Disclosed are some examples of techniques for positioning of a user equipment (UE) using positioning reference signal (PRS). One or more units of messages may be communicated between an initiator UE and a responder UE. A unit of message may include a pre-PRS message, a PRS message and a post-PRS message. The pre-PRS message and the post-PRS message may be sent or received using a license spectrum. The PRS message may be sent or received using an unlicensed spectrum. The communication between the initiator UE and the responder UE may be initiated by the initiator UE identifying the responder UE from a plurality of UEs based on positioning properties of the responder UE. The positioning properties of the responder UE may include one or more of a direction, a velocity, a location confidence and a location of the responder UE.

A host vehicle position estimation device includes an observation position estimation unit configured to estimate an observation position of the vehicle based on a result of recognition of the target object performed, a prediction position calculation unit configured to calculate a prediction position of the vehicle from a result of estimation of the host vehicle position in the past based on a result of measurement performed by an internal sensor, a host vehicle position estimation unit configured to estimate the host vehicle position based on the observation position and the prediction position. The host vehicle position estimation unit is configured to give more weighting to the prediction position in the estimation of the host vehicle position such that the host vehicle position is estimated to be close to the prediction position if it is determined that a result of estimation of the host vehicle position is unsteady.

Examples described herein provide automatic location of access points by a computing device. Examples may include receiving, by the computing device from each AP in a subset of a plurality of APs, a Global Navigation Satellite System (GNSS) signal measurement, and based on each received GNSS signal measurement, constraining, by the computing device, the map of relative AP locations by at least one translational degree of freedom or one rotational degree of freedom. Examples may include resolving, by the computing device, locations of the plurality of APs in the map of relative AP locations.

Examples described herein provide automatic location of access points by a computing device. Examples may include receiving, by the computing device from each AP in a subset of a plurality of APs, a Global Navigation Satellite System (GNSS) signal measurement, and based on each received GNSS signal measurement, constraining, by the computing device, the map of relative AP locations by at least one translational degree of freedom or one rotational degree of freedom. Examples may include resolving, by the computing device, locations of the plurality of APs in the map of relative AP locations.

A system and method for providing localization, including, during a training phase: obtaining a training dataset of accelerations, angular velocities, and known locations over time of vehicles moving in a defined area; and training a machine learning model to provide location estimation in the defined area based on the accelerations and angular velocities using the training dataset; and during runtime phase: obtaining runtime accelerations and angular velocities overtime of a vehicle moving in the defined area; and using the trained model to obtain current location of the vehicle based on the runtime acceleration and angular velocities.

A system and method for providing localization, including, during a training phase: obtaining a training dataset of accelerations, angular velocities, and known locations over time of vehicles moving in a defined area; and training a machine learning model to provide location estimation in the defined area based on the accelerations and angular velocities using the training dataset; and during runtime phase: obtaining runtime accelerations and angular velocities overtime of a vehicle moving in the defined area; and using the trained model to obtain current location of the vehicle based on the runtime acceleration and angular velocities.

A system and method established and maintains precision relative position, navigation, and timing (PNT) across a network of at least four mutually connected mobile platforms. In embodiments, a key (e.g., advantaged, absolute positioning capable) node of the network determines its pressure altitude and inertial state relative to its platform reference frame and receives inertial state and pressure altitude data from each neighboring node (in exchange for its own) to estimate the relative position and orientation of each neighbor node in its platform frame. The key node performs ranging to each neighboring node, and the neighboring nodes additionally range between each other and exchange ranging data with the key node. By correcting position and orientation estimates via ranging data, the key node determines and maintains extended relative PNT (e.g., in GPS-denied areas), which relative PNT solution is distributed across all network nodes.

A Precise Point Positioning (PPP) system is disclosed in which one or more Global Navigation Satellite System (GNSS) signals are obtained by a mobile device. The mobile device can obtain position information based on one or more position sources, where the position information is indicative of a location of the mobile device. One or more PPP positions of the mobile device can be determined based on the position information and the one or more GNSS signals, where a position uncertainty of the position information meets or is below an uncertainty threshold. A determination of whether at least one PPP position meets or is below one or more convergence thresholds can be made. In response to determining that at least one PPP position meets or is below the one or more convergence thresholds, the at least one PPP position can be provided.

A Precise Point Positioning (PPP) system is disclosed in which one or more Global Navigation Satellite System (GNSS) signals are obtained by a mobile device. The mobile device can obtain position information based on one or more position sources, where the position information is indicative of a location of the mobile device. One or more PPP positions of the mobile device can be determined based on the position information and the one or more GNSS signals, where a position uncertainty of the position information meets or is below an uncertainty threshold. A determination of whether at least one PPP position meets or is below one or more convergence thresholds can be made. In response to determining that at least one PPP position meets or is below the one or more convergence thresholds, the at least one PPP position can be provided.

The disclosure provides methods, apparatus, and products for updating a positioning map and a position estimate based on the detection of delivery events. An example method comprises obtaining a delivery address corresponding to a delivery to be made by an entity associated with a mobile device; obtaining sensor data captured by the mobile device; based on processing the sensor data, determining occurrence of one or more events indicating a moment in time that the delivery took place at the delivery address; obtaining (a) a position estimate for the mobile device substantially corresponding to the moment the delivery occurred and/or (b) delivery moment data captured by one or more sensors of the mobile device substantially at the moment the delivery took place; and updating a positioning map and/or the position estimate for the mobile device.