In various embodiments, techniques are provided for determining and associating multiple locations with beacons, and estimating a location of an electronic device based on beacons having multiple associated locations. To determine multiple locations of a beacon, observations are grouped into observation clusters, a probability is calculated that each observation cluster accurately describes the beacon, multiple observation clusters are selected as representative of the beacon based on the calculated probabilities, characteristics are derived for the beacon (including multiple locations) based on the selected multiple observation clusters, and at least the multiple locations for the beacon are stored in a reference database. To estimate a location of an electronic device, a list of detected beacons is created, one or more locations are accessed from a reference database for each of the beacons on the list of detected beacons with at least one of the beacons having multiple locations, the locations are grouped into location clusters, a probability each location cluster represents a location of the electronic device is calculated, an location cluster is selected to represent the location of the beacon based on the calculated probabilities, and a location of the electronic device is estimated based on the selected location cluster.

Disclosed is an approach for improving performance of a radio-based positioning system by detecting and excluding mobile radio nodes. The disclosed approach involves processors (e.g., of positioning server(s) and/or of a computing device) making a determination (i) that a speed of a computing device is at or above a threshold speed, and (ii) that at least one condition is met, the at least one condition indicating that a radio node is moving substantially along with the computing device. In response to making the determination, the processors may deem the radio node to be a mobile node. Given this, the processors may in turn exclude the radio node for positioning purposes, which may ultimately improve performance of the radio-based positioning system.

An apparatus obtains fingerprints that have been collected by at least one mobile device for supporting a positioning of other mobile devices. Each fingerprint comprising results of measurements on radio signals of at least one communication node at a particular location and an indication of the particular location. The apparatus estimates values of parameters defining a radio model for the at least one communication node based on the obtained fingerprints. The apparatus determines a quality of the radio model. The apparatus generates data for a feedback for a user of the at least one mobile device based on the determined quality of the radio model.

An apparatus obtains results of measurements, which are performed by a mobile device on signals of communication nodes. The measurement results for each of the communication nodes include a signal strength related value and an identification of the communication node. The apparatus obtains for one of the communication nodes a stored indication of a location and a stored signal strength related value and determines a difference between measured and stored signal strength related values. The apparatus estimates the position of the mobile device based on the results of measurements and on obtained stored radio model data. In the case that the determined difference for the at least one communication node falls short of a predetermined threshold, the apparatus determines a distance between estimated position and indicated location for the at least one communication node, as an indication of a health state of stored radio model data.

A method for detecting anomalies in a positioning system comprises receiving, for a plurality of locator devices (ANC1, ANC2, ANC3, ANC4), respective location indicators associated with at least one mobile device (TG1, TG2, TG3), determining a position of the at least one mobile device (TG1, TG2, TG3) based on the received location indicators, acquiring, for at least one of the location indicators received, a confidence indicator associated with the at least one of the location indicators, determining, for each acquired confidence indicator, whether a confidence criterion is met, and storing an anomaly indicator in an anomaly cache, if the confidence criterion is not met, wherein each anomaly indicator is associated with the locator device, for which the location indicator is received; and generating an anomaly alert message for at least one of the locator devices based on an evaluation of the anomaly indicators that are stored for the at least one of the locator devices.

Examples disclosed herein relate to an autonomous driving system in a vehicle having a radar system with a Non-Line-of-Sight (“NLOS”) correction module to correct for NLOS reflections prior to the radar system identifying targets in a path and a surrounding environment of the vehicle, and a sensor fusion module to receive information from the radar system on the identified targets and compare the information received from the radar system to information received from at least one sensor in the vehicle.

A server performs: acquiring measurement data of a mobile terminal; extracting fixed AP measurement data of a specific fixed AP; extracting measurement data including a measurement time of which a difference from the measurement time in the fixed AP measurement data is equal to or less than a threshold value, position information of which a difference from a position of the specific fixed AP is equal to or less than a threshold value, and a reception intensity of which a difference from the reception intensity in the fixed AP measurement data is equal to or less than a threshold value as target measurement data and to set the radio access point corresponding to the target measurement data as a target AP; and determining whether the target AP corresponds to a fixed AP on the basis of the measurement data corresponding to the target AP and the fixed AP measurement data.

A positioning method and apparatus for positioning a terminal by using various data combinations are disclosed. The present disclosure in at least one embodiment provides a positioning terminal by using data combinations, including a data collection unit for collecting n access point (AP) scan data items from each of n APs (n is a natural number), a combination generation unit for generating a plurality of data combinations by combining the n AP scan data items in units of k (k is integers from 3 up to n), a position estimation unit for estimating a plurality of preliminary positions of the terminal from the plurality of data combinations, a clustering unit configured to cluster the plurality of preliminary positions into at least one cluster according to distances or densities of the plurality of preliminary positions, and a position determination unit for determining a final position of the terminal based on at least one cluster.

A method of determining locations of access points in a venue, one or more electronic devices configured to receive radio signals from the access points, the method comprises: generating and storing, at a server in communication with the one or more electronic devices, a database comprising information received from the one or more electronic devices, the information comprising: values associated with a radio signal characteristic of the radio signals at locations of RF scan capture by the one or more electronic devices and access point identifiers representing access points corresponding to the values, the locations of RF scan capture being unknown at a time of RF scan capture; assigning correlation values to quantify similarity between the values for pairs of the access point identifiers; mapping the correlation values to correlation ranges based on known locations of at least two of the access points; determining the locations of the access points based on the correlation ranges and the known locations.

An apparatus obtains test data, which comprises radio samples with associated indications of reference locations. The apparatus estimates for each of a plurality of representations of a radio environment positions based on the radio samples of the test data and on the respective representation. Each representation has been generated based on a different selection of batches of fmgerprints. Each fmgerprint comprises a radio sample and an indication of a location of measurement. Each radio sample includes a characteristic of a radio signal transmitted by at least one beacon and an identification of the respective beacon. The apparatus determines for each representation a positioning performance by comparing the estimated positions with the reference locations. Based on the determined positioning performances, the apparatus determines whether any batch of fmgerprints is to be excluded from further use and/or which representation is to be used as a valid representation of the radio environment.