Cellular aided navigation

An apparatus comprising:

• one or more memories of a vehicle;
• an array of antenna elements arranged on the vehicle;
• and
• one or more processors of the vehicle, wherein the one or more processors are configured to:
• store, in the one or more memories, a database containing data indicating locations associated with Physical Cell Identifiers;
• receive, via the array of antenna elements, first data indicative of a first Fifth Generation Third Generation Partnership Project signal transmitted by a first cellular base station, wherein the signals are received at the vehicle via a transceiver that is not configured to form Third Generation Partnership Project connections;
• receive, via the array of antenna elements, second data indicative of a second Fifth Generation Third Generation Partnership Project signal transmitted by a second cellular base station;
• determine a first angle of arrival of the first Fifth Generation Third Generation Partnership Project signal and a second angle of arrival of the second Fifth Generation Third Generation Partnership Project signal;
• demodulate the first data indicative of the first Fifth Generation Third Generation Partnership Project signal to determine a first Physical Cell Identifier of the first cellular base station;
• demodulate the second data indicative of the second Fifth Generation Third Generation Partnership Project signal to determine a second Physical Cell Identifier of the second cellular base station;
• determine, from the database, a first location of the first cellular base station based on the first Physical Cell Identifier;
• determine, from the database, a second location of the second cellular base station based on the second Physical Cell Identifier;
• and
• determine a position or orientation of the vehicle from the first location, the first angle of arrival, the second location and the second angle of arrival without connecting or transmitting to the first cellular base station and without connecting or transmitting to the second cellular base station.

One or more tangible non-transitory computer readable mediums encoded with instructions, wherein the instructions are operable to cause one or more processors to:

• store, in a database at a vehicle, data indicating locations associated with Physical Cell Identifiers;
• receive, at the vehicle, first data indicative of a first Fifth Generation Third Generation Partnership Project signal transmitted by a first cellular base station and received at the vehicle, wherein the signals are received at the vehicle via a transceiver that is not configured to form Third Generation Partnership Project connections;
• receive, at the vehicle, second data indicative of a second Fifth Generation Third Generation Partnership Project signal transmitted by a second cellular base station and received at the vehicle;
• determine, from the first data, a first angle of arrival of the first Fifth Generation Third Generation Partnership Project signal;
• determine, from the second data, a second angle of arrival of the second Fifth Generation Third Generation Partnership Project signal;
• demodulate the first data indicative of the first Fifth Generation Third Generation Partnership Project signal to determine a first Physical Cell Identifier of the first cellular base station;
• demodulate the second data indicative of the second Fifth Generation Third Generation Partnership Project signal to determine a second Physical Cell Identifier of the second cellular base station;
• determine, from the database, a first location of the first cellular base station based on the first Physical Cell Identifier;
• determine, from the database, a second location of the second cellular base station based on the second Physical Cell Identifier;
• and
• determine a position or orientation of the vehicle from the first location, the first angle of arrival, the second location and the second angle of arrival without connecting or transmitting to the first cellular base station and without connecting or transmitting to the second cellular base station.