Remote terminal location algorithm

• US 6,756,940 B2
• Filed: 12/18/2001
• Issued: 06/29/2004
• Est. Priority Date: 12/18/2001
• Status: Expired due to Fees

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Peng, Wei-Chung, Oh, Joungheon
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US10/023,216
• Publication Number:
  US 20030128161A1
• Time in Patent Office: 924 Days
• Field of Search: 342/387, 342/442, 342/457, 701/207, 701/300, 455/456, 455/457
• US Class Current: 342/387
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 15/876 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S15/872 takes precedence

Abstract

Various approaches for forming more accurate location estimates are disclosed. In some approaches, a plurality of preliminary location estimates are formed based on subsets of time-of-arrival measurements. A final location estimate is then made based on the preliminary location estimates. In other approaches, a quality indicator associated with the time-of-arrival measurements is modified, and subsequently used in a location algorithm. Optionally, multiple approaches may be used together.

Claims

1. A method of locating a mobile device comprising:

obtaining a plurality of time-of-arrival measurements for communications between the mobile device and each of at least six fixed stations;

distributing the plurality of time-of-arrival measurements into a low-quality set of time-of-arrival measurements and a high-quality set of time-of-arrival measurements based on a first criterion;

forming a plurality of subsets from the time-of-arrival measurements in the low-quality set;

obtaining a plurality of preliminary location estimates of the mobile device'"'"'s location by computing, for each of the plurality of subsets formed from the low-quality set, a preliminary location estimate of the mobile device'"'"'s location based on all time-of-arrival measurements contained in the respective subset, all time-of-arrival measurements contained in the high-quality set, and the locations of the fixed stations; and

merging the plurality of preliminary location estimates into a final estimate of the mobile device'"'"'s location.

2. The method of claim 1, wherein, the communications are transmissions from the mobile device to the at least six fixed stations.

3. The method of claim 1, wherein, the communications are transmissions from the at least six fixed stations to the mobile device.

4. The method of claim 1, wherein merging the plurality of preliminary location estimates comprises selecting a single preliminary location estimate from the plurality of preliminary location estimates.

5. The method of claim 1, wherein merging the plurality of preliminary location estimates comprises selecting a preliminary location estimate having a best horizontal dilution of precision from the plurality of preliminary location estimates.

6. The method of claim 1, wherein merging the plurality of preliminary location estimates comprises discarding all preliminary locations estimates that are inconsistent with current cell information or timing advance information.

7. The method of claim 1, wherein merging the plurality of preliminary location estimates comprises:

discarding all preliminary locations estimates that are inconsistent with current cell information or timing advance information, resulting in a remaining set of preliminary locations estimates; and

selecting a preliminary location estimate having a minimum horizontal dilution of precision from the remaining set of preliminary location estimates.

8. The method of claim 1, wherein:

obtaining a plurality of time-of-arrival measurements comprises obtaining a time-of-arrival measurement for each of seven fixed stations;

the high-quality set consists of four of the time-of-arrival measurements and the low-quality set consists of three of the time-of-arrival measurements, and

the plurality of subsets comprises all combinations of the three time-of-arrival measurements in the low-quality set, taken one at a time and taken two at a time.

9. The method of claim 8, wherein the plurality of subsets further comprises a null set containing none of the time-of-arrival measurements contained in the low-quality set and a set of all three time-of-arrival measurements contained in the low-quality set.

10. The method of claim 1, wherein the first criterion is based on an estimated worst-case path loss.

11. The method of claim 1, wherein the first criterion is based on a time-of-ariival quality indicator.

12. The method of claim 1, wherein the first criterion is based on a time-of-arrival quality indicator, a signal-to-noise ratio, and a mean number of selected bursts.

13. A method of locating a mobile device comprising:

obtaining a plurality of time-of-arrival measurements for communications between the mobile device and each of at least six fixed stations;

distributing the plurality of time-of-arrival measurements into a first low-quality set of time-of-arrival measurements and a corresponding first high-quality set of time-of-arrival measurements based on a first criterion;

distributing the plurality of time-of-arrival measurements into a second low-quality set of time-of-arrival measurements and a corresponding second high-quality set of time-of-arrival measurements based on a second criterion;

forming a first plurality of subsets from the time-of-arrival measurements in the first low-quality set, and a second plurality of subsets from the time-of-arrival measurements in the second low-quality set;

obtaining a plurality of preliminary location estimates of the mobile device'"'"'s location by computing, for each of the subsets in the first plurality of subsets and the second plurality of subsets, a preliminary location estimate of the mobile device'"'"'s location based on all time-of-arrival measurements contained in the respective subset, all time-of-arrival measurements contained in the corresponding high-quality set, and the locations of the fixed stations; and

merging the plurality of preliminary location estimates into a final estimate of the mobile device'"'"'s location.

