Enabling a validation of an estimated position of a mobile device

• US 10,338,190 B2
• Filed: 03/17/2015
• Issued: 07/02/2019
• Est. Priority Date: 03/17/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Khan, Muhammad Irshan, Syrjarinne, Jari, Ivanov, Pavel
• Primary Examiner(s): Hua, Quan M
• Application Number:
  US15/558,657
• Publication Number:
  US 20180113189A1
• Time in Patent Office: 1,568 Days
• CPC Class Codes: G01S 5/0236 Assistance data, e.g. base station almanac
• CPC Class Codes: G01S 5/02521 using a radio-map
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

An apparatus obtains results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement. The apparatus estimates a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations. The apparatus matches a distribution of characteristics of radio signals in the obtained results of measurements with a reference distribution of characteristics of radio signals. Alternatively or in addition, the apparatus determines matching transmitters for which characteristics are available in the results of measurements and in the assistance data, and matches a determined expected distribution for the matching transmitters with a predetermined reference distribution. A result of any matching is provided as an indication of the validity of the estimated position.

Claims

1. A method comprising, performed by at least one apparatus:

obtaining results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimating a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

matching a distribution of characteristics of radio signals in the obtained results of measurements with a reference distribution of characteristics of radio signals; and

providing a result of the matching as an indication of validity of the estimated position.

2. The method according to claim 1, wherein the reference distribution is defined by one of:

predetermined global distribution values for a plurality of geographical sites;

or

predetermined distribution values for a particular geographical site;

or

predetermined distribution values for a particular geographical location corresponding to the estimated position;

or

distribution values computed for expected characteristics of radio signals of selected transmitters at the estimated position, the selected transmitters being transmitters for which characteristics are included in the results of measurement.

3. The method according to claim 1, wherein the distribution of characteristics of radio signals in the obtained results of measurements is defined by a mean of the characteristics and a standard deviation of the characteristics, and wherein the reference distribution of characteristics of radio signals is defined by a reference mean and a reference standard deviation.

4. The method according to claim 1, wherein matching a distribution of characteristics of radio signals in the results of measurements with a reference distribution comprises:

determining matching transmitters for which characteristics are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

computing distribution values for the characteristics of radio signals of the matching transmitters from the results of measurements to obtain estimated distribution values;

computing distribution values for characteristics of radio signals of the matching transmitters based on the information on expected characteristics of the matching transmitters at the estimated position in the assistance data to obtain reference distribution values;

computing a covariance of the reference distribution values to obtain a reference covariance;

computing a probability density function based on the estimated distribution values, the reference distribution values and the reference covariance;

computing a scaling constant based on the probability density function;

computing a covariance of the estimated distribution values; and

scaling the covariance of the estimated distribution values using the computed scaling constant to obtain a valid covariance of the estimated position;

or wherein matching a distribution of characteristics of radio signals in the results of measurements with a reference distribution comprises;

determining matching transmitters for which characteristics are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

computing distribution values for the characteristics of radio signals of the matching transmitters from the results of measurements to obtain estimated distribution values;

obtaining predetermined reference distribution values for characteristics of radio signals;

obtaining a predetermined reference covariance for the reference distribution values;

computing a probability density function based on the estimated distribution values, the reference distribution values and the reference covariance;

computing a scaling constant based on the probability density function;

computing a covariance of the estimated distribution values; and

scaling the covariance of the estimated distribution values using the computed scaling constant to obtain a valid covariance of the estimated position.

5. The method according to claim 4,

wherein providing a result of the matching as an indication on the quality of the estimated position comprises providing the valid covariance;

and/or

further comprising determining whether the estimated position is valid by comparing the valid covariance with a threshold, wherein providing a result of the matching as an indication of validity of the estimated position comprises providing a result of the comparison.

