Indoor positioning using joint likelihoods

• US 8,583,146 B2
• Filed: 12/19/2012
• Issued: 11/12/2013
• Est. Priority Date: 04/10/2012
• Status: Expired due to Fees

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Palanki, Ravi, Naguib, Ayman Fawzy
• Primary Examiner(s): PATEL, MAHENDRA R
• Application Number:
  US13/720,762
• Publication Number:
  US 20130267243A1
• Time in Patent Office: 328 Days
• Field of Search: 455/456.6, 455/522, 455/11.1, 455/458, 455/12.1, 455/456.3, 455/436, 370/331, 370/252, 370/508, 370/280, 342/450, 342/357.44, 342/357.25, 342/357.62, 340/7.52
• US Class Current: 455/456.6
• CPC Class Codes: G01S 5/02521 using a radio-map
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings

Abstract

A method in a mobile terminal for estimating a position of the mobile terminal includes: receiving an expected measurement map indicative of expected measurement values of a parameter; receiving parameters of a matrix corresponding to the expected measurement map; capturing actual measurement values of the parameter for a plurality of communication devices; and utilizing the received parameters and actual measurement values to estimate a position of the mobile terminal, where the expected measurement map includes, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ)}_Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices.

Claims

1. A method in a mobile terminal for estimating a position of the mobile terminal, the method comprising:

receiving an expected measurement map indicative of expected measurement values of a parameter;

receiving parameters of a matrix R_nn corresponding to the expected measurement map;

capturing actual measurement values of the parameter for a plurality of communication devices; and

utilizing the received parameters and the actual measurement values to estimate a position of the mobile terminal,

wherein the expected measurement map comprises, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ

)}_Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices, and

wherein utilizing the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprises

computing, for each of a plurality of hypothesis locations, an interim vector ({right arrow over (Y)}_i,j) from the actual measurements and the expected measurement map,

computing a joint probability distribution value (P_i,j) as an exponential of a matrix product of {right arrow over (Y)}_i,j and R_nn, and

filtering the joint probability distribution value to estimate the position of the mobile terminal.

2. The method of claim 1 wherein computing the respective interim vector comprises removing an unknown antenna gain of the mobile terminal.

3. The method of claim 1 wherein computing the respective interim vector comprises removing an unknown processing delay of the plurality of communication devices.

4. A mobile terminal for estimating a position of the mobile terminal, the mobile terminal comprising:

means for receiving an expected measurement map indicative of expected measurement values of a parameter;

means for receiving parameters of a matrix R_nn corresponding to the expected measurement map;

means for capturing actual measurement values of the parameter for a plurality of communication devices; and

means for utilizing the received parameters and actual measurement values to estimate a position of the mobile terminal,

wherein the expected measurement map comprises, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ

)}_Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices, and

wherein the means for utilizing the received parameters and the actual measurement values to estimate a position of the mobile terminal further comprise

means for computing, for each of a plurality of hypothesis locations, an interim vector ({right arrow over (Y)}_i,j) from the actual measurements and the expected measurement map,

means for computing a joint probability distribution value (P_i,j) as an exponential of a matrix product of {right arrow over (Y)}_i,j and matrix R_nn, and

means for filtering the joint probability distribution value to estimate the position of the mobile terminal.

5. The mobile terminal of claim 4 wherein the means for computing the respective interim vector comprises means for removing an unknown antenna gain of the mobile terminal.

6. The mobile terminal of claim 4 wherein the means for computing the respective interim vector comprises means for removing an unknown processing delay of the plurality of communication devices.

7. A device comprising:

a processor;

a transceiver operable to send and receive wireless signals, wherein the processor is coupled to receive data from the transceiver; and

a non-transitory memory having stored thereon instructions for configuring the processor to;

receive an expected measurement map indicative of expected measurement values of a parameter;

receive parameters of a matrix R_nn corresponding to the expected measurement map;

capture actual measurement values of the parameter for a plurality of communication devices; and

utilize the received parameters and actual measurement values to estimate a position of the mobile terminal,

wherein the expected measurement map comprises, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ

)}_Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices, and

wherein the instructions for configuring the processor to utilize the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprise instructions for configuring the processor to

compute, for each of a plurality of hypothesis locations, an interim vector ({right arrow over (Y)}_i,j) from the actual measurements and the expected measurement map,

compute a joint probability distribution value (P_i,j) as an exponential of a matrix product of {right arrow over (Y)}_i,j and R_nn, and

filter the joint probability distribution value to estimate the position of the mobile terminal.

8. The device of claim 7 wherein the instructions for configuring the processor to compute the respective interim vector comprise instructions for configuring the processor to remove an unknown antenna gain of the mobile terminal.

9. The device of claim 7 wherein the instructions for configuring the processor to compute the respective interim vector comprise instructions for configuring the processor to remove an unknown processing delay of the plurality of communication devices.

10. A non-transitory computer-readable medium, having stored thereon computer-readable instructions for estimating a position of the mobile terminal, comprising instructions configured to cause a computer to:

receive an expected measurement map indicative of expected measurement values of a parameter;

receive parameters of a matrix R_nn corresponding to the expected measurement map;

capture actual measurement values of the parameter for a plurality of communication devices; and

utilize the received parameters and actual measurement values to estimate a position of the mobile terminal,

wherein the expected measurement map comprises, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ

)}_Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices, and

wherein the instructions configured to cause the computer to utilize the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprise instructions configured to cause the computer to

compute, for each of a plurality of hypothesis locations, an interim vector ({right arrow over (Y)}_i,j) from the actual measurements and the expected measurement map;

compute a joint probability distribution value (P_i,j) as an exponential of a matrix product of {right arrow over (Y)}_i,j and R_nn; and

filter the joint probability distribution value to estimate the position of the mobile terminal.

