Method and apparatus for covariance matrix estimation in a weighted least-squares location solution

• US 5,884,215 A
• Filed: 01/31/1997
• Issued: 03/16/1999
• Est. Priority Date: 01/31/1997
• Status: Expired due to Term

• Current Assignee: Google Technology Holdings LLC (Alphabet Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Jones, Debra A., Birchler, Mark A., Oros, Nicholas C.
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/792,331
• Time in Patent Office: 774 Days
• Field of Search: 701/200, 701/216, 701/217, 701/213, 701/215, 701/221, 701/224, 701/226, 340/988, 340/990, 340/995, 340/991, 342/357, 342/457, 342/352, 342/450, 342/446, 235/95 R, 73/178 R
• US Class Current: 701/207
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 1/045 Receivers
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Signals exchanged between a fixed infrastructure (110-116) and a mobile unit (160) give rise to M channel quality metrics. The channel quality metrics are mapped, via predetermined relationships (501-503), in to M corresponding time of arrival variances, which in turn are used to derive M-1 time of arrival differential variances. A time of arrival differential weighting matrix including, in part, the time of arrival differential variances, is used to calculate a WLS solution, which solution is an estimate of a location of the mobile unit. This procedure may be implemented using an infrastructure-based location processor (130) operating in conjunction with the mobile unit, or may be performed by either the location processor or mobile unit alone.

Claims

1. In a wireless communication system comprising a fixed infrastructure in wireless communication with a plurality of mobile units, the fixed infrastructure comprising a location processor, a method for the location processor to estimate a location of a mobile unit of the plurality of mobile units, the method comprising steps of:

determining M channel quality metrics corresponding to the mobile unit, wherein M≧

3;

determining M time of arrival variances based on the channel quality metrics;

determining M-1 time of arrival differential variances based on the time of arrival variances; and

determining a weighted least squares solution using the time of arrival differential variances to estimate the location of the mobile unit.

2. The method of claim 1, further comprising a step of:

transmitting the location of the mobile unit to the mobile unit.

3. The method of claim 1, further comprising a step of:

transmitting the location of the mobile unit to an infrastructure entity of the fixed infrastructure.

4. The method of claim 1, the step of determining the channel quality metrics further comprising a step of receiving the channel quality metrics from the mobile unit.

5. The method of claim 1, further comprising the step of determining the channel quality metrics, wherein the channel quality metrics are carrier-to-interference-plus-noise ratios.

6. The method of claim 5, further comprising a step of

receiving, from the mobile unit, at least one RMS delay spread.

7. The method of claim 6, further comprising the step of determining the time of arrival variances based on the carrier-to-interference-plus-noise ratios and the at least one RMS delay spread.

8. The method of claim 6, the step of determining the time of arrival variances further comprising a sub-step of:

mapping the carrier-to-interference-plus-noise ratios into unscaled time of arrival variances according to one of at least one predetermined relationship, wherein the one of the at least one predetermined relationship is indexed according to the at least one RMS delay spread.

9. The method of claim 8, further comprising the step of determining the time of arrival differential variances according to the equation:

##EQU9## wherein;

σ

_0i² is an i'"'"'th time of arrival differential variance;

V₀ is a first scaled time of arrival variance corresponding to a first site;

V_i is an i'"'"'th scaled time of arrival variance corresponding to an i'"'"'th of M-1 neighboring sites;

σ

.sub..sup. 2 is a first time of arrival variance corresponding to the first site;

σ

_i² is an i'"'"'th time of arrival variance corresponding to the i'"'"'th neighboring site;

N₀ is a number of receptions of known data symbols used in determining a first time of arrival measurement corresponding to the first site;

N_i is a number of receptions of known data symbols used in determining an i'"'"'th time of arrival measurement corresponding to the i'"'"'th neighboring site; and

the index i is in the range from 1 to M-1, inclusive.

10. The method of claim 9, further comprising the step of determining the time of arrival differential variances, wherein the first site is a serving site for the mobile unit.

