Abstract: A method and apparatus for restricting pivoting of an industrial vehicle axle and maintaining the vehicle stability without sacrificing the vehicle's driving performance. Pivoting of the axle with respect to the vehicle's body is temporarily restricted in accordance with the yaw acceleration when the vehicle is turned. The acceleration value for limiting restriction is varied in accordance with the stability of the vehicle, which is determined by the state of the carried load. The limit value is relatively high when the load state causes the vehicle to be relatively stable and is relatively low when the load state causes the vehicle to be relatively unstable.

Abstract: Signals exchanged between a fixed infrastructure (110-116) and a mobile unit (160) give rise to M channel quality metrics. The channel quality metrics are mapped, via predetermined relationships (501-503), in to M corresponding time of arrival variances, which in turn are used to derive M-1 time of arrival differential variances. A time of arrival differential weighting matrix including, in part, the time of arrival differential variances, is used to calculate a WLS solution, which solution is an estimate of a location of the mobile unit. This procedure may be implemented using an infrastructure-based location processor (130) operating in conjunction with the mobile unit, or may be performed by either the location processor or mobile unit alone.