11. The non-transitory computer-readable storage medium of claim 10 wherein the instructions to cause the computer to compute the interim vector further comprise instructions to cause the computer to remove an unknown antenna gain of the mobile terminal.

12. The non-transitory computer-readable storage medium of claim 10 wherein the instructions to cause the computer to compute the interim vector further comprise instructions to cause the computer to remove an unknown processing delay of the plurality of communication devices.

13. A method in a mobile terminal for estimating a position of the mobile terminal, the method comprising:

receiving an expected measurement map indicative of an expected measurement values of a parameter by the mobile terminal;

receiving parameters values of a matrix corresponding to the expected measurement map;

capturing, by the mobile terminal, actual measurement values of the parameter for a plurality of communication devices; and

utilizing the received parameter values and the actual measurement values to estimate the position of the mobile terminal, wherein utilizing the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprises

computing, for each of a plurality of hypothesis locations, an interim vector using the actual measurement values and the expected measurement map,

computing a joint probability distribution value using the interim vector and the matrix corresponding to the expected measurement map, and

filtering, with a Kalman filter, the joint probability distribution value to estimate the position of the mobile terminal.

14. The method of claim 13, wherein receiving the expected measurement map comprises receiving a set of expected measurement values associated with one of the plurality of communication devices and a plurality of hypothesis locations.

15. The method of claim 13, wherein receiving the expected measurement map comprises receiving a set of expected measurement values associated with the plurality of communication devices and a hypothesis location.

16. The method of claim 13, wherein the method is implemented in a server in communication with the mobile terminal, and further comprising receiving, from the mobile terminal, captured measurements, from the position of the mobile terminal, for the plurality of communication devices.

17. A mobile terminal for estimating a position of the mobile terminal, the mobile terminal comprising:

means for receiving an expected measurement map indicative of an expected measurement values of a parameter by the mobile terminal;

means for receiving parameters values of a matrix corresponding to the expected measurement map;

means for capturing, by the mobile terminal, actual measurement values of the parameter for a plurality of communication devices; and

means for utilizing the received parameter values and the actual measurement values to estimate the position of the mobile terminal, wherein the means for utilizing the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprises

means for computing, for each of a plurality of hypothesis locations, an interim vector using the actual measurement values and the expected measurement map,

means for computing a joint probability distribution value using the interim vector and the matrix corresponding to the expected measurement map, and

filtering, with a Kalman filter, the joint probability distribution value to estimate the position of the mobile terminal.

18. The mobile terminal of claim 17, wherein the means for receiving the expected measurement map comprises means for receiving a set of expected measurement values associated with one of the plurality of communication devices and a plurality of hypothesis locations.

19. The mobile terminal of claim 17, wherein the means for receiving the expected measurement map comprises means for receiving a set of expected measurement values associated with the plurality of communication devices and a hypothesis location.

20. A device comprising:

a processor;

a transceiver operable to send and receive wireless signals, wherein the processor is coupled to receive data from the transceiver; and

a non-transitory memory having stored thereon instructions for configuring the processor to;

receive an expected measurement map indicative of an expected measurement values of a parameter by the mobile terminal;

receive parameters values of a matrix corresponding to the expected measurement map;

capture, by the mobile terminal, actual measurement values of the parameter for a plurality of communication devices; and

utilize the received parameter values and the actual measurement values to estimate a position of the mobile terminal, wherein the processor is further configured to

compute, for each of a plurality of hypothesis locations, an interim vector using the actual measurement values and the expected measurement map,

compute a joint probability distribution value using the interim vector and the matrix corresponding to the expected measurement map, and

filter, with a Kalman filter, the joint probability distribution value to estimate the position of the mobile terminal.

21. The device of claim 20, wherein the instructions for configuring the processor to receive the expected measurement map comprise instructions for configuring the processor to receive a set of expected measurement values associated with one of the plurality of communication devices and a plurality of hypothesis locations.

22. The device of claim 20, wherein the instructions for configuring the processor to receive the expected measurement map comprise instructions for configuring the processor to receive a set of expected measurement values associated with the plurality of communication devices and a hypothesis location.

23. A non-transitory computer-readable medium, having stored thereon computer-readable instructions for estimating a position of the mobile terminal, comprising instructions configured to cause a computer to:

receive an expected measurement map indicative of an expected measurement values of a parameter by the mobile terminal;

receive parameters values of a matrix corresponding to the expected measurement map;

capture, by the mobile terminal, actual measurement values of the parameter for a plurality of communication devices; and

utilize the received parameter values and the actual measurement values to estimate the position of the mobile terminal, wherein the instructions configured to cause the computer to utilize the received parameter values and the actual measurement values to estimate the position of the mobile further comprise instructions configured to cause the computer to

compute, for each of a plurality of hypothesis locations, an interim vector using the actual measurement values and the expected measurement map,

compute a joint probability distribution value using the interim vector and the matrix corresponding to the expected measurement map, and

filter, with a Kalman filter, the joint probability distribution value to estimate the position of the mobile terminal.

24. The non-transitory computer-readable storage medium of claim 23, wherein the instructions configured to cause the computer to receive the expected measurement map comprise instructions to cause the computer to receive a set of expected measurement values associated with one of the plurality of communication devices and a plurality of hypothesis locations.

25. The non-transitory computer-readable storage medium of claim 23, wherein the instructions configured to cause the computer to receive the expected measurement map comprise instructions to cause the computer to receive a set of expected measurement values associated with the plurality of communication devices and a hypothesis location.