11. The method of claim 9, the step of determining the weighted least squares solution further comprising sub-steps of:

determining a pseudo-range differential correction vector Δ

_D and a differential direction cosine matrix C based on a nominal location estimate;

calculating a nominal location correction vector Δ

_xy according to the equation;

##EQU10## wherein a time of arrival differential weighting matrix V is defined as;

##EQU11## updating the nominal location estimate, the pseudo-range differential correction vector, and the differential direction cosine matrix based on the nominal location correction vector; and

iterating the previous steps of calculating and updating so long as the nominal location correction vector is not diverging and so long as the nominal location correction vector has not converged beyond at least one lower threshold.

12. The method of claim 11, the step of determining the weighted least squares solution further comprising a sub-step of:

setting the location of the mobile unit equivalent to the nominal location estimate when the nominal location correction vector has converged beyond the at least one lower threshold.

13. The method of claim 11, the step of determining the weighted least squares solution further comprising a sub-step of:

discontinuing the iteration of the steps of calculating and updating when the nominal location correction vector has diverged beyond at least one upper threshold.

14. In a wireless communication system comprising a fixed infrastructure in wireless communication with a plurality of mobile units, the fixed infrastructure further comprising a plurality of geographically-diverse fixed transceivers and a location processor, a method for a mobile unit of the plurality of mobile units to estimate a location of the mobile unit, the method comprising steps of:

receiving M signals from M transceivers of the plurality of geographically-diverse fixed transceivers, wherein each of the signals uniquely corresponds to one of the transceivers, and wherein M≧

3;

determining M channel quality metrics, wherein each of the channel quality metrics uniquely corresponds to one of the signals;

sending, to the location processor, the channel quality metrics; and

receiving, from the location processor, the location of the mobile unit, wherein the location of the mobile unit is based on the channel quality metrics.

15. The method of claim 14, further comprising the step of receiving the signals, wherein each of the signals comprises known data symbols.

16. The method of claim 15, further comprising the step of determining the time of arrival measurements, wherein each time of arrival measurement is based on an average over the at least one reception of known data symbols.

17. The method of claim 14, further comprising the step of determining the channel quality metrics, wherein the channel quality metrics are carrier-to-interference-plus-noise ratios.

18. The method of claim 14, further comprising steps of:

determining at least one RMS delay spread for the signals; and

sending the at least one RMS delay spread to the location processor.

19. The method of claim 18, further comprising the step of receiving the location of the mobile unit, wherein the location of the mobile unit is based on the channel quality metrics and the at least one RMS delay spread.

20. In a wireless communication system comprising a fixed infrastructure in wireless communication with a plurality of mobile units, the fixed infrastructure further comprising a plurality of geographically-diverse fixed transceivers and a location processor in communication with the plurality of geographically-diverse fixed transceivers, a method for estimating a location of a mobile unit of the plurality of mobile units, the method comprising steps of:

receiving, by M transceivers of the plurality of geographically diverse transceivers, M representations of a signal sent by the mobile unit, wherein each of the representations uniquely corresponds to one of the transceivers, and wherein M≧

3;

determining, by the transceivers, M channel quality metrics, wherein each of the channel quality metrics uniquely corresponds to one of the representations;

sending, from the transceivers to the location processor, the channel quality metrics;

determining, by the location processor, M time of arrival variances based on the channel quality metrics, wherein each of the time of arrival variances uniquely corresponds to one of the channel quality metrics;

determining, by the location processor, M-1 time of arrival differential variances based on the time of arrival variances; and

determining, by the location processor, a weighted least squares solution using the time of arrival differential variances to estimate the location of the mobile unit.

21. The method of claim 20, further comprising the step of receiving the representations, wherein each of the representations comprises known data symbols.

22. The method of claim 21, further comprising the step of determining the time of arrival measurements, wherein each time of arrival measurement is based on an average over the at least one reception of known data symbols.

23. The method of claim 20, further comprising the step of determining the channel quality metrics, wherein the channel quality metrics are carrier-to-interference-plus-noise ratios.

24. The method of claim 23, further comprising a step of:

determining, by the transceivers, RMS delay spreads that uniquely correspond to each of the representations.

25. The method of claim 24, further comprising the step of determining the time of arrival variances based on the carrier-to-interference-plus-noise ratios and the RMS delay spreads.

26. The method of claim 25, the step of determining the time of arrival variances further comprising a sub-step of:

mapping the carrier-to-interference-plus-noise ratios into unscaled time of arrival variances according to one of at least one predetermined relationship, wherein the one of the at least one predetermined relationship is indexed according to the RMS delay spread.

