COMPENSATING FOR USER OCCLUSION IN WI-FI POSITIONING USING MOBILE DEVICE ORIENTATION

• US 20130196681A1
• Filed: 01/31/2012
• Published: 08/01/2013
• Est. Priority Date: 01/31/2012
• Status: Abandoned Application

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Pakzad, Payam, Sridhara, Vinay, PODURI, Sameera
• Application Number:
  US13/363,132
• Publication Number:
  US 20130196681A1
• Time in Patent Office: Days
• US Class Current: 455/456.1
• CPC Class Codes: G01S 2205/09 for tracking people
• CPC Class Codes: G01S 5/018 Involving non-radio wave signals or measurements
• CPC Class Codes: G01S 5/02 using radio waves using satellite radio beacon systems for determining position G01S19/00
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Techniques for determining the position of a mobile wireless device are provided. The techniques include a method for determining the position of a mobile wireless device that includes receiving signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN), determining an orientation of the mobile wireless device relative to the wireless access point, determining a compensation factor based on the orientation of the mobile wireless device relative to the wireless access point, and determining an estimated position of the mobile wireless device based at least in part on the compensation factor. The compensation factor compensates for the effect of user occlusion on at least one characteristic of the signal received from the mobile wireless device.

Claims

1. A method for determining a position of a mobile wireless device, the method comprising:

receiving signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determining an orientation of the mobile wireless device relative to the wireless access point;

determining a compensation factor based on the orientation of the mobile wireless device relative to the wireless access point, the compensation factor compensating for an effect of user occlusion on at least one characteristic of the signal received from the mobile wireless device; and

determining an estimated position of the mobile wireless device based at least in part on the compensation factor.

2. The method of claim 1 wherein determining the compensation factor includes determining the compensation factor using map data that represents a layout of a building in which the wireless access point is located.

3. The method of claim 1 wherein determining the estimated position of the mobile wireless device includes determining the estimated position of the mobile wireless device based at least in part on the compensation factor and map data that represents a layout of a building in which the wireless access point is located.

4. The method of claim 1 wherein determining the orientation of the mobile wireless device further comprises:

sending a position request to the mobile wireless device in which the mobile wireless device is instructed to capture an image of an area surrounding the mobile wireless device;

receiving the image of the area surrounding the mobile wireless device;

identifying landmarks in the image received from the mobile wireless device; and

determining the orientation of the mobile wireless device based on landmarks in the image captured by the mobile wireless device.

5. The method of claim 1 wherein determining the orientation of the mobile wireless device further comprises:

receiving data representing the orientation of the mobile wireless device based on sensor data collected by the mobile wireless device; and

determining the orientation of the mobile wireless device using information received from an inertial sensor.

6. The method of claim 5 wherein the sensor data comprises sensor data collected from the inertial sensor.

7. The method of claim 5 wherein the sensor data comprises sensor data collected from a magnetometer.

8. The method of claim 1 wherein determining the orientation of the mobile wireless device relative to the wireless access point further comprises:

determining a heading of the mobile wireless device;

determining the orientation of the mobile wireless device based on the heading.

9. The method of claim 8 wherein determining a heading of the mobile wireless device includes determining the heading using the estimated position of the mobile wireless device and a direction of motion of the mobile wireless device.

10. The method of claim 9 wherein determining the heading of the mobile wireless device includes determining the heading of the mobile wireless device using a trajectory estimation filter configured to track an estimate of the direction of motion of the mobile wireless device.

11. The method of claim 10 wherein the trajectory estimation filter is a particle filter.

12. The method of claim 10 wherein the trajectory estimation filter is a Kalman filter.

13. The method of claim 1, further comprising:

deriving a set of compensation values based on an expected extent of occlusion to be experienced by the mobile wireless device at a plurality of positions on a map; and

wherein determining the estimated position of the mobile wireless device based at least in part on the compensation factor and map data further comprises comparing the compensation factor to the map data to determine an estimated location of the mobile wireless device.

