A position and orientation determining system includes a first radio frequency (RF) device including at least one antenna configured to receive and transmit RF signals, a first radio unit in communication with the at least one antenna, and an inertial measurement unit (IMU). The system further includes a second RF device includes a constellation of antennae including at least three receiving antennae, a second radio unit in communication with the constellation of antennae, and a processor configured to determine a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on computing at least two of three angles in the second RF device coordinate frame (XY, XZ and YZ) computed from carrier phase difference (CPD) measurements taken between each pair of the at least three receiving antennae when receiving a single RF signal transmitted from the at least one antenna of the first RF device, and estimating a direction of a gravity vector generated by the IMU.

A method for position determining includes: sending a first ranging request to a base station, wherein the first ranging request carries an identifier associated with a second UE, in which the first ranging request is at least associated with ranging between the base station and the second UE; and receiving first range information associated with the first range request from the base station.

A method of determining a new position for a node. The node having a distance measuring radio. A list of positions of a plurality of neighboring nodes is obtained. The geometric relationship of the positions in the list and the predicted position of node is analyzed. A subset of the nodes is selected from the list that is less than the total number of modes in the list. Electronic distance measurements from the node to each of the subset of nodes are performed. A new position of the node is determined utilizing the measured distances.

Outdoor positioning for a plurality of mobile terminals is performed using an indoor positioning system including a plurality of base stations, by (a) installing the plurality of base stations on respective outdoor locations in an outdoor area, where the base stations are configured to use a predetermined communications link for indoor positioning at indoor locations, (b) performing independent precise positioning at each of the plurality of base stations using a plurality of GNSS signals, thereby determining a precise position of the outdoor location of each base station without surveying or measuring the installed location thereof, and (c) performing outdoor positioning of the plurality of mobile terminals in the outdoor area using the determined precise position of each of the plurality of base stations in a same manner as the indoor positioning, by receiving, at the plurality of base stations, signals from the respective mobile terminals via the predetermined communications link.

A method of arranging a plurality of devices whose arrangement is specified by an arrangement specifying system. The arrangement specifying system specifies a correspondence of an arrangement of the devices on a drawing based on information about a distance of any two of the devices and drawing information indicating the arrangement of the devices. The method of arranging the plurality of devices includes arranging the devices such that there is one or both of no symmetric axis and no symmetric point in the arrangement of the devices.

A method localizes a first agent in a network including a number of agents, the number of agents including a number of mobile agents and one or more beacons located at known locations. The method includes performing a procedure including, receiving transmissions from a number of neighboring agents, processing the transmissions to determine information related to a relative location of the first agent and each neighboring agent of the number of neighboring agents, determining, based on the information related to the relative location of the first agent and each neighboring agent, that the first agent is within one or more proximity regions, and updating an estimated location of the first agent based on the information related to a relative location of the first agent and each neighboring agent.

A method and transmit/receive apparatus in a wireless communication system supporting ranging capability are provided. The method and the transmit/receive apparatus comprises: identifying ranging apparatuses; identifying a ranging control message (RCM) including a ranging device management information element (RDM IE) and roles of the ranging apparatuses, the RDM IE including a content field, wherein the ranging apparatuses include the transmit apparatus and at least one receive apparatus; and transmitting, to the ranging apparatuses over a broadcast channel, the RCM including the RDM IE in a ranging round (RR).

In accordance with a first aspect of the present disclosure, a system is provided for facilitating localizing an external object, the system comprising: a plurality of ultra-wideband (UWB) communication nodes; a controller operatively coupled to said plurality of UWB communication nodes, wherein the controller is configured to: cause at least one of the UWB communication nodes to transmit one or more UWB messages to other UWB communication nodes of said plurality of UWB communication nodes; receive a channel impulse response (CIR) estimate and/or one or more parameters relating to said CIR output by the UWB communication nodes in response to receiving said UWB messages; analyze said CIR estimate and/or said parameters relating to the CIR; select a localization process in dependence on a result of analyzing said CIR estimate and/or said parameters relating to the CIR. In accordance with further aspects of the present disclosure, a corresponding method is conceived, and a computer program for carrying out said method is provided.

A communication link is established from a motor vehicle to an other vehicle in the vicinity of the motor vehicle by receiving configuration data from the other vehicle, and determining a relative position of the other vehicle relative to the motor vehicle. A virtual display, which indicates the other vehicle as a possible communication partner, is provided for a user of the motor vehicle by at least partially using the relative position of the other vehicle and the configuration data. A communication command is received from the user, by which the other vehicle is selected as the communication partner. A direct communication link is then established with the other vehicle having been selected as the communication partner.

One embodiment of the present invention relates to a method for a reader to transmit and receive a signal to and from a tag, the method comprising: a step in which a first reader transmits a first signal to a tag; and a step in which the first reader receives the first signal reflected on the tag. The timing for the first reader to transmit the first signal is determined by using an offset value based on an ID related to the first reader.