Position estimation through iterative inclusion of measurement data

• US 8,384,595 B2
• Filed: 12/16/2010
• Issued: 02/26/2013
• Est. Priority Date: 12/16/2010
• Status: Active Grant

• Current Assignee: Skyhook Holding, Inc. (Liberty Broadband Corp.)
• Original Assignee: TruePosition Incorporated
• Inventors: Anderson, Robert J, Mia, Rashidus S, Boyer, Pete A
• Primary Examiner(s): Phan, Dao
• Application Number:
  US12/970,594
• Publication Number:
  US 20120154218A1
• Time in Patent Office: 803 Days
• Field of Search: 342/378, 342/450, 342/453, 342/465, 455/456.1
• US Class Current: 342/378
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence

Abstract

In a wireless location system configured to use a baseline correlation method, an iterative approach to increasing location accuracy is disclosed. The quality of received signals is ordered from highest to lowest and used to calculate an initial location. The initial location is modified using the lower quality signals as constrained by the time and frequency deviation from the initial location and velocity estimate.

Claims

1. A method for increasing the accuracy of a wireless location system (WLS), comprising:

receiving an uplink signal from a mobile device at a plurality of geographically dispersed location measuring units (LMUs);

correlating a reference signal with the uplink signal received at each of the plurality of LMUs;

defining a plurality of baselines corresponding to respective pairs of LMUs;

ranking the baselines based on a quality metric;

determining an initial location solution for the mobile device, wherein the initial location solution is based on at least two baselines but less than all of the baselines; and

iteratively employing one or more additional baselines of the plurality of baselines to improve upon the initial location solution until a stopping condition is met.

2. A method as recited in claim 1, wherein the stopping condition is met when there is excessive deviation of a current estimate of the location solution from a prior estimate of the location solution.

3. A method as recited in claim 2, wherein the excessive deviation is determined based on an error estimation for the location solution.

4. A method as recited in claim 1, wherein a common correlation threshold is employed to select baselines of a predetermined quality for the initial location solution.

5. A method as recited in claim 1, wherein the initial location solution is employed to time filter correlation data corresponding to non-selected baselines, wherein the filtered correlation data is then evaluated against a secondary threshold to identify additional baselines of the plurality of baselines to include in the location solution.

6. A method as recited in claim 1, wherein the initial location solution is used to compute a deviation metric for remaining baselines.

7. A method as recited in claim 6, wherein, when computing the deviation metric, a baseline measurement error is computed assuming that the current location solution is accurate and baselines with the smallest deviation are identified as candidates for use in subsequent iterations.

8. A method as recited in claim 7, wherein the deviation metric is computed as the magnitude of the difference between a measured time difference of arrival (TDOA) value for one of the remaining baselines and a TDOA value determined by the initial location solution.

9. A method as recited in claim 8, wherein, after the initial location solution is determined and computation of the deviation metric, an iterative sequence is entered wherein the baselines identified as candidates for use in subsequent iterations are reweighted based on the deviation metric.

10. A method as recited in claim 9, wherein baselines are reweighted using a generalized weighting that includes a deviation contribution and an original weight as

11. A method as recited in claim 10, wherein, once the baseline weighting has been updated, the location solution is re-determined using one or more additional baselines of the reweighted baselines.

12. A method as recited in claim 1, wherein said stopping condition is met when a determination is made that additional baselines do not exist.

13. A method as recited in claim 1, wherein said stopping condition is met when a determination is made that a predetermined baseline deviation threshold is exceeded.

14. A method as recited in claim 13, wherein said predetermined baseline deviation threshold is determined based on the number of baselines added and the number of baselines remaining.

15. A method as recited in claim 14, wherein said predetermined baseline deviation threshold is empirically determined.

16. A method as recited in claim 14, wherein said predetermined baseline deviation threshold is determined via simulation.

17. A method as recited in claim 1, wherein said stopping condition is met when a determination is made that a magnitude of the difference between a next candidate baseline'"'"'s weight and a weight of the baseline that was most recently added exceeds a predetermined threshold.

18. A method as recited in claim 17, wherein said predetermined threshold is empirically determined.

19. A method as recited in claim 17, wherein said predetermined threshold is determined via simulation.

20. A method as recited in claim 12, wherein, once the stopping condition is met, a current location solution is the final solution reported.

21. A method as recited in claim 1, wherein said determining an initial location solution is based on the highest N baselines.

