PAIRWISE MEASUREMENTS FOR IMPROVED POSITION DETERMINATION
First Claim
1. A method for enhancing a position estimate of a first node, comprising:
- performing measurements at the first node using a signal received from a second node;
receiving measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node;
determining pairwise comparisons of the performed measurements and the received measurements; and
compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node.
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Abstract
Approaches for enhancing range-based position determination using pairwise error detection and compensation are provided. One method for enhancing a position estimate of a first node may include performing measurements at the first node using a signal received from a second node, and receiving measurements from the second node. The received measurements may be performed at the second node using a signal provided by the first node. The method may further include determining pairwise comparisons of the performed measurements and the received measurements, and compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating the position of the first node. Systems and apparatuses for performing the various position determination methods are further presented.
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Citations
70 Claims
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1. A method for enhancing a position estimate of a first node, comprising:
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performing measurements at the first node using a signal received from a second node; receiving measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node; determining pairwise comparisons of the performed measurements and the received measurements; and compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A first node which determines an enhanced position estimate using pairwise measurements, comprising:
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a wireless transceiver; a processor coupled to the wireless transceiver; and a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to; perform measurements at the first node using a signal received from a second node, receive measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node, determine pairwise comparisons of the performed measurements and the received measurements, and compensate the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. An apparatus for enhancing a position estimate, comprising:
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means for performing measurements at a first node using a signal received from a second node; means for receiving measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node; means for determining pairwise comparisons of the performed measurements and the received measurements; and means for compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node. - View Dependent Claims (26, 27, 28)
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29. A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:
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instructions to perform measurements at the first node using a signal received from a second node; instructions to receive measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node; instructions to determine pairwise comparisons of the performed measurements and the received measurements; and instructions to compensate the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node. - View Dependent Claims (30)
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31. A method for triggering an enhanced a position estimate of a first node using pairwise measurements, comprising:
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receiving Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node; evaluating a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating; determining a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating; and comparing information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably. - View Dependent Claims (32, 33, 34, 35, 36, 40, 41, 42)
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37. A first node which triggers an enhanced position estimate using pairwise measurements, comprising:
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a wireless transceiver; a processor coupled to the wireless transceiver; and a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to receive Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node, evaluate a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating, determine a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating, and compare information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably. - View Dependent Claims (38, 39)
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43. An apparatus for triggering an enhanced position estimate of a first node using pairwise measurements, comprising:
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means for receiving Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node; means for evaluating a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating; means for determining a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating; and means for comparing information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably. - View Dependent Claims (44, 45, 46)
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47. A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:
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instructions to receive Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node; instructions to evaluate a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating; instructions to determine a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating; and instructions to compare information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably. - View Dependent Claims (48, 49, 50)
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51. A method for enhancing a position determination performed by a server, comprising:
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receiving measurements from a node based on signals received from a plurality of neighboring nodes; receiving signal measurements from a plurality of neighboring nodes based on signals received from the node; determining a pairwise comparison of the measurements from the node and the measurements from each neighboring node; compensating the measurements received from the node based on the pairwise comparisons; and determining a position estimate of the node using the measurements that were compensated. - View Dependent Claims (52, 53, 54, 55, 56, 57)
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58. A server which enhances a position determination of a node using pairwise measurements, comprising:
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a network interface; a processor coupled to the network interface; and a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to receive measurements from a node based on signals received from a plurality of neighboring nodes, receive signal measurements from a plurality of neighboring nodes based on signals received from the node, determine a pairwise comparison of the measurements from the node and the measurements from each neighboring node, compensate the measurements received from the node based on the pairwise comparisons, and determine a position estimate of the node using the compensated measurements. - View Dependent Claims (59, 60, 61, 62, 63, 64)
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65. A server which enhances a position determination of a node using pairwise measurements, comprising:
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means for receiving measurements from a node based on signals received from a plurality of neighboring nodes; means for receiving signal measurements from a plurality of neighboring nodes based on signals received from the node; means for determining a pairwise comparison of the measurements from the node and the measurements from each neighboring node; means for compensating the measurements received from the node based on the pairwise comparisons; and means for determining a position estimate of the node using the measurements that are compensated. - View Dependent Claims (66, 67)
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68. A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:
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instructions to receive measurements from a node based on signals received from a plurality of neighboring nodes; instructions to receive signal measurements from a plurality of neighboring nodes based on signals received from the node; instructions to determine a pairwise comparison of the measurements from the node and the measurements from each neighboring node; instructions to compensate the measurements received from the node based on the pairwise comparisons; and instructions to determine a position estimate of the node using the measurements that are compensated. - View Dependent Claims (69, 70)
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Specification