14. The method of claim 13, wherein, the communications are transmissions from the mobile device to the at least six fixed stations.

15. The method of claim 13, wherein, the communications are transmissions from the at least six fixed stations to the mobile device.

16. The method of claim 13, wherein, merging the plurality of preliminary location estimates comprises selecting a single preliminary location estimate from the plurality of preliminary location estimates.

17. The method of claim 13, wherein merging the plurality of preliminary location estimates comprises selecting a preliminary location estimate having a best horizontal dilution of precision from the plurality of preliminary location estimates.

18. The method of claim 13, wherein merging the plurality of preliminary location estimates comprises discarding all preliminary locations estimates that are inconsistent with current cell information or timing advance information.

19. The method of claim 13, wherein merging the plurality of preliminary location estimates comprises:

discarding all preliminary locations estimates that are inconsistent with current cell information or timing advance information, resulting in a remaining set of preliminary locations estimates; and

selecting a preliminary location estimate having a minimum horizontal dilution of precision from the remaining set of preliminary location estimates.

20. The method of claim 13, wherein:

seven time-of-arrival measurements are obtained,

the first high-quality set consists of four of the time-of-arrival measurements, and the first low-quality set consists of three of the time-of-arrival measurements, the first plurality of subsets formed in the forming act comprising all combinations of the three time-of-arrival measurements in the first low-quality set, taken one at a time and taken two at a time, and

the second high-quality set consists of four of the time-of-arrival measurements, and the second low-quality set consists of three of the time-of-arrival measurements, the second plurality of subsets formed in the forming act comprising all combinations of the three time-of-arrival measurements in the second low-quality set, taken one at a time and taken two at a time.

21. The method of claim 20, wherein:

the first plurality of subsets further comprises a null set containing none of the time-of-arrival measurements contained in the low-quality set and a set of all three time-of-arrival measurements contained in the first low-quality set, and

the second plurality of subsets formed in the forming act further comprises a null set containing none of the time-of-arrival measurements contained in the low-quality set and a set of all three time-of-arrival measurements contained in the second low-quality set.

22. The method of claim 13, wherein the first criterion is based on an estimated worst-case path loss, and the second criterion is based on a time-of-arrival quality indicator.

23. The method of claim 13, wherein the first criterion is based on a time-of-arrival quality indicator, and the second criterion is based on the time-of-arrival quality indicator, a signal-to-noise ratio, and a mean number of selected bursts.

24. A method of determining a quality indicator for time-of-arrival measurements for use-in a location algorithm, comprising:

obtaining a first quality indicator associated with a time-of-arrival measurement; and

computing a second quality indicator based on the first quality indicator, a signal-to-noise ratio associated with the time-of-arrival measurement, and a mean number of selected bursts (nsb).

25. The method of claim 24, wherein, the second quality indicator is set to abσ

+c if SNR<

TH, and nsb>

N, and the new quality indicator is set to a*σ

otherwise, where σ

is a conventional time-of-arrival quality indicator, b and c are constants, and a is a function of SNR (signal-to-noise ratio).

26. The method of claim 25, wherein b=2, c=1, and a depends on SNR as follows:

27. The method of claim 24, wherein, the second quality indicator is formulated so that a correlation between the second quality indicator and a true time-of-arrival error is higher than a correlation between the first quality indicator and the true time-of-arrival error.

28. A computer-readable media upon which instructions for determining a quality indicator for time-of-arrival measurements for use in a location algorithm are stored, wherein execution of the instructions causes a computer to perform the acts of:

obtaining a first quality indicator associated with a time-of-arrival measurement; and

computing a second quality indicator based on the first quality indicator, a signal-to-noise ratio associated with the time-of-arrival measurement, and a mean number of selected bursts (nsb).

29. The computer-readable media of claim 28, wherein, the second quality indicator is set to abσ

+c if SNR<

TH, and nsb>

N, and the second quality indicator is set to a*σ

otherwise, where σ

is a conventional time-of-arrival quality indicator, b and c are constants, and a is a function of SNR (signal-to-noise ratio).

30. The method of claim 29, wherein b=2, c=1, and a depends on SNR as follows: