Position acquisition

• US 7,107,065 B2
• Filed: 02/02/2001
• Issued: 09/12/2006
• Est. Priority Date: 02/02/2000
• Status: Expired due to Fees

• Current Assignee: Nokia Corporation
• Original Assignee: Nokia Corporation
• Inventors: Lobo, Natividade, Overy, Michael
• Primary Examiner(s): Trost, William
• Assistant Examiner(s): Ewart, James D.
• Application Number:
  US10/182,826
• Publication Number:
  US 20030129993A1
• Time in Patent Office: 2,048 Days
• Field of Search: 455/3.06, 455/66.1, 455/74, 455/404.2, 455418-420, 455/422, 455/456.1, 455/456.2, 455/114.1, 455/115.3, 455/116, 342/450, 342/463, 342/364, 342/386, 379/102.01, 379/102.02, 379/102.03
• US Class Current: 455/456.2
• CPC Class Codes: G01C 21/14 by recording the course traversed by the object G01C21/16 takes precedence
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 5/0244 Accuracy or reliability of position solution or of measurements contributing thereto
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

A first transceiver can position itself by forming an ad hoc network of transceivers which assist the first transceiver in acquiring its position. A dedicated infrastructure such as GPS satellites is not required. The first transceiver, once it has acquired its position, can be involved in a network by another transceiver to assist in the positioning of that transceiver. The acquisition of the position may involve factors such as the trustworthiness of the transceivers in the network and/or the positions of transceivers with which the first transceiver cannot directly communicate.

Claims

1. A radio transceiver for use in a variable arrangement comprising a plurality of radio transceivers, operable:

to form a wireless network with proximal ones of the plurality of transceivers and to control that network;

to calculate, when controlling a network, transceiver position by processing position-related messages received from the proximal transceivers in the network wherein the calculation of position from the received position-related messages includes calculations based upon positions and a maximum communication range of each of the proximal transceivers;

to be included in a network controlled by a proximal one of the plurality of radio transceivers; and

to transmit, when included in a network controlled by the proximal controlling radio transceiver, to the proximal controlling radio transceiver at least one position related message.

2. A radio transceiver as claimed in claim 1, wherein each position-related message has a predetermined format and a content dependent upon the position of the radio transceiver from which the message is transmitted, comprising:

a memory;

receiver circuitry operable when the radio transceiver controls the network to receive a position related message from each of the proximal transceivers included in the network;

a processor operable to determine, from the received position-related messages, location data identifying the position of the radio transceiver and store the determined location data in the memory; and

transmitter circuitry operable, when the radio transceiver is included in a network, to transmit to the proximal controlling radio transceiver at least one position-related message having the predetermined format and a content dependent upon the radio transceivers determined location data stored in the memory.

3. A radio transceiver as claimed in claim 1 wherein:

each position-related message comprises an indication of position of the radio transceiver from which the message is transmitted.

4. A radio transceiver as claimed in claim 3 wherein:

identification data uniquely identifying the radio transceiver is stored, wherein position-related messages transmitted by the transceiver include the identification data.

5. A radio transceiver as claimed in claim 1 wherein:

each position-related message identifies a degree of portability of the radio transceiver from which the position-related message was transmitted.

6. A radio transceiver as claimed in claim 1 wherein:

an indication of trustworthiness related to a probable accuracy of the position-related messages the transceiver transmits when included in a network is stored.

7. A radio transceiver as claimed in claim 6 wherein:

the indication of trustworthiness identifies the radio transceiver as portable.

8. A radio transceiver as claimed in claim 6 wherein:

the indication of trustworthiness identifies the radio transceiver as a reference type, having a reliable position.

10. A radio transceiver as claimed in claim 1 wherein:

the calculation of position from the received position-related messages comprises a first-order calculation based upon positions of the proximal radio transceivers, each transceiver being a radio transceiver which can directly communicate by transmission and reception with the radio transceiver.

11. A radio transceiver as claimed in claim 1 wherein:

the calculation of position from received position-related messages includes calculations based upon positions and estimated distance to the radio transceiver for each one of the first plurality of proximal transceivers.

12. A radio transceiver as claimed in claim 11 comprising:

power detection circuitry which detects the power of a received signal and a power estimate which estimates from the detected power of a received signal the distance to one of the first plurality of proximal transceivers which transmitted the signal.

13. A radio transceiver as claimed in claim 1 wherein:

the calculation of position from the received position-related messages comprises calculations dependent upon trustworthiness of at least one of the proximal transceivers.

14. A radio transceiver as claimed in claim 1 wherein:

said calculation of position from the received position-related messages comprises weighted calculations dependent upon the trustworthiness of the proximal transceivers.

15. A radio transceiver as claimed in claim 1 wherein:

a request is transmitted to each of the proximal transceivers.

