Positioning in Indoor Locations and Other GPS-Denied Environments
First Claim
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1. A method, comprising:
- receiving at least one of range or velocity measurements over time;
generating multiple potential range, velocity, and acceleration estimates based on the received measurements;
determining probabilities of the estimates;
testing estimates based on their weight and decaying importance history;
pruning estimates that fail to meet a threshold;
generating a new estimate for the pruned estimates;
clustering potential solutions based on a density of the estimates; and
associating a confidence solution to the potential solutions.
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Abstract
Methods for: (1) extracting Doppler/velocity measurements; (2) estimating relative clock bias errors; (3) determining range and velocity estimates with associated confidences; and (4) extracting range estimates using channel estimation are disclosed. These methods can be used separately or combined to improve positioning solutions obtained by positioning systems used in indoor locations and other GPS-denied environments.
36 Citations
20 Claims
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1. A method, comprising:
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receiving at least one of range or velocity measurements over time; generating multiple potential range, velocity, and acceleration estimates based on the received measurements; determining probabilities of the estimates; testing estimates based on their weight and decaying importance history; pruning estimates that fail to meet a threshold; generating a new estimate for the pruned estimates; clustering potential solutions based on a density of the estimates; and associating a confidence solution to the potential solutions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for generating range and velocity measurements for use in a positioning system, comprising:
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receiving samples from a radio frequency based wireless communication system; correlating the samples against a known pattern to produce a correlation surface; generating a spectral estimate from the correlation surface using a minimum variance distortionless response algorithm; selecting paths likely to be a line of sight path from the spectral estimate; generating a velocity measurement from a selected path; using a path-nulling beamformer to isolate a single path from the paths likely to be a line of sight path; and using a time of arrival estimator to generate a range measurement from the isolated path. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method for extracting range measurements using channel estimation, comprising:
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receiving samples from a radio frequency based wireless communication system; estimating a channel from the received samples using a least squares solver; generating a sparse channel estimate based on highest magnitude peaks obtained in the channel estimate; applying a decaying accumulator to the estimates over time; and converting the peaks to range estimates. - View Dependent Claims (19, 20)
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Specification