Selection of a relative positioning method
First Claim
1. A method performed by an apparatus, said method comprising:
- selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.
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Accused Products
Abstract
It is disclosed to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between first and second entities. The method is selected in dependence on at least one of the following criteria: an estimated/measured distance between the first and second entities; a relative positioning capability, of at least one of the first entity, the second entity and at least one server entity associated with at least one of the first and second entities, to determine an estimate of a relative position between two entities; and an availability, at at least one of the at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between the reference entity and one of the first and second entities.
55 Citations
21 Claims
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1. A method performed by an apparatus, said method comprising:
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selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion; a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity. - View Dependent Claims (2, 3)
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4. A method performed by an apparatus, said method comprising:
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selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion; a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is above a threshold, a relative positioning method is selected that is based on measurements performed by said first entity and said second entity and also on data of at least two reference entities.
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5. A method performed by an apparatus, said method comprising:
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selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion; a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein said relative positioning method is further selected in dependence on the following criterion; an availability, at at least one of said at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between said reference entity and one of said first entity and said second entity, wherein in case that an estimated/determined distance between said first entity and said second entity is one of above and above-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities. - View Dependent Claims (6, 7, 8, 9)
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10. A non-transitory computer-readable medium having a computer program stored thereon, said computer program comprising:
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program code for performing, when said computer program is executed on a processor, a method comprising; selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion; a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.
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11. An apparatus, comprising at least one processor;
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity. - View Dependent Claims (12, 13, 14)
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
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15. An apparatus, comprising at least one processor;
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is above a threshold, a relative positioning method is selected that is based on measurements performed by said first entity and said second entity and also on data of at least two reference entities.
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
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16. An apparatus, comprising at least one processor;
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein said relative positioning method is further selected in dependence on the following criterion; an availability, at at least one of said at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between said reference entity and one of said first entity and said second entity, wherein in case that an estimated/determined distance between said first entity and said second entity is one of above and above-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities. - View Dependent Claims (17, 18, 19, 20)
- and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;
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21. A system, comprising a first entity, a second entity and at least one server entity associated with at least one of said first entity or said second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, wherein at least one of said first entity, said second entity or said at least one server entity is configured to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between said first entity and said second entity, said relative positioning method selected in dependence on the following criterion:
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a relative positioning capability, of at least one of said first entity, said second entity or said at least one server entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite, wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.
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Specification