14. The method of claim 1 wherein the compensation factor is associated with a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

15. The method of claim 14 wherein determining the estimated position of the mobile wireless device includes determining a compensated RSSI value for the mobile wireless device based on an RSSI value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

16. The method of claim 15 wherein determining the estimated position of the mobile wireless device includes determining the estimated position of the mobile wireless device by comparing the compensated RSSI value with estimated RSSI values associated for the wireless access point derived from map data.

17. The method of claim 1 wherein the compensation factor is associated with a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

18. The method of claim 17 wherein determining the estimated position of the mobile wireless device includes determining a compensated RTT value for the mobile wireless device based on an RTT value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

19. The method of claim 18 wherein determining the estimated position of the mobile wireless device includes determining the estimated position of the mobile wireless device by comparing the compensated RTT value with estimated RTT values associated for the wireless access point derived from map data.

20. A tangible computer-readable medium, having stored thereon computer-readable instructions for determining a position of a mobile wireless device, comprising instructions configured to cause a computer to:

receive signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determine an orientation of the mobile wireless device relative to the wireless access point;

determine a compensation factor based on the orientation of the mobile wireless device relative to the wireless access point, the compensation factor compensating for an effect of user occlusion on at least one characteristic of the signal received from the mobile wireless device; and

determine an estimated position of the mobile wireless device based at least in part on the compensation factor.

21. The medium of claim 20 wherein the instructions that cause the computer to determine the compensation factor include instructions that cause the computer to determine the compensation factor using map data that represents a layout of a building in which the wireless access point is located.

22. The medium of claim 20 wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device includes instructions that cause the computer to determine the estimated position of the mobile wireless device based at least in part on the compensation factor and map data that represents a layout of a building in which the wireless access point is located.

23. The medium of claim 20 wherein the instructions that cause the computer to determine the orientation of the mobile wireless device further comprise instructions that cause a computer to:

send a position request to the mobile wireless device in which the mobile wireless device is instructed to capture an image of an area surrounding the mobile wireless device;

receive the image of the area surrounding the mobile wireless device;

identify landmarks in the image received from the mobile wireless device; and

determine the orientation of the mobile wireless device based on landmarks in the image captured by the mobile wireless device.

24. The medium of claim 20 wherein the instructions that cause the computer to determine the orientation of the mobile wireless device further comprise instructions that cause a computer to:

receive data representing the orientation of the mobile wireless device based on sensor data collected by the mobile wireless device; and

determine the orientation of the mobile wireless device using information received from an inertial sensor.

25. The medium of claim 24 wherein the sensor data comprises sensor data collected from the inertial sensor.

26. The medium of claim 24 wherein the sensor data comprises sensor data collected from a magnetometer.

27. The medium of claim 20 wherein the instructions that cause the computer to determine the orientation of the mobile wireless device relative to the wireless access point further comprise instructions that cause a computer to:

determine a heading of the mobile wireless device; and

determine the orientation of the mobile wireless device based on the heading.

28. The medium of claim 27 wherein the instructions that cause the computer to determine a heading of the mobile wireless device include instructions that cause the computer to determine the heading using the estimated position of the mobile wireless device and a direction of motion of the mobile wireless device.

29. The medium of claim 28 wherein the instructions that cause the computer to determine the heading of the mobile wireless device include instructions that cause the computer to determine the heading of the mobile wireless device using a trajectory estimation filter configured to track an estimate of the direction of motion of the mobile wireless device.

30. The medium of claim 29 wherein the trajectory estimation filter is a particle filter.

31. The medium of claim 29 wherein the trajectory estimation filter is a Kalman filter.

32. The medium of claim 20, further comprising instructions that cause a computer to:

derive a set of compensation values based on an expected extent of occlusion to be experienced by the mobile wireless device at a plurality of positions on a map; and

wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device based at least in part on the compensation factor and map data further comprises instructions that cause the computer to compare the compensation factor to the map data to determine an estimated location of the mobile wireless device.

33. The medium of claim 20 wherein the compensation factor is associated with a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

34. The medium of claim 33 wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device include instructions that cause the computer to determine a compensated RSSI value for the mobile wireless device based on an RSSI value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

35. The medium of claim 34 wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device include instructions that cause the computer to determine the estimated position of the mobile wireless device by comparing the compensated RSSI value with estimated RSSI values associated for the wireless access point derived from map data.

