Pairwise measurements for improved position determination
First Claim
1. A method for triggering an enhanced position estimate of a first node using pairwise measurements, comprising:
- receiving a plurality of pairwise measurements between a first node and a plurality of corresponding neighboring nodes, wherein each pairwise measurement includes at least;
a first Round Trip Time (RTT) from one neighboring node of the plurality of neighboring nodes to the first node and back, and a second RTT from the first node to the one neighboring node and back;
ora first Received Signal Strength Indicator (RSSI) measurement measured at the first node using a signal provided by the one neighboring node, and a second RSSI measurement measured at the one neighboring node using a signal provided by the first node;
evaluating a quality of the each pairwise measurement;
determining a position estimate of the first node based on pairwise measurements which pass the evaluating; and
determining a pairwise compensation value for each neighboring node associated with pairwise measurements which fail the evaluating.
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Abstract
Approaches for enhancing range-based position determination using pairwise error detection and compensation are provided. One method for enhancing a position estimate of a first node may include performing measurements at the first node using a signal received from a second node, and receiving measurements from the second node. The received measurements may be performed at the second node using a signal provided by the first node. The method may further include determining pairwise comparisons of the performed measurements and the received measurements, and compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating the position of the first node. Systems and apparatuses for performing the various position determination methods are further presented.
12 Citations
28 Claims
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1. A method for triggering an enhanced position estimate of a first node using pairwise measurements, comprising:
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receiving a plurality of pairwise measurements between a first node and a plurality of corresponding neighboring nodes, wherein each pairwise measurement includes at least; a first Round Trip Time (RTT) from one neighboring node of the plurality of neighboring nodes to the first node and back, and a second RTT from the first node to the one neighboring node and back;
ora first Received Signal Strength Indicator (RSSI) measurement measured at the first node using a signal provided by the one neighboring node, and a second RSSI measurement measured at the one neighboring node using a signal provided by the first node; evaluating a quality of the each pairwise measurement; determining a position estimate of the first node based on pairwise measurements which pass the evaluating; and determining a pairwise compensation value for each neighboring node associated with pairwise measurements which fail the evaluating. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A first node which triggers an enhanced position estimate using pairwise measurements, comprising:
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a wireless transceiver; a processor coupled to the wireless transceiver; and a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to; receive a plurality of pairwise measurements between a first node and a plurality of neighboring nodes, wherein each pairwise measurement from one neighboring node of the plurality of neighboring nodes to the first node and back, and a second RTT from the first node to the one neighboring node and back;
ora first Received Signal Strength Indicator (RSSI) measurement measured at the first node using a signal provided by the one neighboring node, and a second RSSI measurement measured at the one neighboring node using a signal provided by the first node; evaluate a quality of the each pairwise measurement; determine a position estimate of the first node based on pairwise measurements which pass the evaluating; and determine a pairwise compensation value for each neighboring node associated with pairwise measurements which fail the evaluating. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An apparatus for triggering an enhanced position estimate using pairwise measurements, comprising:
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means for receiving a plurality of pairwise measurements between a first node and a plurality of neighboring nodes, wherein each pairwise measurement includes at least; a first Round Trip Time (RTT) from one neighboring node of the plurality of neighboring nodes to the first node and back, and a second RTT from the first node to the one neighboring node and back;
ora first Received Signal Strength Indicator (RSSI) measurement measured at the first node using a signal provided by the one neighboring node, and a second RSSI measurement measured at the one neighboring node using a signal provided by the first node; means for evaluating a quality of the each pairwise measurement; means for determining a position estimate of the first node based on pairwise measurements which pass the evaluating; and means for determining a pairwise compensation value for each neighboring node associated with pairwise measurements which fail the evaluating. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:
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code for receiving a plurality of pairwise measurements between a first node and a plurality of neighboring nodes, wherein each pairwise measurement includes at least; a first Round Trip Time (RTT) from one neighboring node of the plurality of neighboring nodes to the first node and back, and a second RTT from the first node to the one neighboring node and back;
ora first Received Signal Strength Indicator (RSSI) measurement measured at the first node using a signal provided by the one neighboring node, and a second RSSI measurement measured at the one neighboring node using a signal provided by the first node; code for evaluating a quality of the each pairwise measurement; code for determining a position estimate of the first node based on pairwise measurements which pass the evaluating; and code for determining a pairwise compensation value for each neighboring node associated with pairwise measurements which fail the evaluating. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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Specification