27. The method of claim 26, further comprising the step of determining the time of arrival differential variances according to the equation:

##EQU12## wherein;

σ

_0i² is an i'"'"'th time of arrival differential variance;

V₀ is a first scaled time of arrival variance corresponding to a first site;

V_i is an i'"'"'th scaled time of arrival variance corresponding to an i'"'"'th of the M-1 neighboring sites;

σ

.sub..sup. 2 is a first time of arrival variance corresponding to the first site;

σ

_i² is an i'"'"'th time of arrival variance corresponding to the i'"'"'th neighboring site;

N₀ is a number of receptions of known data symbols used in determining a first time of arrival measurement corresponding to the first site;

N_i is a number of receptions of known data symbols used in determining an i'"'"'th time of arrival measurement corresponding to the i'"'"'th neighboring site; and

the index i is in the range from 1 to M-1, inclusive.

28. The method of claim 27, further comprising the step of determining the time of arrival differential variances, wherein the first site is a serving site for the mobile unit.

29. The method of claim 27, the step of determining the weighted least squares solution further comprising sub-steps of:

determining a pseudo-range differential correction vector Δ

_D and a differential direction cosine matrix C based on a nominal location estimate;

calculating a nominal location correction vector Δ

_xy according to the equation;

##EQU13## wherein a time of arrival differential weighting matrix V is defined as;

##EQU14## updating the nominal location estimate, the pseudo-range differential correction vector, and the differential direction cosine matrix based on the nominal location correction vector; and

iterating the previous steps of calculating and updating so long as the nominal location correction vector is not diverging and so long as the nominal location correction vector has not converged beyond at least one lower threshold.

30. The method of claim 29, the step of determining the weighted least squares solution further comprising a sub-step of:

setting the location of the mobile unit equivalent to the nominal location estimate when the nominal location correction vector has converged beyond the at least one lower threshold.

31. The method of claim 29, the step of determining the weighted least squares solution further comprising a sub-step of:

discontinuing the iteration of the steps of calculating and updating when the nominal location correction vector has diverged beyond at least one upper threshold.

32. The method of claim 20, further comprising a step of:

transmitting, by the location processor, the location of the mobile unit to the mobile unit.

33. The method of claim 20, further comprising a step of:

transmitting, by the location processor, the location of the mobile unit to an infrastructure entity of the fixed infrastructure.

34. In a wireless communication system comprising a fixed infrastructure in wireless communication with a plurality of mobile units, the fixed infrastructure further comprising a plurality of geographically-diverse fixed transceivers, a method for a mobile unit of the plurality of mobile units to estimate a location of the mobile unit, the method comprising steps of:

receiving M signals from M transceivers of the plurality of geographically-diverse fixed transceivers, wherein each of the signals uniquely corresponds to one of the transceivers, and wherein M≧

3;

determining M channel quality metrics, wherein each of the channel quality metrics uniquely corresponds to one of the signals;

determining M time of arrival variances based on the channel quality metrics, wherein each of the time of arrival variances uniquely corresponds to one of the channel quality metrics;

determining M-1 time of arrival differential variances based on the time of arrival variances; and

determining a weighted least squares solution using the time of arrival differential variances to estimate the location of the mobile unit.

35. The method of claim 34, further comprising the step of receiving the signals, wherein each of the signals comprises known data symbols.

36. The method of claim 35, further comprising the step of determining the time of arrival measurements, wherein each time of arrival measurement is based on an average over the at least one reception of known data symbols.

37. The method of claim 34, further comprising the step of estimating the channel quality metrics, wherein the channel quality metrics are carrier-to-interference-plus-noise ratios.

38. The method of claim 37, further comprising a step of:

determining at least one RMS delay spread for the signals.

39. The method of claim 38, further comprising the step of determining the time of arrival variances based on the carrier-to-interference-plus-noise ratios and the at least one RMS delay spread.

40. The method of claim 39, the step of determining the time of arrival variances further comprising a sub-step of:

mapping the carrier-to-interference-plus-noise ratios into unscaled time of arrival variances according to one of at least one predetermined relationship, wherein the one of the at least one predetermined relationship is indexed according to the at least one RMS delay spread.

