Patent Publication Number: US-2023164734-A1

Title: Methods and apparatuses for positioning

Description:
TECHNICAL FIELD 
     Various example embodiments relate to methods and apparatuses for positioning. 
     BACKGROUND 
     Various services, such as social networking, people finders, marketing campaigns, asset tracking, emergency aid, long-range medical treatment, remote assistance, and information supply, may be provided to a user or a user equipment (UE) of the user based on a location of the user or the UE. 
     SUMMARY 
     In a first aspect, disclosed is a method including sensing, at an apparatus in a space, at least one another apparatus in the space, determining first information including a position of the at least one another apparatus relative to the apparatus, transmitting the first information to the at least one another apparatus, and receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. In some example embodiments, the apparatus and the at least one another apparatus may be wireless devices such as Wi-Fi devices of one or more access points and any other suitable wireless devices such as movable base stations. 
     In some example embodiments, the first information may be transmitted via at least one of broadcast, Transmission Control Protocol/Internet Protocol (TCP/IP), and User Datagram Protocol (UDP). In some example embodiments, the second information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the first information may further include an identity of the apparatus. In some example embodiments, the second information may further include an identity of the at least one another apparatus. 
     In some example embodiments, the method in the first aspect may further include determining the position of the at least one another apparatus relative to the apparatus based on at least one of an angle of arrival and a time of arrival of the at least one another apparatus relative to the apparatus. 
     In some example embodiments, the method in the first aspect may further include sensing a UE in the space, determining at least one third information including one or more of an identity of the apparatus, an identity of the UE, at least one position of the UE relative to the apparatus, and at least one detection time of the position of the UE relative to the apparatus, and transmitting the at least one third information to the at least one second wireless device. In some example embodiments, the method in the first aspect may further include receiving from the at least one another apparatus at least one fourth information including one or more of an identity of the at least one another apparatus, the identity of the UE, at least one position of the UE relative to the at least one another apparatus, and at least one detection time of the position of the UE relative to the at least one another apparatus. 
     In some example embodiments, the at least one third information may be transmitted via broadcast, TCP/IP, and UDP. In some example embodiments, the at least one fourth information may be received via broadcast, TCP/IP, and UDP. 
     In some example embodiments, the method in the first aspect may further include determining the at least one position of the UE relative to the apparatus based on one or both of at least one angle of arrival and at least one time of arrival of the UE relative to the apparatus. 
     In some example embodiments, the method in the first aspect may further include determining at least one location of the UE in the space based on at least one of the first information, the second information, the at least one third information, and the at least one fourth information from the at least one another apparatus. 
     In some example embodiments, the method in the first aspect may further include determining a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, the method in the first aspect may further include predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     In some example embodiments, the method in the first aspect may further include determining one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the at least one of the at least one third information and the at least one fourth information. 
     In some example embodiments, the method in the first aspect may further include transmitting at least one of the first information, the second information, at least one location of a UE in the space, and information on a structure of the space to the UE. 
     In a second aspect, disclosed a method including receiving, at a UE, information from at least one apparatus in a space, the information including one or more of an identity of the at least one apparatus, a position relationship among the at least one apparatus, and at least one position of the UE in the space relative to the at least one apparatus. 
     In some example embodiments, the information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the information may further include at least one of an identity of the UE and at least one detection time of the at least one position of the UE in the space relative to the at least one apparatus. 
     In some example embodiments, the method in the second aspect may further include determining the at least one location of the UE in the space based on the information. 
     In some example embodiments, the method in the second aspect may further include determining a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, the method in the second aspect may further include predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     In some example embodiments, the method in the second aspect may further include determining one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the information. 
     In a third aspect, an apparatus is disclosed. The apparatus may be configured to perform at least the method in the first aspect. For example, the apparatus in this aspect may include means for sensing at least one another apparatus in a space including the apparatus, means for determining first information including a position of the at least one another apparatus relative to the apparatus, means for transmitting the first information to the at least one another apparatus, and means for receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. 
     In some example embodiments, the first information may be transmitted via at least one of broadcast, TCP/IP, and UDP. In some example embodiments, the second information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the first information may further include an identity of the apparatus. In some example embodiments, the second information may further include an identity of the at least one another apparatus. 
     In some example embodiments, the apparatus in the third aspect may further include means for determining the position of the at least one another apparatus relative to the apparatus based on at least one of an angle of arrival and a time of arrival of the at least one another apparatus relative to the apparatus. 
     In some example embodiments, the apparatus in the third aspect may further include means for sensing a UE in the space, means for determining at least one third information including one or more of an identity of the apparatus, an identity of the UE, at least one position of the UE relative to the apparatus, and at least one detection time of the position of the UE relative to the apparatus, and means for transmitting the at least one third information to the at least one second wireless device. In some example embodiments, the apparatus in the third aspect may further include means for receiving from the at least one another apparatus at least one fourth information including one or more of an identity of the at least one another apparatus, the identity of the UE, at least one position of the UE relative to the at least one another apparatus, and at least one detection time of the position of the UE relative to the at least one another apparatus. 
     In some example embodiments, the at least one third information may be transmitted via broadcast, TCP/IP, and UDP. In some example embodiments, the at least one fourth information may be received via broadcast, TCP/IP, and UDP. 
     In some example embodiments, the apparatus in the third aspect may further include means for determining the at least one position of the UE relative to the apparatus based on one or both of at least one angle of arrival and at least one time of arrival of the UE relative to the apparatus. 
     In some example embodiments, the apparatus in the third aspect may further include means for determining at least one location of the UE in the space based on at least one of the first information, the second information, the at least one third information, and the at least one fourth information from the at least one another apparatus. 
     In some example embodiments, the apparatus in the third aspect may further include means for determining a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, the apparatus in the third aspect may further include means for predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     In some example embodiments, the apparatus in the third aspect may further include means for determining one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the at least one of the at least one third information and the at least one fourth information. 
     In some example embodiments, the apparatus in the third aspect may further include means for transmitting at least one of the first information, the second information, at least one location of a UE in the space, and information on a structure of the space to the UE. 
     In a fourth aspect, disclosed is an apparatus including at least one processor and at least one memory. The at least one memory may include computer program code. The at least one memory and the computer program code may be configured to, with the at least one processor, cause the apparatus to perform at least the method in the first aspect. For example, the at least one memory and the computer program code may be configured to, with the at least one processor, cause the apparatus to perform at least sensing at least one another apparatus in a space including the apparatus, determining first information including a position of the at least one another apparatus relative to the apparatus, transmitting the first information to the at least one another apparatus, and receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. 
     In some example embodiments, the first information may be transmitted via at least one of broadcast, TCP/IP, and UDP. In some example embodiments, the second information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the first information may further include an identity of the apparatus. In some example embodiments, the second information may further include an identity of the at least one another apparatus. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining the position of the at least one another apparatus relative to the apparatus based on at least one of an angle of arrival and a time of arrival of the at least one another apparatus relative to the apparatus. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform sensing a UE in the space, determining at least one third information including one or more of an identity of the apparatus, an identity of the UE, at least one position of the UE relative to the apparatus, and at least one detection time of the position of the UE relative to the apparatus, and transmitting the at least one third information to the at least one another apparatus. In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform receiving from the at least one another apparatus at least one fourth information including one or more of an identity of the at least one another apparatus, the identity of the UE, at least one position of the UE relative to the at least one another apparatus, and at least one detection time of the position of the UE relative to the at least one another apparatus. 
