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 to enable radio map download for Global Navigation Satellite System (GNSS)-denied areas. In particular, processor(s) (e.g., of positioning server(s)) could identify GNSS-denied area(s) in an initial radio map, the GNSS-denied area(s) being (i) one or more areas in which at least one GNSS signal is or was unavailable and (ii) a subset of a plurality of areas represented by the initial radio map. Subsequently, the processor(s) could generate a partial radio map representing radio data only for the GNSS-denied area(s) identified in the initial radio map, and could then transmit the partial radio map to a mobile device for storage at the mobile device. In this way, the mobile device could optimize resource usage and perform radio-based position estimations at least in the GNSS-denied area(s) that were identified.

A positioning system for position determination in a goods logistics facility and a method for operating same. The positioning system includes a plurality of permanently installed anchor nodes that represent reference points in a common coordinate system. The positioning system is configured to determine a distance from a first anchor node to a second anchor node.

Provided is an electronic device including a memory storing identifiers of a plurality of access points (APs) and position information associated with the plurality of APs, at least one communication circuit, and at least one processor operatively connected with the memory and the at least one communication circuit. The electronic device may be configured to receive an AP list including information on a plurality of first APs using the communication circuit, obtain a representative position corresponding to at least a portion of the plurality of first APs based on positions corresponding to the plurality of first APs stored in the memory, and update position information of at least one second AP of the plurality of first APs stored in the memory based at least on the representative position if a position of the at least one second AP is a specified distance or more away from the representative position. In addition to the above, various embodiments identified through the specification are possible.

A method includes obtaining or causing obtaining a reference position of the at least one apparatus based on at least one reference tag located at a predefined position of a map represented by map data of at least part of a structure. The method also includes obtaining or causing obtaining identification information of at least one first wireless access point based on a radio signal of the at least one first wireless access point. The method further includes associating or causing associating a first position determined based on the reference position with at least one of: a position estimate determined based on the identification information of the at least one first wireless access point and a radiomap represented by radiomap data of at least part of a structure; of the identification information of the at least one first wireless access point. A corresponding apparatus is also disclosed.

Methods and systems for generating map information of an environment using channel state information (CSI) of wireless signals received by access points (APs) in the environment are disclosed. In some implementations, a system uses CSI of a wireless signal received by a respective AP to determine a time-of-flight (ToF) and an angle-of-arrival (AoA) of one or more reflected path signal components of the wireless signal, and estimates the locations of points or surfaces in an area of the respective AP based on the ToF and AoA of the reflected path signal components. The estimated locations of the points or surfaces can be used to generate map information for the area. The system aggregates map information generated for different areas of the environment to determine map information for the entire environment. The wireless signals may be received from wireless stations or user equipment, or may be received from the respective AP.

A method for generating a wireless signal fingerprint database includes: obtaining an initial atmospheric pressure value, in which the initial atmospheric pressure value is an atmospheric pressure value collected when a terminal enters indoors; obtaining periodically a current wireless signal fingerprint and a current atmospheric pressure value collected by the terminal; and determining a floor corresponding to the current wireless signal fingerprint based on the initial atmospheric pressure value and the current atmospheric pressure value, to obtain the wireless signal fingerprint database.

A method, apparatus and computer-readable storage medium are provided that maintain a database including information identifying of one or more mobile devices. Each mobile device of the one or more mobile devices is configured to enable positioning based on radio signals. The positioning enabled by the respective mobile device is considered to be at least partially unexpected.

A method is disclosed that includes obtaining one or more pieces of threat information indicative of a data set enabling positioning based on radio signals sent by a respective radio node. The data set is further indicative of one or more parameters based on which said positioning is performed and/or controlled and which is considered to be at least partially unexpected. The method also includes utilizing the one or more pieces of threat information in a positioning. In order to obtain the one or more pieces of threat information, the method includes at least one of: obtaining the one or more pieces of threat information by using an application programming interface; or obtaining the one or more pieces of spoofing information by using a push method. A corresponding apparatus, computer-readable storage medium and system are also disclosed.

A computing device obtains an instance of radio observation data and an associated circumstance parameter. The instance of radio observation data indicates an observed signal strength a radio node observed by a mobile device. The circumstance parameter indicates a characteristic of motion of the mobile device and/or a characteristic of the environment about the mobile device when the instance of radio observation data was captured. The computing device determines a context associated with the instance of radio observation data based at least in part on the circumstance parameter; determining a context-specific signal strength correction based at least in part on the context; generates a corrected signal strength of the radio node based on the observed signal strength and the signal strength correction; and generates and/or updates a radio map based at least in part on the corrected signal strength of the at least one radio node.