22. A method as recited in claim 21, wherein N is a predetermined number.

23. A method as recited in claim 21, wherein N is dynamically set by inclusion of all baselines above a predefined threshold wherein the predefined threshold is set high enough to reject false detects.

24. A method as recited in claim 23, wherein when the predefined threshold does not yield at least N baselines, the predefined threshold is lowered such that N baselines are selected.

25. A system configured to increase the accuracy of a wireless location system (WLS), the system comprising at least one processor and at least one storage medium communicatively coupled to said at least one processor, the storage medium having stored therein computer-executable instructions for instructing the processor in causing the following steps:

receiving an uplink signal from a mobile device at a plurality of geographically dispersed location measuring units (LMUs);

correlating a reference signal with the uplink signal received at each of the plurality of LMUs;

defining a plurality of baselines corresponding to respective pairs of LMUs;

ranking the baselines based on a quality metric;

determining an initial location solution for the mobile device, wherein the initial location solution is based on at least two baselines but less than all of the baselines; and

iteratively employing one or more additional baselines of the plurality of baselines to improve upon the initial location solution until a stopping condition is met.

26. A system as recited in claim 25, wherein the stopping condition is met when there is excessive deviation of a current estimate of the location solution from a prior estimate of the location solution.

27. A system as recited in claim 26, wherein the excessive deviation is determined based on an error estimation for the location solution.

28. A system as recited in claim 25, wherein a common correlation threshold is employed to select baselines of a predetermined quality for the initial location solution.

29. A system as recited in claim 25, wherein the initial location solution is employed to time filter correlation data corresponding to non-selected baselines, wherein the filtered correlation data is then evaluated against a secondary threshold to identify additional baselines of the plurality of baselines to include in the location solution.

30. A system as recited in claim 25, wherein the initial location solution is used to compute a deviation metric for remaining baselines.

31. A system as recited in claim 30, wherein, when computing the deviation metric, a baseline measurement error is computed assuming that the current location solution is accurate and baselines with the smallest deviation are identified as candidates for use in subsequent iterations.

32. A system as recited in claim 30, wherein the deviation metric is computed as the magnitude of the difference between a measured time difference of arrival (TDOA) value for one of the remaining baselines and a TDOA value determined by the initial location solution.

33. A system as recited in claim 32, wherein, after the initial location solution is determined and computation of the deviation metric, an iterative sequence is entered wherein the baselines identified as candidates for use in subsequent iterations are reweighted based on the deviation metric.

34. A system as recited in claim 33, wherein baselines are reweighted using a generalized weighting that includes a deviation contribution and an original weight as

35. A system as recited in claim 34, wherein, once the baseline weighting has been updated, the location solution is re-determined using one or more additional baselines of the reweighted baselines.

36. A system as recited in claim 25, wherein said stopping condition is met when a determination is made that additional baselines do not exist.

37. A system as recited in claim 25 wherein said stopping condition is met when a determination is made that a predetermined baseline deviation threshold is exceeded.

38. A system as recited in claim 37, wherein said predetermined baseline deviation threshold is determined based on the number of baselines added and the number of baselines remaining.

39. A system as recited in claim 38, wherein said predetermined baseline deviation threshold is empirically determined.

40. A method as recited in claim 38, wherein said predetermined baseline deviation threshold is determined via simulation.

41. A system as recited in claim 25, wherein said stopping condition is met when upon a determination that a magnitude of the difference between a next candidate baseline'"'"'s weight and a weight of the baseline that was most recently added exceeds a predetermined threshold.

42. A system as recited in claim 41, wherein said predetermined threshold is empirically determined.

43. A system as recited in claim 41, wherein said predetermined threshold is determined via simulation.

44. A system as recited in claim 36, wherein, once the stopping condition is met, a current location solution is the final solution reported.

45. A system as recited in claim 25, wherein said determining an initial location solution is based on the highest N baselines.

46. A system as recited in claim 45, wherein N is a predetermined number.

47. A system as recited in claim 45, wherein N is dynamically set by inclusion of all baselines above a predefined threshold wherein the predefined threshold is set high enough to reject false detects.

48. A system as recited in claim 47, wherein when the predefined threshold does not yield at least N baselines, the predefined threshold is lowered such that N baselines are selected.

