Positioning using observer-based time-of-arrival measurements

• US 9,678,194 B2
• Filed: 04/16/2015
• Issued: 06/13/2017
• Est. Priority Date: 08/14/2012
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Dua, Praveen, Garin, Lionel Jacques
• Primary Examiner(s): PHAM, TIMOTHY X
• Application Number:
  US14/688,212
• Publication Number:
  US 20150219749A1
• Time in Patent Office: 789 Days
• Field of Search: 4554562
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Disclosed are implementations that include a method, performed by a network control device, including sending a first instruction to a first device to send a first measurement signal, and sending a second instruction to a second device to receive the first measurement signal. Following receipt of a first acknowledgement signal from the target mobile device, the first and second devices change their roles so the second device sends, and the first device receives, a second measurement signal, and the first and second devices receive a second acknowledgement signal from the target device. Position of the target device is determined based on timing measurements associated with the first and second measurement signals, the first and second acknowledgement signals, and on known positions of the first and second devices. Another network device is selected to perform additional measurements upon a determination that a desired accuracy of the position determined was not achieved.

Claims

1. A method to determine a position of a target mobile device, at a processor-based network control device, the method comprising:

sending, by the network control device, a first instruction to a first network device, selected from a plurality of known-position network devices, to act as a measurement network device to send a first measurement signal;

sending, by the network control device, a second instruction to a second network device, selected from the plurality of known-position network devices, to act as an observer network device to receive the first measurement signal, the first network device associated with a first known position and the second network device associated with a second known position, wherein, following receipt of a first acknowledgement signal from the target mobile device, the first network device and the second network device change their roles so that the second network device sends a second measurement signal received by the first network device, and the first network device and the second network device receive a second acknowledgement signal sent from the target mobile device in response to receipt of the second measurement signal by the target mobile device, the first acknowledgement signal being sent in response to receipt of the first measurement signal by the target mobile device, and wherein the position of the target mobile device is determined based on timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, and the second acknowledgement signal, and based on the first known position and the second known position; and

selecting, by the network control device, at least one other network device from the plurality of known-position network devices to perform additional measurements with another of the plurality of known-position network devices in response to a determination that a desired accuracy of the determined position of the target mobile device was not achieved.

2. The method of claim 1, further comprising:

sending, by the network control device, a third instruction to cause the first network device and the second network device to change their roles.

3. The method of claim 1, wherein the first network device and the second network device change their roles in response to a measurement-complete indication or an exchange message communicated by the first network device following receipt of the first acknowledgement signal, by the first network device, from the target mobile device and completion of a measurement of the first acknowledgement signal by the first network device.

4. The method of claim 1, wherein the network control device includes a network-based positioning (NBP) library module configured to select the first network device, the second network device, and the at least one other network device from the plurality of known-position network devices, and to cause the first instruction and the second instruction to be sent.

5. The method of claim 4, wherein the network control device is implemented at the target mobile device.

6. The method of claim 4, wherein the network control device is implemented at a remote server, different from the target mobile device, in communication with the plurality of known-position network devices.

7. The method of claim 6, wherein the remote server comprises a network interface to communicate with the plurality of known-position network devices, and a position engine to determine the position of the target mobile device.

8. The method of claim 1, further comprising:

receiving from the target mobile device a request message to cause the sending of at least the first instruction and the second instruction from the network control device.

9. The method of claim 1, further comprising:

determining, at the network control device, the position of the target mobile device based on the timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, the second acknowledgement signal, and based on the first known position and the second known position.

10. The method of claim 1, wherein the timing measurements comprise a transmission time of the first measurement signal, a first time of arrival of the first acknowledgement signal at the first network device, a second time of arrival of the first measurement signal at the second network device, and a third time of arrival of the first acknowledgement signal at the second network device, and wherein the position of the target mobile device is determined based on a first distance and a second distance from the target mobile device to the first network device and the second network device, respectively, determined based, at least in part, on the transmission time of the first measurement signal, the first time of arrival, the second time of arrival, and the third time of arrival.

