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Multi-source positioning

  • US 9,820,100 B1
  • Filed: 06/17/2016
  • Issued: 11/14/2017
  • Est. Priority Date: 06/17/2016
  • Status: Expired due to Fees
First Claim
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1. A method to determine location information, the method comprising:

  • determining, at a mobile device, a first position of the mobile device at a first time;

    obtaining, at the mobile device, remote transmitter location estimates for one or more remote transmitters, the one or more remote transmitters comprising one or more terrestrial nodes;

    obtaining, at the mobile device, a group of pedestrian dead-reckoning (PDR) measurements from one or more inertial sensors of the mobile device, the one or more inertial sensors including;

    a gyroscope, an accelerometer, or a magnetometer, or any combination thereof;

    determining, at the mobile device, a trajectory based on the PDR measurements between the first time and a second time;

    obtaining, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters at the second time;

    determining, at the mobile device, a second position of the mobile device based on one or more of the group of signal measurements received at the second time;

    determining, at the mobile device, a constrained location estimate based on the first position and the trajectory, wherein the constrained location estimate includes an area of uncertainty;

    calculating, at the mobile device, a positional difference between the second position and the constrained location estimate, wherein the position difference is a distance between the second position and a point within the area of uncertainty that is closest to the second position; and

    determining a current position of the mobile device as the point within the area of uncertainty that is closest to the second position.

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