     In some example embodiments, the at least one third information may be transmitted via broadcast, TCP/IP, and UDP. In some example embodiments, the at least one fourth information may be received via broadcast, TCP/IP, and UDP. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining the at least one position of the UE relative to the apparatus based on one or both of at least one angle of arrival and at least one time of arrival of the UE relative to the apparatus. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining at least one location of the UE in the space based on at least one of the first information, the second information, the at least one third information, and the at least one fourth information from the at least one another apparatus. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform the at least one memory and the computer program code is further configured to, with the at least one processor, cause the apparatus to perform predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the at least one information in the at least one third information and/or the at least one fourth information. 
     In some example embodiments, in the apparatus in the fourth aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform transmitting at least one of the first information, the second information, at least one location of a UE in the space, and information on a structure of the space to the UE. 
     In a fifth aspect, disclosed is a system including at least one first apparatus and at least one second apparatus. For example, one or more of the at least one first apparatus and the at least one second apparatus may be configured to perform at least the method in the first aspect. For example, the at least one first apparatus may be configured to sense the at least one second apparatus, to determine first information including a position of the at least one second apparatus relative to the at least one first apparatus, to transmit the first information, and to receive second information including a position of the at least one first apparatus relative to the at least one second apparatus. The at least one second apparatus may be configured to sense the at least one first apparatus, to determine the second information, to transmit the second information, and to receive the first information. 
     In some example embodiments, at least one of the first information and the second information is transmitted via at least one of broadcast, TCP, and UDP. 
     In some example embodiments, the first information may further include an identity of the at least one first apparatus, and/or the second information further includes an identity of the at least one second apparatus. 
     In some example embodiments, the at least one first apparatus may be further configured to sense a UE in a space including the system, to determine at least one third information including one or more of an identity of the at least one first apparatus, an identity of the UE, at least one position of the UE relative to the at least one first apparatus, and at least one detection time of the position of the UE relative to the at least one first apparatus, and to transmit the at least one third information to the at least one second apparatus. 
     In some example embodiments, the at least one second apparatus may be further configured to sense the UE in the space, to determine at least one fourth information including one or more of an identity of the at least one second apparatus, an identity of the UE, at least one position of the UE relative to the at least one second apparatus, and at least one detection time of the position of the UE relative to the at least one second apparatus, and to transmit the at least one fourth information to the at least one first apparatus. 
     In some example embodiments, one or more of the at least one first apparatus and the at least one second apparatus may be further configured to determine at least one location of the UE in the space based on at least one of the first information, the second information, the at least one third information, and the at least one fourth information. 
     In some example embodiments, one or more of the at least one first apparatus and the at least one second apparatus may be further configured to determine a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, one or more of the at least one first apparatus and the at least one second apparatus may be further configured to predict an activity of the UE in the space based on the at least one location of the UE in the space. 
     In some example embodiments, one or more of the at least one first apparatus and the at least one second apparatus may be further configured to determine one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the at least one of the at least one third information and the at least one fourth information. 
     In a sixth aspect, an apparatus is disclosed. The apparatus may be configured to perform at least the method in the second aspect. For example, the apparatus in this aspect may include means for receiving information from at least one another apparatus in a space, the information including one or more of an identity of the at least one another apparatus, a position relationship among the at least one another apparatus, and at least one position of the apparatus in the space relative to the at least one another apparatus. For example, the apparatus in this aspect may be at least a part of a UE. 
     In some example embodiments, the information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the information may further include at least one of an identity of the apparatus and at least one detection time of the at least one position of the apparatus in the space relative to the at least one another apparatus. 
     In some example embodiments, the apparatus in the sixth aspect may further include means for determining the at least one location of the apparatus in the space based on the information. 
     In some example embodiments, the apparatus in the sixth aspect may further include means for determining a structure of the space based on the at least one location of the apparatus in the space. 
     In some example embodiments, the apparatus in the sixth aspect may further include means for predicting an activity of the apparatus in the space based on the at least one location of the apparatus in the space. 
     In some example embodiments, the apparatus in the sixth aspect may further include means for determining one or more of at least one outlier of the at least one location of the apparatus in the space, at least one cluster of the at least one location of the apparatus in the space, at least one trajectory of the at least one location of the apparatus in the space, and a relationship between the at least one location of the apparatus in the space and at least one detection time in the information. 
     In a seventh aspect, disclosed is an apparatus including at least one processor and at least one memory. The at least one memory may include computer program code. The at least one memory and the computer program code may be configured to, with the at least one processor, cause the apparatus to perform at least the method in the second aspect. For example, the at least one memory and the computer program code may be configured to, with the at least one processor, cause the apparatus to perform at least receiving information from at least one another apparatus in a space, the information including one or more of an identity of the at least one another apparatus, a position relationship among the at least one another apparatus, and at least one position of the apparatus in the space relative to the at least one another apparatus. For example, the apparatus in this aspect may be at least a part of a UE. 
     In some example embodiments, the information may be received via at least one of broadcast, TCP/IP, and UDP. 
     In some example embodiments, the information may further include at least one of an identity of the apparatus and at least one detection time of the at least one position of the apparatus in the space relative to the at least one another apparatus. 
     In some example embodiments, in the apparatus in the seventh aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining the at least one location of the apparatus in the space based on the information. 
     In some example embodiments, in the apparatus in the seventh aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining a structure of the space based on the at least one location of the apparatus in the space. 
     In some example embodiments, in the apparatus in the seventh aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform predicting an activity of the apparatus in the space based on the at least one location of the apparatus in the space. 
     In some example embodiments, in the apparatus in the seventh aspect, the at least one memory and the computer program code may be further configured to, with the at least one processor, cause the apparatus to perform determining one or more of at least one outlier of the at least one location of the apparatus in the space, at least one cluster of the at least one location of the apparatus in the space, at least one trajectory of the at least one location of the apparatus in the space, and a relationship between the at least one location of the apparatus in the space and at least one detection time in the information. 
     In an eighth aspect, a computer readable medium is disclosed. The computer readable medium may include instructions stored thereon for causing an apparatus to perform the method in the first aspect. For example, the instructions may cause the apparatus to perform at least sensing at least one another apparatus in a space including the apparatus, determining first information including a position of the at least one another apparatus relative to the apparatus, transmitting the first information to the at least one another apparatus, and receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. 
     In some example embodiments, the instructions in the eighth aspect may further cause the apparatus to perform sensing a UE in the space, determining at least one third information including one or more of an identity of the apparatus, an identity of the UE, at least one position of the UE relative to the apparatus, and at least one detection time of the position of the UE relative to the apparatus, and transmitting the at least one third information to the at least one another apparatus. 
     In some example embodiments, the instructions in the eighth aspect may further cause the apparatus to perform determining at least one location of the UE in the space based on at least one of the first information, the second information, the at least one third information, and at least one fourth information from the at least one another apparatus, the at least one fourth information including one or more of an identity of the at least one another apparatus, the identity of the UE, at least one position of the UE relative to the at least one another apparatus, and at least one detection time of the position of the UE relative to the at least one another apparatus. 
     In some example embodiments, the instructions in the eighth aspect may further cause the apparatus to perform determining a structure of the space based on the at least one location of the UE in the space. 
     In some example embodiments, the instructions in the eighth aspect may further cause the apparatus to perform predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     In a ninth aspect, a computer readable medium is disclosed. The computer readable medium may include instructions stored thereon for causing an apparatus to perform the method in the second aspect. For example, the instructions may cause the apparatus to perform at least receiving information from at least one another apparatus in a space, the information including one or more of an identity of the at least one another apparatus, a position relationship among the at least one another apparatus, and at least one position of the apparatus in the space relative to the at least one another apparatus. 
