Method for estimating jointly time-of-arrival of signals and terminal location
First Claim
1. A method for jointly and iteratively estimating the location of a mobile unit based on ultra-wide band signals received at a plurality of fixed terminals and a range or time-of-arrival between the mobile unit and each of the fixed terminals, comprising:
- (a) at each fixed terminal, determining a time-of-arrival for the signal received at the fixed terminal using a time-of-arrival estimation algorithm with a variable parameter;
(b) based on the times-of-arrival determined at the fixed terminals, providing an estimate of the location of the mobile unit; and
(c) determining if the estimate of the location of the mobile unit is accurate within a predetermined threshold using residuals each representing an error relating the estimate of the location of the mobile unit with the known positions of the fixed terminals, such that;
when the estimate of the location of the mobile unit is accurate within the predetermined threshold, adopting the estimate of the location of the mobile unit; and
when the estimate of the location of the mobile unit is not accurate within the predetermined threshold, repeating determining the time-of-arrival at each fixed terminal according to (a) after modifying the parameter of the times-of-arrival estimation algorithm, thus obtaining updated time-of-arrival estimates and repeating (b) and (c) using the updated time-of-arrival estimates.
2 Assignments
0 Petitions
Accused Products
Abstract
A method that estimates jointly and iteratively the first arriving path of a received signal and a mobile terminal location uses a residual location error. The method may include setting a ranging threshold to reduce residual location error. The method iteratively estimates the first arriving path of the received signals and mobile terminal location, with the estimate of mobile terminal location improving the estimate of the first arriving path, and vice versa. Initially, a peak selection method determines a rough time-of-arrival (TOA) for a signal received at each of a number of different fixed terminals. An estimate of the location of the mobile unit is then provided (e.g., based on a least-squares (LS) triangulation). If the residual error is unsatisfactory, the TOAs are refined, using a search-back algorithm, which searches back from the strongest paths of the received signals. The new TOAs are used to refine the estimate of the location of the mobile terminal. In addition, the parameters of the search-back algorithm (e.g., a search-back threshold, timing windows) may be modified for greater accuracy in the estimated first path. The first arriving path estimate and the location estimate are iterated until convergence (e.g., the residuals are within a tolerance) or until a termination condition is reached, usually controlled by the thresholds setting.
-
Citations
13 Claims
-
1. A method for jointly and iteratively estimating the location of a mobile unit based on ultra-wide band signals received at a plurality of fixed terminals and a range or time-of-arrival between the mobile unit and each of the fixed terminals, comprising:
-
(a) at each fixed terminal, determining a time-of-arrival for the signal received at the fixed terminal using a time-of-arrival estimation algorithm with a variable parameter; (b) based on the times-of-arrival determined at the fixed terminals, providing an estimate of the location of the mobile unit; and (c) determining if the estimate of the location of the mobile unit is accurate within a predetermined threshold using residuals each representing an error relating the estimate of the location of the mobile unit with the known positions of the fixed terminals, such that; when the estimate of the location of the mobile unit is accurate within the predetermined threshold, adopting the estimate of the location of the mobile unit; and when the estimate of the location of the mobile unit is not accurate within the predetermined threshold, repeating determining the time-of-arrival at each fixed terminal according to (a) after modifying the parameter of the times-of-arrival estimation algorithm, thus obtaining updated time-of-arrival estimates and repeating (b) and (c) using the updated time-of-arrival estimates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A method for estimating parameter values of a time-of-arrival estimation algorithm using ranging and localization jointly, comprising:
-
(a) at each fixed terminal, determining a time-of-arrival for the signal received at the fixed terminal using the time-of-arrival estimation algorithm; (b) based on the times-of-arrival determined at the fixed terminals, providing an estimate of the location of the mobile unit, and determining a residual error in the estimate of the location based on known locations of the fixed terminals; and (c) repeating (a) and (b) for all feasible parameter values for the time-of-arrival algorithm, so as to determine the parameter values that minimize the residual error. - View Dependent Claims (13)
-
Specification