11. The method of claim 10, wherein the timing measurements further comprises a second transmission time of the second measurement signal, a fourth time of arrival of the second acknowledgement signal at the second network device, a fifth time of arrival of the second measurement signal at the first network device, and a sixth time of arrival of the second acknowledgement signal at the first network device, wherein the position of the target mobile device is determined based on the first distance and the second distance from the target mobile device to the first network device and the second network device, respectively, the first and second distances further determined based on the second transmission time, the fourth time of arrival, the fifth time of arrival, and the sixth time of arrival.

12. The method of claim 10, wherein the first distance and the second distance determined based on the transmission time of the first measurement signal, the first time of arrival, the second time of arrival, and the third time of arrival are determined based on a difference between (1) a first difference between the first time of arrival and the transmission time of the first measurement signal and (2) a second difference between the third time of arrival and the second time of arrival.

13. The method of claim 10, further comprising:

sending, by the network control device, a fourth instruction to a third network device to receive the first measurement signal at the third network device; and

sending, by the network control device, a fifth instruction to the third network device to receive the first acknowledgement signal from the target mobile device at the third network device;

wherein the timing measurements comprises a transmission time of the first measurement signal, the first time of arrival of the first acknowledgement signal at the first network device, a seventh time of arrival of the first measurement signal at the third network device, and an eighth time of arrival of the first acknowledgement signal at the third network device; and

wherein the position of the target mobile device is determined based further on a third distance from the target mobile device to the third network device determined using the seventh time of arrival and the eighth time of arrival.

14. The method of claim 1, further comprising:

sending, by the network control device, a sixth instruction to the first network device to send an exchange message from the first network device indicating receipt of the first acknowledgement signal, wherein the second measurement signal is sent from the second network device in response to the exchange message being received by the second network device.

15. The method of claim 1, wherein the position of the target mobile device is determined based further on further timing measurements from the at least one other of the plurality of known-position network devices and the other of the plurality of known-position network devices.

16. A network control device comprising:

a communication module;

memory; and

one or more processors coupled to the memory and to the communication module;

the network control device configured to;

send a first instruction to a first network device, selected from a plurality of known-position network devices, to act as a measurement network device to send a first measurement signal;

send a second instruction to a second network device, selected from the plurality of known-position network devices, to act as an observer network device to receive the first measurement signal, the first network device associated with a first known position and the second network device associated with a second known position, wherein, following receipt of a first acknowledgement signal from a target mobile device, the first network device and the second network device change their roles so that the second network device sends a second measurement signal received by the first network device, and the first network device and the second network device receive a second acknowledgement signal sent from the target mobile device in response to receipt of the second measurement signal by the target mobile device, the first acknowledgement signal being sent in response to receipt of the first measurement signal by the target mobile device, and wherein the position of the target mobile device is determined based on timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, and the second acknowledgement signal, and based on the first known position and the second known position; and

select at least one other network device from the plurality of known-position network devices to perform additional measurements with another of the plurality of known-position network devices in response to a determination that a desired accuracy of the determined position of the target mobile device was not achieved.

17. The network control device of claim 16, wherein the network control device is further configured to:

send a third instruction to cause the first network device and the second network device to change their roles.

18. The network control device of claim 16, wherein the first network device and the second network device change their roles in response to a measurement-complete indication or an exchange message communicated by the first network device following receipt of the first acknowledgement signal, by the first network device, from the target mobile device and completion of a measurement of the first acknowledgement signal by the first network device.

19. The network control device of claim 16, further comprising:

a network-based positioning (NBP) library module configured to select the first network device, the second network device, and the at least one other network device from the plurality of known-position network devices, and to cause the first instruction and the second instruction to be sent.

20. The network control device of claim 16, wherein the network control device is implemented at one of:

the target mobile device, or a remote server, different from the target mobile device, in communication with the plurality of known-position network devices.

