Methods are provided for determining a positioning of a portable device including first and second sensor(s) each having a confidence. These methods include: receiving first and second signals from the first and second sensor(s), respectively; generating positional data representing positional conditions of the portable device and including first and second positional data respectively from the first and second signals, by modelling the received signals based on predefined models defining a correspondence between predefined signals and predefined positional data; comparing the first and second positional data to determine a difference between them; adjusting the confidence of the sensors by determining a new confidence depending on a previous confidence and the determined difference between positional data; weighting the generated positional data depending on corresponding confidences; and determining the positioning of the portable device based on the weighted generated positional data. Computer programs and systems suitable for performing such methods are also provided.

An indoor positioning method includes judging whether a positioning terminal enters a coverage range of a virtual beacon. If yes, judging whether a distance between the positioning terminal and the virtual beacon gradually decreases to obtain a judgement result, according to the judgement result, adjusting the step size of a PDR positioning algorithm. When the distance gradually decreases, the step size of the PDR positioning algorithm is decreased, and when the distance gradually increases, the step size of the PDR positioning algorithm is increased. The positioning terminal is then positioned by a PDR positioning algorithm with the step size adjusted to obtain a positioning result. If not, the positioning terminal is positioned by a PDR positioning algorithm with the step size not adjusted to obtain a positioning result. According to the present invention positioning can be more accurate by adaptively adjusting the step size in the PDR positioning algorithm.

Systems, methods, and computer readable media that determine a location of a device using multi-source geolocation data, where the methods include accessing new location data from a location source of a plurality of location sources, where the new location data includes a new position and an accuracy of the new position, and determining a current position and an accuracy of the current position based on the new position, the accuracy of the new position, an previous current position, and an accuracy of the previous current position. The method further includes determining a change in location based on a difference between the current position and the previous current position. Some systems, methods, and computer readable media are directed to scheduling location requests to generate location data where the scheduling and the actual requests are made based on a number of conditions.

A method of wireless ranging between an initiator node and a responder node, involves performing a measurement procedure resulting in a two-way phase measurement between an initiator node and a responder node, the measurement procedure involving the initiator node transmitting an initiator carrier signal; the responder node performing a phase measurement of the initiator carrier signal relative to a responder node clock reference; the responder node transmitting a responder carrier signal; and the initiator node performing a phase measurement of the responder carrier signal relative to the initiator node clock reference, the method further involving calculating a distance between the initiator node and the responder node using as input the two-way phase measurements for the plurality of nominal frequencies; and a clock reference offset correction of the initiator node and of the responder node.

An apparatus, method and computer program is described. The method can include receiving a first measurement report from a first communication node of a mobile communication system. The first measurement report can include downlink measurement data generated at a user device in response to a positioning reference signal sent by the first communication node. The method can further include receiving a second measurement report from the first communication node. The second measurement report can include uplink measurement data generated at the first communication node in response to an uplink reference signal sent by the user device. The method can also include determining an integrity of the measurement data based on a comparison of said uplink and downlink measurement data and setting an integrity verification notification in accordance with the determined integrity.

Systems, methods, and computer readable media that determine a location of a device using multi-source geolocation data, where the methods include accessing new location data from a location source of a plurality of location sources, where the new location data includes a new position and an accuracy of the new position, and determining a current position and an accuracy of the current position based on the new position, the accuracy of the new position, an previous current position, and an accuracy of the previous current position. The method further includes determining a change in location based on a difference between the current position and the previous current position. Some systems, methods, and computer readable media are directed to scheduling location requests to generate location data where the scheduling and the actual requests are made based on a number of conditions.

Systems, methods, and computer readable media that schedules requests for location data of a mobile device, where the methods include selecting a first positioning system based on a power requirement, a latency requirement, and an accuracy requirement, and determining whether a first condition is satisfied for querying the first positioning system. The method further comprises in response to a determination that the first condition is satisfied, querying the first positioning system for first position data. The method further comprises in response to a determination that the first condition is not satisfied, selecting a second positioning system based on the power requirement, the latency requirement, and the accuracy requirement, determining whether a second condition is satisfied for querying the second positioning system, and in response to a determination that the second condition is satisfied, querying the second positioning system for second position data.

The embodiments of the present disclosure provide a positioning method and related device. The positioning method includes: measuring, by a first vehicle, a positioning reference signal PRS and a carrier phase reference signal C-PRS sent by a plurality of positioning reference devices, to obtain a plurality of PRS measurement results and a plurality of C-PRS measurement results, the plurality of positioning reference devices including a network side device and other vehicles; performing, by the first vehicle, a positioning operation according to the plurality of PRS measurement results and the plurality of C-PRS measurement results.

Examples of systems and methods for locating movable objects such as carts (e.g., shopping carts) are disclosed. Such systems and methods can use dead reckoning techniques to estimate the current position of the movable object. Various techniques for improving accuracy of position estimates are disclosed, including compensation for various error sources involving the use of magnetometer and accelerometer, and using vibration analysis to derive wheel rotation rates. Also disclosed are various techniques to utilize characteristics of the operating environment in conjunction with or in lieu of dead reckoning techniques, including characteristic of environment such as ground texture, availability of signals from radio frequency (RF) transmitters including precision fix sources. Such systems and methods can be applied in both indoor and outdoor settings and in retail or warehouse settings.

According to certain embodiments, a method for use in a network node comprises: obtaining range information for a wireless device in communication with the network node; obtaining direction information for the wireless device; and estimating a movement of the wireless device based on the range information, the direction information, and an interactive multiple modeling (IMM) filter. The IMM filter comprises a three-dimensional (3D) constant velocity model, a 3D constant acceleration model, and a 3D constant position model.