Locating system and method
First Claim
1. A method for determining navigation data for a location subject having at least one location data receiver using location measurement data provided by one or more location measurement data sources of a location technology source, the method comprising:
- (a) establishing a location for the location subject;
(b) calculating one or more theoretical ranges from the location subject to the one or more location measurement data sources based on the location of the location subject;
(c) obtaining location measurement data via a location receiver of the location subject from the one or more location measurement data sources;
(d) calculating one or more augmented ranges from the one or more theoretical ranges and a percentage of a difference between the theoretical ranges and one or more range related parameters contained in the location measurement data;
(e) establishing an updated location of the location subject based on the augmented ranges; and
(f) repeating steps (b) through (e) while decreasing the percentage of the difference between the one or more theoretical ranges and the one or more range related parameters until a defined minimum percentage is reached.
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Accused Products
Abstract
A mobile rover has a navigation receiver receiving radio positioning data from radio positioning entities. The mobile rover can report its position to a mobile controller unit or another entity so that the location of the mobile unit can be tracked based on the radio positioning data received by the mobile rover. The radio positioning data can be processed by processing systems within the mobile rover, mobile controller, or other entities such as a position determination entity or a position determination entity proxy. The processing systems can also perform calculations to augment the radio positioning data to provide more accurate estimates of the position of the mobile controller and/or the mobile rover. The mobile controller and/or the mobile rover may be cellular telephones within a cellular network.
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Citations
62 Claims
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1. A method for determining navigation data for a location subject having at least one location data receiver using location measurement data provided by one or more location measurement data sources of a location technology source, the method comprising:
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(a) establishing a location for the location subject;
(b) calculating one or more theoretical ranges from the location subject to the one or more location measurement data sources based on the location of the location subject;
(c) obtaining location measurement data via a location receiver of the location subject from the one or more location measurement data sources;
(d) calculating one or more augmented ranges from the one or more theoretical ranges and a percentage of a difference between the theoretical ranges and one or more range related parameters contained in the location measurement data;
(e) establishing an updated location of the location subject based on the augmented ranges; and
(f) repeating steps (b) through (e) while decreasing the percentage of the difference between the one or more theoretical ranges and the one or more range related parameters until a defined minimum percentage is reached. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for locating and tracking one or more mobile units, wherein the system is operable with a wireless communication network, and the system comprises:
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one or more mobile units, wherein at least one mobile unit comprises;
a wireless communication module enabled to transmit and receive navigation messages via the wireless communication network; and
a first location data receiver, wherein the first location receiver obtains location data from a plurality of location measurement data sources of a location technology source; and
at least one position processing system, wherein the at least one position processing system receives location measurement data from the first location receiver and calculates a location of the at least one mobile unit based on range calculations to the location measurement data sources based on an established location obtained from computing differences between theoretical ranges to the location measurement data sources and measured ranges to the location measurement data sources. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A method for calculating navigation data for one or more location subjects, the method comprising:
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obtaining location measurement data at the one or more location subjects from a plurality of location measurement data sources of a location technology source;
generating augmented location measurements by one or more of the following three steps;
normalizing the location measurement data to maintain a consistent initial condition for a measurement set, smoothing the location measurement data, and eliminating any location measurement data outside specified limits;
time aligning all augmented location measurements;
determining expected position values based on time aligned location measurements;
filtering the expected position values and time aligned location measurements to provide calculated navigation data for the one or more location subjects. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A system for locating and tracking one or more mobile units, wherein the system is operable with a wireless communication network, and the system comprises:
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one or more mobile units, wherein at least one mobile unit comprises;
a wireless communication module enabled to transmit and receive navigation messages via the wireless communication network; and
one or more location data receivers, wherein the one or more location data receivers obtain location measurement data from a plurality of location measurement data sources of at least one location technology source; and
at least one position processing system, wherein the at least one position processing system receives the location measurements, performs calculations to augment the location measurements, determines expected position values, and calculates navigation data for the at least one mobile unit based on the expected position values. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49)
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50. A method for providing improved pseudorange values to a location subject using pseudorange data provided by a plurality of location measurement data sources of a location technology source, the method comprising steps of:
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(a) obtaining pseudorange data at the location subject from each location measurement data source;
(b) establishing a position for the location subject;
(c) determining a theoretical range between the position of the location subject and each location measurement data source;
(c) calculating a plurality of range residuals, each range residual being calculated for each location measurement data source based on a difference between the theoretical range to the location measurement data source and the pseudorange data obtained from the location measurement data source;
(d) calculating a residual mean and a residual sigma for the plurality of range residuals;
(e) establish a threshold value based on the residual sigma;
(f) determine if a difference between the range residual for any one location measurement data source and the residual mean is greater than the threshold;
(g) if there is no difference greater than the threshold, calculate an improved pseudorange value for each location measurement data source by subtracting the residual mean from the pseudorange data obtained from that location measurement data source;
(h) if there is a difference greater than the threshold, determine if valid pseudorange data has been obtained from enough location measurement data sources to establish a position;
(i) if valid pseudorange data has been obtained from enough location measurement data sources, calculate an improved pseudorange value for each location measurement data source that has a difference less than or equal the threshold by subtracting the residual mean from the pseudorange data obtained from that location measurement data source; and
(j) if valid pseudorange data has not been obtained from enough location measurement data sources;
add a low pass filtered residual sigma to the residual sigma and repeat steps (a) through (j) - View Dependent Claims (51, 52)
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53. In a wireless communication system having at least one mobile unit operable with a wireless communication network with the at least one mobile unit having a location data receiver operable to receive location data from a plurality of location measurement data sources of a location technology source, a subsystem comprising:
at least one position processing system, wherein the at least one position processing system receives location measurement data from the location data receiver and calculates a location of the at least one mobile unit based on range calculations to the location measurement data sources based on an established location obtained from computing differences between theoretical ranges to the location measurement data sources and measured ranges to the location measurement data sources. - View Dependent Claims (54, 55, 56, 57, 58, 59, 60, 61, 62)
Specification