Relative positioning

• US 8,612,172 B2
• Filed: 09/19/2006
• Issued: 12/17/2013
• Est. Priority Date: 09/19/2006
• Status: Expired due to Fees

• Current Assignee: Nokia Technologies Oy (Nokia Corporation)
• Original Assignee: Nokia Corporation
• Inventors: Wirola, Lauri, Alanen, Kimmo
• Primary Examiner(s): Kundu, Sujoy
• Assistant Examiner(s): SUAREZ, FELIX E
• Application Number:
  US12/311,154
• Publication Number:
  US 20100049469A1
• Time in Patent Office: 2,646 Days
• Field of Search: 702/85, 702/94, 702/96, 702/144, 702/150, 702/179, 702/182, 702/183, 342/357, 364/458, 701/215
• US Class Current: 702/150
• CPC Class Codes: G01C 5/06 by using barometric means
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems

Abstract

For supporting a relative positioning, information on barometric pressure at a first device and information on barometric pressure at a second device is converted into a difference in altitude between the first device and the second device. The difference in altitude between the first device and the second device is then used in determining a position of the first device relative to the second device.

Claims

1. A method comprising:

requesting, by an apparatus, and receiving, by the apparatus, from a first device information on barometric pressure at said first device;

converting, by the apparatus, said information on barometric pressure at said first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device, said first device and said second device being physically unconnected; and

using, by the apparatus, said difference in altitude between said first device and said second device in determining a position of said first device relative to said second device.

2. The method according to claim 1, wherein using said difference in altitude between said first device and said second device in determining said relative position comprises using said difference in altitude as a criterion in a validation of a determined relative position.

3. The method according to claim 1, wherein using said difference in altitude between said first device and said second device in determining said relative position comprises using said difference in altitude in tracking a relative position, said method further comprising

determining a relative position at first independently of information on barometric pressure, wherein said determined relative position includes information on an altitude of said first device relative to said second device;

calibrating a relation between barometric pressure values and altitude values based on said relative altitude information in said determined relative position; and

using said calibrated relation for converting information on barometric pressure at first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device.

4. An apparatus comprising a processor and a memory including computer program code, the at least one memory and the computer program code configured to, with the processor, cause an apparatus at least to perform:

request and receive from a first device information on barometric pressure at said first device;

convert said information on barometric pressure at said first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device, said first device and said second device being physically unconnected; and

said processor being configured to use said difference in altitude between said first device and said second device in determining a position of said first device relative to said second device.

5. The apparatus according to claim 4, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to use said difference in altitude between said first device and said second device in determining a first fix of said relative position.

6. The apparatus according to claim 5, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to determine a first fix of said relative position by solving a set of equations comprising a plurality of unknowns, and to use said altitude difference for removing at least one of said unknowns.

7. The apparatus according to claim 6, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to select variables of said equations based on results of signal measurements including integer ambiguities, and wherein said unknowns comprise unknown relative position values and unknown integer ambiguity values.

8. The apparatus according to claim 4, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to use said difference in altitude between said first device and said second device as a criterion in a validation of a determined relative position.

9. The apparatus according to claim 4, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to use said difference in altitude between said first device and said second device in tracking a relative position.

10. The apparatus according to claim 9, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to track said relative position by solving a set of equations comprising a plurality of unknowns, and to use said altitude difference for removing at least one of said unknowns.

11. The apparatus according to claim 9,

wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to determine a relative position at first independently of information on barometric pressure, wherein said determined relative position includes information on an altitude of said first device relative to said second device;

wherein said memory and said computer program code are further configured to, with said processor, cause said apparatus to calibrate a relation between barometric pressure values and altitude values based on said relative altitude information in said determined relative position; and

wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to use said calibrated relation for converting information on barometric pressure at a first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device.

12. The apparatus according to claim 4, wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to determine said relative position based on results of measurements on satellite signals.

13. The apparatus according to claim 12, wherein said first device comprises a first satellite signal receiver, wherein said second device comprises a second satellite signal receiver, and wherein said memory and said computer program code are configured to, with said processor, cause said apparatus to determine said relative position based on results of measurements on satellite signals at said first satellite signal receiver and at said second satellite signal receiver.

14. The apparatus according to claim 4, further comprising at least one of:

a wireless communication component configured to receive information on the barometric pressure at said first device;

a wireless communication component configured to receive information on the barometric pressure at said first device and information on the barometric pressure at said second device;

a barometer configured to measure a barometric pressure at said second device; and

a satellite signal receiver.

15. The apparatus according to claim 4, wherein the apparatus is a component of a system, the system further comprising:

a barometer configured to measure a barometric pressure at said second device and to provide information on a measured barometric pressure to said processor of said apparatus; and

a wireless communication device configured to receive information on the barometric pressure at said first device and to provide said information to said processor of said apparatus.

16. The apparatus according to claim 4, wherein said apparatus is one of:

a cellular phone;

a personal digital assistant;

a surveying instrument;

a base station of a cellular communication network; and

a server.

17. A non-transitory computer readable medium storing a computer program code, which causes an apparatus to perform the following when executed by a processor:

requesting and receiving from a first device information on barometric pressure at said first device;

converting said information on barometric pressure at said first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device, said first device and said second device being physically unconnected; and

using said difference in altitude between said first device and said second device in determining a position of said first device relative to said second device.

18. A computer readable medium according to claim 17, wherein using said difference in altitude between said first device and said second device in determining said relative position comprises using said difference in altitude as a criterion in a validation of a determined relative position.

19. A computer readable medium according to claim 17, wherein using said difference in altitude between said first device and said second device in determining said relative position comprises using said difference in altitude in tracking a relative position, and wherein said computer program code is further adapted to realize the following:

determining a relative position at first independently of information on barometric pressure, wherein said determined relative position includes information on an altitude of said first device relative to said second device;

calibrating a relation between barometric pressure values and altitude values based on said relative altitude information in said determined relative position; and

using said calibrated relation for converting information on barometric pressure at a first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device.

20. An apparatus comprising:

means, at least partly implemented in hardware, for requesting and receiving from a first device information on barometric pressure at said first device;

means, at least partly implemented in hardware, for converting said information on barometric pressure at said first device and information on barometric pressure at a second device into a difference in altitude between said first device and said second device, said first device and said second device being physically unconnected; and

means, at least partly implemented in hardware, for using said difference in altitude between said first device and said second device in determining a position of said first device relative to said second device.