Position estimation

Abstract

An apparatus comprising at least one processor and at least one memory including computer program code; the at least one memory and the computer program code configured to, together with the at least one processor, cause the apparatus to: determine, for a terminal node, at least one time delay value for a plurality of access nodes; determine at least one metric for the access nodes, the at least one metric indicative of the probability of line-of-sight conditions between the terminal node and the access nodes; determine, based at least in part on the at least one metric, a first set of line-of-sight time delay values ​​that have an associated probability of line-of-sight conditions above a threshold;Determine, based at least in part on at least one metric, a second set of time delay values ​​that have an associated probability of line-of-sight conditions below the threshold; determine an estimate of the terminal node's position based at least in part on the first set of line-of-sight time delay values; determine, based at least in part on the terminal node's position estimate, at least one line-of-sight time delay value from the second set; and determine a new estimate of the terminal node's position based at least in part on at least one determined line-of-sight time delay value from the second set.

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