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.

Abstract: A range between a first wireless device and a second wireless device is estimated using a first mechanism based on messages transmitted over a first communication channel. The first communication channel is associated with a first radio access technology capability of the wireless devices. One or more metrics indicative of an accuracy of the range estimates provided by the first mechanism are obtained. A second mechanism to estimate a range between the first wireless device and the second wireless device may be implemented in favor of the first mechanism when the metric fails to satisfy a criterion. The second mechanism is based on unicast messages transmitted over a second communication channel. The second communication channel is associated with a second radio access technology capability of the wireless devices and may be the same as, or different from, the first communication channel.

Abstract: Various embodiments disclose a device with one or more processors which may be configured to translate a RADAR velocity map in at least one image plane of at least one camera, to form a three-dimensional RADAR velocity image. The 3D RADAR velocity image includes a relative velocity of each pixel in the one or more images, and the relative velocity of each pixel is based on a RADAR velocity estimate in the three-dimensional RADAR velocity map. The one or more processors may be configured to determine whether visual features correspond to a moving object based on the relative velocity of each pixel determined, and may be configured to remove the visual features that correspond to a moving object, prior to providing them as an input into a state updater, in a RADAR-aided visual inertial odometer.

Abstract: A method of determining a position of a mobile platform includes obtaining a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) and obtaining a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system. Each time epoch of the SPS includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite. The method also includes combining the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements. The one or more outlier pseudorange measurements are then discarded from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements.

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: Techniques are described herein for allowing one or more vehicles or radar systems in an environment to passively detect radar signals from other vehicles or other radar systems and determine spatial parameters of objects based on the passively received radar signals. A primary vehicle (or user equipment (UE) associated with the primary vehicle) may be configured to receive one or more radar signals from one or more secondary vehicles (or UEs associated with the secondary vehicles). The primary vehicle may be configured to determine one or more spatial parameters of the secondary vehicle based on the passively received radar signals. In some cases, the primary vehicle may receive an indication that identifies at least some communication resources to be used by the secondary vehicle to transmit the radar signals. The primary vehicle may determine one or more driving operations based on determining the spatial parameter.

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.

Abstract: A method of determining a trajectory of a mobile platform includes obtaining a satellite positioning system (SPS) measurement from one or more SPS signals acquired by an SPS receiver of the mobile platform. The method also includes obtaining a visual-inertial odometry (VIO) measurement of the mobile platform from a VIO system of the mobile platform. A first position estimate of the mobile platform is determined based, at least in part, on the SPS measurement and the VIO measurement. The method then includes adjusting the first position estimate to generate a smoothed position estimate based, in part, on a smoothing parameter that controls a smoothness of the trajectory. The trajectory of the mobile platform is then determined, at least in part, using the smoothed position estimate.

Abstract: Techniques provided herein are directed toward using a camera, such as a forward-facing camera, to identify non-line-of-sight (NLoS) satellites in a satellite positioning system. In particular, successive images captured by the camera of the vehicle can be used to create a three-dimensional (3-D) skyline model of one or more objects that may be obstructing the view of a satellite (from the perspective of the vehicle). Accordingly, this allows for the determination of NLoS satellites and exclusion of data from the NLoS satellites in the determination of the location of the vehicle. Techniques may further include providing the determined location of the vehicle.

Abstract: The present disclosure provides methods and systems for radar detection. A radar device may obtain prior information about known targets including an azimuth angle of each known target. The radar device may generate an association aware transmit beam pattern toward at least a subset of the known targets based on the prior information. The radar device may detect targets from reflected beams of the association aware transmit beam pattern. Generating the association aware transmit beam pattern may include generating a partial ambiguity graph for the known targets, the graph including at least one edge connecting two known targets wherein a difficulty of disambiguating the two known targets is greater than a threshold. The graph also includes at least two known targets that are not connected by an edge.

Abstract: Methods, apparatuses, and computer-readable media are described. In one example, a method of controlling a vehicle comprises: receiving, using one or more sensors, a first set of measurements of a set of physical attributes of the vehicle in a motion; determining, based on a motion data model that defines a set of relationships among the set of physical attributes of the vehicle in the motion and based on the first set of measurements, a set of expected measurements of the set of physical attributes; determining whether to use an entirety of the first set of measurements to control an operation of the vehicle based on comparing the first set of measurements and the set of expected measurements; and responsive to determining not to use the entirety of the first set of measurements, controlling the operation of the vehicle based on a second set of measurements.

