Directional pruning of transmitters to improve position determination

• US 9,964,647 B2
• Filed: 03/13/2014
• Issued: 05/08/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: NextNav, LLC
• Original Assignee: NextNav, LLC
• Inventors: Sendonaris, Andrew, Krasner, Norman F.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US14/207,650
• Publication Number:
  US 20140266911A1
• Time in Patent Office: 1,517 Days
• Field of Search: 342458, 34235767
• CPC Class Codes: G01S 11/04 using angle measurements
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 5/0045 Transmission from base station to mobile station G01S5/009 takes precedence
• CPC Class Codes: G01S 5/0242 Determining the position of transmitters to be subsequently used in positioning G01S5/0289 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

Abstract

Described are systems and methods for estimating a position of receiver using ranging signals from different regions in a network of transmitters. In some embodiments, each ranging signal that exceeds a quality criterion is assigned to one of several defined regions based on a characteristic of that ranging signal. A maximum number of ranging signals per region may be selected and used during trilateration.

Claims

1. A method for estimating a position of a receiver using a network of transmitters, the method comprising:

identifying a set of transmitters from the network of transmitters;

using geographic information associated with each transmitter in the set of transmitters to identify three or more groups of transmitters, wherein each group of the three or more groups includes at least one transmitter from the set of transmitters;

determining, for each group of the three or more groups, a number of transmitters included in that group;

for each group of the three or more groups that includes a number of transmitters that is less than an integer M, identifying at least one range measurement corresponding to at least one transmitter in that group, wherein the integer M is greater than or equal to two;

for each group of the three or more groups that includes a number of transmitters that is equal to or greater than the integer M, identifying at least M range measurements corresponding to at least M transmitters in that group; and

determining, using at least one processor, an estimated position of the receiver using all of the identified range measurements.

2. The method of claim 1, wherein the geographic information associated with each transmitter in the set of transmitters includes an estimated azimuth relating to a location of that transmitter, wherein each group of the three or more groups corresponds to a different range of azimuths, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the azimuth relating to the location of that transmitter is within the range of azimuths corresponding to that particular group.

3. The method of claim 1, wherein the geographic information associated with each transmitter in the set of transmitters includes a location of that transmitter, wherein each group of the three or more groups corresponds to a different geographic region, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the location relating to that transmitter is in the geographic region corresponding to that particular group.

4. The method of claim 1, wherein the method comprises:

for each group of the three or more groups that includes a number of transmitters that is equal to or greater than the integer M, no more than M range measurements corresponding to M transmitters in that group are identified.

5. The method of claim 1, wherein each value of a quality metric for each of the at least M transmitters in that group is at least equal to each value of the quality metric for the other transmitters in that group that are not members of the at least M transmitters, and wherein each value of the quality metric for each of the transmitters in that group relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

6. The method of claim 1, wherein the method comprises:

identifying, from the set of transmitters, one or more preferred transmitters with a value of a quality metric that is above a threshold level; and

for each group of the three or more groups that includes at least one preferred transmitter from the one or more preferred transmitters, identifying a range measurement corresponding to a preferred transmitter of the at least one preferred transmitter in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

7. The method of claim 1, wherein the set of transmitters includes one or more non-preferred transmitters each with a respective value of a quality metric that is not above a threshold level, and wherein the method comprises:

for each group of the three or more groups that includes at least one transmitter that is not one of the non-preferred transmitters, not identifying any range measurement corresponding to any of the non-preferred transmitters in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more non-preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

8. The method of claim 1, wherein the method comprises:

for each transmitter in each group of the three or more groups that includes a number of transmitters that is less than the integer M, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

9. The method of claim 1, wherein the method comprises:

determining a first number of transmitters in a first group of the three or more groups;

determining a second number of transmitters in a second group of the three or more groups;

determining that the first number is less than the integer M;

determining that the second number is equal to or greater than the integer M;

for each transmitter in the first group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver; and

for each of at least M transmitters in the second group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

10. A method for estimating a position of a receiver using a network of transmitters, the method comprising:

identifying a set of transmitters from the network of transmitters;

using geographic information associated with each transmitter in the set of transmitters to identify three or more groups of transmitters, wherein each group of the three or more groups includes at least one transmitter from the set of transmitters;

determining, for each group of the three or more groups, a number of transmitters included in that group;

for each group of the three or more groups that includes a number of transmitters that is less than or equal to an integer M, identifying at least one range measurement corresponding to at least one transmitter in that group, wherein the integer M is greater than or equal to two;

for each group of the three or more groups that includes a number of transmitters that is greater than the integer M, identifying at least M range measurements corresponding to at least M transmitters in that group; and

determining, using at least one processor, an estimated position of the receiver using all of the identified range measurements.

11. The method of claim 10, wherein the geographic information associated with each transmitter in the set of transmitters includes an estimated azimuth relating to a location of that transmitter, wherein each group of the three or more groups corresponds to a different range of azimuths, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the azimuth relating to the location of that transmitter is within the range of azimuths corresponding to that particular group.

12. The method of claim 10, wherein the geographic information associated with each transmitter in the set of transmitters includes a location of that transmitter, wherein each group of the three or more groups corresponds to a different geographic region, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the location relating to that transmitter is in the geographic region corresponding to that particular group.

13. The method of claim 10, wherein the method comprises:

for each group of the three or more groups that includes a number of transmitters that is greater than the integer M, no more than M range measurements corresponding to M transmitters in that group are identified.

14. The method of claim 10, wherein each value of a quality metric for each of the at least M transmitters in that group is at least equal to each value of the quality metric for the other transmitters in that group that are not members of the at least M transmitters, and wherein each value of the quality metric for each of the transmitters in that group relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

15. The method of claim 10, wherein the method comprises:

identifying, from the set of transmitters, one or more preferred transmitters with a value of a quality metric that is above a threshold level; and

for each group of the three or more groups that includes at least one preferred transmitter from the one or more preferred transmitters, identifying a range measurement corresponding to a preferred transmitter of the at least one preferred transmitter in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

16. The method of claim 10, wherein the set of transmitters includes one or more non-preferred transmitters each with a respective value of the quality metric that is not above the threshold level, and wherein the method comprises:

identifying, from the set of transmitters, the one or more non-preferred transmitters each with a respective value of the quality metric that is not above the threshold level; and

for each group of the three or more groups that includes at least one transmitter that is not one of the non-preferred transmitters, not identifying any range measurement corresponding to any of the non-preferred transmitters in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more non-preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

17. The method of claim 10, wherein the method comprises:

for each transmitter in each group of the three or more groups that includes a number of transmitters that is less than or equal to an integer M, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

18. The method of claim 10, wherein the method comprises:

determining a first number of transmitters in a first group of the three or more groups;

determining a second number of transmitters in a second group of the three or more groups;

determining that the first number is less than or equal to the integer M;

determining that the second number is greater than the integer M;

for each transmitter in the first group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver; and

for each of at least M transmitters in the second group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

19. One or more non-transitory processor-readable media embodying program instructions that, when executed by one or more processors, cause the one or more processors to implement a method for estimating a position of a receiver using a network of transmitters, the method comprising:

identifying a set of transmitters from the network of transmitters;

using geographic information associated with each transmitter in the set of transmitters to identify three or more groups of transmitters, wherein each group of the three or more groups includes at least one transmitter from the set of transmitters;

determining, for each group of the three or more groups, a number of transmitters included in that group;

for each group of the three or more groups that includes a number of transmitters that is less than an integer M, identifying at least one range measurement corresponding to at least one transmitter in that group, wherein the integer M is greater than or equal to two;

for each group of the three or more groups that includes a number of transmitters that is equal to or greater than the integer M, identifying at least M range measurements corresponding to at least M transmitters in that group; and

determining an estimated position of the receiver using all of the identified range measurements.

21. The one or more non-transitory processor-readable media of claim 19, wherein the geographic information associated with each transmitter in the set of transmitters includes an estimated azimuth relating to a location of that transmitter, wherein each group of the three or more groups corresponds to a different range of azimuths, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the azimuth relating to the location of that transmitter is within the range of azimuths corresponding to that particular group.

22. The one or more non-transitory processor-readable media of claim 19, wherein the geographic information associated with each transmitter in the set of transmitters includes a location of that transmitter, wherein each group of the three or more groups corresponds to a different geographic region, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the location relating to that transmitter is in the geographic region corresponding to that particular group.

23. The one or more non-transitory processor-readable media of claim 19, wherein the method comprises:

for each group of the three or more groups that includes a number of transmitters that is equal to or greater than the integer M, no more than M range measurements corresponding to M transmitters in that group are identified.

24. The one or more non-transitory processor-readable media of claim 19, wherein each value of a quality metric for each of the at least M transmitters in that group is at least equal to each value of the quality metric for the other transmitters in that group that are not members of the at least M transmitters, and wherein each value of the quality metric for each of the transmitters in that group relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

25. The one or more non-transitory processor-readable media of claim 19, wherein the method comprises:

identifying, from the set of transmitters, one or more preferred transmitters with a value of a quality metric that is above a threshold level; and

for each group of the three or more groups that includes at least one preferred transmitter from the one or more preferred transmitters, identifying a range measurement corresponding to a preferred transmitter of the at least one preferred transmitter in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