     In some example embodiments, the instructions in the ninth aspect may further cause the apparatus to perform determining the at least one location of the apparatus in the space based on the information. 
     In some example embodiments, the instructions in the ninth aspect may further cause the apparatus to perform determining a structure of the space based on the at least one location of the apparatus in the space. 
     In some example embodiments, the instructions in the ninth aspect may further cause the apparatus to perform predicting an activity of the apparatus in the space based on the at least one location of the apparatus in the space. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Some example embodiments will now be described, by way of non-limiting examples, with reference to the accompanying drawings. 
         FIG.  1    illustrates an example method in an embodiment. 
         FIG.  2    illustrates an execution example the example method in an embodiment. 
         FIG.  3    illustrates an execution example the example method in an embodiment. 
         FIG.  4    illustrates an execution example the example method in an embodiment. 
         FIG.  5    illustrates an execution example the example method in an embodiment. 
         FIG.  6    illustrates an example method in an embodiment. 
         FIG.  7    illustrates an execution example the example method in an embodiment. 
         FIG.  8    illustrates an execution example the example method in an embodiment. 
         FIG.  9    illustrates an example method in an embodiment. 
         FIG.  10    illustrates an execution example the example method in an embodiment. 
         FIG.  11    illustrates an execution example the example method in an embodiment. 
         FIG.  12    illustrates an execution example the example method in an embodiment. 
         FIG.  13    illustrates an example apparatus in an embodiment. 
         FIG.  14    illustrates an example apparatus in an embodiment. 
         FIG.  15    illustrates an execution example the example method in an embodiment. 
         FIG.  16    illustrates an example method in an embodiment. 
         FIG.  17    illustrates an example apparatus in an embodiment. 
         FIG.  18    illustrates an example apparatus in an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     In a positioning system, positions of one or more anchors may be configured in advance. For example, when utilizing Wi-Fi technologies for an indoor positioning, a private network may be designed, and the one or more Wi-Fi devices may be installed at predetermined locations in the designed private network so as to provide one or more access points. Then, for example, Global Positioning System (GPS) signals may be utilized for the positioning. 
     However, for example, in a case where the Wi-Fi devices are installed randomly without predetermined anchors or without considering predetermined anchors, or in a case where the Wi-Fi devices are moved occasionally so that the established network changes, or in a case where GPS signals are weak, the positioning system may suffer from accuracy degradation or failures of positioning. 
     Similar cases may be found in positioning based on other communication technologies such as Bluetooth® and radio frequency (RF), for example, in a case of positioning with movable base stations. 
       FIG.  1    illustrates an example method  100  for positioning in an example embodiment, which may be performed in an apparatus of a positioning network. For example, the apparatus may be, but is not limited to, a wireless apparatus which is installed randomly (for example, without predetermined anchors or not at predetermined installation positions) and/or movable, such as a Wi-Fi device installed randomly in a room, a movable base station (e.g. a movable base station vehicle), or the like. 
     As shown in  FIG.  1   , the example method  100  may include a step  110  of sensing at least one another apparatus in a space including the apparatus, a step  120  of determining first information including a position of the at least one another apparatus relative to the apparatus, a step  130  of transmitting the first information to the at least one another apparatus, and a step  140  of receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. 
     For example, the at least one another apparatus sensed by the apparatus in the example method  100  may be also included in the positioning network to be established, and may also perform the example method  100  so as to establish and scale a positioning network automatically through cooperation between the apparatus and the at least one another apparatus. 
     Through the example method  100 , the apparatus may sense or detect an environment around it or a space where it locates currently. Then, for one or more another apparatuses in the environment or the space sensed by the apparatus (hereafter, also called as “one or more sensed apparatuses”), the apparatus may determine or measure positions of the one or more sensed apparatuses relative to the apparatus, for example by measuring or sensing distances and/or angles from the one or more sensed apparatuses to the apparatus, and may communicate with the one or more sensed apparatuses so as to interchange the information on position relationship between the apparatus and the one or more sensed apparatuses. 
     Thus, for example, the apparatus supporting the example method  100  may join automatically a positioning network previously including the one or more sensed apparatuses, or may enable one or more sensed apparatuses to be added automatically into a positioning network including the apparatus, for example even in a case where information on positions of anchors of the positioning network is not provided in advance to the apparatus, or in a case where the apparatus and/or one or more sensed apparatuses are installed randomly or somewhere rather than predetermined installation positions, or in a case where the positions of the apparatus and/or one or more sensed apparatuses may change, or the like. That is, through the example method  100 , a self-organized and scalable positioning network may be established. 
     Further, for example, the installation and configuration of the apparatus supporting the example method  100  may be easier due to less or even no consideration on the anchors, and more types of apparatuses such as mobile base station and Mesh Wi-Fi devices may be utilized to establish a positioning network. 
     It is appreciated that the steps in the example method  100  are not limited to the order as shown in  FIG.  1   . For example, in various embodiments, the step  140  may be before or in parallel with the step  120  and/or the step  130 . Moreover, the steps in the example method  100  may be implemented in one or more suitable manners. 
     In various embodiments, in the step  110 , the apparatus may utilize any suitable manners to detect the space where the apparatus locates currently and to sense one or more another apparatuses in the space. For example, the apparatus may broadcast a signal and may detect or sense one or more another apparatuses based on one or more responses from the one or more another apparatuses. For example, the apparatus may listen to a specified frequency channel, and may detect or sense one or more another apparatuses based on information carried on the specified frequency channel. In another examples, the apparatus may capture audio, images, video, or the like, from or related to one or more another apparatuses in the space, and may detect or sense one or more another apparatuses based on analyses and/or recognitions for the captured audio, images, video, or the like. 
     In various embodiments, in the step  120 , any suitable manners may be utilized to determine the positions of the one or more sensed apparatuses relative to the apparatus. 
     For example, in the step  120 , an angle of arrival (AoA) and/or a time of arrival (ToA) of a sensed apparatus relative to the apparatus may be determined in any suitable manners, for example based on channel state information (CSI) shared between the apparatus and the sensed apparatus which may include information on fading factors on the transmission channel or path, such as signal scattering, multipath shading, power decay of distance, and the like, and then the position of the sensed apparatus relative to the apparatus may be determined based on the determined AoA and/or ToA. 
     In another example, in the step  120 , the apparatus may measure the received signal strength (RSS) of a signal from the sensed apparatus to determine roughly a region of the sensed apparatus, and then may further determine an accurate position of the sensed apparatus relative to the apparatus based on CSI, for example by any suitable manners such as K-Means, machine learning, RF fingerprint matching, and the like. 
     In another example, in the step  120 , the apparatus may also receive information from one or more of the sensed apparatuses to obtain a position of the apparatus relative to other apparatuses, and may determine the positions of the one or more sensed apparatuses relative to the apparatus based on the received information, rather than measuring the positions of the one or more sensed apparatuses relative to the apparatus by itself. 
     In various embodiments, in the step  130 , the apparatus may transmit the first information including the positions of one or more sensed apparatuses relative to the apparatus determined in the step  120  to the one or more sensed apparatuses based on any suitable communication protocol such as Transmission Control Protocol/Internet Protocol (TCP/IP), User Datagram Protocol (UDP), and the like. 
     In an embodiment, in the step  130 , the apparatus may broadcast the first information, through which, for example, the establishment and maintenance of multiple communication channels between the apparatus and the one or more sensed apparatuses may be avoided, and thus the scalability of the positioning network may be further improved. 
     In some embodiments, the first information may also include an identity of the apparatus. 
     Similarly, in various embodiments, in the step  140 , the apparatus may receive the second information including the positions of the apparatus relative to the one or more sensed apparatuses based on any suitable communication protocols such as TCP/IP, UDP, and the like. In an embodiment, the apparatus may listen to the broadcast channel for the second information. In some embodiments, the second information may also include identities of the one or more sensed apparatus. 
     Then, based on the information communicated with the apparatus and the one or more sensed apparatuses, a positioning network or system may be established. 
       FIG.  2    illustrate an example system  200  in an example embodiment, which may be a self-organized and scalable positioning network established by one or more apparatuses supporting the example method  100 , wherein an apparatus  210  supporting the example method  100  is configured or installed in the space  240  and detects another apparatus  220  and  230  in the space  240  in the step  110  of the example method  100 . In various embodiments, examples of the apparatuses  210 ,  220 , and  230  may include, but are not limited to, wireless apparatuses which may be installed randomly (for example, without predetermined anchors or not at predetermined installation positions) and/or movable, such as Wi-Fi devices installed randomly in a room, movable base stations (e.g. movable base station vehicles), or the like. 
     Then, in the step  120 , for example, the apparatus  210  may determine a distance d 1  between the apparatuses  210  and  220 , and a distance d 2  between the apparatuses  210  and  230 , so as to determine at least a part of the information on the position of the apparatus  220  relative to the apparatus  210  and at least a part of the information on the position of the apparatus  230  relative to the apparatus  210 . For example, time may be synchronized among the apparatuses  210 ,  220 , and  230 , and then the apparatus  210  may send testing signals to the apparatus  220  and the apparatus  230 , and may obtain a signal transmission time to the apparatus  220  based on a measured ToA at the apparatus  220 , and a signal transmission time to the apparatus  230  based on a measured ToA at the apparatus  230 . Then, the distance d 1  between the apparatuses  210  and  220 , and the distance d 2  between the apparatuses  210  and  230  may be calculated based on the obtained signal transmission time and speed of light. Then, the apparatus  210  may transmit the determined information to the apparatuses  220  and  230  in the step  130 . 
     Similarly, the apparatus  220  may also determine a distance between the apparatuses  220  and  210 , and a distance d 3  between the apparatuses  220  and  230 , so as to determine at least a part of the information on the position of the apparatus  210  relative to the apparatus  220  and at least a part of the information on the position of the apparatus  230  relative to the apparatus  220 , and then may transmit the determined information to at least one of the apparatuses  210  and  230  in the step  130 . 
     The apparatus  210  may receive the information from the apparatus  220  in the step  140 , and may obtain information on the distance between the apparatuses  210  and  220  measured by the apparatus  220  and the distance between the apparatuses  220  and  230  measured by the apparatus  220 . In a case where the distance between the apparatuses  210  and  220  measured by the apparatus  220  is different from d 1  measured by the apparatuses  210 , any suitable manners may be adopted to solve the conflict. For example, one of the two measured distance values may be selected, or a new distance value may be determined as the distance between the apparatuses  210  and  220  based on the two measured distance values, or the like. 
     Then, the apparatus  210  may determine the coordinates of the apparatus  210 ,  220 , and  230  for example in a coordinate system of one of the apparatus  210 ,  220 , and  230 , based on a geometric relationship among the apparatus  210 ,  220 , and  230 , and may determine the structure of the positioning network or system  200 . 
     Similarly, the apparatus  220  may receive the information from the apparatus  210  in the step  140 , and may obtain information on the distance between the apparatuses  210  and  220  measured by the apparatus  210  and the distance between the apparatuses  210  and  230  measured by the apparatus  210 . Then, the apparatus  220  may also determine the coordinates of the apparatus  210 ,  220 , and  230  in a coordinate system of one of the apparatus  210 ,  220 , and  230  based on geometric relationship among the apparatus  210 ,  220 , and  230 , and then may determine the structure of the positioning network or system  200 . 
     In another embodiment, the apparatus  210  may also determine AoA of another sensed apparatus. For example, as shown in  FIG.  2   , the apparatus  210  may determine that the apparatus  220  is in a direction with an AoA α 1  from the x axis in the coordinate system of the apparatus  210 , and that the apparatus  230  is in a direction with an AoA α 2  from the x axis in the coordinate system of the apparatus  210 . Then, the apparatus  210  may determine that the positions of the apparatuses  210 ,  220 , and  230  relative to the apparatus  210  as (0, 0), (cos(α 1 )*d 1  sin(α 1 )*d 1 ), and (cos(α 2 )*d 2 , sin(α 2 )*d 2 ). Further, the apparatus  210  may transmit, in the step  130 , at least the positions of the apparatuses  220  and  230  relative to the apparatus  210 , (cos(α 1 )*d 1 , sin(α 1 )*d 1 ) and (cos(α 2 )*d 2 , sin(α 2 )*d 2 ), to at least one of the apparatuses  220  and  230 . 
     Similarly, the apparatus  220  may also determine that the apparatus  210  is in a direction with an AoA α 3  from the x axis in the coordinate system of the apparatus  220 , and that the apparatus  230  is in a direction with an AoA α 4  from the x axis in the coordinate system of the apparatus  220 . Thus, the apparatus  220  may determine that the positions of the apparatuses  210 ,  220 , and  230  relative to the apparatus  220 . Further, the apparatus  210  may transmit, in the step  130 , at least the positions of the apparatuses  210  and  230  relative to the apparatus  220  to at least one of the apparatuses  210  and  230 . 
     In an example, the apparatus  230  may perform actions similar to the above apparatuses  210  and  220 . For example, the apparatus  230  may also determine the information on the positions of the apparatuses  210  and  220  relative to the apparatus  230  by sensing AoA and/or ToA of the apparatuses  210  and  220  relative to the apparatus  230 , and then transmit the determined information to at least one of the apparatuses  210  and  220 . 
     In another example, in the step  120  of the apparatus  230 , the apparatus  230  may determine the information on the positions of the apparatuses  210  and  220  relative to the apparatus  230  based on information received from the apparatuses  210  and  220 , for example in a case of lacking a function of measuring positions of other apparatuses. Then, the apparatus  230  may transmit the information to one or more of its sensed apparatuses such as  210  and  220  in the step  130 , and may receive another information including positions of the apparatus  230  relative to one or more of its sensed apparatuses (which may be updated position information) from one or more of its sensed apparatuses in the step  140 . 
     In an embodiment, one or more of the apparatuses  210 ,  220 , and  230  may sense the space  240  and/or perform the example method  100  periodically (for example in a controlled/predetermined frequency), and/or in response to some event, for example, when receiving a signal from an apparatus or lacking a response from an apparatus. 
     Thus, for example as shown in  FIG.  3   , when the coordinate system of the apparatus  210  changes (for example, the orientation of the apparatus  210  is changed) and the positions of the apparatuses  220  and  230  are exchanged, the apparatuses  210 ,  220 , and  230  may perform the example method  100  to determine the structure of the updated positioning network or system  300 . 