41. The method of claim 40, further comprising the step of determining the time of arrival differential variances according to the equation:

##EQU15## wherein;

σ

_0i² is an i'"'"'th time of arrival differential variance;

V₀ is a first scaled time of arrival variance corresponding to a first site;

V_i is an i'"'"'th scaled time of arrival variance corresponding to an i'"'"'th of M-1 neighboring sites

σ

.sub..sup. 2is a first time of arrival variance corresponding to the first site;

σ

_i² is an i'"'"'th time of arrival variance corresponding to the i'"'"'th neighboring site;

N₀ is a number of receptions of known data symbols used in determining a first time of arrival measurement corresponding to the first site;

N_i is a number of receptions of known data symbols used in determining an i'"'"'th time of arrival measurement corresponding to the i'"'"'th neighboring site; and

the index i is in the range from 1 to M-1, inclusive.

42. The method of claim 41, further comprising the step of determining the time of arrival differential variances, wherein the first site is a serving site for the mobile unit.

43. The method of claim 41, the step of determining the weighted least squares solution further comprising sub-steps of:

determining a pseudo-range differential correction vector Δ

_D and a differential direction cosine matrix C based on a nominal location estimate;

calculating a nominal location correction vector Δ

_xy according to the equation;

##EQU16## wherein a time of arrival differential weighting matrix V is defined as;

##EQU17## updating the nominal location estimate, the pseudo-range differential correction vector, and the differential direction cosine matrix based on the nominal location correction vector when the nominal location correction vector is greater than a predetermined threshold; and

iterating the previous steps of calculating and updating so long as the nominal location correction vector is not diverging and so long as the nominal location correction vector has not converged beyond at least one lower threshold.

44. The method of claim 43, the step of determining the weighted least squares solution further comprising a sub-step of:

setting the location of the mobile unit equivalent to the nominal location estimate when the nominal location correction vector has converged beyond the at least one lower threshold.

45. The method of claim 43, the step of determining the weighted least squares solution further comprising a sub-step of:

discontinuing the iteration of the steps of calculating and updating when the nominal location correction vector has diverged beyond at least one upper threshold.

46. A location processor comprising:

a digital computing device;

a memory coupled to the digital computing device, the memory having stored thereon executable instructions that, when executed by the digital computing device, cause the digital computing device to comprise;

a variance determiner, responsive to M channel quality metrics corresponding to a mobile unit, that produces M time of arrival variances, wherein M≧

3;

a differential variance determiner, responsive to the time of arrival variances, that produces M-1 time of arrival differential variances; and

a location determiner, responsive to the time of arrival differential variances, that calculates a weighted least squares solution to estimate a location of the mobile unit.

47. A mobile unit comprising:

a receiver, responsive to M signals from M transceivers of a plurality of geographically-diverse fixed transceivers, that produces M channel quality metrics, wherein each of the signals and each of the channel quality metrics uniquely corresponds to one of the transceivers, and wherein M≧

3;

a location processor, coupled to the receiver, comprising;

a digital computing device;

a memory coupled to the digital computing device, the memory having stored thereon executable instructions that, when executed by the digital computing device, cause the digital computing device to comprise;

a variance determiner, responsive to the channel quality metrics, that produces M time of arrival variances;

a differential variance determiner, responsive to the time of arrival variances, that produces M-1 time of arrival differential variances; and

a location determiner, responsive to the time of arrival differential variances, that calculates a weighted least squares solution to estimate a location of the mobile unit.

48. A communication system comprising:

at least M geographically diverse transceivers that each receive a corresponding one of M representations of a signal sent by a mobile unit, and that each determine a channel quality metric for the corresponding one of the representations, wherein M≧

3;

a location processor, coupled to the transceivers, comprising;

a digital computing device;

a memory coupled to the digital computing device, the memory having stored thereon executable instructions that, when executed by the digital computing device, cause the digital computing device to comprise;

a variance determiner, responsive to the channel quality metrics, that produces M time of arrival variances;

a differential variance determiner, responsive to the time of arrival variances, that produces M-1 time of arrival differential variances; and

a location determiner, responsive to the time of arrival differential variances, that calculates a weighted least squares solution to estimate a location of the mobile unit.