26. The one or more non-transitory processor-readable media of claim 19, wherein the set of transmitters includes one or more non-preferred transmitters each with a respective value of a quality metric that is not above a threshold level, and wherein the method comprises:

for each group of the three or more groups that includes at least one transmitter that is not one of the non-preferred transmitters, not identifying any range measurement corresponding to any of the non-preferred transmitters in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more non-preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

27. The one or more non-transitory processor-readable media of claim 19, wherein the method comprises:

for each transmitter in each group of the three or more groups that includes a number of transmitters that is less than the integer M, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

28. The one or more non-transitory processor-readable media of claim 19, wherein the method comprises:

determining a first number of transmitters in a first group of the three or more groups;

determining a second number of transmitters in a second group of the three or more groups;

determining that the first number is less than the integer M;

determining that the second number is equal to or greater than the integer M;

for each transmitter in the first group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver; and

for each of at least M transmitters in the second group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

20. One or more non-transitory processor-readable media embodying program instructions that, when executed by one or more processors, cause the one or more processors to implement a method for estimating a position of a receiver using a network of transmitters, the method comprising:

identifying a set of transmitters from the network of transmitters;

using geographic information associated with each transmitter in the set of transmitters to identify three or more groups of transmitters, wherein each group of the three or more groups includes at least one transmitter from the set of transmitters;

determining, for each group of the three or more groups, a number of transmitters included in that group;

for each group of the three or more groups that includes a number of transmitters that is less than or equal to an integer M, identifying at least one range measurement corresponding to at least one transmitter in that group, wherein the integer M is greater than or equal to two;

for each group of the three or more groups that includes a number of transmitters that is greater than the integer M, identifying at least M range measurements corresponding to at least M transmitters in that group; and

determining an estimated position of the receiver using all of the identified range measurements.

29. The one or more non-transitory processor-readable media of claim 20, wherein the geographic information associated with each transmitter in the set of transmitters includes an estimated azimuth relating to a location of that transmitter, wherein each group of the three or more groups corresponds to a different range of azimuths, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the azimuth relating to the location of that transmitter is within the range of azimuths corresponding to that particular group.

30. The one or more non-transitory processor-readable media of claim 20, wherein the geographic information associated with each transmitter in the set of transmitters includes a location of that transmitter, wherein each group of the three or more groups corresponds to a different geographic region, and wherein each transmitter in the set of transmitters is included in a particular group of the three or more groups when the location relating to that transmitter is in the geographic region corresponding to that particular group.

31. The one or more non-transitory processor-readable media of claim 20, wherein the method comprises:

for each group of the three or more groups that includes a number of transmitters that is greater than the integer M, no more than M range measurements corresponding to M transmitters in that group are identified.

32. The one or more non-transitory processor-readable media of claim 20, wherein each value of a quality metric for each of the at least M transmitters in that group is at least equal to each value of the quality metric for the other transmitters in that group that are not members of the at least M transmitters, and wherein each value of the quality metric for each of the transmitters in that group relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

33. The one or more non-transitory processor-readable media of claim 20, wherein the method comprises:

identifying, from the set of transmitters, one or more preferred transmitters with a value of a quality metric that is above a threshold level; and

for each group of the three or more groups that includes at least one preferred transmitter from the one or more preferred transmitters, identifying a range measurement corresponding to a preferred transmitter of the at least one preferred transmitter in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

34. The one or more non-transitory processor-readable media of claim 20, wherein the set of transmitters includes one or more non-preferred transmitters each with a respective value of the quality metric that is not above the threshold level, and wherein the method comprises:

identifying, from the set of transmitters, the one or more non-preferred transmitters each with a respective value of the quality metric that is not above the threshold level; and

for each group of the three or more groups that includes at least one transmitter that is not one of the non-preferred transmitters, not identifying any range measurement corresponding to any of the non-preferred transmitters in that group as one of the identified range measurements used to determine the estimated position of the receiver,

wherein each value of the quality metric for each of the one or more non-preferred transmitters relates to at least one of an estimated range error for that transmitter, a trilateration weight for that transmitter, an estimated distance between that transmitter and an initial estimate of the receiver'"'"'s position, or an angle of incidence for that transmitter.

35. The one or more non-transitory processor-readable media of claim 20, wherein the method comprises:

for each transmitter in each group of the three or more groups that includes a number of transmitters that is less than or equal to an integer M, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.

36. The one or more non-transitory processor-readable media of claim 20, Wherein the method comprises:

determining a first number of transmitters in a first group of the three or more groups;

determining a second number of transmitters in a second group of the three or more groups;

determining that the first number is less than or equal to the integer M;

determining that the second number is greater than the integer M;

for each transmitter in the first group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver; and

for each of at least M transmitters in the second group, identifying a range measurement corresponding to that transmitter as one of the identified range measurements used to determine the estimated position of the receiver.