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    • 54. 发明公开
    • POSITION ESTIMATION
    • US20230156658A1
    • 2023-05-18
    • US17917378
    • 2020-04-06
    • NOKIA TECHNOLOGIES OY
    • Oana-Elena BARBUJohannes HARREBEKBenny VEJLGAARD
    • H04W64/00G01S5/02
    • H04W64/003G01S5/0218
    • 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, with the at least one processor, cause the apparatus to perform: determining, for a terminal node, at least one time delay value for a plurality of access nodes; determining at least one metric for the access nodes, the at least one metric indicative of probability of line of sight conditions between the terminal node and the access nodes; determining, based, at least in part, on the at least one metric, a first set of line of sight time delay values having an associated probability of line of sight conditions above a threshold; determining, based, at least in part, on the at least one metric, a second set of time delay values having an associated probability of line of sight conditions below the threshold; determining a position estimate of the terminal node based, at least in part, on the first set of line of sight time delay values; determining, based at least in part on the position estimate of the terminal node, at least one line of sight time delay value of the second set; and determining a new estimate of the position of the terminal node based, at least in part, on the at least one determined line of sight time delay value of the second set.