Method and Apparatus for Positioning Mobile Device

• US 20110032152A1
• Filed: 04/01/2010
• Published: 02/10/2011
• Est. Priority Date: 08/10/2009
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Tseng, Yu-Chee, Chen, Chao-Yu, Lo, Chi-Chung, Kuo, Sheng-Po, Chu, Jui-Hao, Kuo, Lun-Chia
• Granted Patent: US 8,330,654 B2
• Time in Patent Office: Days
• US Class Current: 342/450
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

A method for positioning a mobile device includes following steps. Based on a prior location point of the mobile device, many sample particles are generated according to a prior probability distribution associated with the prior location point. A current moving track or a current behavior mode of the mobile device is obtained, and the sample particles are moved according to at least one of the current moving track and the current behavior mode. A current supposed status is obtained based on a radio frequency signal received by the mobile device. A current probability distribution of the sample particles corresponding to the radio frequency signal or the current supposed status is generated to obtain corresponding weights of the moved sample particles. A current location point of the mobile device is obtained according to the weights and distribution of the sample particles.

Claims

1. A method for positioning a mobile device, comprising:

generating a plurality of sample particles based on a prior location point of the mobile device according to a prior probability distribution associated with the prior location point;

obtaining a current moving track or a current behavior mode of the mobile device and moving the sample particles according to at least one of the current moving track and the current behavior mode; and

obtaining a current supposed status based on a radio frequency signal, generating a current probability distribution of the sample particles corresponding to the radio frequency signal or the current supposed status to obtain corresponding weights of the moved sample particles, and obtaining a current location point of the mobile device according to the weights and distribution of the sample particles.

2. The method for positioning a mobile device according to claim 1, further comprising:

generating the sample particles based on an initial status of the mobile device, wherein the sample particles corresponding to the initial status have the same weights;

randomly moving the sample particles; and

obtaining an initial supposed status based on the radio frequency signal, generating an initial probability distribution of the sample particles corresponding to the radio frequency signal or the initial supposed status to obtain corresponding weights of the moved sample particles, and obtaining a first location point of the mobile device according to the weights and distribution of the sample particles.

3. The method for positioning a mobile device according to claim 1, further comprising:

determining whether the moving paths of the sample particles or the results are logical according to map information after the sample particles are moved; and

removing the sample particles corresponding to illogical paths if the moving paths of the sample particles or the results are illogical.

4. The method for positioning a mobile device according to claim 1, wherein the current moving track is a moving track of the mobile device on a 2D plane or in a 3D space.

5. The method for positioning a mobile device according to claim 1, further comprising:

analyzing the obtained current moving track to obtain the current behavior mode, and adjusting the sample particles according to the current moving track and the current behavior mode.

6. The method for positioning a mobile device according to claim 1, further comprising:

moving the sample particles according to the association between the obtained current moving track and map information.

7. The method for positioning a mobile device according to claim 1, wherein the radio frequency signal is one of a global positioning system (GPS) signal, a wireless network signal, a wireless communication signal and a Bluetooth signal.

8. The method for positioning a mobile device according to claim 1, further comprising:

obtaining the current moving track of the mobile device by utilizing an inertia element or a sensing element, or calculating a moving vector of the mobile device.

9. A mobile device positioning apparatus, comprising:

a receiver for receiving a radio frequency signal;

a sensing feedback unit for obtaining a current moving track or a current behavior mode of the mobile device; and

a processor coupled to the receiver and the sensing feedback unit;

wherein, the processor generates a plurality of sample particles based on a prior location point of the mobile device according to a prior probability distribution associated with the prior location point, moves the sample particles according to at least one of the current moving track and the current behavior mode, obtains a current supposed status based on the radio frequency signal, generates a current probability distribution of the sample particles corresponding to the radio frequency signal or the current supposed status to obtain corresponding weights of the moved sample particles, and obtains a current location point of the mobile device according to the weights and distribution of the sample particles.

10. The mobile device positioning apparatus according to claim 9, wherein the processor further generates the sample particles based on an initial status of the mobile device, the sample particles corresponding to the initial status have the same weights, the processor randomly moves the sample particles, obtains an initial supposed status based on the radio frequency signal, generates the sample particles corresponding to the radio frequency signal or an initial probability distribution of the initial supposed status to obtain corresponding weights of the moved sample particles, and obtains a first location point of the mobile device according to the weights and distribution of the sample particles.

11. The mobile device positioning apparatus according to claim 9, further comprising:

a map information unit coupled to the processor for providing map information;

wherein, after the sample particles are moved, the processor determines whether the moving paths of the sample particles or the results are logical according to the map information, and if the moving paths of the sample particles or the results are illogical, then the processor removes the sample particles corresponding to illogical paths.

12. The mobile device positioning apparatus according to claim 9, wherein the receiver is further for receiving map information, and after the sample particles are moved, the processor determines whether the moving paths of the sample particles or the results are logical according to the map information, and if the moving paths of the sample particles or the results are illogical, then the processor removes the sample particles corresponding to illogical paths.

13. The mobile device positioning apparatus according to claim 9, wherein the current moving track is a moving track of the mobile device on a 2D plane or in a 3D space.

14. The mobile device positioning apparatus according to claim 9, wherein the processor further analyzes the obtained current moving track to obtain the current behavior mode, and adjusts the sample particles according to the current moving track and the current behavior mode.

15. The mobile device positioning apparatus according to claim 9, further comprising:

a map information unit coupled to the processor for providing map information;

wherein, the processor further moves the sample particles according to the association between the current moving track and the map information.

16. The mobile device positioning apparatus according to claim 9, wherein the receiver is further for receiving map information, the processor further moves the sample particles according to the association between the current moving track and the map information.

17. The mobile device positioning apparatus according to claim 9, wherein the radio frequency signal is one of a GPS signal, a wireless network signal, a wireless communication signal and a Bluetooth signal.

18. The mobile device positioning apparatus according to claim 9, wherein the sensing feedback unit is an inertia element or a sensing element for obtaining the current moving track of the mobile device.