Abstract: An apparatus, comprising at least one processor, and at least one memory storing instructions, the at least one memory and the instructions configured to, with the at least one processor, cause the apparatus at least to determine a set of position estimates for a mobile device, wherein each position estimate of the set of position estimates is associated with a) a specific one of a plurality of K many receiver devices configured to receive a reference signal from the mobile device or b) a specific one of a plurality of K many transmitter devices configured to transmit reference signals to the mobile device, and to determine, based at least on the set of position estimates, a set of residual errors associated with at least some position estimates of the set of position estimates.

Abstract: Inter-alia, a method is disclosed comprising: obtaining, for at least one reference position, an estimate of a representative direction from a node of a communication network to the at least one reference position based on information indicative of at least one directional measurement, the directional measurement being indicative at least of a propagation direction of a signal communicated between the at least one reference position and the node of the communication network; obtaining, for the at least one reference position, a weighted estimate of the representative direction based on at least an angular weighting function for the at least one reference position, the angular weighting function being representative at least of an aperture of at least one antenna of the node of the communication network; and obtaining information indicative at least of an orientation and/or position of the node of the communication network at least based on the weighted estimate of the representative direction obtained for the

Abstract: This specification relates to estimation of a location of a mobile device using one or more locator devices. This specification describes an apparatus comprising: means for receiving, from one or more locator devices, each locator device comprising an antenna array, information indicative of a bearing from the antenna array of each of the one or more locator devices to a mobile device; means for determining parameters of a Kent distribution for each of the one or more locator devices based on the received information and predetermined characteristics of the antenna array; and means for determining an estimated position of the mobile device by performing an optimisation process on an objective function that is dependent on the Kent distribution parameters for each of the one or more locator devices.

Abstract: This specification relates to estimation of a location of a mobile device using one or more locator devices.

Abstract: Processing circuitry for processing data signal prior to transmitting said signal as a visible light communication signal is disclosed. The processing circuitry comprises: an input for receiving the data signal to be transmitted; mapping circuitry operable to map the data signal to a set of active subcarriers and to add nulls corresponding to inactive subcarriers to generate a mapped data signal. Transforming circuitry operable to apply a modified Fourier Transform operation to the mapped data signal to generate a transformed signal. The Fourier Transform operation being modified to maintain the nulls corresponding to the inactive subcarriers in the transformed signal, the transforming circuitry being operable to apply modified coefficients to at least some data values corresponding to active subcarriers to compensate for the maintained nulls, such that the modified Fourier Transform operation does not change the overall energy of the data signal.