Methods and Systems for Positioning Based on Observed Difference of Time of Arrival

• US 20140200026A1
• Filed: 11/15/2013
• Published: 07/17/2014
• Est. Priority Date: 01/15/2013
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Aldana, Carlos H.
• Granted Patent: US 9,075,125 B2
• Time in Patent Office: Days
• US Class Current: 455/456.1
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Disclosed are systems, methods and devices for computing an estimated location of a mobile device based, at least in part, on an observed difference of time of arrival of messages arriving at the mobile device. In particular implementations, such observed time arrival may comprise a difference between receipt at the mobile device a first message transmitted from a first transceiver device to a second transceiver device and receipt at the mobile device of a second message transmitted by the second transceiver device in response to the first message.

Claims

1. A method comprising, at a computing device:

obtaining parameters of a first expression including a difference between a time of receiving at a mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

obtaining parameters of a second expression including a difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver; and

computing an estimated location of the mobile device based, at least in part, on the first and second expressions.

2. The method of claim 1, wherein computing the estimated location of the mobile device comprises determining an intersection of plots defined by said first and second expressions.

3. The method of claim 1, wherein said first and second expressions define plots of hyperbolas.

4. The method of claim 1, and wherein the parameters of the first expression further comprise:

a measurement of a round-trip signal time for transmission of the first message and receipt of the second message at the first access transceiver.

5. The method of claim 4, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of receipt of the second message at the first access transceiver.

6. The method of claim 4, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2+t4+t1,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time;

t1 is a time of transmission of the first message; and

t4 is a time of receipt of the second message at the first access transceiver.

7. The method of claim 4, and wherein the parameters of the first expression further comprise a difference between a time of transmission of the first message and a time of receipt of the second message at the first access transceiver, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2−

(t1−

t4),

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time; and

t1−

t4 is the difference between the time of transmission of the first message and the time of receipt of the second message at the first access transceiver.

8. The method of claim 1, and wherein the parameters of the first expression further comprise:

a time of receipt of the first message at the second access transceiver; and

a time of receipt of the second message at the first access transceiver.

9. The method of claim 8, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t2+t4,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of receipt of the first message at the second access transceiver; and

t4 is the time of receipt of the second message at the first access transceiver.

10. The method of claim 1, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of transmission of the second message.

11. The method of claim 10, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t1+t3,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of transmission of the first message; and

t3 is the time of transmission of the second message.

12. The method of claim 1, where the first message comprises a fine timing request message transmitted according to IEEE std. 802.11 and the second message comprises an acknowledgement message transmitted according to the IEEE std. 802.11.

13. A computing device comprising:

one or more processors to;

obtain parameters of a first expression including a difference between a time of receiving at a mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

obtain parameters of a second expression including a difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver; and

compute an estimated location of the mobile device based, at least in part, on the first and second expressions.

14. The computing device of claim 13, and wherein the parameters of the first expression further comprise:

a measurement of a round-trip signal time for transmission of the first message and receipt of the second message at the first access transceiver.

15. The computing device of claim 14, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of receipt of the second message at the first access transceiver.

16. The computing device of claim 14, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2+t4+t1,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time;

t1 is a time of transmission of the first message; and

t4 is a time of receipt of the second message at the first access transceiver.

17. The computing device of claim 14, and wherein the parameters of the first expression further comprise a difference between a time of transmission of the first message and a time of receipt of the second message at the first access transceiver, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2−

(t1−

t4),

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time; and

t1−

t4 is the difference between the time of transmission of the first message and the time of receipt of the second message at the first access transceiver.

18. The computing device of claim 13, and wherein the parameters of the first expression further comprise:

a time of receipt of the first message at the second access transceiver; and

a time of receipt of the second message at the first access transceiver.

19. The computing device of claim 18, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t2+t4,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of receipt of the first message at the second access transceiver; and

t4 is the time of receipt of the second message at the first access transceiver.

20. The computing device of claim 13, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of transmission of the second message.

21. The computing device of claim 20, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t1+t3,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of transmission of the first message; and

t3 is the time of transmission of the second message.

22. An article comprising:

a non-transitory storage medium comprising machine-readable instructions stored thereon which are executable by a special purpose computing apparatus to;

obtain parameters of a first expression including a difference between a time of receiving at a mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

obtain parameters of a second expression including a difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver; and

compute an estimated location of the mobile device based, at least in part, on the first and second expressions.

23. The article of claim 22, and wherein the parameters of the first expression further comprise:

a measurement of a round-trip signal time for transmission of the first message and receipt of the second message at the first access transceiver.

24. The article of claim 23, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of receipt of the second message at the first access transceiver.

25. The article of claim 23, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2+t4+t1,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time;

t1 is a time of transmission of the first message; and

t4 is a time of receipt of the second message at the first access transceiver.

26. The article of claim 23, and wherein the parameters of the first expression further comprise a difference between a time of transmission of the first message and a time of receipt of the second message at the first access transceiver, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

RTT/2−

(t1−

t4),

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

RTT is the measurement of the round-trip signal time; and

t1−

t4 is the difference between the time of transmission of the first message and the time of receipt of the second message at the first access transceiver.

27. The article of claim 22, and wherein the parameters of the first expression further comprise:

a time of receipt of the first message at the second access transceiver; and

a time of receipt of the second message at the first access transceiver.

28. The article of claim 27, wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t2+t4,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of receipt of the first message at the second access transceiver; and

t4 is the time of receipt of the second message at the first access transceiver.

29. The article of claim 22, and wherein the parameters of the first expression further comprise:

a time of transmission of the first message; and

a time of transmission of the second message.