36. The medium of claim 20 wherein the compensation factor is associated with a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

37. The medium of claim 36 wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device includes instructions that cause the computer to determine a compensated RTT value for the mobile wireless device based on an RTT value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

38. The medium of claim 37 wherein the instructions that cause the computer to determine the estimated position of the mobile wireless device include instructions that cause the computer to determine the estimated position of the mobile wireless device by comparing the compensated RTT value with estimated RTT values associated for the wireless access point derived from map data.

39. An apparatus for determining a position of a mobile wireless device comprising:

means for receiving signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

means for determining an orientation of the mobile wireless device relative to the wireless access point;

means for determining a compensation factor based on the orientation of the mobile wireless device relative to the wireless access point, the compensation factor compensating for an effect of user occlusion on at least one characteristic of the signal received from the mobile wireless device; and

means for determining an estimated position of the mobile wireless device based at least in part on the compensation factor.

40. The apparatus of claim 39 wherein the means for determining the compensation factor includes means for determining the compensation factor using map data that represents a layout of a building in which the wireless access point is located.

41. The apparatus of claim 39 wherein the means for determining the estimated position of the mobile wireless device includes means for determining the estimated position of the mobile wireless device based at least in part on the compensation factor and map data that represents a layout of a building in which the wireless access point is located.

42. The apparatus of claim 39 wherein the means for determining the orientation of the mobile wireless device further comprises:

means for sending a position request to the mobile wireless device in which the mobile wireless device is instructed to capture an image of an area surrounding the mobile wireless device;

means for receiving the image of the area surrounding the mobile wireless device;

means for identifying landmarks in the image received from the mobile wireless device; and

means for determining the orientation of the mobile wireless device based on landmarks in the image captured by the mobile wireless device.

43. The apparatus of claim 39 wherein the means for determining the orientation of the mobile wireless device further comprises:

means for receiving data representing the orientation of the mobile wireless device based on sensor data collected by the mobile wireless device; and

means for determining the orientation of the mobile wireless device using information received from an inertial sensor.

44. The apparatus of claim 43 wherein the sensor data comprises sensor data collected from the inertial sensor.

45. The apparatus of claim 43 wherein the sensor data comprises sensor data collected from a magnetometer.

46. The apparatus of claim 39 wherein the means for determining the orientation of the mobile wireless device relative to the wireless access point further comprises:

means for determining a heading of the mobile wireless device; and

means for determining the orientation of the mobile wireless device based on the heading.

47. The apparatus of claim 46 wherein the means for determining a heading of the mobile wireless device includes means for determining the heading using the estimated position of the mobile wireless device and a direction of motion of the mobile wireless device.

48. The apparatus of claim 47 wherein the means for determining the heading of the mobile wireless device includes means for determining the heading of the mobile wireless device using a trajectory estimation filter configured to track an estimate of the direction of motion of the mobile wireless device.

49. The apparatus of claim 48 wherein the trajectory estimation filter is a particle filter.

50. The apparatus of claim 48 wherein the trajectory estimation filter is a Kalman filter.

51. The apparatus of claim 39, further comprising:

means for deriving a set of compensation values based on an expected extent of occlusion to be experienced by the mobile wireless device at a plurality of positions on a map; and

wherein the means for determining the estimated position of the mobile wireless device based at least in part on the compensation factor and map data further comprises means for comparing the compensation factor to the map data to determine an estimated location of the mobile wireless device.

52. The apparatus of claim 39 wherein the compensation factor is associated with a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

53. The apparatus of claim 52 wherein the means for determining the estimated position of the mobile wireless device include means for determining a compensated RSSI value for the mobile wireless device based on an RSSI value associated with the signal received from the mobile wireless device and the compensation factor.

54. The apparatus of claim 53 wherein the means for determining the estimated position of the mobile wireless device include means for determining the estimated position of the mobile wireless device by comparing the compensated RSSI value with estimated RSSI values associated for the wireless access point derived from map data.

