timestamp and at the current timestamp, the velocity values of the first robot at the earlier timestamp, the velocity values of the second robot at the earlier timestamp, and the distance values between the first UWB tag and the second UWB tag at the earlier timestamp and at the current timestamp.