Method for estimating a location of a mobile unit based on at least two fixed transceivers

• US 5,929,806 A
• Filed: 04/30/1997
• Issued: 07/27/1999
• Est. Priority Date: 04/30/1997
• Status: Expired due to Term

• Current Assignee: Google Technology Holdings LLC (Alphabet Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Birchler, Mark A., Jones, Debra A., Oros, Nicholas C.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/846,751
• Time in Patent Office: 818 Days
• Field of Search: 342/357, 342/457, 701/213
• US Class Current: 342/357.29
• CPC Class Codes: G01S 2205/008 using a mobile telephone network
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G01S 5/145 Using a supplementary range measurement, e.g. based on pseudo-range measurements
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Signals comprising time of transmission indications relative to a common time base (302) are transmitted by at least two fixed transceivers (110-116). When the signals are received by a mobile unit (160), a time of reception indication relative to the common time base is calculated for each signal. Pseudo-ranges are calculated based on the time of transmission and time of reception indications, and a WLS solution location estimate is calculated based on the pseudo-ranges. Essentially the same procedure may be performed on signals transmitted by the mobile unit. Given the common time base between the fixed transceivers and the mobile unit, only two or more signals are required to determine the location estimate. Where GPS receivers are used to supply the common time base, location determinations can still be made when a GPS solution is unavailable.

Claims

1. In a wireless communication system comprising a fixed infrastructure in wireless communication with a mobile unit, the fixed infrastructure further comprising at least two fixed transceivers, a method for estimating a location of the mobile unit, the method comprising steps of:

receiving, by the mobile unit, signals transmitted by each of the at least two fixed transceivers to produce received signals, each of the received signals including a time of transmission indication generated by a respective one of the at least two fixed transceivers relative to a common time base;

determining, by the mobile unit, a time of reception indication relative to the common time base for each of the received signals, wherein the common time base is provided by a continuously corrected local oscillator;

for each of the received signals, determining a pseudo-range based on the respective time of transmission and time of reception indications; and

determining a weighted least squares solution using the pseudo-ranges to estimate the location of the mobile unit.

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

sending, by the mobile unit, the time of transmission indications and the time of reception indications to a location processor forming part of the fixed infrastructure;

wherein the steps of determining the pseudo-ranges and determining the weighted least squares solution are performed by the location processor.

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

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

4. The method of claim 1, wherein the steps of determining the pseudo-ranges and determining the weighted least squares solution are performed by the mobile unit.

5. The method of claim 4, further comprising a step of:

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

6. The method of claim 1, the step of determining the weighted least squares solution further comprising sub-steps of:

determining a pseudo-range correction vector Δ

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

calculating a nominal location correction vector Δ

_xy according to the equation;

##EQU8## where v is a weighting matrix;

updating the nominal location estimate, the pseudo-range correction vector, and the 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.

7. The method of claim 6, 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.

8. The method of claim 6, 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.

9. In a wireless communication system comprising a fixed infrastructure in wireless communication with a mobile unit, the fixed infrastructure further comprising at least two fixed transceivers in communication with a location processor, a method for estimating a location of the mobile unit, the method comprising steps of:

receiving, by each of the at least two transceivers, a signal sent by the mobile unit to produce received signals, wherein each of the received signals includes a time of transmission indication generated by the mobile unit based on a local oscillator synchronized relative to a common time base;

determining, by each of the at least two transceivers, a time of reception indication relative to the common time base for a corresponding one of the received signals;

for each of the received signals, determining a pseudo-range based on the respective time of transmission and time of reception indications; and

determining, by the location processor, a weighted least squares solution using the pseudo-ranges to estimate the location of the mobile unit.

10. The method of claim 9, further comprising a step of:

sending, by the at least two transceivers, the time of transmission indications and the time of reception indications to the location processor;

wherein the step of determining the pseudo-ranges is performed by the location processor.

11. The method of claim 9, further comprising steps of:

determining, by each of the at least two transceivers, the pseudo-range for the corresponding one of the received signals; and

sending, by the at least two transceivers, the pseudo-ranges to the location processor.

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

determining a pseudo-range correction vector Δ

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

calculating a nominal location correction vector Δ

_xy according to the equation;

##EQU9## where v is a weighting matrix;

updating the nominal location estimate, the pseudo-range correction vector, and the 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.

13. The method of claim 12, 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.

14. The method of claim 12, 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.

15. The method of claim 9, further comprising a step of:

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