Methods and systems for location estimation
First Claim
1. A method of estimating physical locations of one or more unknown-location nodes in a network comprising known-location nodes and unknown-location nodes, the method comprising:
- maintaining in a database known locations of the known-location nodes and estimates of locations of the unknown-location nodes;
for each unknown-location node;
receiving neighbor node distance estimates;
choosing an initial location estimate;
computing neighbor node distances between the initial location estimate and neighbor node locations of neighbor nodes;
computing a total error from the received neighbor node distance estimates and the computed neighbor node distances;
computing a stopping criterion;
determining if the stopping criterion satisfies a stopping threshold;
while the stopping criterion does not satisfy the stopping threshold;
for each unknown-location node;
choosing a subsequent location estimate that differs from a previous location estimate;
computing updated neighbor node distances between the subsequent location estimate and neighbor node locations of neighbor nodes;
computing an updated total error from the received neighbor node distance estimates and the computed neighbor node distances;
determining if the stopping criterion satisfies a stopping threshold; and
updating in the database the estimate of the locations of the unknown-location nodes if the stopping criterion satisfies the stopping threshold.
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Accused Products
Abstract
A network operating center for a network comprising known-location and unknown-location nodes can be configured to receive from each unknown-location node estimates of the distances from that node to each of its neighbor nodes. The network controller can then choose an initial location estimate for each unknown-location node and compute distances from the initial location estimates to the corresponding neighbor nodes. The network operating center can then choose subsequent location estimates of the unknown-location nodes by minimizing an error criterion based on a comparison of the received neighbor node distance estimates with the computed neighbor node distances.
13 Citations
25 Claims
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1. A method of estimating physical locations of one or more unknown-location nodes in a network comprising known-location nodes and unknown-location nodes, the method comprising:
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maintaining in a database known locations of the known-location nodes and estimates of locations of the unknown-location nodes; for each unknown-location node; receiving neighbor node distance estimates; choosing an initial location estimate; computing neighbor node distances between the initial location estimate and neighbor node locations of neighbor nodes; computing a total error from the received neighbor node distance estimates and the computed neighbor node distances; computing a stopping criterion; determining if the stopping criterion satisfies a stopping threshold; while the stopping criterion does not satisfy the stopping threshold; for each unknown-location node; choosing a subsequent location estimate that differs from a previous location estimate; computing updated neighbor node distances between the subsequent location estimate and neighbor node locations of neighbor nodes; computing an updated total error from the received neighbor node distance estimates and the computed neighbor node distances; determining if the stopping criterion satisfies a stopping threshold; and updating in the database the estimate of the locations of the unknown-location nodes if the stopping criterion satisfies the stopping threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
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a non-transitory computer-readable medium; and one or more processors in communication with the non-transitory computer-readable medium, the one or more processors configured to; maintain in a database known locations of known-location nodes and estimates of locations of unknown-location nodes; for each unknown-location node; receive neighbor node distance estimates; choose an initial location estimate; compute neighbor node distances between the initial location estimate and neighbor node locations of neighbor nodes; compute a total error from the received neighbor node distance estimates and the computed neighbor node distances; compute a stopping criterion; determine if the stopping criterion satisfies a stopping threshold; while the stopping criterion does not satisfy the stopping threshold; for each unknown-location node; choose a subsequent location estimate that differs from a previous location estimate; compute updated neighbor node distances between the subsequent location estimate and neighbor node locations of neighbor nodes; compute an updated total error from the received neighbor node distance estimates and the computed neighbor node distances; determine if the stopping criterion satisfies a stopping threshold; and update in the database the estimate of the locations of the unknown-location nodes if the stopping criterion satisfies the stopping threshold. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory computer-readable medium comprising program code, the program code configured to cause a processor to execute a method, the program code comprising:
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program code for maintaining in a database known locations of known-location nodes and estimates of locations of unknown-location nodes; for each unknown-location node; program code for receiving neighbor node distance estimates; program code for choosing an initial location estimate; program code for computing neighbor node distances between the initial location estimate and neighbor node locations of neighbor nodes; program code for computing a total error from the received neighbor node distance estimates and the computed neighbor node distances; program code for computing a stopping criterion; program code for determining if the stopping criterion satisfies a stopping threshold; while the stopping criterion does not satisfy the stopping threshold; for each unknown-location node; program code for choosing a subsequent location estimate that differs from a previous location estimate; program code for computing updated neighbor node distances between the subsequent location estimate and neighbor node locations of neighbor nodes; program code for computing an updated total error from the received neighbor node distance estimates and the computed neighbor node distances; program code for determining if the stopping criterion satisfies a stopping threshold; and program code for updating in the database the estimate of the locations of the unknown-location nodes if the stopping criterion satisfies the stopping threshold. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification