A positioning system comprising a processing system (7; 9) configured to receive a first position estimate for a mobile device (7), and to receive data representative of an acoustic signal received by the mobile device (7) from one of a plurality of acoustic transmitter units (2, 3, 4, 5). For each of the acoustic transmitter units (2, 3, 4, 5), the processing system (7; 9) determines spatial likelihood data representative of a likelihood of the received acoustic signal having been transmitted by the respective acoustic transmitter unit by comparing a time-of-flight range value with a geometric distance value, representative of a distance between the acoustic transmitter unit and the first position estimate. The processing system (7; 9) processes the spatial likelihood data to identify a subset of the acoustic transmitter units, and processes information relating to the positions of the acoustic transmitter units in the identified subset and/or relating to the acoustic signals transmitted by the acoustic transmitter units in the identified subset, to determine a second position estimate for the mobile device (7).

The embodiments of the present application provide an indoor positioning system, including an information source module, a gateway, a first leaky cable and a first positioning device; where the information source module is connected to a first end of the first leaky cable through a feeder; the first positioning device is arranged between the first end of the first leaky cable and the feeder, and the first positioning device is configured to transmit a positioning signal through the first leaky cable, so as to enable the terminal to perform positioning according to the positioning signal. There is no need to set up a new positioning system, thus reducing costs for network construction as well as space requirements for the network construction.

Disclosed herein is a system for controlling a mining machine within an underground mine. A rotatable laser source sends laser light and return light sensor receives reflected laser light and provides an indication of distance and return light intensity at multiple different rotation angles. A co-ordinate reference point comprises a pattern of varying reflectivity and provides at least a 2D co-ordinate position. A processor determines an absolute co-ordinate position in space of the mining machine as the mining machine moves through the underground mine. The processor collects intensity values of reflected laser light for multiple respective rotation angles and detects the pattern of the reference point in the multiple intensity values of reflected laser light, and determines the absolute co-ordinate position in space of the mining machine based on spatial information of the detected pattern.

The invention relates to a method and a system for position determination of at least one object, in particular inside a building. In a method for position determination of at least one object, at least four transmitters transmit circularly polarized signals and a receiver to be localized receives the circularly polarized signals. At least two and in particular all transmitters transmit periodic signals of different frequencies, these frequencies being closely adjacent.

Methods and systems for identifying device positions include measuring radio signal strength information between devices. Inertial information is measured for the devices. The radio signal strength information and the inertial information are fused to determine relative locations between the devices. The relative locations are oriented to a fixed anchor node. Elevation is estimated for the plurality of devices using pressure sensor information.

A method and apparatus for cooperative positioning is disclosed herein. A method for cooperative positioning performed by a target device includes: scanning a beacon signal transmitted by at least one peripheral device; determining whether at least one peripheral device exist within a reference radius based on the beacon signal; when the at least one peripheral device is within the reference radius, transmitting a cooperative positioning request to the at least one peripheral device; receiving, in response to transmitting the cooperative positioning request, location of the at least one peripheral device and a degree of reliability for the location of the at least one peripheral device; and determining a location of the target device based on the location and the degree of reliability.

A location system comprising: a location network comprising a plurality of reference nodes and at least one controller. Each reference node is operable to transmit a respective beaconing signal from which a respective measurement can be taken by a mobile device for use in determining a location of the mobile device. The at least one controller is configured to control whether and/or how often one or more signals of the location system are transmitted to be used in determining the location of the mobile device, the control being based on feedback from at least one determination of the location of the mobile device relative to the reference nodes.

A method for enabling indoor positioning of a mobile receiver, including: detecting an orientation of the mobile receiver; measuring light intensities using at least three effective visible light receiving areas positioned on the mobile receiver, wherein the at least three effective visible light receiving areas are orientated such that a measurement of light intensity of a light from the same light source by each of the at least three effective visible light receiving areas is different from the others; and producing an output which enables a 3-dimensional indoor positioning of the mobile receiver relative to a second coordinate system.

A localization system 100 comprising multiple beacons 120 and an assignment system 110 is provided. The assignment system is arranged to assign a temporary location identifier to a location identifier associated with a beacon. A scheduler 150 is arranged to schedule the assigning of temporary location identifiers according to a schedule. It is avoided that the beacons have a fixed location identifier, thus third parties cannot create a mapping between the temporary location identifiers and the locations of the beacons.

A method of indoor positioning using Fine Timing Measurement (FTM) avoiding co-located access point (AP) is proposed. In a wireless local area network, an AP obtains neighboring AP location information and determines a list of co-located BSSIDs. In a first option, an STA first selects an AP and query for AP location and co-located BSSID information using ANQP (Access Network Query Protocol). In a second option, the STA first selects an AP and initiates FTM protocol with the selected AP and thereby obtaining AP location and co-located BSSID information. Upon obtaining the AP location and the co-located BSSID list, the STA can initiates FTM protocol with additional non-co-located BSSs for determining an accurate STA location.