Abstract: Disclosed is an apparatus for estimating the location of a remote node. The apparatus comprises an antenna array comprising a plurality of elements in a fixed spatial arrangement, at least one element being a transmitting element configured to transmit a first wireless signal to the remote node, and at least two elements being receiving elements configured to receive a second wireless signal transmitted by the remote node in response to the first wireless signal. The apparatus further comprises a signal processing unit connected to the antenna array, the signal processing unit being configured to: estimate a plurality of round trip distances using the wireless signals, each round trip distance being from a transmitting element to the remote node and back to a receiving element; and estimate the location of the remote node using the round trip distance estimates.

Abstract: This invention concerns autonomous loading, that is autonomously dumping material one load at a time into a receptacle until it is full. In particular the invention involves a control method and system for the dumping equipment that performs one or more operational cycles, each of which involves: Positioning a dumping point of the loading equipment at a predetermined location above a receptacle to be loaded. And, dumping a quantity of material having less than or equal to a known volume into the receptacle from the dumping point. Wherein, the control method comprises the steps of: Simulating the effect of dumping the volume, using the material's repose angle, from various locations above the receptacle. Comparing the result of dumping at each location with a template representing an ideally filled receptacle. And, selecting the location of the dumping point according to the results of the comparison.