WO2019088961A1

WO2019088961A1 - Determining information relating to the layout of an environment

Info

Publication number: WO2019088961A1
Application number: PCT/US2016/064160
Authority: WO
Inventors: Klaus Franz Doppler; Durgaprasad SHAMAIN; Eric Torkildson; Swetha MUNIRAJU
Original assignee: Nokia Technologies Oy; Nokia USA Inc
Current assignee: Nokia Technologies Oy; Nokia USA Inc
Priority date: 2017-11-06
Filing date: 2017-11-06
Publication date: 2019-05-09
Anticipated expiration: 2020-05-06

Abstract

This specification describes a method comprising determining information relating to the layout of an environment in which one or more wireless access devices are located. The information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.

Description

DETERMINING INFORMATION RELATING TO THE LAYOUT OF AN

ENVIRONMENT

Field

This specification relates to determining information relating to the layout of a building or other environment.

Background

Known Wi-Fi positioning systems require a manual setup in which an installer of the system provides the location of each access point on a map (blueprint). This information can then be used by a navigation app on a smartphone to position the smartphone relative to the access points. If one of the Wi-Fi access points is moved or the location "forgotten", manual setup steps need to be repeated to avoid inaccurate positioning. Summary

In a first aspect, the specification describes a method comprising determining information relating to the layout of an environment in which one or more wireless devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless devices to acquire information relating to the layout of one or more local environments in which the one or more wireless devices are respectively located.

The one or more wireless devices may be one or more wireless access devices such as one or more Wi-Fi access points. The environment may be an indoor or outdoor environment.

Determining the information relating to the layout of the environment may comprise combining information relating to the layout of a plurality of local environments in which a plurality of wireless access devices are respectively located. Combining said information may be based on data relating to the relative location of wireless access devices with respect to one another, and data relating to the location of wireless access devices within their respective local environments.

The data relating to the relative location of wireless access devices with respect to one another may be determined using signal strength data, the signal strength data comprising information relating to the received strength of wireless signals that have been transmitted from one wireless access device to another. Alternatively, or in addition, the angle of arrival of one or more signals may be taken into account in determining the relative location of wireless access devices with respect to one another.

The method may comprise processing information relating to the layout of the local environment in which a wireless access device is located to determine data relating to the location of the wireless access device within its environment. The method may comprise causing radar equipment of a wireless access device to scan the local environment in which the wireless access device is located to acquire information relating to the layout of said local environment.

In a second aspect, this specification describes apparatus configured to carry out the method described with reference to the first aspect.

In a third aspect, this specification describes computer-readable instructions, which, when executed by computing apparatus, cause the computing apparatus to perform the method described with reference to the first aspect.

In a fourth aspect, this specification describes a wireless access device, comprising communication equipment for wireless communication and radar equipment comprising one or more radar antennae configured to perform a radar scan to acquire information relating to the layout of the local environment in which the wireless device is located.

The radar equipment may comprise an electronically steerable array of radar antennae.

The wireless access device may comprise one or more processors configured to process the information relating to the layout of the local environment in which the wireless access device is located to determine information relating to the location of the wireless access device within said environment.

The wireless access device may be configured to receive wireless signals generated by one or more other wireless access devices, and to obtain: information relating to the signal strength of one or more received wireless signals, and identifier information for the other wireless access devices that generated the one or more received signals. The signal strength information and the identifier information may be used in determining information relating to the relative location of wireless access devices with respect to one another. In a fifth aspect, this specification describes a method comprising performing a radar scan to acquire information relating to the layout of the local environment in which a wireless device is located. The wireless device may be a wireless access device such as a Wi-Fi access point.

The method may comprise processing the information relating to the layout of the local environment in which the wireless device is located to determine information relating to the location of the wireless device within said environment.

The method may comprise receiving wireless signals generated by one or more other wireless access devices, and obtaining information relating to the signal strength of one or more received wireless signals and identifier information for the other wireless access devices that generated the one or more received signals. The signal strength information and the identifier information may be used in determining information relating to the relative location of wireless access devices with respect to one another. In a sixth aspect, this specification describes a system comprising one or more wireless devices. Each wireless device may comprise communication equipment for wireless communication; radar equipment configured to acquire information relating to the layout of the local environment in which the wireless access device is located; and one or more processors configured to determine information relating to the layout of an environment in which the one or more wireless devices are located based on data derived from one or more radar scans respectively carried out by the radar equipment of the one or more wireless devices. Each wireless device may be a wireless access device such as a Wi-Fi access point.

