Integrated Mobile Terminal Navigation
First Claim
1. A method of obtaining and maintaining a dynamic navigation solution for a mobile terminal of a cellular communications network which mobile terminal includes a transmission source receiver for receiving the signals from one or more unsynchronised terrestrial transmission sources of the cellular communications network, a satellite positioning receiver for receiving signals from the satellite or satellites of a satellite positioning system, and a terminal clock, the method comprisingacquiring a measurement vector having a list of values, each value representing a measurement made by a receiver, and information related to the terminal'"'"'s clock;
- computing a state vector representing the current state of the system, using a previously-determined state vector, the measurement vector, and a dynamic model; and
deriving a dynamic navigation solution from the state vector;
whereinthe elements of the state vector include at least (a) in one or more dimensions position information of the terminal;
(b) representations of the biases of the clocks associated with the unsynchronised terrestrial transmission sources relative to a given time;
(c) the bias of the terminal clock;
(d) quality indicators indicating the error associated with elements in (a) to (c); and
(e) linking indicators indicating the dependency of elements in (a) to (c) on others of the elements.
1 Assignment
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Accused Products
Abstract
A navigation system is described which includes a mobile terminal 100 which has a transmission source receiver 204 for receiving the signals from one or more unsynchronised terrestrial transmission sources 102-105 and a satellite positioning receiver 200 for receiving signals from the satellite or satellites 107-110 of a satellite positioning system. The terminal also has a clock 208. A processor 209 is arranged to acquire a measurement vector having a list of values, each value representing a measurement made by a receiver 200,204, and the terminal clock'"'"'s bias. It computes a state vector representing the current state of the system, using a previously-determined state vector, the measurement vector, and a dynamic model in order to derive a dynamic navigation solution. The elements of the state vector include (a) in one or more dimensions at least position information of the terminal 100; (b) representations of the bias of the clocks associated with the unsynchronised terrestrial transmission sources 102-105 relative to a given time; (c) the bias of the terminal clock 208; (d) quality indicators indicating the error associated with elements of (a) to (c); and (e) linking indicators indicating the dependency of elements in (a) to (c) on others of those elements.
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Citations
28 Claims
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1. A method of obtaining and maintaining a dynamic navigation solution for a mobile terminal of a cellular communications network which mobile terminal includes a transmission source receiver for receiving the signals from one or more unsynchronised terrestrial transmission sources of the cellular communications network, a satellite positioning receiver for receiving signals from the satellite or satellites of a satellite positioning system, and a terminal clock, the method comprising
acquiring a measurement vector having a list of values, each value representing a measurement made by a receiver, and information related to the terminal'"'"'s clock; -
computing a state vector representing the current state of the system, using a previously-determined state vector, the measurement vector, and a dynamic model; and deriving a dynamic navigation solution from the state vector; wherein the elements of the state vector include at least (a) in one or more dimensions position information of the terminal;
(b) representations of the biases of the clocks associated with the unsynchronised terrestrial transmission sources relative to a given time;
(c) the bias of the terminal clock;
(d) quality indicators indicating the error associated with elements in (a) to (c); and
(e) linking indicators indicating the dependency of elements in (a) to (c) on others of the elements.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A cellular communications system including a mobile terminal which has a transmission source receiver for receiving the signals from one or more unsynchronised terrestrial transmission sources of a cellular communications network, a satellite positioning receiver for receiving signals from the satellite or satellites of a satellite positioning system, and a terminal clock, the system comprising a processor having
means acquiring a measurement vector having a list of values, each value representing a measurement made by a receiver, and information related to the terminal'"'"'s clock; -
means computing a state vector representing the current state of the system, using a previously-determined state vector, the measurement vector, and a dynamic model; and means deriving a dynamic navigation solution from the state vector; wherein the elements of the state vector include at least (a) in one or more dimensions position information of the terminal;
(b) representations of the biases of the clocks associated with the unsynchronised terrestrial transmission sources relative to a given time;
(c) the bias of the terminal clock;
(d) quality indicators indicating the error associated with elements in (a) to (c); and
(e) linking indicators indicating the dependency of elements in (a) to (c) on others of the elements.- View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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Specification