Vehicle positioning based on wireless signal transmission

A control apparatus for a vehicle, arranged to estimate a position of the vehicle relative to one or more radio transceivers, comprising;

• processing circuitry configured to:
• obtain vehicle motion data related to a trajectory of the vehicle;
• obtain propagation delay data associated with a radio transmission between a vehicle transceiver comprised in the vehicle and the one or more radio transceivers;
• identify one or more multipath components based on the propagation delay data, each of the one or more multipath components corresponding to a radio transmission propagation path between one of the one or more radio transceivers and the vehicle transceiver, wherein at least one of the one or more multipath components relates to an indirect radio transmission propagation path between the one of the one or more radio transceivers and the vehicle transceiver;
• determine a in multipath component track for each one of the identified one or more multipath components based on the vehicle motion data and on the propagation delay data, the multipath component track representing evolution of the corresponding one of the one or more multipath components over time;
• and
• estimate the position of the vehicle relative to the one or more radio transceivers based on the multipath component tracks,
• wherein the processing circuitry configured to identify the one or more multipath components is further configured to:
• detect propagation paths;
• and
• group the detected propagation paths into one or more groups of propagation paths based on respective propagation path delays, and
• wherein each one of the one or more multipath components is identified based on a respective one of the one or more groups of propagation paths.