     Further, for example as show in  FIG.  4   , when a new apparatus  410  supporting the example method  100  is configured or installed in the space  240 , the apparatuses  210 ,  220 ,  230 , and  410  may perform the example method  100  to determine the structure of the updated positioning network or system  400 . Similar to the apparatuses  210 ,  220 , and  230 , the apparatus  410  may be, but is not limited to, a wireless apparatus which may be installed randomly (for example, without predetermined anchors or not at predetermined installation positions) and/or movable, such as a Wi-Fi device installed randomly in a room, a movable base station (e.g. a movable base station vehicle), or the like 
     In some embodiments, when a new apparatus is detected in the space  240 , an authorization between the newly detected apparatus and one or more of the apparatuses in the positioning network or system may be performed before adding this newly detected apparatus into the positioning network or system. For example, for the newly detected apparatus  420  in  FIG.  4   , one or more of the apparatuses  210 ,  220 ,  230 , and  410  may initiate an authorization procedure with the apparatus  420 . Then, for example, in a case of lacking a valid response from the apparatus  420  or in a case of an authorization failure, the apparatus  420  may be refused to join the positioning network or system  400  by one or more of the apparatuses  210 ,  220 ,  230 , and  410 . 
     In various embodiments, in the example method  100 , the information communication in the step  130  and/or the step  140  may be either direct or indirect, and the position of an apparatus relative to another apparatus in the system may be determined either by means of the sensing function of the apparatuses or based on information received from one or more apparatuses in the system. 
     For example, as shown  FIG.  5   , in a case where the newly installed apparatus  510  falls outside of a scope  510  where the apparatus  210  transmitting information, the apparatus  220  and/or the apparatus  230  may sense or measure the positions of the apparatus  510  relative to the apparatus  220  and/or the apparatus  230 , and then may transmit to the apparatus  210  the information including the measured positions of the apparatus  510  relative to the apparatus  220  and/or the apparatus  230 . Then, the apparatus  210  may determine a position of the apparatus  510  relative to the apparatus  210  based on the information received from the apparatus  220  and/or the apparatus  230 , so as to determine or establish the positioning network or system  500 . The apparatus  510  may obtain information on the apparatus  210  in a similar way. 
     In another embodiment, for example, in the example of  FIG.  5   , the positioning network or system  500  may also include a part including the apparatuses  210 ,  220 , and  230 , and a part including the apparatuses  220 ,  230 , and  510 . In various embodiments, such one or more parts of the system may perform positioning for one or more UEs in the space  240  separately or collaboratively. 
     It is appreciated that the procedures of establishing or updating a positioning network or system are not limited to the above examples. For example, the apparatuses may perform the example method  100  to establish or scale or update a self-organized and scalable positioning network or system automatically, for example without predetermined anchors. 
     After the positioning network or system is established, one or more apparatuses in the system may sense one or more UEs in the space  240  and may track the one or more UEs in the space  240 . 
     As shown in  FIG.  6   , the example method  100  may further include steps  610 ,  620 , and  630 . In the step  610 , the apparatus may sense a UE in the space. In the step  620 , the apparatus may determine at least one third information including one or more of an identity of the apparatus, an identity of the UE, at least one position of the UE relative to the apparatus, and at least one detection time of the position of the UE relative to the apparatus. In the step  630 , the apparatus may transmit the at least one third information to the at least one another apparatus. 
     In some embodiments, as shown in  FIG.  6   , the example method  100  may further include a step  640 . In the step  640 , the apparatus may receive at least one fourth information from the one or more sensed apparatuses wherein the at least one fourth information may include one or more of the identity of the one or more sensed apparatuses, the identity of the UE, at least one position of the UE relative to the one or more sensed apparatuses, and at least one detection time of the position of the UE relative to the one or more sensed apparatuses. 
     In various embodiments, examples of the UE may include, but are not limited to, a mobile phone, smart home equipment, a vehicle, and the like. 
     In various embodiments, similar to the sensing among the apparatuses in the positioning network or system, the apparatus in the positioning network or system may sense the UE in the space in any suitable manners. 
     In various embodiments, similar to the determination of relative positions among the apparatuses in the positioning network or system, the apparatus in the positioning network or system may determine a position of the UE relative to the apparatus in any suitable manners, for example based on an AoA and/or a ToA of the UE relative to the UE, or based on information on one or more positions of the UE relative to one or more another sensed apparatuses which is received directly or indirectly from one or more another sensed apparatuses. 
     In various embodiments, similar to the information communications among the apparatuses in the positioning network or system, the information communication between the UE and the apparatuses in the positioning network or system may also be performed based on any suitable communication protocols such as TCP/IP and UDP. For example, the above at least one third information may be transmitted via broadcast. For example, the above at least one fourth information may be received via broadcast. 
     For example, as shown in  FIG.  7   , when a UE moves in the space  240 , the apparatus  210  in the established positioning network or system including the apparatuses  210 ,  220 , and  230  may sense the UE in the space  240  in the step  610 . Then, for example, in the step  620 , the apparatus  210  may determine a position  710  of the UE relative to the apparatus  210  at a time t 1 , a position  720  of the UE relative to the apparatus  210  at a time t 2  after t 1 , a position  730  of the UE relative to the apparatus  210  at a time t 3  after t 2 , and a position  740  of the UE relative to the apparatus  210  at a time t 4  after t 3 . 
     Then, in the step  630 , the apparatus  210  may transmit information on one or more of the position  710  at the time t 1 , the position  720  at the time t 2 , the position  730  at the time t 3 , the position  740  at the time t 4 , and a trajectory  700  connecting the positions  710 ,  720 ,  730 , and  740  in an order of time, to at least one of the apparatuses  220  and  230  in the system. For example, the apparatus  210  may broadcast such information. For example, the apparatus  210  may transmit such information to the apparatuses  220  and  230  separately. For example, the apparatus  210  may transmit a piece of information including the determined information on one or more of the position  710  at the time t 1 , the position  720  at the time t 2 , the position  730  at the time t 3 , the position  740  at the time t 4 , and a trajectory  700  to at least one of the apparatuses  220  and  230 . For example, the apparatus  210  may transmit a piece of information including the position  710  at the time t 1  to at least one of the apparatuses  220  and  230 , then transmit another piece of information including the position  720  at the time t 2  to at least one of the apparatuses  220  and  230 , and so on. For example, the apparatus  210  may transmit such information to the apparatuses  220  and  230  together with information including a position of the apparatus  210  relative to at least one of the apparatuses  220  and  230 . 
     In an embodiment, the apparatus  220  may also be able to sense the UE, may also determine one or more positions of the UE relative to the apparatus  220 , and may also transmit the information including one or more positions of the UE relative to the apparatus  220  to at least one of the apparatuses  210  and  230 . Similarly, the apparatus  230  may also be able to sense the UE, may also determine one or more positions of the UE relative to the apparatus  230 , and may also transmit the information including one or more positions of the UE relative to the apparatus  230  to at least one of the apparatuses  210  and  220 . 
     Then, the apparatus  210  may receive information including one or positions of the UE relative to the apparatus  220  and/or the apparatus  230  in the step  640 . Similar to the transmission in the step  630 , the information reception may be performed in any suitable manners. For example, the information including one or positions of the UE relative to the apparatus  220  and/or the apparatus  230  may be received together with the information including one or positions of the apparatus  210  relative to the apparatus  220  and/or the apparatus  230 . 
     In an embodiment, as shown in  FIG.  8   , the apparatus  210  may sense and track the positions  840  and  850  in a sensing scope  810  of the apparatus  210 , the apparatus  220  may sense and track the position  860  in a sensing scope  820  of the apparatus  220 , and the apparatus  230  may sense and track the positions  870  and  850  in a sensing scope  830  of the apparatus  230 . Then, the apparatuses  210 ,  220 , and  230  may communicate or interchange (e.g. via broadcast) their determined information. For example, if the apparatus  210  is configure as the apparatus for later tasks such as positioning and prediction, the apparatus  220  may transmit the information including the position  860  of the UE relative to the apparatus  220  and the detection time to at least the apparatus  210 . For example, if both apparatuses  210  and  230  are configure to cooperate for later tasks such as positioning and prediction, the apparatus  220  may transmit the information including the position  860  of the UE relative to the apparatus  220  and the detection time to at both apparatuses. 