6. The method according to claim 1, further comprising:

determining matching transmitters for which characteristics of radio signals are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

determining a distribution of characteristics of radio signals of the matching transmitters at the estimated position based on the information on expected characteristics of radio signals of the matching transmitters in the assistance data to obtain an expected distribution for the matching transmitters;

matching the determined expected distribution for the matching transmitters with a predetermined reference distribution of characteristics of radio signals to obtain a result of further matching; and

combining the result of the matching with the result of the further matching to obtain the provided indication of validity of the estimated position.

7. The method according to claim 1, wherein the plurality of transmitters comprises at least one of:

at least one terrestrial transmitter; and

/or

at least one terrestrial cellular transmitter; and

/or

at least one terrestrial non-cellular transmitter; and

/or

at least one access point of at least one wireless local area network; and

/or

at least one Bluetooth transmitter; and

/or

at least one Bluetooth low energy transmitter.

8. The method according to claim 1, wherein a result of the matching as an indication of validity of the estimated position is provided at least one of:

for transmission; and

/or

for use in the apparatus; and

/or

for use by an application; and

/or

for use by an application combining information from different sensors; and

/or

for supporting an assembly of assistance data.

9. The method according to claim 1, wherein the at least one apparatus is or belongs to one of:

the at least one mobile device;

or

a server that is configured to obtain the results of measurements from the mobile device.

10. A method comprising, performed by at least one apparatus:

obtaining results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimating a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

determining matching transmitters for which characteristics of radio signals are available in the results of measurements and for which information on expected characteristics of radio signals at the estimated position are available in the assistance data;

determining a distribution of characteristics of radio signals of the matching transmitters at the estimated position based on the information on expected characteristics of radio signals of the matching transmitters in the assistance data to obtain an expected distribution for the matching transmitters;

matching the determined expected distribution for the matching transmitters with a predetermined reference distribution of characteristics of radio signals; and

providing a result of the matching as an indication of validity of the estimated position.

11. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform:

obtain results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimate a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

match a distribution of characteristics of radio signals in the obtained results of measurements with a reference distribution of characteristics of radio signals; and

provide a result of the matching as an indication of validity of the estimated position.

12. The apparatus according to claim 11, wherein the reference distribution is defined by one of:

predetermined global distribution values for a plurality of geographical sites;

or

predetermined distribution values for a particular geographical site;

or

predetermined distribution values for a particular geographical location corresponding to the estimated position;

or

distribution values computed for expected characteristics of radio signals of selected transmitters at the estimated position, the selected transmitters being transmitters for which characteristics are included in the results of measurement.

13. The apparatus according to claim 11, wherein the distribution of characteristics of radio signals in the obtained results of measurements is defined by a mean of the characteristics and a standard deviation of the characteristics, and wherein the reference distribution of characteristics of radio signals is defined by a reference mean and a reference standard deviation.

14. The apparatus according to claim 11, wherein matching a distribution of characteristics of radio signals in the results of measurements with a reference distribution comprises:

determining matching transmitters for which characteristics are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

computing distribution values for the characteristics of radio signals of the matching transmitters from the results of measurements to obtain estimated distribution values;

computing distribution values for characteristics of radio signals of the matching transmitters based on the information on expected characteristics of the matching transmitters at the estimated position in the assistance data to obtain reference distribution values;

computing a covariance of the reference distribution values to obtain a reference covariance;

computing a probability density function based on the estimated distribution values, the reference distribution values and the reference covariance;

computing a scaling constant based on the probability density function;

computing a covariance of the estimated distribution values; and

scaling the covariance of the estimated distribution values using the computed scaling constant to obtain a valid covariance of the estimated position;

or wherein matching a distribution of characteristics of radio signals in the results of measurements with a reference distribution comprises;

determining matching transmitters for which characteristics are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

computing distribution values for the characteristics of radio signals of the matching transmitters from the results of measurements to obtain estimated distribution values;

obtaining predetermined reference distribution values for characteristics of radio signals;

obtaining a predetermined reference covariance for the reference distribution values;

computing a probability density function based on the estimated distribution values, the reference distribution values and the reference covariance;

computing a scaling constant based on the probability density function;

computing a covariance of the estimated distribution values; and

scaling the covariance of the estimated distribution values using the computed scaling constant to obtain a valid covariance of the estimated position.

