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).

Methods and apparatus for improving a procedure based upon wireless determination of a location of agents and equipment during a procedure and quantifying conditions in an environment via automated sensors. The present invention provides apparatus and methods for wireless designation of a position of agents and equipment relative to each other based upon wireless communications amongst multiple wireless transceivers combined with ongoing monitoring of conditions present in a facility. The transceivers may be portions of nodes, and nodes may form self-verifying arrays. A user interface may provide an augmented reality view of positions of all or some the providers and equipment and condition quantifying sensors.

A system is provided that includes a tracking device having a tracking device accelerometer, the tracking device associated with a tracked hardware device, and a base transmitter/receiver having a base transmitter/receiver accelerometer and configured to poll and receive tracking device accelerometer data from the tracking device. The base transmitter/receiver is associated with and transportable by a vehicle and the tracking device and tracked device are positionable within the vehicle. Differences in movements of the vehicle when housing the base transmitter/receiver, the tracking device, and the tracked hardware device produce communication functionality differences between the base transmitter/receiver and the tracking device.

A package delivery sharing system includes a holding area for holding packages intended for delivery to one or more package recipients and a computing system with a processor and memory storing records of packages in the holding area. The processor is configured to track each package in the holding area awaiting delivery to the one or more package recipients, to offer a fee to individuals other than the package recipients for delivering a given package in the holding area to a particular package recipient, to select a person who accepts the fee in return for transporting the given package to the particular package recipient, to enable the person to access the holding area, to help the person to find the given package, through light guidance or other visual cues, and take the given package, and to confirm that the person took a correct package from the holding area.

A method for indoor positioning, depending upon an embodiment of the present invention, comprises the steps of: setting node data including information regarding the location of a positioning sensor on a movement path of a moving object with respect to an indoor space; obtaining first positioning data capable of determining a first section in which the moving object is currently located, by using at least one of the node data, first sensing data obtained through a sensor unit provided in the moving object, and second sensing data obtained through the positioning sensor; determining whether the first positioning data satisfies a preset reference value for a boundary node defining the first section; and determining subsequent positioning data of the first positioning data on the basis of at least one of the node data, information indicating whether the reference value is satisfied, and information indicating whether the boundary node rotates.

A method and system, the method including transmitting a unique identifier of at least one radio frequency (RF) transmitter to a device in a vicinity of the RF transmitter; acquiring images of objects by a vision system, the vision system comprising at least one image capturing device and an image processing unit to determine objects in the images acquired by the image capturing device; determining, by a controller, a location of the device based on, at least in part, the unique identifier of one of the at least one RF transmitters; and determining, by the controller, a precise location of the device based on a correlation between the location of the device determined based on the unique identifier and the objects captured in the images acquired by the image capturing device.

A tracking device (150) for tracking an asset (110) at a facility is described herein. The tracking device comprises a communication interface (120) configured to communicate with at least one beacon (101-1, 101-2, 101-n) in proximity to the tracking device and an altitude sensor (125). The tracking device is configured to receive, via the communication interface, at least one signal from the at least one beacon, receive, via the altitude sensor, altitude information. The tracking device is configured to transmit, for use in tracking the asset at the facility, information based on the at least one signal and the altitude information.

A method for vehicular self-positioning is executed by a positioning device in a vehicle. The positioning device computes a current estimated position of the vehicle as a function of local motion data obtained from a motion sensor in the vehicle, and operates an RF module in the vehicle to receive a reference signal from one or more base stations in an environment of the vehicle, the respective base station being configured for telecommunication and being part of a 3GPP infrastructure. The positioning device further processes the reference signal to determine measured values of at least one path parameter for a selected set of multipath components, and operates a positioning algorithm, e.g. SLAM, on at least the current estimated position and the measured values to calculate a current output position of the vehicle and position information for an origin of each of the multipath components.

A method includes retrieving a map of a 3D geometry of an environment the map including a plurality of non-spatial attribute values each corresponding to one of a plurality of non-spatial attributes and indicative of a plurality of non-spatial sensor readings acquired throughout the environment, receiving a plurality of sensor readings from a device within the environment wherein each of the sensor readings corresponds to at least one of the non-spatial attributes and matching the plurality of received sensor readings to at least one location in the map to produce a determined sensor location.

A computer implemented method is disclosed for estimating a position of a vehicle. The method comprises obtaining dynamic state information for the vehicle at a first time in a time sequence the dynamic state information comprising position information for the vehicle. The method further comprises receiving, from the vehicle, communication network information for the vehicle at a second time in the time sequence that is after the first time, wherein the communication network information comprises a result of a measurement carried out by the vehicle on a signal exchanged with the communication network. The method further comprises using a trained ML model to estimate a position of the vehicle at the second time in the time sequence on the basis of the obtained dynamic state information and received communication network information.

Also disclosed are a communication network node, a training agent and associated methods.