US 12656446 B2 / Jun 16, 2026

Cellular aided navigation

Disclosed is a method including: determining a location of each of a plurality of cellular base stations; receiving, at a vehicle, a first signal transmitted by a first cellular base station; receiving a second signal transmitted by a second cellular base station; determining a first angle of arrival of the first signal and a second angle of arrival of the second signal; demodulating the first signal to determine a first identity of the first cellular base station; demodulating the second signal to determine a second identity of the second cellular base station; determining a first location of the first cellular base station based on the first identity; determining a second location of the second cellular base station based on the second identity; and determining a position and velocity of the vehicle from the first location, the first angle of arrival, the second location and the second angle of arrival.