55. The apparatus of claim 39 wherein the compensation factor is associated with a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

56. The apparatus of claim 55 wherein the means for determining the estimated position of the mobile wireless device includes means for determining a compensated RTT value for the mobile wireless device based on an RTT value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

57. The apparatus of claim 56 wherein the means for determining the estimated position of the mobile wireless device include means for determining the estimated position of the mobile wireless device by comparing the compensated RTT value with estimated RTT values associated for the wireless access point derived from map data.

58. An apparatus for determining a position of a mobile wireless device comprising:

a tangible, non-transitory computer-readable memory;

a plurality of modules comprising processor executable code stored in the memory;

a processor connected to the memory and configured to access the plurality of modules stored in the memory; and

a position determination module configured to

receive signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determine an orientation of the mobile wireless device relative to the wireless access point;

determine a compensation factor based on the orientation of the mobile wireless device relative to the wireless access point, the compensation factor compensating for an effect of user occlusion on at least one characteristic of the signal received from the mobile wireless device; and

determine an estimated position of the mobile wireless device based at least in part on the compensation factor.

59. The apparatus of claim 58 wherein the position determination module is configured to determine the compensation factor using map data that represents a layout of a building in which the wireless access point is located.

60. The apparatus of claim 58 wherein the position determination module is configured to determine the estimated position of the mobile wireless device based at least in part on the compensation factor and map data that represents a layout of a building in which the wireless access point is located.

61. The apparatus of claim 58 wherein the position determination module is configured to:

send a position request to the mobile wireless device in which the mobile wireless device is instructed to capture an image of an area surrounding the mobile wireless device;

receive the image of the area surrounding the mobile wireless device;

identify landmarks in the image received from the mobile wireless device; and

determine the orientation of the mobile wireless device based on landmarks in the image captured by the mobile wireless device.

62. The apparatus of claim 58 wherein the position determination module is configured to:

receive data representing the orientation of the mobile wireless device based on sensor data collected by the mobile wireless device; and

determine the orientation of the mobile wireless device using information received from an inertial sensor.

63. The apparatus of claim 62 wherein the sensor data comprises sensor data collected from the inertial sensor.

64. The apparatus of claim 62 wherein the sensor data comprises sensor data collected from a magnetometer.

65. The apparatus of claim 58 wherein the position determination module is configured to:

determine a heading of the mobile wireless device; and

determine the orientation of the mobile wireless device based on the heading.

66. The apparatus of claim 65 wherein the position determination module is configured to determine the heading using the estimated position of the mobile wireless device and a direction of motion of the mobile wireless device.

67. The apparatus of claim 66 wherein the position determination module is configured to determine the heading of the mobile wireless device using a trajectory estimation filter configured to track an estimate of the direction of motion of the mobile wireless device.

68. The apparatus of claim 67 wherein the trajectory estimation filter is a particle filter.

69. The apparatus of claim 67 wherein the trajectory estimation filter is a Kalman filter.

70. The apparatus of claim 58 wherein the position determination module is configured to:

derive a set of compensation values based on an expected extent of occlusion to be experienced by the mobile wireless device at a plurality of positions on a map; and

wherein the position determination module being configured to determine the estimated position of the mobile wireless device based at least in part on the compensation factor and map data is further configured to compare the compensation factor to the map data to determine an estimated location of the mobile wireless device.

71. The apparatus of claim 70 wherein the compensation factor is associated with a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

72. The apparatus of claim 71 wherein the position determination module being configured to determine the estimated position of the mobile wireless device is further configured to determine a compensated RSSI value for the mobile wireless device based on an RSSI value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

73. The apparatus of claim 72 wherein the position determination module is further configured to determine the estimated position of the mobile wireless device by comparing the compensated RSSI value with estimated RSSI values associated for the wireless access point derived from the map data.

74. The apparatus of claim 58 wherein the compensation factor is associated with a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

75. The apparatus of claim 74 wherein the position determination module being configured to determine the estimated position of the mobile wireless device is further configured to determine a compensated RTT value for the mobile wireless device based on an RTT value associated with the signal transmitted between the mobile wireless device and the wireless access point and the compensation factor.