15. The apparatus according to claim 14,

wherein providing a result of the matching as an indication on the quality of the estimated position comprises providing the valid covariance;

and/or

wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to determine whether the estimated position is valid by comparing the valid covariance with a threshold, and wherein providing a result of the matching as an indication of validity of the estimated position comprises providing a result of the comparison.

16. The apparatus according to claim 11, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to

determine matching transmitters for which characteristics of radio signals are available in the results of measurements and for which information on expected characteristics at the estimated position are available in the assistance data;

determine a distribution of characteristics of radio signals of the matching transmitters at the estimated position based on the information on expected characteristics of radio signals of the matching transmitters in the assistance data to obtain an expected distribution for the matching transmitters;

match the determined expected distribution for the matching transmitters with a predetermined reference distribution of characteristics of radio signals to obtain a result of further matching; and

combine the result of the matching with the result of the further matching to obtain the provided indication of validity of the estimated position.

17. The apparatus according to claim 11, wherein the characteristics of the radio signals in the results of the measurements and the expected characteristics comprise at least one of signal strength related values and timing advance related values.

18. The apparatus according to claim 11, wherein the plurality of transmitters comprises at least one of:

at least one terrestrial transmitter; and

/or

at least one terrestrial cellular transmitter; and

/or

at least one terrestrial non-cellular transmitter; and

/or

at least one access point of at least one wireless local area network; and

/or

at least one Bluetooth transmitter; and

/or

at least one Bluetooth low energy transmitter.

19. The apparatus according to claim 11, wherein a result of the matching as an indication of validity of the estimated position is provided at least one of:

for transmission; and

/or

for use in the apparatus; and

/or

for use by an application; and

/or

for use by an application combining information from different sensors; and

/or

for supporting an assembly of assistance data.

20. The apparatus according to claim 11, wherein the apparatus is one of:

a chip;

or

a module-for a server;

or

a server;

or

a module for a mobile device;

or

a mobile device.

21. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform:

obtain results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimate a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

determine matching transmitters for which characteristics of radio signals are available in the results of measurements and for which information on expected characteristics of radio signals at the estimated position are available in the assistance data;

determine a distribution of characteristics of radio signals of the matching transmitters at the estimated position based on the information on expected characteristics of radio signals of the matching transmitters in the assistance data to obtain an expected distribution for the matching transmitters;

match the determined expected distribution for the matching transmitters with a predetermined reference distribution of characteristics of radio signals; and

provide a result of the matching as an indication of validity of the estimated position.

22. A computer readable storage medium in which computer program code is stored, the computer program code causing an apparatus to perform the following when executed by a processor:

obtain results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimate a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

match a distribution of characteristics of radio signals in the obtained results of measurements with a reference distribution of characteristics of radio signals; and

provide a result of the matching as an indication of validity of the estimated position.

23. A computer readable storage medium in which computer program code is stored, the computer program code causing an apparatus to perform the following when executed by a processor:

obtain results of measurements by a mobile device on radio signals transmitted by a plurality of transmitters, the results of measurements comprising characteristics of the radio signals at the location of measurement;

estimate a position of the mobile device based on the obtained results of measurements and based on assistance data including information on expected characteristics of radio signals of various transmitters at various locations;

determine matching transmitters for which characteristics of radio signals are available in the results of measurements and for which information on expected characteristics of radio signals at the estimated position are available in the assistance data;

determine a distribution of characteristics of radio signals of the matching transmitters at the estimated position based on the information on expected characteristics of radio signals of the matching transmitters in the assistance data to obtain an expected distribution for the matching transmitters;

match the determined expected distribution for the matching transmitters with a predetermined reference distribution of characteristics of radio signals; and

provide a result of the matching as an indication of validity of the estimated position.