A communication device includes: a plurality of wireless communication sections, each of which is configured to wirelessly receive a signal from another communication device; and a control section configured to perform a detection process of detecting specific elements with regard to a plurality of correlation computation results, each of which is obtained by correlating a first signal that is transmitted from the other communication device and each of second signals at the designated interval and includes a correlation value indicating magnitude of correlation between the first signal and the second signal as an element obtained at the designated interval, and control a change process of treating a wireless communication section having earliest time corresponding to the specific element as a first wireless communication section among the plurality of wireless communication sections, treating the other wireless communication section as a second wireless communication section among the plurality of wireless communication sections.

A communication device includes: a plurality of wireless communication sections, each of which is configured to wirelessly receive a signal from another communication device; and a control section configured to perform a detection process of detecting specific elements with regard to a plurality of correlation computation results, each of which is obtained by correlating a first signal that is transmitted from the other communication device and each of second signals at the designated interval and includes a correlation value indicating magnitude of correlation between the first signal and the second signal as an element obtained at the designated interval, and control a change process of treating a wireless communication section having earliest time corresponding to the specific element as a first wireless communication section among the plurality of wireless communication sections, treating the other wireless communication section as a second wireless communication section among the plurality of wireless communication sections.

A control device comprising: a control unit that applies a weight parameter based on a reliability parameter that is an index indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between the communication device and the other communication device calculated on the basis of a signal received from the other communication device by the communication device to a provisional positional relationship between at least two of the communication devices and the other communication device estimated on the basis of the signals transmitted and received between the communication device and the other communication device, and performs control for estimating the positional relationship between the communication device and the other communication device.

To estimate a positional relationship between devices having transmitted and received signals with higher accuracy.

A control device comprising:

a control unit that performs control for estimating a positional relationship between a communication device having four or more antennas and another communication device on the basis of signals transmitted and received between the communication device and the other communication device, wherein

the control unit applies a weight parameter based on a reliability parameter that is an index indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between the communication device and the other communication device calculated on the basis of a signal received from the other communication device by the communication device to a phase difference between adjacent antennas of the four or more antennas of the communication device, and performs control for estimating the positional relationship.

Embodiments of the disclosure are drawn to apparatuses, systems, and methods for radio direction finding with an iterative ambiguity resolution algorithm. An antenna array may receive an emitted signal. Two or more phase shifts in the received emitted signal may be determined between two or more pairs of antennas of the antenna array. A set of possible expected phase shifts may be generated from at least two of the measured phase shift. To determine the proper one of the set of expected phase shifts, a set of initial guesses for parameters of a fitting equation may be generated and then each may be optimized to determine optimized fitting parameters. From these optimized fitting parameters a direction of arrival of the emitted signal may be determined.

Embodiments of the disclosure are drawn to apparatuses, systems, and methods for radio direction finding with an iterative ambiguity resolution algorithm. An antenna array may receive an emitted signal. Two or more phase shifts in the received emitted signal may be determined between two or more pairs of antennas of the antenna array. A set of possible expected phase shifts may be generated from at least two of the measured phase shift. To determine the proper one of the set of expected phase shifts, a set of initial guesses for parameters of a fitting equation may be generated and then each may be optimized to determine optimized fitting parameters. From these optimized fitting parameters a direction of arrival of the emitted signal may be determined.

A direction detection device includes: antennas that receive a received wave; an intensity difference imparting unit that imparts intensity differences different depending on the received-wave arrival direction to intensities of the received wave; a storage unit that stores an intensity difference table in which the intensity difference between two of the antennas is associated with the received-wave arrival direction, for each combination of any two of the antennas; a detector that detects an intensity difference between the two antennas and a phase difference between the two antennas, of the received wave; an extractor that extracts, from the table, a received-wave arrival direction corresponding to the detected intensity difference, for each combination; a calculation unit that calculates a received-wave arrival direction corresponding to the detected phase difference; and a comparator that compares the extracted received-wave arrival direction with the calculated received-wave arrival direction to acquire a matched received-wave arrival direction.

A direction detection device includes: antennas that receive a received wave; an intensity difference imparting unit that imparts intensity differences different depending on the received-wave arrival direction to intensities of the received wave; a storage unit that stores an intensity difference table in which the intensity difference between two of the antennas is associated with the received-wave arrival direction, for each combination of any two of the antennas; a detector that detects an intensity difference between the two antennas and a phase difference between the two antennas, of the received wave; an extractor that extracts, from the table, a received-wave arrival direction corresponding to the detected intensity difference, for each combination; a calculation unit that calculates a received-wave arrival direction corresponding to the detected phase difference; and a comparator that compares the extracted received-wave arrival direction with the calculated received-wave arrival direction to acquire a matched received-wave arrival direction.

A direction detection device for detecting a received-wave arrival direction of a received wave, and includes: antennas for receiving the received wave; an intensity difference imparting unit that imparts intensity differences different depending on the received-wave arrival direction to intensities of the received wave; a storage unit that stores an intensity difference table an which the intensity difference between two of the antennas is associated with the received-wave arrival direction, for each combination of any two of the antennas; a detector that detects the intensity difference between the two antennas of the received wave; an extractor that extracts, from the intensity difference table, received-wave arrival directions corresponding to the intensity difference detected by the detector, for each combination; and a comparator that compares the received-wave arrival directions extracted by the extractor between the combinations of the antennas to acquire a matched received-wave arrival direction as a detection result.

Aspects of the subject disclosure may include, for example, utilizing a Radio Frequency (RF) fingerprint model for a demarcated area associated with a plurality of anchors. A machine learning process is applied to an RF training set that includes RF characteristics for a plurality of messages and locations determined for one or more mobile devices within the demarcated area. The plurality of messages are wirelessly transmitted as part of radio measurement locating processes to determine the mobile device locations. A first location for the first mobile device can be determined based on the RF fingerprint model according to particular RF characteristics of first messages being received by or received from the first mobile device. Other embodiments are disclosed.