In a seventh aspect, the specification describes apparatus comprising at least one processor, and at least one memory including computer program code which, when executed by the at least one processor, causes the apparatus to determine information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located. The computer program code, when executed by the at least one processor, may cause the apparatus to process information relating to the layout of the local environment in which a wireless access device is located to determine data relating to the location of the wireless access device within its environment.

The computer program code, when executed by the at least one processor, may cause radar equipment of a wireless access device to scan the local environment in which the wireless access device is located to acquire information relating to the layout of said local environment.

In an eight aspect, this specification describes a computer-readable medium having computer- readable code stored thereon, the computer-readable code, when executed by at least one processor, causing the performance of at least determining information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located. In a ninth aspect, this specification describes apparatus comprising means for determining information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.

Brief Description of the Figures

Figure 1 is a schematic illustration of a system for determining information about the layout of an environment;

Figure 2 a flow chart illustrating various operations which may be carried out by a Wi-Fi access point;

Figure 3 is a flow chart illustrating various operations which may be carried out by a server, or by a Wi-Fi access point;

Figure 4 is a schematic illustration of a server; Figure 5 is a schematic illustration of another system for determining information about the layout of an environment;

Figure 6 is a schematic illustration of a Wi-Fi access point;

Figure 7 illustrates exemplary radar returns;

Figure 8 is an illustration of a computer-readable medium upon which computer readable code may be stored.

Detailed Description

In the description and drawings, like reference numerals refer to like elements throughout.

Figure 1 is a schematic illustration of an example of a system 100 for determining information about the layout of an environment. In this example the environment is a region of an office building and includes rooms 102 accessed via doors 103. The system 100 determines the current layout of the environment taking into account additions or modifications which may not have been included in the original "blueprint" of the office building. An example of such an addition is the office telephone booth 104.

As shown in Figure 1, the system 1 includes a plurality of wireless devices in the form of Wi-Fi access points 101 positioned within the environment. The Wi-Fi access points may for example be ceiling mounted or may be mounted or placed on desks or other furniture. Although Figure 1 shows one Wi-Fi access point per room 102, alternatively there may be more than one Wi-Fi access point in certain room(s) 102, or no Wi-Fi access point in certain room(s) 102.

As shown the Wi-Fi access points 101 are in wireless communications with nearby Wi-Fi access points 101 and with a server 105. The server 105 may be positioned within one of the rooms 102 or elsewhere in the building, or alternatively at a location remote from the building.

Each Wi-Fi access point 101 includes radar equipment configured to carry out a radar scan to acquire information relating to the local environment in which the Wi-Fi access point is located. The server 105 comprises server processing apparatus configured to receive data derived from radar scans carried out by the radar equipment of the Wi-Fi access points 101, and to process this data to determine information relating to the overall layout of the environment in which the Wi-Fi access points are located. The information that is determined may provide a blueprint of at least a part of the building, taking into account recent additions (e.g. the office telephone booth 104). Figure 2 is a flow chart illustrating various operations which may be carried out by each Wi-Fi access point 101. In operation 210, a Wi-Fi access point sends out a radar signal. In operation 220, the Wi-Fi access point receives reflected radar signals and processes the received signals to estimate locations of walls and objects in its local environment. In this way the Wi-Fi access point can build a map of its local environment and can also determine its position within its local environment.

In operation 230, the Wi-Fi access point receives one or more signals from one or more other Wi-Fi access points. The Wi-Fi access point may obtain signal strength data for the one or more received signals and corresponding identifier data identifying the one or more other Wi-Fi access points, and may also obtain other information, for example direction, or Round Trip Time (Ranging) information. This data can be used, either by the Wi-Fi access point or the server 105, to determine information relating to the location of the other Wi-Fi access points.

