Method and apparatus for positioning mobile device

• US 8,330,654 B2
• Filed: 04/01/2010
• Issued: 12/11/2012
• Est. Priority Date: 08/10/2009
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Kuo, Sheng-Po, Tseng, Yu-Chee, Kuo, Lun-Chia, Chen, Chao-Yu, Lo, Chi-Chung, Chu, Jui-Hao
• Primary Examiner(s): Liu, Harry
• Application Number:
  US12/752,693
• Publication Number:
  US 20110032152A1
• Time in Patent Office: 985 Days
• Field of Search: 342/457
• US Class Current: 342/457
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

A method for positioning a mobile device includes following steps. Based on a prior location point of the mobile device, many sample points are generated according to a prior probability distribution associated with the prior location point. A current moving track or a current moving status of the mobile device is obtained, and the sample points are updated according to at least one of the current moving track and the current moving status. A current estimated position is obtained based on a radio frequency signal received by the mobile device. A current probability distribution of the sample points corresponding to the radio frequency signal or the current estimated position is generated to obtain corresponding weights of the updated sample points. A current location point of the mobile device is obtained according to the weights and distribution of the sample points.

Claims

1. A method for positioning a mobile device, comprising:

generating a plurality of sample points based on a prior location point of the mobile device according to a prior probability distribution associated with the prior location point;

obtaining a current moving track or a current moving status of the mobile device and updating the sample points according to at least one of the current moving track and the current moving status; and

obtaining a current estimated position based on a radio frequency signal, generating a current probability distribution of the sample points corresponding to the radio frequency signal or the current estimated position to obtain corresponding weights of the updated sample points, and determining a current location point of the mobile device according to the weights and the current probability distribution of the sample points;

wherein the current moving track of the mobile device is obtained by utilizing an inertia element or a sensing element, or calculating a moving vector of the mobile device.

2. The method for positioning a mobile device according to claim 1, further comprising:

generating the sample points based on an initial point of the mobile device, wherein the sample points corresponding to the initial point have the same weights;

randomly updating the sample points; and

obtaining an initial estimated position based on the radio frequency signal, generating an initial probability distribution of the sample points corresponding to the radio frequency signal or the initial estimated position to obtain corresponding weights of the updated sample points, and obtaining a first location point of the mobile device according to the weights and the initial probability distribution of the sample points.

3. The method for positioning a mobile device according to claim 1, further comprising:

determining whether moving paths of the sample points or results are logical according to map information after the sample points are updated; and

removing the sample points corresponding to illogical paths if the moving paths of the sample points or the results are illogical.

4. The method for positioning a mobile device according to claim 1, wherein the current moving track is a moving track of the mobile device on a 2D plane or in a 3D space.

5. The method for positioning a mobile device according to claim 1, further comprising:

analyzing the obtained current moving track to obtain the current moving status, and adjusting the sample points according to the current moving track and the current moving status.

6. The method for positioning a mobile device according to claim 1, further comprising:

Updating the sample points according to the association between the obtained current moving track and map information.

7. The method for positioning a mobile device according to claim 1, wherein the radio frequency signal is one of a global positioning system (GPS) signal, a wireless network signal, a wireless communication signal and a Bluetooth signal.

8. A mobile device positioning apparatus, comprising:

a receiver for receiving a radio frequency signal;

a sensing feedback unit for obtaining a current moving track or a current moving status of the mobile device; and

a processor coupled to the receiver and the sensing feedback unit;

wherein, the processor generates a plurality of sample points based on a prior location point of the mobile device according to a prior probability distribution associated with the prior location point, updates the sample points according to at least one of the current moving track and the current moving status, determines a current estimated position based on the radio frequency signal, generates a current probability distribution of the sample points corresponding to the radio frequency signal or the current estimated position to obtain corresponding weights of the updated sample points, and determines a current location point of the mobile device according to the weights and the current probability distribution of the sample points;

wherein the sensing feedback unit is an inertia element or a sensing element for obtaining the current moving track of the mobile device.

9. The mobile device positioning apparatus according to claim 8, wherein the processor further generates the sample points based on an initial point of the mobile device, the sample points corresponding to the initial point have the same weights, the processor randomly updates the sample points, determines an initial estimated position based on the radio frequency signal, generates the sample points corresponding to the radio frequency signal or an initial probability distribution of the initial estimated position to obtain corresponding weights of the updated sample points, and determines a first location point of the mobile device according to the weights and distribution of the sample points.

10. The mobile device positioning apparatus according to claim 8, further comprising:

a map information unit coupled to the processor for providing map information;

wherein, after the sample points are updated, the processor determines whether moving paths of the sample points or results are logical according to the map information, and if the moving paths of the sample points or the results are illogical, then the processor removes the sample points corresponding to illogical paths.

11. The mobile device positioning apparatus according to claim 8, wherein the receiver is further for receiving map information, and after the sample points are updated, the processor determines whether moving paths of the sample points or results are logical according to the map information, and if the moving paths of the sample points or the results are illogical, then the processor removes the sample points corresponding to illogical paths.

12. The mobile device positioning apparatus according to claim 8, wherein the current moving track is a moving track of the mobile device on a 2D plane or in a 3D space.

13. The mobile device positioning apparatus according to claim 8, wherein the processor further analyzes the obtained current moving track to obtain the current moving status, and adjusts the sample points according to the current moving track and the current moving status.

14. The mobile device positioning apparatus according to claim 8, further comprising:

a map information unit coupled to the processor for providing map information;

wherein, the processor further updates the sample points according to the association between the current moving track and the map information.

15. The mobile device positioning apparatus according to claim 8, wherein the receiver is further for receiving map information, the processor further updates the sample points according to the association between the current moving track and the map information.

16. The mobile device positioning apparatus according to claim 8, wherein the radio frequency signal is one of a GPS signal, a wireless network signal, a wireless communication signal and a Bluetooth signal.