21. The network control device of claim 16, further comprising:

a position engine (PE) configured to determine a position of the target mobile device based, at least in part, on the timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, the second acknowledgement signal, and based on the first known position and the second known position.

22. The network control device of claim 16, wherein the timing measurements comprise a transmission time of the first measurement signal, a first time of arrival of the first acknowledgement signal at the first network device, a second time of arrival of the first measurement signal at the second network device, and a third time of arrival of the first acknowledgement signal at the second network device, and wherein a position of the target mobile device is determined based on a first distance and a second distance from the target mobile device to the first network device and the second network device, respectively, determined based, at least in part, on the transmission time of the first measurement signal, the first time of arrival, the second time of arrival, and the third time of arrival.

23. A non-transitory computer readable storage media programmed with a set of instructions, executable on a processor, to:

send, by a network control device, a first instruction to a first network device, selected from a plurality of known-position network devices, to act as a measurement network device to send a first measurement signal;

send, by the network control device, a second instruction to a second network device, selected from the plurality of known-position network devices, to act as an observer network device to receive the first measurement signal, the first network device associated with a first known position and the second network device associated with a second known position, wherein, following receipt of a first acknowledgement signal from a target mobile device, the first network device and the second network device change their roles so that the second network device sends a second measurement signal received by the first network device, and the first network device and the second network device receive a second acknowledgement signal sent from the target mobile device in response to receipt of the second measurement signal by the target mobile device, the first acknowledgement signal being sent in response to receipt of the first measurement signal by the target mobile device, and wherein the position of the target mobile device is determined based on timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, and the second acknowledgement signal, and based on the first known position and the second known position; and

select, by the network control device, at least one other network device from the plurality of known-position network devices to perform additional measurements with another of the plurality of known-position network devices in response to a determination that a desired accuracy of the determined position of the target mobile device was not achieved.

24. The computer readable storage media of claim 23, wherein the set of instructions further comprises instructions to:

send a third instruction to cause the first network device and the second network device to change their roles.

25. The computer readable storage media of claim 23, wherein the first network device and the second network device change their roles in response to a measurement-complete indication or an exchange message communicated by the first network device following receipt of the first acknowledgement signal, by the first network device, from the target mobile device and completion of a measurement of the first acknowledgement signal by the first network device.

26. The computer readable storage media of claim 23, wherein the network control device includes a network-based positioning (NBP) library module configured to select the first network device, the second network device, and the at least one other network device from the plurality of known-position network devices, and to cause the first instruction and the second instruction to be sent.

27. The computer readable storage media of claim 23, wherein the network control device is implemented at one of:

the target mobile device, or a remote server, different from the target mobile device, in communication with the plurality of known-position network devices.

28. The computer readable storage media of claim 23, wherein the set of instructions further comprises instructions to:

determine, at the network control device, a position of the target mobile device based on the timing measurements associated with the first measurement signal, the second measurement signal, the first acknowledgement signal, the second acknowledgement signal, and based on the first known position and the second known position.

29. A method to determine a position of a target mobile device, the method comprising:

sending, by the target mobile device, a first instruction to a first network device selected from a plurality of known-position network devices to act as a measurement network device to send a first measurement signal; and

sending, by the target mobile device, a second instruction to a second network device selected from the plurality of known-position network devices to act as an observer network device to receive the first measurement signal, the first network device associated with a first known position and the second network device associated with a second known position;

wherein the position of the target mobile device is determined based at least on transmission time of the first measurement signal sent by the first network device in response to the first instruction sent by the target device, a first time-of-arrival measurement of the first measurement signal at the second network device, and second time-of-arrival measurements at the first network device and the second network device of a first acknowledgement signal sent by the target mobile device in response to receiving the first measurement signal, and wherein the position of the target mobile device is determined further based on the first known position and the second known position.

30. The method of claim 29, wherein the target mobile device includes a network-based positioning library module configured to select the first network device and the second network device, and to cause the first instruction and the second instruction to be sent.