In operation 240, the Wi-Fi access point 101 transmits data to the server 105. The transmitted data may include data derived from one or more radar scans carried out by the Wi-Fi access point, such as data relating to the layout of the local environment in which the Wi-Fi access point is located and location data relating to the location of the Wi-Fi access point within its environment. The transmitted data may also include data derived from one or more signals received from one or more other Wi-Fi access points, such as signal strength data and identifier data and / or data relating to the relative location of the one or more other Wi-Fi access points.

Figure 3 is a flow chart illustrating various operations which may be carried out by server 105. In operation 310, the server 105 receives data from a Wi-Fi access point 101. The received data corresponds to the data transmitted in operation 240 of Figure 2 and hence includes data relating to the layout of the local environment in which the Wi-Fi access points 101 are located. The server 105 may, at the same time, or at different times, also receive corresponding data from one or more other Wi-Fi access points 101.

In operation 320, the server 105 combines information relating to the layout of the local environments in which the Wi-Fi access points 101 are located. The information may be combined using data relating to the relative location of Wi-Fi access points with respect to one another, and data relating to the location of Wi-Fi access points within their respective local environments. Hence, the server 105 may "stitch together" local "maps" derived from radar scans carried out by the Wi-Fi access points, taking into account the relative position of the Wi- Fi access points and their locations within each "map", to form a "global map" of the environment in which the Wi-Fi access points are located. In this way, the server determines information relating to the layout of the environment in which the Wi-Fi access points are located (operation 330). Optionally, information determined by the system 100 (e.g. layout information and Wi-Fi access point locations) can be combined with historical information relating to the building - for example it may be "fitted in" to a known blueprint of the building. Alternatively, or in addition, information determined by the system 1 may be integrated with e.g. indoor navigation applications. For example, an indoor navigation app on a smartphone may use the location of Wi-Fi access points (as determined by the system 100) to position the smartphone inside the building and guide the user to a specific room. In this case there is no need for manual setup because the locations of the access points are automatically determined by the system 100. Moreover, if the location of the one or more access points changes or if the layout of the building changes, the system 100 can update the layout and location data automatically.

Figure 4 is a schematic of an exemplary server 105. As shown, the server includes a processing apparatus 410, a memory 420, and wireless communication equipment 430 for wireless communication with the Wi-Fi access points 101.

In some embodiments, the operations carried out by server 105 (e.g. those operations discussed above with reference to Figure 4) could alternatively be carried out by a processing apparatus included in one of the Wi-Fi access points 101. Hence, in some embodiments, the server 105 may be omitted.

Figure 5 is a schematic of such an embodiment, in which the operations of Figure 4 are carried out by a processing apparatus included in Wi-Fi access point 501. The Wi-Fi access point 501 is located in a shopping mall in which a number of retail units 505 are located. A number of other Wi-Fi access points 502, 503, 504 are also located within this environment and these communicate with each other and with Wi-Fi access point 501 by sending and receiving wireless signals. Each Wi-Fi access point 501, 502, 503, 504 includes radar equipment to carry out a radar scan to acquire information relating to the local environment in which Wi-Fi access point is located. The Wi-Fi access points 502, 503, 504 are configured to carry out operations as described above with reference to Figure 2, but instead of transmitting data to a server for processing in operation 340, they transmit the appropriate data to Wi-Fi access point 501. Wi- Fi access point 501 carries out the operations described above with reference to Figure 3, but also takes into information obtained by Wi-Fi access point 501 itself, such as data derived from one or more radar scans carried out by Wi-Fi access point 501, in addition to taking into account data obtained by the other Wi-Fi access points 502, 503, 504.

The system 500 of Wi-Fi access points 501, 502, 503, 504 are therefore enabled to determine information relating to the layout of the shopping mall. If the layout changes, for example if certain retail units 505 are "boarded up", the layout information provided by the system changes accordingly. Hence the system can provide up to date information relating to the current layout of the environment in which the Wi-Fi access points are located.

Although Figures 1 and 5 show "office building" and "shopping mall" environments, in other examples systems may be provided to determine information relating to the layout of other environments including for example airports, hospitals, convalescent or nursing homes, or other environments whether indoor or outdoor. In relation to determining a "blueprint" for an outdoor environment, a Wi-Fi access point positioned close to a window may have a GPS receiver and determine its position using the GPS receiver, and this information may be used in determining the blueprint. Alternatively, or in addition, a smartphone can be located by the network and its outside GPS position when entering the building can be used as a reference point. As a further example, an outside cellular network could be used to position access points close to windows.