     After determining and/or obtaining information including relative positions among apparatuses, in an embodiment, as shown in  FIG.  9   , the example method  100  may also include a step  910  of determining at least one location of the UE in the space. 
     For example, if the apparatus  210  is configure as the apparatus for later tasks such as positioning and prediction, the apparatus  210  may determine at least one location of the UE in the space  240  in the step  910  based on one or more of (1) at least one piece of first information including for example one or more of the identity of the apparatus  210 , a position of the apparatuses  220  relative to the apparatus  210 , a position of the apparatuses  230  relative to the apparatus  210 , and so on, (2) at least one piece of second information including for example one or more of the identity of the apparatus  220 , a position of the apparatus  210  relative to the apparatus  220 , the identity of the apparatus  230 , a position of the apparatus  210  relative to the apparatus  230 , and so on, (3) at least one piece of third information including for example one or more of the identity of the apparatus  210 , the identity of the UE, at least one position of the UE relative to the apparatus  210 , and at least one detection time of the position of the UE relative to the apparatus  210 , and so on, and (4) at least one piece of fourth information including for example one or more of , the identity of the UE, the identity of the apparatus  220 , at least one position of the UE relative to the apparatus  220 , at least one detection time of the position of the UE relative to the apparatus  220 , the identity of the apparatus  230 , at least one position of the UE relative to the apparatus  230 , at least one detection time of the position of the UE relative to the apparatus  230 , and so on. 
     For example, the apparatus  210  may determine the structure of the positioning network or system, a coordinate system based on one of the apparatuses  210 ,  220 , and  230 , and at least one location of the UE in the coordinate system, or the like, based on the received information and/or local information. 
     For example, the apparatus  210  may cooperate with the apparatus  220  and/or the apparatus  230  (e.g. as a distributed computing system) to determine the structure of the positioning network or system, a coordinate system based on one of the apparatuses  210 ,  220 , and  230 , at least one location of the UE in the coordinate system, or the like, based on their received information and/or their local information. 
     For example, as shown in  FIG.  8   , the apparatus  210  may determine the positions  840  and  850  of the UE in the coordinate system of the apparatus  210 , and may transmit to the information including the positions  840  and  850  of the UE in the coordinate system of the apparatus  210  to the apparatus  220 . Then, the apparatus  220  may transform the positions  840  and  850  of the UE in the coordinate system of the apparatus  210  to the positions in the coordinate system of the apparatus  220  so as to determine at least one location of the UE in the coordinate system of the apparatus  220 . 
     For example, as shown in  FIG.  8   , the apparatus  210  may determine the position  850  of the UE in the coordinate system of the apparatus  210 , and may receive information including the position  850  of the UE in the coordinate system of the apparatus  230 . Then, one or both of the apparatuses  210  and  230  may determine a final position  850  of the UE in the coordinate system of the apparatus  210  or  220 , and then transmit information including the final position  850  of the UE in the coordinate system of the apparatus  210  or  220  to one or more of the apparatuses  210 ,  220 , and  230 , so as to determine at least one location of the UE in the coordinate system of one of the apparatuses  210 ,  220 , and  230 . 
     For example, one or more of the apparatuses  210 ,  220 , and  230  may adjust their coordinate own system or negotiate a global coordinate system based on the exchanged or communicated information among the apparatuses in the positioning network or system. For example, as shown in  FIG.  10   , the apparatuses  210 ,  220 , and  230  may cooperate to negotiate a global coordinate system in the space  240  with a global origin  1000  in the space  240  based on the relative positions among the apparatuses  210 ,  220 , and  230 . Then, for example, the apparatus  210  may determine a position  1010  of the UE relative to the apparatus  210  in the coordinate system of the apparatus  210 , and then may transform the coordinate of the position  1010  in the global coordinate system, so as to determine a location of the UE in the space  240 . Further, the apparatus  220  may determine a position  1010  of the UE relative to the apparatus  220  in the coordinate system of the apparatus  220 , and then may transform the coordinate of the position  1010  in the global coordinate system, so as to determine a location of the UE in the space  240 . For example, if the locations determined by the apparatuses  210  and  220  are different, any suitable manners may be adopted to solve the conflict, for example by selecting one or by computing a calibrated location of the UE in the space  240  based on the two locations determined by the apparatuses  210  and  220 . 
     It is appreciated that one or more of the apparatuses in the system may adopt any suitable manners to determine at least one location of the UE in the space based on one or more pieces of information including at least one determined position of the UE relative to the one or more apparatuses in the respective coordinate systems of the one or more apparatuses, which are not limited to the above examples. 
     Further, as show in  FIG.  9   , the example method  100  may further include a step  920  for determining a structure of the space based on the at least one location of the UE in the space. 
     For example, as shown in  FIG.  11   , when the UE moves around in the space  240 , one or more of the apparatus  210 ,  220 , and  230  may determine at least one locations of the UE in the space  240 , which is represented as small hollow circles in  FIG.  11   . Then, one or more of the apparatus  210 ,  220 , and  230  may determine, for example, one or more of at least one outlier of the at least one location of the UE in the space  240 , at least one cluster of the at least one location of the UE in the space  240 , at least one trajectory of the at least one location of the UE in the space  240 , and a relationship between the at least one location of the UE in the space and at least one detection time. 
     Then, for example as shown in  FIG.  12   , one or more of the apparatus  210 ,  220 , and  230  may determine or infer an outline  1200  of the space  240  for example based on the outliers of the determined locations of the UE in the space  240 , and may determine or infer a layout of the space  240  including e.g. the subspaces  1210 ,  1220 ,  1230 ,  1240 , and  1250 , for example based on clusters of the determined locations of the UE in the space  240 . 
     Further, one or more of the apparatus  210 ,  220 , and  230  may determine a structure of the space, for example based on at least one of at least one location of the UE, at least one detection time of the at least one location of the UE, at least one duration of the at least one location of the UE, one or more locations where the UE appears and/or disappears, and so on. For example, one or more of the apparatus  210 ,  220 , and  230  may determine or infer functions of the subspaces  1210 ,  1220 ,  1230 ,  1240 , and  1250 , based on at least one of at least one location of the UE, at least one time of the at least one location of the UE, at least one duration of the at least one location of the UE, one or more locations where the UE appears and/or disappears, and so on. For example, in a case where the space  240  is a family house, if a certain number of locations of the UE corresponding to the subspace  1250  are measured or sensed at midnight, one or more of the apparatus  210 ,  220 , and  230  may determine or infer that the subspace  1250  may be a bedroom. For example, in a case where the space  240  is a mall, if a certain number of locations of the UE corresponding to the subspace  1240  are measured or sensed at lunch time, one or more of the apparatus  210 ,  220 , and  230  may determine or infer that the subspace  1240  may be a restaurant. For example, the locations where the UE disappears may be treated as entry doors. 
     In another embodiment, for example as shown in  FIG.  9   , the example method  100  may also include a step  930  for predicting an activity of the UE in the space based on the at least one location of the UE in the space. 
