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Method for an improved linear least squares estimation of a mobile terminal's location under LOS and NLOS conditions and using map information

  • US 8,219,111 B2
  • Filed: 09/02/2008
  • Issued: 07/10/2012
  • Est. Priority Date: 09/12/2007
  • Status: Active Grant
First Claim
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1. A method for localization of a mobile terminal using known positions of a plurality of fixed terminals, comprising:

  • at each fixed terminal, receiving a signal from the mobile terminal;

    for each fixed terminal, estimating a square of a distance separating the known location for the fixed terminal from the mobile terminal based upon the received signal;

    selecting a single reference terminal from the fixed terminals that is closest to the mobile terminal to reduce a mean squared error for the localization of the mobile terminal, the single reference terminal being located at a reference position and corresponding to a squared reference distance to the mobile terminal, the plurality of fixed terminals thereby corresponding to the single reference terminal and a remaining set of fixed terminals;

    deriving linear equations from the squared distances, the squared reference distance, the reference location, the known locations for the remaining set of fixed terminals, and a covariance matrix that measures covariances resulting from the linear equation derivation; and

    determining the position of the mobile terminal using a location estimator on the linear equations.

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