A computer includes a processor and a memory, the memory including instructions executable by the processor to identify a mobile vehicle position based on global position coordinates of a stationary location transmitter and a localized trajectory of a vehicle that is based on vehicle component data collected after passing the stationary location transmitter and to actuate a vehicle component based on the identified vehicle position.

A tracking system that works through walls, below grade, and at long range is provided, which may be utilized as a first responder tracking system. The system combines UWB (Ultrawideband) with AI-enhanced IMU motion tracking with use on, e.g., android-based smart glasses, phones and tablets. The UWB tracking provides a stable reference point in GPS denied environments, offering 3D tracking under the most challenging conditions. When walls or distance make UWB untenable, disclosed tags stream back IMU data processed by machine learning algorithms which remove, e.g., the effect of drift, noise, and error common to motion-based tracking. The system may process the UWB and IMU input data and produce a platform and language agnostic serialized message stream with position data. This published stream allows any visualization platform to subscribe and consume 3D position data, be it a local graph for engineering debug, cloud-based first responder software, or a third-party solution.

Real-time event detection is performed on nodes in an environment using position data that is not available to a node in real time but is delayed. A node performs real time event detection by predicting a position of the node based at least in part on delayed position data. The delayed position data is aligned to other sensor data. Aligning the position data may include predicting a position based on dead reckoning and/or a machine learning model. One or more collections of data, each collection including sensor data and predicted position data, is input to a model that performs event detection.

An illustrative embodiment disclosed herein is a system including client devices distributed across an environment and configured to generate distance measurements. The system further includes wireless transceivers. Each transceiver is associated with one of the client devices. Each transceiver is configured to send and receive distance measurements. The system further includes a trilateration circuit in at least one of the client devices. The trilateration circuit is configured to receive the distance measurements from the client devices, determine a first position and a first weight based on the distance measurements via a first algorithm, determine second position and a second weight based on the second distance measurements via a second algorithm, calculate a final position based on the first position, the second position, the first weight, and the second weight, and send the final position to the plurality of client devices.

Examples of systems and methods for locating movable objects such as carts (e.g., shopping carts) are disclosed. Such systems and methods can use dead reckoning techniques to estimate the current position of the movable object. Various techniques for improving accuracy of position estimates are disclosed, including compensation for various error sources involving the use of magnetometer and accelerometer, and using vibration analysis to derive wheel rotation rates. Also disclosed are various techniques to utilize characteristics of the operating environment in conjunction with or in lieu of dead reckoning techniques, including characteristic of environment such as ground texture, availability of signals from radio frequency (RF) transmitters including precision fix sources. Such systems and methods can be applied in both indoor and outdoor settings and in retail or warehouse settings.

Systems, methods, and computer readable media that schedules requests for location data of a mobile device, where the methods include selecting a first positioning system based on a power requirement, a latency requirement, and an accuracy requirement, and determining whether a first condition is satisfied for querying the first positioning system. The method further comprises in response to a determination that the first condition is satisfied, querying the first positioning system for first position data. The method further comprises in response to a determination that the first condition is not satisfied, selecting a second positioning system based on the power requirement, the latency requirement, and the accuracy requirement, determining whether a second condition is satisfied for querying the second positioning system, and in response to a determination that the second condition is satisfied, querying the second positioning system for second position data.

Systems, methods, and computer readable media that schedules requests for location data of a mobile device, where the methods include selecting a first positioning system based on a power requirement, a latency requirement, and an accuracy requirement, and determining whether a first condition is satisfied for querying the first positioning system. The method further comprises in response to a determination that the first condition is satisfied, querying the first positioning system for first position data. The method further comprises in response to a determination that the first condition is not satisfied, selecting a second positioning system based on the power requirement, the latency requirement, and the accuracy requirement, determining whether a second condition is satisfied for querying the second positioning system, and in response to a determination that the second condition is satisfied, querying the second positioning system for second position data.

Systems and methods for unmanned aerial vehicle (UAV) positional anchors. Signals may be broadcast via a signal interface of an anchor in a defined space which also includes a UAV. The UAV is at one location within the defined space, and the anchor is at another location within the defined space. A virtual environment may be generated that corresponds to the defined space. The virtual environment may include at least one virtual element, and a location of the virtual element within the virtual environment may be based on the location of the anchor within the defined space. A visual indication may be generated when the UAV is detected within a predetermined distance from the location of the anchor. In some embodiments, a visual element may be generated to augment the anchor where a location of the visual element is based on a location of the anchor within the defined space. The visual element may be changed when the UAV is flown to the location of the anchor within the defined space.

Method and apparatus are disclosed for mobile device tethering for vehicle systems based on variable time-of-flight and dead reckoning. An example vehicle includes a communication module to communicate with a mobile device using multiple frequency bands and a body control module. The body control module at an interval, estimates a location of the mobile device relative to the vehicle based on time-of-flight measurements using one of the multiple frequency bands selected based on a previous location estimate. Between the intervals, the body control module tracks the location of the mobile device using dead reckoning. Additionally, the body control system controls a subsystem of the vehicle based on the location of the mobile device.

An indoor positioning device includes memory circuitry, processor circuitry and an interface. The indoor positioning device is configured to obtain, from one or more sensors of a wireless device, sensor data associated with the wireless device at a first position. The indoor positioning device is configured to obtain, from one or more beacons, measurement data indicative of a distance parameter of the wireless device at the first position. The indoor positioning device is configured to adjust the measurement data by predicting, based on the sensor data and the measurement data, an estimated position of the wireless device. The indoor positioning device is configured to determine, based on the adjusted measurement data and the estimated position of the wireless device, an updated position and/or an updated distance parameter associated with the wireless device.