A communication unit includes: a plurality of wireless communication units configured to perform wireless communication with another communication device; and a control unit configured to estimate a relative position of the other communication device relative to the communication unit, wherein the control unit estimates the relative position of the other communication device on the basis of a plurality of distance measurement values indicating a distance between each of the plurality of wireless communication units and the other communication device obtained by each of the plurality of wireless communication units performing wireless communication with the other communication device, and a position characteristic including a position of each of the plurality of wireless communication units in the communication unit.

Provided herein is a method of performing, by a first apparatus, wireless communication. The method may include the steps of receiving configuration related to a downlink (DL) positioning reference signal (PRS) from a location management function (LMF); receiving configuration related to an uplink (UL) PRS from a base station; and performing positioning based on round trip time (RTT), based on the configuration related to the DL PRS and the configuration related to the UL PRS.

Methods for configuring and receiving a transmission resource for a PRS, and a UE are provided. The method for configuring the transmission resource for a PRS includes transmitting an S-PRS resource set. An S-PRS resource comprised in the S-PRS resource set is preconfigured, or configured through PC5 RRC signaling, or configured through base station RRC signaling.

Disclosed in the embodiments of the present application are a non-line of sight (NLOS) elimination method and device for a time of arrival (TOA) measurement value, and a terminal. The method includes: modeling the probability density of the TOA measurement value of each base station arriving at a terminal into a Gaussian mixture model, and performing selection and NLOS identification on the TOA measurement value subsequent to performing Gaussian mixture modeling, so as to obtain an identification tag, wherein the identification tag is used for indicating whether the selected TOA measurement values correspond to NLOS; and correcting the selected TOA measurement value according to the identification tag, so as to eliminate an error caused by NLOS in the selected TOA measurement value. The present invention improves the positioning accuracy of a user by performing Gaussian mixture modeling and selection on the probability density of each TOA measurement value, accurately finding the TOA measurement value corresponding to LOS is ensured that in the case that the LOS is aliased with the NLOS, and correcting the selected TOA measurement value to eliminate the error caused by the NLOS in the selected TOA measurement value.

Disclosed are techniques for wireless communication. In an aspect, a position estimation entity provides assistance data to sidelink anchors and a UE. The assistance data may include a set of proximity-based sidelink positioning reference signal (PRS) pre-configurations for on-demand PRS position estimation. The target UE transmits a sidelink PRS trigger to trigger an on-demand sidelink PRS position estimation session with a dynamic sidelink anchor group, the sidelink PRS trigger configured to indicate a sidelink zone associated with the UE and a proximity requirement for participation in the on-demand sidelink PRS position estimation. At least one sidelink anchor determines that the proximity requirement to the sidelink zone is satisfied, selects a proximity-based sidelink PRS pre-configuration based on a dynamic proximity to the sidelink zone, and performs a sidelink PRS exchange with the UE.

A system for accurate geospatial location and time transfer using radio transmissions without satellite signals. A position and timing measurement system uses standard uncorrelated radio broadcast signals, each of which transmits on an assigned frequency from a known position defined in latitude and longitude, and each of which transmits a modulated or unmodulated carrier signal. A reference unit at known fixed position receives the said standard broadcast signals in the vicinity, samples the frequencies and content values of their signals and broadcasts the said measured frequency and content data nearly simultaneously with a time mark representing the time of said measurement and further broadcasts its position in latitude and longitude. A mobile unit at an unknown position to be determined receives the said standard broadcast signals in the vicinity and measures the time of arrival of their broadcast, recording the time of said measurement.

A method is provided for localizing mobile tags using a system including a plurality of anchors located at known locations, the method including: transmitting a plurality of ultra-wideband (UWB) localization packets using respective anchors of the plurality of anchors, in which each of the plurality of localization packets is transmitted by a respective anchor of the plurality of anchors at a different respective delay time; and transmitting an update UWB packet with either an anchor of the plurality of anchors that does not transmit one of the localization packets, or with a mobile tag, in which the localization packets include no payloads, the update packet includes a payload, and in which successive ones of the plurality of localization packets and the update packet overlap with each other in time. A system for localizing mobile tags is also provided.

Methods and systems for transmitting location updates include determining a deviation distance, based on an extrapolated travel direction and an actual travel direction from a last updated location. It is determined that the deviation distance exceeds a deviation threshold. A location update is transmitted to a tracking server, responsive to the determination that the deviation distance exceeds the deviation threshold.

Method of determining a position of a plurality of mobile network devices relative to a plurality of reference network devices, wherein the plurality of mobile network devices and the plurality of reference network devices communicate with one another over a wireless channel and access the wireless channel according to an access policy comprising a sequence of time frames, wherein each time frame of the sequence comprises a plurality of portions reserved for communicating messages relating to different time-of-flight (ToF) computation methods, each of the different ToF computation methods allowing for determining a position of at least one of the plurality of mobile network devices. A positioning system implements the above method.

An auto-location method for electronic equipment items provided with a transmitter/receiver of radioelectric signals, includes the steps of: establishing a list of the equipment items with their relative position and the measurements of distances between the equipment items, detecting, using the list, at least one non-measured distance between a first equipment item and a second equipment item, the transmitter/receiver of which has a plurality of available operating modes, changing the operating mode of the transmitter/receiver of the second equipment item and attempting to measure the distance between the first equipment item and the second equipment item, and updating the list with the last distance measured. A system and a program implement this method.