76. The apparatus of claim 75 wherein the position determination module being configured to determine the estimated position of the mobile wireless device is further configured to determine the estimated position of the mobile wireless device by comparing the compensated RTT value with estimated RTT values associated for the wireless access point derived from map data.

77. A method for estimating the heading of a mobile wireless device comprising:

receiving an estimated position for the mobile wireless device;

receiving signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determining an orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics; and

determining a heading of the mobile wireless device based on the estimated position of the mobile wireless device and the orientation of the mobile wireless device.

78. The method of claim 77 wherein determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include determining the orientation of the mobile wireless device based at least in part on a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

79. The method of claim 77 wherein determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include determining the orientation of the mobile wireless device based at least in part on a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

80. The method of claim 77 wherein determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include comparing the received signal characteristics and the estimated position of the mobile wireless device to data mapping signal characteristics associated with positions and orientations in a building to derive an estimated orientation of the mobile wireless device.

81. An apparatus for estimating the heading of a mobile wireless device comprising:

means for receiving an estimated position for the mobile wireless device;

means for receiving signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

means for determining an orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics; and

means for determining a heading of the mobile wireless device based on the estimated position of the mobile wireless device and the orientation of the mobile wireless device.

82. The apparatus of claim 81 wherein the means determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include means for determining the orientation of the mobile wireless device based at least in part on a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

83. The apparatus of claim 81 wherein the means for determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include means for determining the orientation of the mobile wireless device based at least in part on a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

84. The apparatus of claim 81 wherein the means for determining the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include means for comparing the received signal characteristics and the estimated position of the mobile wireless device to data mapping signal characteristics associated with positions and orientations in a building to derive an estimated orientation of the mobile wireless device.

85. An apparatus for estimating the heading of a mobile wireless device comprising:

a tangible, non-transitory computer-readable memory;

a plurality of modules comprising processor executable code stored in the memory;

a processor connected to the memory and configured to access the plurality of modules stored in the memory; and

a position determination module configured to

receive an estimated position for the mobile wireless device;

receive signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determine an orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics; and

determine a heading of the mobile wireless device based on the estimated position of the mobile wireless device and the orientation of the mobile wireless device.

86. The apparatus of claim 85 wherein the position determination module being configured to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics is configured to determine the orientation of the mobile wireless device based at least in part on a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

87. The apparatus of claim 85 wherein the position determination module being configured to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics is configured to determine the orientation of the mobile wireless device based at least in part on a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

88. The apparatus of claim 85 wherein the position determination module being configured to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics is configured to compare the received signal characteristics and the estimated position of the mobile wireless device to data mapping signal characteristics associated with positions and orientations in a building to derive an estimated orientation of the mobile wireless device.

89. A tangible computer-readable medium, having stored thereon computer-readable instructions for estimating the heading of a mobile wireless device, comprising instructions configured to cause a computer to:

receive an estimated position for the mobile wireless device;

receive signal characteristics of a signal received from the mobile wireless device at a wireless access point of a Wireless Local Area Network (WLAN);

determine an orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics; and

determine a heading of the mobile wireless device based on the estimated position of the mobile wireless device and the orientation of the mobile wireless device.

90. The medium of claim 89 wherein the code configured to cause the computer to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include code configured to cause the computer to determine the orientation of the mobile wireless device based at least in part on a Received Signal Strength Indication (RSSI) value associated with the signal received from the mobile wireless device.

91. The medium of claim 89 wherein the code configured to cause the computer to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include code configured to cause the computer to determine the orientation of the mobile wireless device based at least in part on a round-trip time (RTT) value associated with the signal received from the mobile wireless device.

92. The medium of claim 89 wherein the code configured to cause the computer to determine the orientation of the mobile wireless device based on the estimated position of the mobile wireless device and the received signal characteristics include code configured to cause the computer to compare the received signal characteristics and the estimated position of the mobile wireless device to data mapping signal characteristics associated with positions and orientations in a building to derive an estimated orientation of the mobile wireless device.