Radar-assisted distributed self-positioning

A non-transitory computer readable storage medium comprising a computer program comprising instructions that, when executed by at least one processor causes the at least one processor to carry out a method of determining a location of a first mobile communication device, wherein the method comprises a server performing:

• obtaining a first estimate of a position of the first mobile communication device, wherein the first estimate identifies a position within a local area portion of a reference coordinate system;
• determining one or more parameters that guide a sensing of a local area of the first mobile communication device;
• sending the one or more parameters to the first mobile communication device;
• in response to the sending, receiving first sense data of the local area;
• and
• using the first sense data of the local area to determine a second estimate of the position of the first mobile communication device, wherein the second estimate is more accurate than the first estimate.

A server for determining a location of a first mobile communication device comprising:

• circuitry configured to obtain a first estimate of a position of the first mobile communication device, wherein the first estimate identifies a position within a local area portion of a reference coordinate system;
• circuitry configured to determine one or more parameters that guide a sensing of a local area of the first mobile communication device
• circuitry configured to send the one or more parameters to the first mobile communication device;
• circuitry configured to receive first sense data of the local area in response to the sending;
• and
• circuitry configured to use the first sense data of the local area to determine a second estimate of the position of the first mobile communication device, wherein the second estimate is more accurate than the first estimate.