Location determination

• US 8,644,843 B2
• Filed: 05/16/2008
• Issued: 02/04/2014
• Est. Priority Date: 05/16/2008
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Canon, Stephen Tyrone, Sazegari, Ali
• Primary Examiner(s): Ho, Huy C
• Application Number:
  US12/122,339
• Publication Number:
  US 20090286549A1
• Time in Patent Office: 2,090 Days
• Field of Search: 455/456.1, 455/456.2
• US Class Current: 455/456.1
• CPC Class Codes: G01S 5/02524 Creating or updating the radio-map
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Systems, methods, and computer program products obtain power information indicating a detected power of respective signals received in a mobile device from multiple transmitters. Using at least the obtained power information, respective probability values for a plurality of positions are determined, each probability value indicating a probability that the mobile device is in a corresponding position. An estimated position of the mobile device is identified based at least in part on the determined probability values.

Claims

1. A method comprising:

obtaining power information indicating a detected power of respective signals received in a mobile device from multiple transmitters;

determining a plurality of sample positions, each sample position being a possible location of the mobile device;

determining, using at least the obtained power information, known locations of the transmitters, and the sample positions, a probability model, the probability model including respective probability values of the sample positions, each probability value indicating a probability that the mobile device is located at a corresponding sample position, the probability value of each sample position being determined based at least in part on;

a function measuring contributions of power of a signal from a first transmitter and power of a signal from a second transmitter to signals measurable at the sample location,

the detected power of respective signals from the first transmitter and the second transmitter, and

the respective known locations of the first transmitter and the second transmitter; and

identifying, from the plurality of sample positions, an estimated position of the mobile device based at least in part on the determined probability values.

2. The method of claim 1, wherein determining the sample positions comprises:

selecting a geographical region to which the statistical model applies;

randomly or pseudo randomly selecting a plurality of positions within the selected geographical region; and

designating the selected positions as the sample positions.

3. The method of claim 2, further comprising:

determining that a previous location of the mobile device has been registered,

wherein the geographical region is selected based at least in part on the registered previous location.

4. The method of claim 2, further comprising:

determining a transmitter, among the multiple transmitters, having a strongest signal according to the obtained power information,

wherein the geographical region is selected based at least in part on a location of the determined the transmitter having the strongest signal.

5. The method of claim 2, wherein multiple previous location determinations have been performed, the method further comprising:

generating an error estimate for a most recent of the previous location determinations,

wherein the geographical region is selected based at least in part on the generated error estimate.

6. The method of claim 2, wherein the statistical model is configured to have at least one term added and be taken into account in determining the probability values.

7. The method of claim 6, further comprising:

for each of the multiple transmitters, adding a term to the statistical model, the term reflecting that a conditional probability that the mobile device is a distance d from the respective transmitter follows a log-normal distribution, wherein a mean and a standard deviation of the log-normal distribution are functions of the power of the respective transmitter.

8. The method of claim 7, further comprising:

obtaining a training data set comprising signal strength information regarding known locations; and

estimating the functions for the mean and the standard deviation using the obtained training data set.

9. The method of claim 6, further comprising:

for each pair of the multiple transmitters, adding a term to the statistical model, the term reflecting that a conditional probability that the mobile device is at a distance d from a point on a line joining the pair of the multiple transmitters follows a log-normal distribution,

wherein a mean and a standard deviation are functions of ratios between the powers of the respective two transmitters in each pair.

10. The method of claim 9, further comprising:

obtaining a training data set comprising signal strength information regarding known locations; and

estimating the functions for the mean and the standard deviation using the obtained training data set.

11. The method of claim 6, further comprising:

obtaining a previously estimated location for the mobile device; and

adding a term to the statistical model, the term reflecting that a conditional probability that the mobile device is at a distance d from the previously estimated location follows a radially symmetric Gaussian distribution about the previously estimated location.

12. The method of claim 11, wherein a standard deviation of the radially symmetric Gaussian distribution is based on an error estimate and on information about how recently the previously estimated location was identified.

13. The method of claim 6, further comprising:

obtaining geographical information relating to at least one of the plurality of positions; and

adding a term to the statistical model based on the obtained geographical information.

14. The method of claim 13, wherein the geographical information provides a bias toward some locations over other locations.

15. The method of claim 1, wherein identifying the estimated position comprises:

selecting one of the determined probability values that is associated with a highest probability that the mobile device is in the corresponding position.

16. The method of claim 1, wherein identifying the estimated position comprises:

determining a centroid location based on the determined probability values; and

selecting the determined centroid location as the estimated position.

17. The method of claim 1, further comprising:

determining that additional power information is required to identify the estimated position;

postponing the identification of the estimated position for a period of time; and

collecting the additional power information, wherein the estimated position of the mobile device is identified based also on the additional power information.

22. The method of claim 1, wherein the function measuring the contributions of the power of the signal from the first transmitter and the power of the signal from the second transmitter includes a ratio between the power of the signal from the first transmitter and the power of the signal from the second transmitter.

18. A computer program product, encoded on a non-transitory computer-readable medium, operable to cause a portable device to perform operations comprising:

obtaining power information indicating a detected power of respective signals received in a mobile device from multiple transmitters;

determining a plurality of sample positions, each sample position being a possible location of the mobile device;

determining, using at least the obtained power information, known locations of the transmitters, and the sample positions, a probability model, the probability model including respective probability values of the sample positions, each probability value indicating a probability that the mobile device is located at the corresponding sample position, the probability value of each sample position being determined based at least in part on;

a function measuring contributions of power of a signal from a first transmitter and power of a signal from a second transmitter to signals measurable at the sample location,

the detected power of respective signals from the first transmitter and the second transmitter, and

the respective known locations of the first transmitter and the second transmitter; and

identifying, from the plurality of sample positions, an estimated position of the mobile device based at least in part on the determined probability values.

23. The product of claim 18, wherein the function measuring the contributions of the power of the signal from the first transmitter and the power of the signal from the second transmitter includes a ratio between the power of the signal from the first transmitter and the power of the signal from the second transmitter.

19. A mobile device comprising:

a processor-accessible medium containing power information that indicates a detected power of respective signals received in a mobile device from multiple transmitters; and

a position estimator configured to perform operations comprising;

determining a plurality of sample positions, each sample position being a possible location of the mobile device;

determining, using at least the power information, known locations of the transmitters, and the sample positions, a probability model, the probability model including respective probability values of the sample positions, each probability value indicating a probability that the mobile device is located at the corresponding sample position, the probability value of each sample position being determined based at least in part on;

a function measuring contributions of a power of a signal from a first transmitter and power of a signal from a second transmitter to signals measurable at the sample location,

the detected power of respective signals from the first transmitter and the second transmitter, and

the respective known locations of the first transmitter and the second transmitter; and

identifying, from the plurality of sample positions, an estimated position of the mobile device based at least in part on the determined probability values.

20. The device of claim 19, wherein at least one parameter of the probability model is generated based on training data obtained based on a measured signal strength and a known distance from a transmitter.

21. The device of claim 19, wherein the function measuring the contributions of the power of the signal from the first transmitter and the power of the signal from the second transmitter includes a ratio between the power of the signal from the first transmitter and the power of the signal from the second transmitter.