30. The article of claim 29, and wherein the first expression comprises:

ToaC(M)−

ToaC(ACK)−

t1+t3,

wherein;

ToaC(M)−

ToaC(ACK) is the difference between the time of receiving at the mobile device the first message and the time of receiving the second message at the mobile device;

t2 is the time of transmission of the first message; and

t3 is the time of transmission of the second message.

31. An apparatus comprising:

means for obtaining parameters of a first expression including a difference between a time of receiving at a mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

means for obtaining parameters of a second expression including a difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver; and

means for computing an estimated location of the mobile device based, at least in part, on the first and second expressions.

32. A method comprising, at a mobile device:

measuring a first difference between a time of receiving at the mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

measuring a second difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver;

transmitting the first difference and the second difference to a network entity through a communications network; and

receiving an estimated location of the mobile device through said communications network computed based, at least in part, on the transmitted first difference and second difference.

33. The method of claim 32, and wherein the estimated location of the mobile device is further computed based, at least in part, on a measurement of a round-trip signal time for transmission of the first message and receipt of the second message at the first access transceiver.

34. The method of claim 33, and wherein the estimated location of the mobile device is further computed based, at least in part, on:

a time of transmission of the first message; and

a time of receipt of the second message at the first access transceiver.

35. The method of claim 33, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

RTT/2+t4+t1,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

RTT is the measurement of the round-trip signal time;

t1 is a time of transmission of the first message; and

t4 is a time of receipt of the second message at the first access transceiver.

36. The method of claim 33, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

RTT/2−

(t1−

t4),

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

RTT is the measurement of the round-trip signal time; and

t1−

t4 is the difference between a time of transmission of the first message and the a of receipt of the second message at the first access transceiver.

37. The method of claim 32, and wherein the estimated location of the mobile device is further computed based, at least in part, on:

a time of receipt of the first message at the second access transceiver; and

a time of receipt of the second message at the first access transceiver.

38. The method of claim 37, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

t2+t4,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

t2 is the time of receipt of the first message at the second access transceiver; and

t4 is the time of receipt of the second message at the first access transceiver.

39. The method of claim 32, wherein the estimated location is further computed based, at least in part, on:

a time of transmission of the first message; and

a time of transmission of the second message.

40. The method of claim 39, and wherein the estimated location is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

t1+t3,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

t2 is the time of transmission of the first message; and

t3 is the time of transmission of the second message.

41. A mobile device comprising:

a transceiver device to transmit and receive messages from a communication network; and

one or more processors to;

measure a first difference between a time of receiving at the transceiver device a first message transmitted by a first access transceiver and a time of receiving a second message at the transceiver device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

measure a second difference between a time of receiving at the transceiver device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the transceiver device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver;

initiate transmission of the first difference and second difference to a network entity through said transceiver device; and

obtain an estimated location of the mobile device in one or more messages received at said transceiver device computed based, at least in part, on the transmitted first difference and second difference.

42. The mobile device of claim 41, and wherein the estimated location of the mobile device is further computed based, at least in part, on a measurement of a round-trip signal time for transmission of the first message and receipt of the second message at the first access transceiver.

43. The mobile device of claim 42, and wherein the estimated location of the mobile device is further computed based, at least in part, on:

a time of transmission of the first message; and

a time of receipt of the second message at the first access transceiver.

44. The mobile device of claim 42, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

RTT/2+t4+t1,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

RTT is the measurement of the round-trip signal time;

t1 is a time of transmission of the first message; and

t4 is a time of receipt of the second message at the first access transceiver.

45. The mobile device of claim 42, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

RTT/2−

(t1−

t4),

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

RTT is the measurement of the round-trip signal time; and

t1−

t4 is the difference between a time of transmission of the first message and a time of receipt of the second message at the first access transceiver.

46. The mobile device of claim 41, and wherein the estimated location of the mobile device is further computed based, at least in part, on:

a time of receipt of the first message at the second access transceiver; and

the time of receipt of the second message at the first access transceiver.

47. The mobile device of claim 46, wherein the estimated location of the mobile device is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

t2+t4,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

t2 is the time of receipt of the first message at the second access transceiver; and

t4 is the time of receipt of the second message at the first access transceiver.

48. The mobile device of claim 41, and wherein the estimated location is further computed based, at least in part, on:

a time of transmission of the first message; and

a time of transmission of the second message.

49. The mobile device of claim 48, and wherein the estimated location is further computed based, at least in part, on:

ToaC(M)−

ToaC(ACK)−

t1+t3,

wherein;

ToaC(M)−

ToaC(ACK) is the first difference;

t2 is the time of transmission of the first message; and

t3 is the time of transmission of the second message.

50. An article comprising:

a non-transitory storage medium comprising machine-readable instructions stored thereon, which are executable by a special purpose computing apparatus of a mobile device to;

measure a first difference between a time of receiving at the mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

measure a second difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver;

initiate transmission of the first difference and the second difference to a network entity through a communication network; and

obtain an estimated location of the mobile device in one or more messages received from said network entity computed based, at least in part, on the transmitted first difference and second difference.

51. A mobile device comprising:

means for measuring a first difference between a time of receiving at the mobile device a first message transmitted by a first access transceiver and a time of receiving a second message at the mobile device transmitted by a second access transceiver, said second message being transmitted by said second access transceiver in response to receipt of the first message at the second access transceiver;

means for measuring a second difference between a time of receiving at the mobile device a third message transmitted by a third access transceiver and a time of receiving a fourth message at the mobile device transmitted by a fourth access transceiver, said fourth message being transmitted by said fourth access transceiver in response to receipt of the third message at the fourth access transceiver;

means for transmitting the first difference and the second difference to a network entity through a communications network; and

means for receiving an estimated location of the mobile device through said communications network computed based, at least in part, on the transmitted first difference and second difference.