Patent ID: 8751127

Claim:
A vehicle, comprising: a positioning unit configured to operate in a first mode for communicating with one or more first radio-responsive devices and operate in a second mode for communicating with one or more second radio-responsive devices; wherein the positioning unit is configured to estimate a coarse position of the vehicle based on data received while operating in the first mode, and estimate a fine position of the vehicle based on data received while operating in the second mode; and wherein the positioning unit is configured to estimate at least one of the fine position or the coarse position by transmitting an outbound signal to the one or more first radio-responsive devices or to the one or more second radio-responsive devices, respectively, receiving a return signal corresponding to the outbound signal from the one or more first radio-responsive devices or the one or more second radio-responsive devices, and measuring the time difference between the transmission of the outbound signal and the receiving of the return signal.