     For example, in  FIG.  12   , one or more of the apparatus  210 ,  220 , and  230  may determine, for example, one or more of at least one outlier of the at least one location of the UE in the space  240 , at least one cluster of the at least one location of the UE in the space  240 , at least one trajectory of the at least one location of the UE in the space  240 , and a relationship between the at least one location of the UE in the space and at least one detection time. Then, for example, in a case where the space  240  is a family house, if a certain number of locations of the UE corresponding to the subspace  1210  are measured or sensed after dinner and before midnight, one or more of the apparatus  210 ,  220 , and  230  may predict that the living style of this family may include activities (e.g. watching TV) in the living room after dinner. 
     In various embodiments, one or more of the apparatus  210 ,  220 , and  230  may implement the steps  910 ,  920 , and  930  in any suitable manners, for example by utilizing technologies such as machine learning and artificial intelligence. 
     In another embodiments, the example method  100  may further include a step where the apparatus transmit one or more of the above sensed or inferred information to the UE or a server (e.g. a server on the side of the positioning based service provider), including, but not limited to, the information including the positions of the apparatus relative to the other sensed apparatuses, the information including the positions of the other sensed apparatuses relative to the apparatus, the information including the positions of the UE relative to the apparatus, the information including the positions of the UE relative to the other sensed apparatuses, the information including at least one determined locations of the UE in the space, the information including the inferred structure of the space, and so on. 
     In some embodiments, the tasks such as positioning of the UE, determination of the structure of the space, and prediction of the activity of the UE, may be invoked or triggered for example by the UE or positioning based service provider. 
       FIG.  13    illustrates an example apparatus  1300  for positioning in an embodiment, which may perform the example method  100  and may be used establish the above self-organized and scalable positioning network or system, including the above apparatus  210 ,  220 , or  230 . 
     As shown in  FIG.  13   , the example apparatus  1300  may include at least one processor  1310  and at least one memory  1320  that may include computer program code  1330 . The at least one memory  1320  and the computer program code  1330  may be configured to, with the at least one processor  1310 , cause the apparatus  1300  to perform at least the example method  100  described above. For example, the at least one memory  1320  and the computer program code  1330  may be configured to, with the at least one processor  1310 , cause the apparatus  1300  to perform at least sensing at least one another apparatus in a space including the apparatus, determining first information including a position of the at least one another apparatus relative to the apparatus, transmitting the first information to the at least one another apparatus, and receiving from the at least one another apparatus second information including a position of the apparatus relative to the at least one another apparatus. 
     In various example embodiments, the at least one processor  1310  in the example apparatus  1300  may include, but not limited to, at least one hardware processor, including at least one microprocessor such as a central processing unit (CPU), a portion of at least one hardware processor, and any other suitable dedicated processor such as those developed based on for example Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC). Further, the at least one processor  1310  may also include at least one other circuitry or element not shown in  FIG.  13   . 
     In various example embodiments, the at least one memory  1320  in the example apparatus  1300  may include at least one storage medium in various forms, such as a volatile memory and/or a non-volatile memory. The volatile memory may include, but not limited to, for example, a random-access memory (RAM), a cache, and so on. The non-volatile memory may include, but not limited to, for example, a read only memory (ROM), a hard disk, a flash memory, and so on. Further, the at least memory  1320  may include, but are not limited to, an electric, a magnetic, an optical, an electromagnetic, an infrared, or a semiconductor system, apparatus, or device or any combination of the above. 
     Further, in various example embodiments, the example apparatus  1300  may also include at least one other circuitry, element, and interface, for example at least one I/O interface, at least one antenna element, and the like. 
     In various example embodiments, the circuitries, parts, elements, and interfaces in the example apparatus  1300 , including the at least one processor  1310  and the at least one memory  1320 , may be coupled together via any suitable connections including, but not limited to, buses, crossbars, wiring and/or wireless lines, in any suitable ways, for example electrically, magnetically, optically, electromagnetically, and the like. 
     In various example embodiments, the example apparatus  1300  may be, but is not limited to, a wireless apparatus which is installed randomly (for example, without predetermined anchors or not at predetermined installation positions) and/or movable, such as a Wi-Fi device installed randomly in a room (e.g. including multiple Wi-Fi devices from Mesh Wi-Fi), a movable base station (e.g. a movable base station vehicle), or the like. 
     It is appreciated that the structure of the apparatus, which may perform the example method  100  and may be used establish the above self-organized and scalable positioning network or system, is not limited to the above example apparatus  1300 . 
       FIG.  14    illustrates another example apparatus  1400  which may perform the example method  100  and may be used establish the above self-organized and scalable positioning network or system. 
     As shown in  FIG.  10   , the example apparatus  1400  may include means  1410  for performing the step  110  of the example method  100 , means  1420  for performing the step  120  of the example method  100 , means  1430  for performing the step  130  of the example method  100 , and means  1440  for performing the step  140  of the example method  100 . In one or more another example embodiments, at least one I/O interface, at least one antenna element, and the like may also be included in the example apparatus  1400 . 
     In some example embodiments, examples of means  1410 ,  1420 ,  1430 , and  1440  may include circuitries. For example, an example of means  1410  may include a circuitry configured to perform the step  110  of the example method  100 , an example of means  1420  may include a circuitry configured to perform the step  120  of the example method  100 , an example of means  1430  may include a circuitry configured to perform the step  130  of the example method  100 , and an example of means  1440  may include a circuitry configured to perform the step  140  of the example method  100 . In some example embodiments, examples of means may also include software modules and any other suitable function entities. 
     In some embodiments, the example apparatus  1400  may further include one or more additional means for performing one or more of the steps  610 ,  620 ,  630 ,  640 ,  910 ,  920 , and  930 . 
     The term “circuitry” throughout this disclosure may refer to one or more or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and/or digital circuitry); (b) combinations of hardware circuits and software, such as (as applicable) (i) a combination of analog and/or digital hardware circuit(s) with software/firmware and (ii) any portions of hardware processor(s) with software (including digital signal processor(s)), software, and memory(ies) that work together to cause an apparatus, such as a mobile phone or server, to perform various functions); and (c) hardware circuit(s) and or processor(s), such as a microprocessor(s) or a portion of a microprocessor(s), that requires software (e.g., firmware) for operation, but the software may not be present when it is not needed for operation. This definition of circuitry applies to one or all uses of this term in this disclosure, including in any claims. As a further example, as used in this disclosure, the term circuitry also covers an implementation of merely a hardware circuit or processor (or multiple processors) or portion of a hardware circuit or processor and its (or their) accompanying software and/or firmware. The term circuitry also covers, for example and if applicable to the claim element, a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in server, a cellular network device, or other computing or network device. 
     Further, as described above, another example embodiment may relate to a positioning network or system including at least one first apparatus and at least one second apparatus. The at least one first apparatus may be configured to sense the at least one second apparatus, to determine first information including a position of the at least one second apparatus relative to the at least one first apparatus, to transmit the first information, and to receive second information including a position of the at least one first apparatus relative to the at least one second apparatus, and the at least one second apparatus may be configured to sense the at least one first apparatus, to determine the second information, to transmit the second information, and to receive the first information. Examples of the at least one first apparatus and the at least one second apparatus may include the above apparatus  210 ,  220 , and  230 , and may include, but are not limited to, the structures of the above example apparatus  1300  and/or the above example apparatus  1400 . 
     In the above examples, tasks such as UE positioning, determination of the structure of the space, and the prediction of the activities of the UE are performed by one or more apparatuses in the positioning network or system, for example one or more of the apparatuses  210 ,  220 , and  230  in the above examples. 
