Abstract: To make error correction in a position estimate of a vehicle, visual lane markings on the road can be matched with lane boundaries for the road within 3-D map data. Embodiments include obtaining a “stripe” indicative of an observed lane marking captured in a from a camera image, obtaining map data for the road on which the vehicle is located, determining the plane of the road from coordinates of lane boundaries within the map data, projecting the stripe onto the plane, and comparing the projected stripe with lane boundaries within the map data and associating the visual lane markings with the closest lane boundary. Differences between the projected stripe and the associated lane boundary can then be used for error correction in the position estimate of the vehicle.

Abstract: Techniques provided herein are directed toward addressing these and other issues by providing robust means for initializing an accelerometer that can take place even while a vehicle is in motion. Specifically, linear acceleration and velocity data can be estimated from wheel speeds, and angular velocity can be estimated with a gyroscope. The vehicle's acceleration can then be computed from these estimates, and subtracted from a total acceleration measured by the accelerometer to determine gravitational acceleration, which can then be accounted for in subsequent measurements taken by the accelerometer. A vehicle velocity may also be determined based on the vehicle's estimated angular velocity and linear velocity. Embodiments may also employ techniques for translating measurements taken in one coordinate frame to another coordinate frame for estimate determination and/or outlier compensation.

Abstract: A hybrid cellular and non-cellular multi-hop communication device, including a hand-held wireless device having one or more antennas, a cellular wireless interface connected to at least some of the one or more antennas, and a non-cellular wireless interface connected to at least some of the one or more antennas. The non-cellular wireless interface may include a rate allocator configured to select a physical-layer rate of transmission of data from the non-cellular wireless interface based on a queue length of data to be transmitted from the hand-held cellular device and a transmitter configured to wirelessly transmit data from the queue and adjust physical-layer transmission parameters based on a physical-layer rate selected by the rate allocator.

Abstract: In an embodiment, a user equipment (UE) receives, from a fixed reference node, at least one round-trip propagation time (RTT) ranging scheduling message indicating a set of downlink (DL) ranging resource assignments and a set of uplink (UL) ranging resource grants, receives one or more DL ranging signals from the fixed reference node on a first set of resources identified by the set of DL ranging resource assignments, and transmits one or more UL ranging signals to the fixed reference node on a second set of resources identified by the set of UL ranging resource grants.

Abstract: In an embodiment, a user equipment (UE) receives, from a fixed reference node, at least one round-trip propagation time (RTT) ranging scheduling message indicating a set of downlink (DL) ranging resource assignments and a set of uplink (UL) ranging resource grants, receives one or more DL ranging signals from the fixed reference node on a first set of resources identified by the set of DL ranging resource assignments, and transmits one or more UL ranging signals to the fixed reference node on a second set of resources identified by the set of UL ranging resource grants.

Abstract: Disclosed herein includes a system, a method, and a device for preventing replay attacks in a cluster. A first node in the cluster having a plurality of nodes can receive an indication of a node event. The first node can access a first sequence number from a storage corresponding to a previous communication between the plurality of nodes. The first node can adjust the first sequence number by a delta indicative of an average number of communications between the plurality of nodes in the cluster in a determined time period to generate a second sequence number. The first node can transmit a packet including the second sequence number to the plurality of nodes in the cluster. The second sequence number can be used by the plurality of nodes to reset a starting sequence number for communications between the plurality of nodes to prevent replay attacks in the cluster.

Abstract: A hybrid cellular and non-cellular multi-hop communication device, including a hand-held wireless device having one or more antennas, a cellular wireless interface connected to at least some of the one or more antennas, and a non-cellular wireless interface connected to at least some of the one or more antennas. The non-cellular wireless interface may include a rate allocator configured to select a physical-layer rate of transmission of data from the non-cellular wireless interface based on a queue length of data to be transmitted from the hand-held cellular device and a transmitter configured to wirelessly transmit data from the queue and adjust physical-layer transmission parameters based on a physical-layer rate selected by the rate allocator.

Abstract: A method, system, or computer program product to enhance the performance of multi-hop cellular networks or other wireless networks is provided. A wireless device (e.g., cellular telephone) is able to communicate with a base-station in a cell of the cellular network over a non-cellular interface via another wireless device in the cell through the use of multi-hopping. By enabling wireless devices to communicate with a base station in such a manner, the effective coverage area of the cellular network is expanded and the effective capacity of the cellular network is improved. Distributed routing, device management, adaptive scheduling, and distributed algorithms can be used to enhance the overall performance of multi-hop cellular networks.

Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Abstract: Disclosed are methods, devices, systems, apparatus, servers, computer-/processor-readable media, and other implementations, including a method of estimating a range between a first wireless device and a second wireless device that includes obtaining, at the first wireless device, first information related to a first broadcast message transmitted by the first wireless device, and obtaining, at the first wireless device, second information related to a second broadcast message transmitted by the second wireless device, with the second broadcast message including at least some of the first information. The method also includes determining the range between the first wireless device and the second wireless device based, at least in part, on the first information and the second information.

Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Abstract: A method, system, or computer program product to enhance the performance of multi-hop cellular networks or other wireless networks is provided. A wireless device (e.g., cellular telephone) is able to communicate with a base-station in a cell of the cellular network over a non-cellular interface via another wireless device in the cell through the use of multi-hopping. By enabling wireless devices to communicate with a base station in such a manner, the effective coverage area of the cellular network is expanded and the effective capacity of the cellular network is improved. Distributed routing, device management, adaptive scheduling, and distributed algorithms can be used to enhance the overall performance of multi-hop cellular networks.

Abstract: A method, system, or computer program product to enhance the performance of multi-hop cellular networks or other wireless networks is provided. A wireless device (e.g., cellular telephone) is able to communicate with a base-station in a cell of the cellular network over a non-cellular interface via another wireless device in the cell through the use of multi-hopping. By enabling wireless devices to communicate with a base station in such a manner, the effective coverage area of the cellular network is expanded and the effective capacity of the cellular network is improved. Distributed routing, device management, adaptive scheduling, and distributed algorithms can be used to enhance the overall performance of multi-hop cellular networks.

Abstract: A method for vehicle positioning may include determining a first 6 degrees of freedom (6-DOF) pose of a vehicle, wherein the first 6-DOF pose may comprise a first altitude and one or more first rotational parameters indicative of a first orientation of the vehicle relative to a reference frame. A lane plane associated with a roadway being travelled by the vehicle may be determined based on the first 6-DOF pose and lane-boundary marker locations of lane-boundary markers on the roadway. For each lane-boundary marker, the corresponding lane-boundary marker location may be determined from a map, which may be based on the reference frame. A corrected altitude of the vehicle may then be determined based on the lane plane. A corrected 6-DOF pose of the vehicle may be determined based on the corrected altitude of the vehicle, the first 6-DOF pose, and an axis normal to the lane plane.

Abstract: Techniques provided herein are directed toward addressing these and other issues by providing robust means for initializing an accelerometer that can take place even while a vehicle is in motion. Specifically, linear acceleration and velocity data can be estimated from wheel speeds, and angular velocity can be estimated with a gyroscope. The vehicle's acceleration can then be computed from these estimates, and subtracted from a total acceleration measured by the accelerometer to determine gravitational acceleration, which can then be accounted for in subsequent measurements taken by the accelerometer. A vehicle velocity may also be determined based on the vehicle's estimated angular velocity and linear velocity. Embodiments may also employ techniques for translating measurements taken in one coordinate frame to another coordinate frame for estimate determination and/or outlier compensation.

Abstract: Techniques provide for accurately matching traffic signs observed in camera images with traffic sign data from 3D maps, which can allow for error correction in a position estimate of a vehicle based on differences in the location of the observed traffic sign and the location of the traffic sign based on 3D map data. Embodiments include preparing the data to allow for comparison between observed and map traffic sign data, conducting the comparison in a 2D frame (e.g., in the frame of the camera image) to make an initial order of proximity of candidate traffic signs in the map traffic sign data to the observed traffic sign, conducting a second comparison in a 3D frame (e.g. the frame of the 3D map) to determine an association based on the closest match, and using the association to perform error correction.

Abstract: To make error correction in a position estimate of a vehicle, visual lane markings on the road can be matched with lane boundaries for the road within 3-D map data. Embodiments include obtaining a “stripe” indicative of an observed lane marking captured in a from a camera image, obtaining map data for the road on which the vehicle is located, determining the plane of the road from coordinates of lane boundaries within the map data, projecting the stripe onto the plane, and comparing the projected stripe with lane boundaries within the map data and associating the visual lane markings with the closest lane boundary. Differences between the projected stripe and the associated lane boundary can then be used for error correction in the position estimate of the vehicle.

Abstract: Techniques provided herein are directed toward tracking lateral and longitudinal offsets, which can include positioning errors of an initial position estimate as well as inconsistencies between the map and global frames. Tracking lateral and longitudinal offsets in this manner have been shown to help increase the accuracy of subsequent position estimates of a position estimation system for vehicle that uses an initial position estimate based on GNSS and VIO, with error correction based on location data for observed visual features obtained from a map.

Abstract: A method, system, or computer program product to enhance the performance of multi-hop cellular networks or other wireless networks is provided. A wireless device (e.g., cellular telephone) is able to communicate with a base-station in a cell of the cellular network over a non-cellular interface via another wireless device in the cell through the use of multi-hopping. By enabling wireless devices to communicate with a base station in such a manner, the effective coverage area of the cellular network is expanded and the effective capacity of the cellular network is improved. Distributed routing, device management, adaptive scheduling, and distributed algorithms can be used to enhance the overall performance of multi-hop cellular networks.

Abstract: A method for position determination based on carrier-phase measurements is disclosed. The method comprises receiving one or more downlink signals transmitted from a base station (BS) during a downlink period, wherein the downlink signals are modulated using a downlink carrier wave, measuring, during the downlink period, a first carrier phase associated with the downlink carrier wave, estimating, during an uplink period subsequent to the downlink period, an integer ambiguity (IA) change, and measuring, during a later downlink period subsequent to the uplink period, a second carrier phase based on the resolved first carrier phase and the estimated IA change.