Abstract: A radio-determined environment sensing system includes: (a) a first transmitter configured to transmit a pilot radio signal; (b) at least one receiver configured to receive a mixture of signals including the pilot signal and reflections thereof; and (c) at least one control unit configured to receive the mixture of signals from the UE modules and process them to generate channel estimates and therefrom to extract the taps contained. The first transmitter and the at least one receiver are static over a certain time period. The control unit is configured to operate a processing procedure to generate at least one power delay profile (PDP) tap from the channel estimate, and evaluate changes in the environment from information contained in a calculated measurement vector zk.