In some embodiments, the radar equipment provided in the Wi-Fi access points is configured to detect the location of people as they move through the environment, for example based on the strength of the reflected radar signal, the size of the detected object, the movement pattern, detecting small movements due to breathing or a beating heart and/or other factors. The system 100, 500 may therefore track the movement of people to identify typical routes that people take through the building. This information may be incorporated with the layout information generated by the system to provide maps of the environment including corresponding routes of people movement.

Figure 6 shows an example of a Wi-Fi access point 101, 501. As shown the Wi-Fi access point comprises wireless communication equipment 610 for wireless communication, radar equipment 620, processing apparatus 630 and memory 640. Thus, the Wi-Fi access point has both radar and communications capabilities. The radar equipment 620 may comprise one or more radar antennae, for example an array of radar antennae (e.g. a steerable antenna array), configured to perform a radar scan to acquire information relating to the layout of the local environment in which the Wi-Fi access point is located. The radar equipment 620 may comprise multiple antenna. A higher number of antennas typically results in narrower transmitted beams and a higher angular resolution of the received signal. Multiple antenna may also increase the signal strength at the receiver and to increase the range of the radar. The radar equipment may comprise a steerable lens antenna.

Each antenna element in the array may have its own RF transceiver chain, or a single transmitter and receiver chain may be used where a switch allows to switch between different transmit and receive antenna elements. The radar equipment 620 may use the same RF and baseband processing as the wireless communication equipment 610.

An antenna array may comprise a circular antenna array, for example as described in Robert Mueller, et.al. "Design of a circular antenna array for MIMO channel sounding application at 2.53GHz", 8th European Conference on Antenna and Propagation, 2014. Alternatively, the radar equipment 610 may comprise an electronically steerable antenna array, for example in the form of a phased array transceiver chip. A suitable module that may be used is the Phara backhaul module developed by IMEC, which allows electronic beamsteering between +/- 45 degrees. Four of such modules can cover 360 degrees.

Alternatively, or in addition, the radar equipment may comprise a rotating antenna, or an omnidirectional transmitter and multi- antenna receiver that determines the direction of the reflected signal.

In some examples the radar equipment may be configured to transmit an ultrawideband signal. In one example the Wi-Fi access points may have an operation mode at high carrier frequencies, e.g. 60GHz which offer bandwidths of 2GHz for high data rate communications (up to 7Gbps for 802. Had) and a lGHz radar signal (e.g. 15cm range resolution).

As described above, the Wi-Fi access point can use the one or more antennae to perform a directive scan of its local environment. Based on the delay of signals received from different directions the access point can construct the location of walls, large objects and can position itself relative to the walls. Depending on the resolution of the radar (determined by signal bandwidth and number of antennas) the access point may also be able to identify e.g. doors and windows. A door, for example, will reflect differently when open or closed. In some examples the radar signal from the radar equipment 610 can also "see through" walls such that information about neighboring rooms may be acquired during a radar scan. The processing apparatus 630 may be configured to carry out processing based on the collected signals to determine layout information for the local environment in which the Wi-Fi access point 600 is located (e.g. to reconstruct the layout of a room in which the Wi-Fi access point 600 is located). The processing apparatus 630 may for example employ raytracing like models to reconstruct the layout, which may be based on the assumption that the local environment comprises a rectangular room. Figure 7 illustrates reflection and diffraction mechanisms that may contribute to the reflected signal. The radar returns may include reflections from walls, floors and ceilings, as well as diffraction from corners and edges. Paul Chang, et.al. High- Frequency EM Characterization of Through-Wall Building Imaging, IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 47, NO. 5, MAY 2009 describes the use of Uniform Geometric Theory of Diffraction to build an image of at least a part of a building. This method may be applied to construct an image of at least a part of a building through walls. The accuracy of the estimation can be increased if multiple Wi-Fi access points, each comprising radar equipment, are deployed in a single room, and when combining the through- wall radar imaging of multiple Wi-Fi access points in the building. In order to reconstruct the room/building layout (e.g. blueprint) the algorithm may remove curved walls and or very short wall segments. This helps for example to remove furniture and plants from the blueprint.

