Indoor positioning method, apparatus and system
First Claim
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1. A method, comprising:
- receiving at an apparatus and from a first location at least;
a first radio signal transmitted by a first antenna element, a second radio signal transmitted by a second antenna element and a third radio signal transmitted by a third antenna element;
discriminating between the at least first, second and third radio signals received at the apparatus from the first location;
receiving location information related to the first location;
determining, from the received at least first, second and third radio signals displacement information that is dependent upon the relative displacements of the at least first, second and third antenna elements;
with a processor, estimating a single bearing using;
the discriminated at least first, second and third radio signals, andthe displacement information; and
estimating a position of the apparatus using;
the single bearing,the location information related to the first location, andconstraint information, wherein the constraint information is different from the location information related to the first location and is determined independently of the received at least first, second and third radio signals.
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Abstract
A method, including: receiving, at an apparatus, first and second radio signals from a first location; discriminating the first and second radio signals, in order to estimate a bearing from the first location; and estimating, using the bearing and constraint information which is independent of the radio signals, a position of the apparatus.
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Citations
21 Claims
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1. A method, comprising:
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receiving at an apparatus and from a first location at least;
a first radio signal transmitted by a first antenna element, a second radio signal transmitted by a second antenna element and a third radio signal transmitted by a third antenna element;discriminating between the at least first, second and third radio signals received at the apparatus from the first location; receiving location information related to the first location; determining, from the received at least first, second and third radio signals displacement information that is dependent upon the relative displacements of the at least first, second and third antenna elements; with a processor, estimating a single bearing using; the discriminated at least first, second and third radio signals, and the displacement information; and estimating a position of the apparatus using; the single bearing, the location information related to the first location, and constraint information, wherein the constraint information is different from the location information related to the first location and is determined independently of the received at least first, second and third radio signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 19, 21)
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10. An apparatus configured to:
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receive from a first location at least;
a first radio signal transmitted by a first antenna element, a second radio signal transmitted by a second antenna element and a third radio signal transmitted by a third antenna element;receive location information related to the first location; and determine, from the received at least first, second and third radio signals, displacement information that is dependent upon the relative displacements of the at least first, second and third antenna elements; the apparatus comprising; processing circuitry; configured to discriminate between the at least first, second and third radio signals received at the apparatus from the first location; configured to estimate a single bearing using; the discriminated first, second and third radio signals, and the displacement information; and configured to estimate a position of the apparatus using; the single bearing, the location information related to the first location, and constraint information, wherein the constraint information is different from the location information related to the first location and is determined independently of the received at least first, second and third radio signals. - View Dependent Claims (11, 12, 13, 16, 17, 18, 20)
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14. A non-transitory computer readable storage medium storing a computer program comprising computer program instructions that, when executed by processing circuitry of an apparatus, causes the apparatus to perform:
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receiving from a first location at least;
a first radio signal transmitted by a first antenna element, a second radio signal transmitted by a second antenna element and a third radio signal transmitted by a third antenna element;discriminating between the at least first, second and third radio signals received at the apparatus from the first location; receiving location information related to the first location; determining, from the received at least first, second and third radio signals, displacement information that is dependent upon the relative displacements of the at least first, second and third antenna elements; estimating a single bearing using; the discriminated first, second, and third radio signals, and the displacement information; and estimating a position of the apparatus using; the single bearing, the location information related to the first location, and constraint information, wherein the constraint information is different from the location information related to the first location and is determined independently of the received at least first, second and third radio signals. - View Dependent Claims (15)
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Specification