16. A radio transceiver as claimed in claim 1 wherein:

in response to a received request, transmitting said position-related message to the transceiver which made the request.

17. A radio transceiver as claimed in claim 1 comprising:

a control which controls the transceiver to act as a Master and form a wireless network with the proximal transceivers as Slaves.

18. A radio transceiver as claimed in claim 1 comprising:

a control which controls the transceiver to act as a Slave included in a wireless network.

19. A radio transceiver as claimed in claim 1 wherein:

the transceiver operates in accordance with the Bluetooth wireless protocol.

20. A radio transceiver as claimed in claim 1 comprising:

a control which causes the transceiver to enter a position acquisition mode in which the transceiver transmits requests to each of the first plurality of proximal transceivers;

the transceiver receives in response to the requests a position-related message from each of the first plurality of proximal transceivers; and

the transceiver processes the position-related messages to estimate its location.

21. A chipset for a radio transceiver as claimed in claim 1 wherein:

the chipset includes a processor operable to determine location data identifying a location of the radio, and a control which controls transmitter circuitry to transmit a message or messages dependent upon the location data.

9. A radio transceiver as claimed in 6 wherein:

the position-related message transmitted by the transceiver includes the indication of trustworthiness.

22. A radio transceiver for use in a variable arrangement comprising:

a plurality of radio transceivers including first order transceivers with which the transceiver can communicate directly and second-order transceivers with which the transceiver cannot communicate directly but can communicate with indirectly via a first order transceiver, which determines position by calculations which take account where the transceiver is located because of communications directly with first order transceivers and which take account where the transceiver is not located because communication directly with the second-order transceivers is not possible.

23. A method by which a first radio transceiver that has not acquired its position can acquire position from a plurality of radio transceivers including first order transceivers with which the transceiver can communicate directly and second-order transceivers with which the transceiver cannot communicate directly but can communicate with indirectly via a first order transceiver, comprising the steps of:

each of the first plurality of first order transceivers transmits position thereof;

at least one first order transceiver transmits the position of at least one second-order transceiver;

the first transceiver receives the transmitted positions and positions the first order transceiver and the at least one second order transceiver; and

the first transceiver acquires positions by calculations which take account of where the first transceiver is located because the first transceiver can communicate directly with positioned first order transceivers and which take account of where the first transceiver is not located because the first receiver cannot communicate directly with the at least one positioned second-order transceiver.

24. A radio transceiver for use in a variable arrangement comprising a plurality of radio transceivers, operable:

to form a wireless network with proximal ones of the plurality of transceivers and to control that network;

to calculate, when controlling a network, transceiver position by processing position-related messages received from the proximal transceivers in the network;

to transmit, when the radio transceiver has calculated its position, the newly calculated position to each of the proximal transceivers, to inform the proximal transceivers of its newly calculated position, the transmission being conditional upon the newly calculated position differing substantially from a previously calculated position;

to be included in a network controlled by a proximal one of the plurality of radio transceivers; and

to transmit, when included in a network controlled by the proximal controlling radio transceiver, to the proximal controlling radio transceiver at least one position-related message.

25. A radio transceiver for use in a variable arrangement comprising a plurality of radio transceivers, operable:

to form a wireless network with proximal ones of the plurality of transceivers and to control that network;

to calculate, when controlling a network, transceiver position by processing position-related messages received from the proximal transceivers in the network wherein the calculation of position from the received position-related messages comprises a second-order calculation including calculations based upon the positions of non-proximal ones of the plurality of radio transceivers, each however of which can directly communicate by transmission and reception with at least one of the proximal transceivers but cannot directly communicate with the radio transceiver;

to be included in a network controlled by a proximal one of the plurality of radio transceivers; and

to transmit, when included in a network controlled by the proximal controlling radio transceiver, to the proximal controlling radio transceiver at least one position-related message.

26. A radio transceiver for use in a variable arrangement comprising a plurality of radio transceivers, operable:

to form a wireless network with proximal ones of the plurality of transceivers and to control that network;

to calculate, when controlling a network, transceiver position by processing position-related messages received from the proximal transceivers in the network wherein calculation of position from the received position-related messages includes convolution of probability density functions, representing position of proximal transceivers, included in received position-related messages with probability density functions representing a likelihood that a transmission from proximal transmitting transceivers will be successfully received at the radio transceiver;

to be included in a network controlled by a proximal one of the plurality of radio transceivers; and

to transmit, when included in a network controlled by the proximal controlling radio transceiver, to the proximal controlling radio transceiver at least one position-related message.

