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Generalized positioning system based on use of a statistical filter

  • US 6,618,690 B1
  • Filed: 11/22/1999
  • Issued: 09/09/2003
  • Est. Priority Date: 11/22/1999
  • Status: Expired due to Term
First Claim
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1. An improved generalized positioning system, for making estimates of state information of an object, the state information being information about the state of motion of the object, having a filter that statistically determines a succession of state estimates along with corresponding uncertainty estimates based on a succession of state measurements, the improvement comprising:

  • a) means for determining association probabilities for a plurality of state measurements all at a same instant of time, each association probability corresponding to a particular state measurement at the instant of time, and also means for determining an association probability providing a value for the probability that none of the plurality of measurements is correct;

    b) means for combining into a single measurement innovation each individual innovation using the association probabilities as weightings; and

    c) means for determining the covariance of the updated state based on the individual association probabilities, the association probability for providing a value for the probability that none of the measurements is correct, and the combined measurement innovation.

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