Abstract: The disclosure generally relates to position sensors, and more particularly to repair of carrier-phase cycle slips using displacement data. An apparatus for use in position sensing may include a displacement sensor, a positioning signal receiver, a memory, and a processor coupled to the displacement sensor, the positioning signal receiver, and the memory. The processor and memory may be configured to processor and memory are configured to detect a loss of lock of a first carrier tracking loop associated with the first set of carrier-phase measurements, wherein the first carrier tracking loop is associated with a first integer ambiguity, estimate, based on the displacement data, an ambiguity increment to the first integer ambiguity subsequent to the detected loss of lock, and resolve a second integer ambiguity associated with the second set of positioning signals based on the first integer ambiguity and the estimated ambiguity increment.

Abstract: Disclosed embodiments pertain to a method on a UE may comprise determining a first absolute position of the UE at a first time based on GNSS measurements from a set of satellites. At a second time subsequent to the first time, the UE may determine a first estimate of displacement of the UE relative to the first absolute position using non-GNSS measurements. Further, at the second time, the UE may also determine a second estimate of displacement relative to the first absolute position and/or a second absolute position of the UE based, in part, on: the GNSS carrier phase measurements at the first time from the set of satellites, and GNSS carrier phase measurements at the second time from a subset comprising two or more satellites of the set of satellites, and the first estimate of displacement of the UE.

Abstract: Various embodiments disclose a device with one or more processors which may be configured to translate a RADAR velocity map in at least one image plane of at least one camera, to form a three-dimensional RADAR velocity image. The 3D RADAR velocity image includes a relative velocity of each pixel in the one or more images, and the relative velocity of each pixel is based on a RADAR velocity estimate in the three-dimensional RADAR velocity map. The one or more processors may be configured to determine whether visual features correspond to a moving object based on the relative velocity of each pixel determined, and may be configured to remove the visual features that correspond to a moving object, prior to providing them as an input into a state updater, in a RADAR-aided visual inertial odometer.

Abstract: Various embodiments disclose a device with one or more processors which may be configured to translate a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional RADAR depth image. The 3D RADAR depth image includes a depth estimate of each pixel. The one or more processors may also be configured to initialize a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.

Abstract: Disclosed are implementations that include a method, at a mobile device, including receiving multiple broadcast messages transmitted by multiple stationary wireless devices, and obtaining first information relating to each of the multiple broadcast messages, with at least some of the first information being included in the multiple broadcast messages, and second information relating to at least one earlier broadcast communication received by at least one of the multiple stationary wireless devices, prior to transmission of the at least one of the multiple broadcast messages, from at least one other of the multiple stationary wireless devices, with the second information included in the at least one of the multiple broadcast messages. The method also include determining location information for the mobile device based on the first information, the second information, and known positions of at least some of the multiple stationary wireless devices.

Abstract: A range between a first wireless device and a second wireless device is estimated using a first mechanism based on messages transmitted over a first communication channel. The first communication channel is associated with a first radio access technology capability of the wireless devices. One or more metrics indicative of an accuracy of the range estimates provided by the first mechanism are obtained. A second mechanism to estimate a range between the first wireless device and the second wireless device may be implemented in favor of the first mechanism when the metric fails to satisfy a criterion. The second mechanism is based on unicast messages transmitted over a second communication channel. The second communication channel is associated with a second radio access technology capability of the wireless devices and may be the same as, or different from, the first communication channel.

Abstract: A range between a first wireless device and a second wireless device is estimated using a first mechanism based on messages transmitted over a first communication channel. The first communication channel is associated with a first radio access technology capability of the wireless devices. One or more metrics indicative of an accuracy of the range estimates provided by the first mechanism are obtained. A second mechanism to estimate a range between the first wireless device and the second wireless device may be implemented in favor of the first mechanism when the metric fails to satisfy a criterion. The second mechanism is based on unicast messages transmitted over a second communication channel. The second communication channel is associated with a second radio access technology capability of the wireless devices and may be the same as, or different from, the first communication channel.

Abstract: Determining a position of a device using a signal received from a reference emitter includes: receiving the signal; determining a state of a first filter, the state of the first filter including a first carrier phase ambiguity estimate that includes a floating value; determining a state of a second filter, the state of the second filter including a second carrier phase ambiguity estimate that includes a fixed value; determining whether the state of the second filter is consistent with one other filter state or measurement; maintaining the state of the second filter in response to the device determining that the state of the second filter is consistent with the other filter state; changing the state of the second filter to the state of the first filter in response to the device determining that the state of the second filter is not consistent with the other filter state.

Abstract: System, methods, and apparatus are described for transmitting encoded bits over a bus by conditionally embedding dynamically shielded information. In an example, the apparatus transmits a first group of encoded bits over a bus, generates a second group of encoded bits to be transmitted over the bus, where a first subset of the second group of encoded bits are encoded to avoid crosstalk-inducing bit transitions on adjacent lines of the bus, and configures one or more encoded bits of a second subset of the second group of encoded bits to ensure that the second group of encoded bits includes parity information and/or clock information, while further ensuring that crosstalk-inducing bit transitions in the second group of encoded bits are avoided.