The processing apparatus 630 (and the processing apparatus 410 referred to above) may be of any suitable composition and may include one or more processors 412, 632 of any suitable type or suitable combination of types. Indeed, the term "processing apparatus" should be understood to encompass computers having differing architectures such as single/multi-processor architectures and sequencers/parallel architectures. For example, a processing apparatus may be a programmable processor that interprets computer program instructions and processes data. A processing apparatus may include plural programmable processors. Alternatively, a processing apparatus may be, for example, programmable hardware with embedded firmware. A processing apparatus may alternatively or additionally include one or more specialised circuit such as field programmable gate arrays FPGA, Application Specific Integrated Circuits (ASICs), signal processing devices etc. In some instances, a processing apparatus may be referred to as computing apparatus or processing means. The processing apparatus 630 is coupled to the memory 640 and is operable to read/write data to/from the memory 640. Similarly, the processing apparatus 410 is coupled to the memory 420 and is operable to read/write data to/from the memory 420. The memory 420, 640 has computer readable instructions 426, 646 stored thereon, which when executed by the respective processing apparatus 410, 630 causes the processing apparatus to cause performance of operations and/or methods described herein. A memory may comprise a single memory unit or a plurality of memory units, upon which the computer readable instructions (or code) is stored. For example, the memory 420, 640 may comprise both volatile memory 424, 644 and nonvolatile memory 422, 642. In such examples, the computer readable instructions/program code 426, 646 may be stored in the respective non- volatile memory and may be executed by the respective processing apparatus 410, 630 using the volatile memory for temporary storage of data or data and instructions. Examples of volatile memory include RAM, DRAM, and SDRAM etc. Examples of non-volatile memory include ROM, PROM, EEPROM, flash memory, optical storage, magnetic storage, etc.

"Memory" may be referred to herein as one or more non-transitory computer readable memory medium or one or more storage devices. Further, the term 'memory' , in addition to covering memory comprising both one or more non-volatile memory and one or more volatile memory, may also cover one or more volatile memories only, one or more non-volatile memories only. In the context of this document, a "memory" or "computer-readable medium" may be any media or means that can contain, store, communicate, propagate or transport the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer.

Computer readable instructions/program code may be pre-programmed into a Wi-Fi access point 101, 501 and /or into the server 105. Alternatively, computer readable instructions may arrive at the server 105 / Wi-Fi access point 101, 501 via an electromagnetic carrier signal or may be copied from a physical entity 800 such as a computer program product, a memory device or a record medium such as a CD-ROM or DVD. The computer readable instructions may provide the logic and routines that enables the server 105 / Wi-Fi access point 101, 501 to perform the functionality described herein. The combination of computer-readable instructions stored on memory (of any of the types described above) may be referred to as a computer program product. In general, references to computer program, instructions, code etc. should be understood to express software for a programmable processor firmware such as the programmable content of a hardware device as instructions for a processor or configured or configuration settings for a fixed function device, gate array, programmable logic device, etc. Many modifications and variations of the examples discussed above are possible. For example, although examples above are discussed in the context of a wireless communication device in the form of Wi-Fi access point, any suitable wireless communication device may be used. For example Bluetooth, LTE, WiGig, 5G or other wireless technologies may be used in addition to or as an alternative to Wi-Fi.

Moreover, although the radar equipment may be a component of the wireless communication device, alternatively the radar equipment may be a separate module. Such a separate module may be removably connectable to the wireless communication device. The radar equipment may share the same processor as the wireless communication device, or alternatively the radar equipment may have its own processor.

Still further, although examples above are discussed in the context of a wireless communication device comprising radar equipment, other remote detection equipment, such as LiDAR or structured light camera(s). could alternatively be used.

While the above describes various examples, these descriptions should not be viewed in a limiting sense. Rather, there are numerous variations and modifications which may be made without departing from the scope of the present invention as defined in the appended claims.