27. A method by which a first radio transceiver that has not acquired a position can acquire a position by the formation of an ad hoc radio communications network with a plurality of proximal radio transceivers which have already acquired their position and which assist the radio transceiver in position acquisition, wherein the first radio receiver, after having acquired position, is thereby able to assist, as part of an ad hoc radio communications network, a second radio transceiver that has not acquired a position to acquire a position, comprising the steps of:

a radio transceiver which has not acquired its position forms a wireless network with a plurality of proximal radio transceivers;

the proximal radio transceivers included in the network that have acquired positions transmit position related messages to the radio transceiver which has not acquired a position; and

the radio transceiver which is acquiring its position, receives the transmitted position-related messages and acquires a position by calculation from the received position-related messages, wherein the calculation of position from the received position-related messages includes calculations based upon position and a maximum communication range of each of the proximal transceivers.

28. A method as claimed in claim 27 wherein at least some of the radio transceivers included in the network store an indication of trustworthiness related to the probable accuracy of the position-related message transmitted by the transceivers.

29. A method as claimed in claim 28 wherein the indication of trustworthiness identifies some of the radio transceivers included in the network as being portable.

30. A method as claimed in claim 27 wherein each position-related message identifies a degree of portability of the radio transceiver from which the position-related message was transmitted.

31. A method by which a first radio transceiver that has not acquired a position can acquire a position by the formation of an ad hoc radio communications network with a plurality of proximal radio transceivers which have already acquired their position and which assist the radio transceiver in position acquisition, wherein the first radio receiver, after having acquired position, is thereby able to assist, as part of an ad hoc radio communications network, a second radio transceiver that has not acquired a position to acquire a position, comprising the steps of:

a radio transceiver which has not acquired its position forms a wireless network;

the radio transceivers included in the network that have acquired positions transmit position related messages to the radio transceiver which has not acquired a position;

the radio transceiver receives the transmitted position-related messages and acquires a position by calculation from the received position-related messages; and

the radio transceiver conditionally transmits its calculated position to the radio transceivers included in the network to inform them of its calculated position, the transmission being conditional upon the calculated position differing substantially from a previously calculated position.

32. A method by which a first radio transceiver that has not acquired a position can acquire a position by the formation of an ad hoc radio communications network with a plurality of proximal radio transceivers which have already acquired their position and which assist the radio transceiver in position acquisition, wherein the first radio receiver, after having acquired position, is thereby able to assist, as part of an ad hoc radio communications network, a second radio transceiver that has not acquired a position to acquire a position, comprising the steps of:

a radio transceiver which has not acquired its position forms a wireless network;

the radio transceivers included in the network that have acquired positions transmit position related messages to the radio transceiver which has not acquired a position; and

the radio transceiver which is acquiring its position, receives the transmitted position-related messages and acquires a position by calculation from the received position-related messages, wherein the calculation of position from the received position-related messages comprises a second-order calculation including calculations based upon the positions of non-proximal ones of the plurality of radio transceivers, each however of which can directly communicate by transmission and reception with at least one of the proximal transceivers but cannot directly communicate with the radio transceiver.

33. A method by which a first radio transceiver that has not acquired a position can acquire a position by the formation of an ad hoc radio communications network with a plurality of proximal radio transceivers which have already acquired their position and which assist the radio transceiver in position acquisition, wherein the first radio receiver, after having acquired position, is thereby able to assist, as part of an ad hoc radio communications network, a second radio transceiver that has not acquired a position to acquire a position, comprising the steps of:

a radio transceiver which has not acquired its position forms a wireless network;

the radio transceivers included in the network that have acquired positions transmit position related messages to the radio transceiver which has not acquired a position; and

the radio transceiver which is acquiring its position, receives the transmitted position-related messages and acquires a position by calculation from the received position-related messages, wherein calculation of position from the received position-related messages includes convolution of probability density functions, representing position of proximal transceivers, included in received position-related messages with probability density functions representing a likelihood that a transmission from proximal transmitting transceivers will be successfully received at the radio transceiver.

34. An arrangement comprising a plurality of radio transceivers including at least one movable radio transceiver wherein each of said plurality of radio transceivers is operable:

to form a wireless network with proximal ones of the plurality of transceivers and to control that network;

to calculate, when controlling a network, transceiver position by processing position-related messages received from the proximal transceivers in the network wherein the calculation of position from the received position-related messages includes calculations based upon position and a maximum communication range of each of the proximal transceivers;

to be included in a network controlled by a proximal one of the plurality of radio transceivers; and

to transmit, when included in a network controlled by the proximal controlling radio transceiver, to the proximal controlling radio transceiver, at least one position-related message.

35. An arrangement as claimed in claim 34 wherein an indication of trustworthiness related to a probable accuracy of the position-related message a transceiver transmits when included in a network is stored.

36. An arrangement as claimed in claim 35 wherein the indication of trustworthiness identifies the radio transceiver as portable.

37. An arrangement as claimed in claim 34 wherein each position-related message identifies a degree of portability of the radio transceiver from which the position related message is transmitted.