49. A non-transitory computer readable storage medium storing thereon computer executable instructions for increasing the accuracy of a wireless location system (WLS), said computer executable instructions comprising:

instructions for receiving an uplink signal from a mobile device at a plurality of geographically dispersed location measuring units (LMUs);

instructions for correlating a reference signal with the uplink signal received at each of the plurality of LMUs;

instructions for defining a plurality of baselines corresponding to respective pairs of LMUs;

instructions for ranking the baselines based on a quality metric;

instructions for determining an initial location solution for the mobile device, wherein the initial location solution is based on at least two baselines but less than all of the baselines; and

instructions for iteratively employing one or more additional baselines of the plurality of baselines to improve upon the initial location solution until a stopping condition is met.

50. A non-transitory computer readable storage medium as recited in claim 49, wherein the stopping condition is met when there is excessive deviation of a current estimate of the location solution from a prior estimate of the location solution.

51. A non-transitory computer readable storage medium as recited in claim 50, wherein the excessive deviation is determined based on an error estimation for the location solution.

52. A non-transitory computer readable storage medium as recited in claim 49, wherein a common correlation threshold is employed to select baselines of a predetermined quality for the initial location solution.

53. A non-transitory computer readable storage medium as recited in claim 49, wherein the initial location solution is employed to time filter correlation data corresponding to non-selected baselines, wherein the filtered correlation data is then evaluated against a secondary threshold to identify additional baselines of the plurality of baselines to include in the location solution.

54. A non-transitory computer readable storage medium as recited in claim 49, wherein the initial location solution is used to compute a deviation metric for remaining baselines.

55. A non-transitory computer readable storage medium as recited in claim 54, wherein, when computing the deviation metric, a baseline measurement error is computed assuming that the current location solution is accurate and baselines with the smallest deviation are identified as candidates for use in subsequent iterations.

56. A non-transitory computer readable storage medium as recited in claim 54, wherein the deviation metric is computed as the magnitude of the difference between a measured time difference of arrival (TDOA) value for one of the remaining baselines and a TDOA value determined by the initial location solution.

57. A non-transitory computer readable storage medium as recited in claim 56, wherein, after the initial location solution is determined and computation of the deviation metric, an iterative sequence is entered wherein the baselines identified as candidates for use in subsequent iterations are reweighted based on the deviation metric.

58. A non-transitory computer readable storage medium as recited in claim 57, wherein baselines are reweighted using a generalized weighting that includes a deviation contribution and an original weight as

59. A non-transitory computer readable storage medium as recited in claim 58, wherein, once the baseline weighting has been updated, the location solution is re-determined using one or more additional baselines of the reweighted baselines.

60. A non-transitory computer readable storage medium as recited in claim 49, wherein said stopping condition is met when it is determined that additional baselines do not exist.

61. A non-transitory computer readable storage medium as recited in claim 49 wherein said stopping condition is met upon determining that a predetermined baseline deviation threshold is exceeded.

62. A non-transitory computer readable storage medium as recited in claim 61, wherein said predetermined baseline deviation threshold is determined based on the number of baselines added and the number of baselines remaining.

63. A non-transitory computer readable storage medium as recited in claim 62, wherein said predetermined baseline deviation threshold is empirically determined.

64. A non-transitory computer readable storage medium as recited in claim 62, wherein said predetermined baseline deviation threshold is determined via simulation.

65. A non-transitory computer readable storage medium as recited in claim 49, wherein said stopping condition is met upon determining that a magnitude of the difference between a next candidate baseline'"'"'s weight and a weight of the baseline that was most recently added exceeds a predetermined threshold.

66. A non-transitory computer readable storage medium as recited in claim 65, wherein said predetermined threshold is empirically determined.

67. A non-transitory computer readable storage medium as recited in claim 65, wherein said predetermined threshold is determined via simulation.

68. A non-transitory computer readable storage medium as recited in claim 60, wherein, once the stopping condition is met, a current location solution is the final solution reported.

69. A non-transitory computer readable storage medium as recited in claim 49, wherein said determining an initial location solution is based on the highest N baselines.

70. A non-transitory computer readable storage medium as recited in claim 69, wherein N is a predetermined number.

71. A non-transitory computer readable storage medium as recited in claim 69, wherein N is dynamically set by inclusion of all baselines above a predefined threshold wherein the predefined threshold is set high enough to reject false detects.

72. A non-transitory computer readable storage medium as recited in claim 71, wherein when the predefined threshold does not yield at least N baselines, the predefined threshold is lowered such that N baselines are selected.