Although various aspects of the methods, apparatuses and systems described herein are set out in the independent claims, other aspects may comprise other combinations of features from the described embodiments and/or the dependent claims with the features of the independent claims, and not solely the combinations explicitly set out in the claims.

Claims

1. A method comprising:

determining information relating to the layout of an environment in which one or more wireless access devices are located,

wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.

2. The method of claim 1, wherein determining the information relating to the layout of the environment comprises combining information relating to the layout of a plurality of local environments in which a plurality of wireless access devices are respectively located.

3. The method of claim 2, wherein combining said information is based on:

data relating to the relative location of wireless access devices with respect to one another; and

data relating to the location of wireless access devices within their respective local environments.

4. The method of claim 3, wherein the data relating to the relative location of wireless access devices with respect to one another is determined using signal strength data, the signal strength data comprising information relating to the received strength of wireless signals that have been transmitted from one wireless access device to another.

5. The method of any preceding claim, comprising processing information relating to the layout of the local environment in which a wireless access device is located to determine data relating to the location of the wireless access device within its environment.

6. The method of any preceding claim, further comprising:

causing radar equipment of a wireless access device to scan the local environment in which the wireless access device is located to acquire information relating to the layout of said local environment.

7. Apparatus configured to carry out the method of any one of claims 1 to 6.

8. Computer-readable instructions which, when executed by computing apparatus, cause the computing apparatus to perform the method of any of claims 1 to 6.

9 A wireless access device, comprising:

communication equipment for wireless communication; and

radar equipment comprising one or more radar antennae configured to perform a radar scan to acquire information relating to the layout of the local environment in which the wireless access device is located.

10. A wireless access device as claimed in claim 9, wherein the radar equipment comprises an electronically steerable array of radar antennae.

11. A wireless access device as claimed in claim 9 or claim 10, comprising one or more processors configured to process the information relating to the layout of the local environment in which the wireless access device is located to determine information relating to the location of the wireless access device within said environment.

12. A wireless access device as claimed in any one of claims 9 to 11, wherein the wireless access device is configured to receive wireless signals generated by one or more other wireless access devices, and to obtain:

information relating to the signal strength of one or more received wireless signals; and

identifier information for the other wireless access devices that generated the one or more received signals,

wherein the signal strength information and the identifier information is obtained for use in determining information relating to the relative location of wireless access devices with respect to one another.

13. A system, comprising:

one or more wireless access devices, wherein a wireless access device comprises:

communication equipment for wireless communication;

radar equipment configured to acquire information relating to the layout of the local environment in which the wireless access device is located; and one or more processors configured to determine information relating to the layout of an environment in which the one or more wireless access devices are located based on data derived from one or more radar scans respectively carried out by the radar equipment of the one or more wireless access devices.

14. Apparatus comprising:

at least one processor; and

at least one memory including computer program code which, when executed by the at least one processor, causes the apparatus to determine information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.

15. The apparatus of claim 14, wherein determining the information relating to the layout of the environment comprises combining information relating to the layout of a plurality of local environments in which a plurality of wireless access devices are respectively located.

16. The apparatus of claim 15, wherein combining said information is based on:

17. The apparatus of claim 16, wherein the data relating to the relative location of wireless access devices with respect to one another is determined using signal strength data, the signal strength data comprising information relating to the received strength of wireless signals that have been transmitted from one wireless access device to another.

18. The apparatus of any one of claims 14 to 17, wherein the computer program code, when executed by the at least one processor, causes the apparatus to process information relating to the layout of the local environment in which a wireless access device is located to determine data relating to the location of the wireless access device within its environment.

19. The apparatus of any one of claims 14 to 18, wherein the computer program code, when executed by the at least one processor, causes radar equipment of a wireless access device to scan the local environment in which the wireless access device is located to acquire information relating to the layout of said local environment.

20. A computer-readable medium having computer-readable code stored thereon, the computer-readable code, when executed by at least one processor, causing the performance of at least:

determining information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.

21. Apparatus comprising means for determining information relating to the layout of an environment in which one or more wireless access devices are located, wherein the information is determined using data derived from one or more radar scans, respectively carried out by the one or more wireless access devices to acquire information relating to the layout of one or more local environments in which the one or more wireless access devices are respectively located.