Method and apparatus for calibrating location finding equipment within a communication system

• US 6,014,102 A
• Filed: 04/17/1998
• Issued: 01/11/2000
• Est. Priority Date: 04/17/1998
• Status: Expired due to Term

• Current Assignee: Google Technology Holdings LLC (Alphabet Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Toone, John Duncan, Mitzlaff, James Edward
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US09/062,424
• Time in Patent Office: 634 Days
• Field of Search: 342/457, 342/357.06, 342/357.01, 342/357.09, 701/213, 701/214
• US Class Current: 342/457
• CPC Class Codes: G01S 1/022 Means for monitoring or calibrating
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/0244 Accuracy or reliability of position solution or of measurements contributing thereto

Abstract

Error vectors are added to any position estimate determined by Location finding equipment (LFE) in order to give a corrected position estimate. Error vectors are determined utilizing calibration terminals (114), which are roaming vehicles that move throughout the communication system'"'"'s (100) coverage area. Each calibration terminal (114) comprises a remote unit (113) coupled with an independent position determining system (167) such as a Global Positioning System (GPS) receiver. Error vectors are determined by periodically polling calibration terminals (114). In response, each terminal (114) sends back a reply message containing their actual, independently determined location, along with periodically broadcasting a known sequence at increased power utilized by the LFE in determining a position estimate of the calibration terminal (114). The difference between the actual, and LFE determined position estimates are utilized in calculation of error vectors.

Claims

1. A method for calibrating location finding equipment within a communication system, the method comprising the steps of:

receiving an independently transmitted first location of a mobile unit;

determining, via the location finding equipment, a second location of the mobile unit;

determining an error vector based on the first and the second location;

determining, via the location finding equipment, a location of a remote unit; and

modifying the location of the remote unit with the error vector to produce a calibrated location estimate.

2. The method of claim 1 wherein the step of determining via the location finding equipment, the second location of the mobile unit and the location of the remote unit comprises the step of determining a location via any combination of a Time of Arrival (TOA), Time Difference of Arrival (TDOA), or a Angle of Arrival (AOA) method of location.

3. The method of claim 2 further comprising the step of broadcasting a power-up function (PUF) to aid in determining the second location and the location of the remote unit.

4. The method of claim 1 wherein the step of modifying the location of the remote unit with the error vector comprises the step of modifying the location of the remote unit with a plurality of error vectors determined with mobile units having a closest known location to the location of the remote unit.

5. The method of claim 1 further comprising the step of calculating an uncertainty in the calibrated location estimate based on the error vector.

6. The method of claim 1 wherein the step of receiving the independently transmitted first location of the mobile unit comprises the step of receiving a Global Positioning System (GPS) measurement from the mobile unit.

7. A method for calibrating location finding equipment within a communication system, the method comprising the steps of:

receiving a plurality of independently transmitted first locations of a plurality of calibration units;

determining, via the location finding equipment, a second plurality of locations of the plurality of calibration units;

determining a plurality of error vectors based on the plurality of first and second locations;

storing the plurality of error vectors along with the plurality of second locations of the calibration units;

determining, via the location finding equipment, a location of a remote unit;

retrieving the subset of the plurality of error vectors from the stored plurality of error vectors; and

modifying the location of the remote unit with the subset of the plurality of error vectors to produce a calibrated location estimate.

8. The method of claim 7 wherein the step of determining via the location finding equipment, the second plurality of locations of the plurality of calibration units, and the location of the remote unit comprises the step of determining a location via any combination of a Time of Arrival (TOA), Time Difference of Arrival (TDOA), or Angle of Arrival (AOA) method of location.

9. The method of claim 8 further comprising the step of broadcasting a power-up function (PUF) to aid in determining the second locations and the location of the remote unit.

10. The method of claim 7 wherein the step of modifying the location of the remote unit with the subset of the plurality of error vectors comprises the step of modifying the location of the remote unit with a plurality of error vectors calculated with calibration units within a first distance from the location of the remote unit, and not calculated with calibration units greater than the first distance from the location of the remote unit.

11. The method of claim 7 further comprising the step of calculating an uncertainty in the calibrated location estimate based on the subset of the plurality of error vectors.

12. The method of claim 7 wherein the step of receiving the plurality of independently transmitted first locations of the plurality of calibration units comprises the step of receiving a Global Positioning System (GPS) measurement from the calibration unit.

13. An apparatus comprising:

location finding equipment coupled to the database, the location finding equipment having an independently transmitted first location of a mobile unit as an input and outputting an error vector based on the first location of the mobile unit and an estimated location of the mobile unit; and

a database having the error vector and the estimated location of the mobile unit as an input.