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Method for estimating jointly time-of-arrival of signals and terminal location

  • US 7,574,221 B2
  • Filed: 08/01/2007
  • Issued: 08/11/2009
  • Est. Priority Date: 08/03/2006
  • Status: Expired due to Fees
First Claim
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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.

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