     In another embodiment, the tasks such as UE positioning, determination of the structure of the space, and the prediction of the activities of the UE may be performed by one or more servers. For example, as shown in  FIG.  15   , one or more of the apparatuses  210 ,  220 , and  230  in the positioning network or system in various embodiments may transmit one or more of the above sensed or inferred information to the server  1500  (e.g. a server on the side of the positioning based service provider), which information may include, but not limited to, the information including the positions of the apparatus relative to the other sensed apparatuses, the information including the positions of the other sensed apparatuses relative to the apparatus, the information including the positions of the UE relative to the apparatus, the information including the positions of the UE relative to the other sensed apparatuses, the information including at least one determined locations of the UE in the space, the information including the inferred structure of the space, and so on. 
     Then, the server may perform the tasks such as UE positioning, determination of the structure of the space, and the prediction of the activities of the UE. That is, for example, the above steps  910 ,  920 ,  930  in the example method  100  may be performed by the server  1500 . 
     In another embodiments, the server  1500  may cooperate with one or more of the apparatuses in the positioning system, for example, one or more of the apparatuses  210 ,  220 , and  230 , to perform the tasks such as UE positioning, determination of the structure of the space, and the prediction of the activities of the UE, so as to form a distributed computing system. 
       FIG.  16    illustrates an example method  1600  which may be performed by the server  1500 . 
     As shown in  FIG.  16   , the example method  1600  may include a step of receiving information from at least one apparatus (e.g. one or more of the above apparatuses  210 ,  220 , and  230  in the space  240 ), wherein the information may include, but is not limited to, one or more of (1) the identity of the at least one apparatus, a position relationship among the at least apparatus, the structure and/or configuration of the positioning network including the at least one apparatus, at least one position of the UE in the space relative to the at least one apparatus, the identity of the UE, at least one detection time of the at least one position of the UE in the space relative to the at least one apparatus, at least one location of the UE in the space, a structure of the space, and so on. 
     In various embodiments, the information may be received based on any suitable communication protocols such as TCP/IP. For example, the information may be received via a broadcast channel. Further, the information may be received via wire or wireless manner. 
     As shown in  FIG.  16   , the example method  1600  may further include a step  1620  for determining the at least one location of the UE in the space based on the information, which is similar to the step  910  in the example method  100 . 
     Further, as shown in  FIG.  16   , the example method  1600  may further include a step  1630  for determining a structure of the space based on the at least one location of the user equipment in the space, which is similar to the step  920  in the example method  100 . 
     Further, as shown in  FIG.  16   , the example method  1600  may further include a step  1640  for predicting an activity of the UE in the space based on the at least one location of the UE in the space, which is similar to the step  930  in the example method  100 . 
     For example, the structure of the space and/or the activity of the UE may be determined or predicted based on one or more of at least one outlier of the at least one location of the UE in the space, at least one cluster of the at least one location of the UE in the space, at least one trajectory of the at least one location of the UE in the space, and a relationship between the at least one location of the UE in the space and at least one detection time in the information. 
     In another embodiment, the example method  1600  may be performed by the UE, so that the tasks such as UE positioning, determination of the structure of the space, and the prediction of the activities of the UE may be processed by the UE itself. 
       FIG.  17    illustrates an example apparatus  1700  which may be at least a part of the UE supporting the example method  1600 . 
     As shown in  FIG.  17   , the example apparatus  1700  may include at least one processor  1710  and at least one memory  1720  that may include computer program code  1730 . The at least one memory  1720  and the computer program code  1730  may be configured to, with the at least one processor  1710 , cause the apparatus  1700  at least to perform at least the example method  1600  described above. 
     In various example embodiments, the at least one processor  1710  in the example apparatus  1700  may include, but not limited to, at least one hardware processor, including at least one microprocessor such as a CPU, a portion of at least one hardware processor, and any other suitable dedicated processor such as those developed based on for example FPGA and ASIC. Further, the at least one processor  1710  may also include at least one other circuitry or element not shown in  FIG.  17   . 
     In various example embodiments, the at least one memory  1720  in the example apparatus  1700  may include at least one storage medium in various forms, such as a volatile memory and/or a non-volatile memory. The volatile memory may include, but not limited to, for example, a RAM, a cache, and so on. The non-volatile memory may include, but not limited to, for example, a ROM, a hard disk, a flash memory, and so on. Further, the at least memory  1720  may include, but are not limited to, an electric, a magnetic, an optical, an electromagnetic, an infrared, or a semiconductor system, apparatus, or device or any combination of the above. 
     Further, in various example embodiments, the example apparatus  1700  may also include at least one other circuitry, element, and interface, for example at least one I/O interface, at least one antenna element, and the like. 
     In various example embodiments, the circuitries, parts, elements, and interfaces in the example apparatus  1700 , including the at least one processor  1710  and the at least one memory  1720 , may be coupled together via any suitable connections including, but not limited to, buses, crossbars, wiring and/or wireless lines, in any suitable ways, for example electrically, magnetically, optically, electromagnetically, and the like. 
       FIG.  18    illustrates another example apparatus  1800  which may be at least a part of the UE supporting the example method  1600 . 
     As shown in  FIG.  18   , the example apparatus  1800  may include means  1810  for performing the step  1610  of the example method  1600 . In one or more another example embodiments, the example apparatus  1800  may further include at least one I/O interface, at least one antenna element, and the like. As shown in  FIG.  18   , the example method  1800  may further include means  1820  for performing the step  1620  of the example method  1600 , means  1830  for performing the step  1630  of the example method  1600 , and means  1840  for performing the step  1640  of the example method  1600 . 
     In various example embodiments, examples of means  1810  may include circuitries. For example, an example of means  1810  may include a circuitry configured to perform the step  1610  of the example method  1600 , an example of means  1820  may include a circuitry configured to perform the step  1620  of the example method  1600 , an example of means  1830  may include a circuitry configured to perform the step  1630  of the example method  1600 , and an example of means  1840  may include a circuitry configured to perform the step  1640  of the example method  1600 . In some example embodiments, examples of means may also include software modules and any other suitable function entities. 
     Another example embodiment may relate to computer program codes or instructions which may cause an apparatus to perform at least respective methods described above, such as computer program codes or instructions causing an apparatus to perform at least the above example method  100 , and computer program codes or instructions causing a server or a UE to perform at least the above example method  1600 . 
     Another example embodiment may be related to a computer readable medium having such computer program codes or instructions stored thereon. In various example embodiments, such a computer readable medium may include at least one storage medium in various forms such as a volatile memory and/or a non-volatile memory. The volatile memory may include, but not limited to, for example, a RAM, a cache, and so on. The non-volatile memory may include, but not limited to, a ROM, a hard disk, a flash memory, and so on. 
     Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The word “coupled”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Likewise, the word “connected”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the description using the singular or plural number may also include the plural or singular number respectively. The word “or” in reference to a list of two or more items, that word covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list. 
     Moreover, conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” “for example,” “such as” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or states. Thus, such conditional language is not generally intended to imply that features, elements and/or states are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without author input or prompting, whether these features, elements and/or states are included or are to be performed in any particular embodiment. 
     While some example embodiments have been described, these embodiments have been presented by way of example, and are not intended to limit the scope of the disclosure. Indeed, the apparatus, methods, and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the disclosure. For example, while blocks are presented in a given arrangement, alternative embodiments may perform similar functionalities with different components and/or circuit topologies, and some blocks may be deleted, moved, added, subdivided, combined, and/or modified. At least one of these blocks may be implemented in a variety of different ways. The order of these blocks may also be changed. Any suitable combination of the elements and acts of the various embodiments described above can be combined to provide further embodiments. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure.